Design Of Digital Pneumatic Servo Control Platform

Pneumatic servo control system has the characteristics of low cost,clean and pollution-free,large power-to-mass ratio and easy installation and maintenance.It has broad application prospects in industrial motion control,medical equipment,robots and other fields.In recent years,domestic and foreign scholars have achieved fruitful results in the research of pneumatic servo control theory.An urgent task of current pneumatic technology research is to develop a high-performance pneumatic servo controller that can be commercialized.In response to the continuous advancement of Industry 4.0 and the rapid development of industrial control digitization,this topic combines embedded technology,pneumatic servo control technology and fieldbus technology to develop a digital pneumatic servo control platform that contains high-performance control algorithms that can be easily transplanted The pneumatic servo controller integrates CAN fieldbus and industrial Ethernet Ethernet POWERLINK(EPL),which are respectively used for on-site debugging and high-speed communication with other field devices.The main work is as follows:1.Completed the hardware and software design of the digital pneumatic servo control platform.The platform architecture adopts the design idea of separating pneumatic servo controller and EPL communication module,that is,pneumatic servo control and industrial Ethernet communication are realized through the dual-core processor of "DSP + Raspberry 4B".The pneumatic servo controller uses TMS320F28335 as the control chip.The hardware part completes the peripheral circuit design of power supply circuit,CAN communication circuit and input and output signal conditioning circuit,and the software part completes the AD conversion subroutine,the DA conversion subroutine of SPI communication and CAN.Design of communication lower computer program.Using the packaged control algorithm library,the closed-loop control experiment was carried out by transplanting PID and adaptive robust control(ARC)algorithms to verify the performance of the pneumatic servo controller.2.The software design of the host computer is completed.In order to facilitate the debugging of the digital pneumatic servo control platform,a debugging software based on CAN communication was written using C# language to realize the collection of platform status parameters and the transmission of control parameters.The debugging software also has real-time curve drawing and soft start of the collected data.Stop and data saving and data viewing functions.3.Completed the development of the EPL communication module of the platform.By transplanting the open POWERLINK open source code,the EPL-based industrial Ethernet communication function is realized,and the SPI communication realizes the data interaction between the EPL communication module and the pneumatic servo controller.Finally,through experiments,the functional modules,debugging software and EPL communication of the digital pneumatic servo control platform were verified.There are 132 pictures,24 tables,and 75 references...