The Design And Application About A Kind Of Handling Machinery Controller Based On Wireless Communication

The control technology of automatic handling is an important technology in modern industrial control.The development level of the control technology of handling machinery is one of the most important indicators to evaluate the industrial development level of a country.Research on embedded control system is significant in improving the reliability,practicability and convenience of existing systems and promoting industrial automation and modernization in China.In this paper,nRF24L01 and Wi-Fi wireless communication technology are combined with motion control technology.A motion controller with wireless communication function capable of controlling the DC motor and cylinder has been designed,and the application of this controller has been studied.The main work carried out includes:(1)The basic theory and control method of DC motor and cylinder were studied.The mathematical models of linear cylinder and DC motor were established.Simulink was used to simulate and analyze the integral separation PID control method of DC motor,which provides theoretical support for the design of the controller.(2)The hardware and software of the controller were designed.The realizations of nRF24L01 and Wi-Fi wireless communication technologies were studied.The circuit with the stm32f103VET6 as the core and the system software with the state table as the core were designed.The wireless communication function of the motion controller was verified by testing.(3)Based on the controller,a lamp experiment system was designed.The graphical user interface is compiled by LabVIEW to control the system remotely,so human-computer interaction is convenient.The test results show that the integral separation PID controller can improve the performance of the DC motor position control system.(4)Based on the controller,a configurable pneumatic manipulator system is designed,which divides the handling manipulator into modules according to its functions.The detection and execution mechanism of each functional module of the manipulator were designed.The graphical user interface to configure the manipulator system remotely was compiled.A model of the manipulator was built and its handling and configuration functions were verified through experiments.