Research On Dispensing Motion Control System Based On Optimized Imitation S-shaped Speed Planning

As an important part of the intelligent manufacturing industry,dispensing machines play an important role in the field of semiconductor electronics packaging.Dispense efficiency is greatly reduced when there are many different types of workpieces or when there is a shift in the dispensing process.However,the domestic research on dispensing machine control system started late,there is no special control system to meet such production efficiency requirements.Therefore,this thesis is oriented to small and medium-sized enterprises,and a motion control system of dispensing machine with ARM+FPGA as the control core is built with the starting point of achieving fast response,improving equipment operation stability and dispensing efficiency.The research for this thesis is as follows.Firstly,in order to solve the problem of equipment oscillation and stability of glue stacking caused by the traditional speed planning acceleration discontinuity during the movement of dispensing equipment.In this thesis,based on combining trapezoidal and cosine trigonometric acceleration and deceleration algorithms,considering the fast response of motion and continuous smoothing characteristics,we propose a mapping relationship between velocity to time and displacement for complex constraints.We also give analytical solutions for the extreme cases of the motion process,optimizing the computational flexibility and response speed of the algorithm,and further improving the efficiency of the motion.Secondly,in order to solve the traditional double valve can only be applied to the joint plate or fixed distance fine-tuned dispensing method,a new coordinate system transformation matrix solution method is introduced to solve the pose transformation matrix of the two targets to be dispensed.Then the planned main target motion is solved by transformation matrix calculation to obtain the motion output of the second target,thus realizing double-valve asynchronous dispensing and improving dispensing efficiency.Then,the hardware and software design of the motion control system was carried out to verify the fast response algorithm proposed in this thesis and to realize the application of double-valve asynchronous dispensing.The hardware adopts ARM+FPGA dual master control with processing architecture,mainly designed and implemented dualcore data interaction module,data storage module,distributed CAN-FD bus module and digital interface module.It also implements the pulse output interface of the FPGA with the counting and speed measurement functions of the encoder using the Verilog language.The software was ported to a real-time task operating system using the C language on a hardware basis,mainly provided a task-packaged design for functions such as data storage,interpolation motion and data interaction for motion control.In order to achieve better interaction between the hardware and the user and thus easier functional development,the upper auxiliary development software was designed in Qt platform using C++language.The software is capable of controlling axis motion and generating trajectory paths,and the dual valve control interface is capable of solving the transformation matrix using a multi-point fitted axis vector coordinate system transformation method,thus enabling dynamic transformation of dual coordinate system motion.Finally,the motion control system is tested for speed planning,motion accuracy and dynamic dispensing of dual valves.These tests not only verify the engineering adaptability of the proposed algorithm and the developed system,but also show that the proposed algorithm and the developed system have certain engineering application value.