CN102480096B - Visualized intelligent precise numerically controlled crimping method and device therefor - Google Patents
Visualized intelligent precise numerically controlled crimping method and device therefor Download PDFInfo
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Abstract
Disclosed is a visualized intelligent precise numerically controlled crimping device. Three support plates are fixed on a base, a front end high-precision straight sliding rail and a rear end high-precision straight sliding rail are connected and fixed with two support plates at two ends respectively, the two ends of a moving sliding block are connected and fixed with the front end high-precision straight sliding rail and the rear end high-precision straight sliding rail respectively, the output shaft of a reducer is connected and fixed with a high-precision ball screw and the moving sliding block through a coupler and is provided and fixed with a photoelectric encoder, and a pressure sensor and a pressure rod are connected and fixed on the moving sliding block. The right end of the pressure rod is connected with the left rotating arm of a crimping tool, and the right arm of the crimping tool is fixed at the right end of a pressure rod shaft sleeve, a camera is fixed on the pressure rod shaft sleeve, and a liquid crystal display panel, a keyboard input interface and an electrically controlled device are arranged on the crimping apparatus. The crimping device has the characteristics of advanced crimping technology, high-efficiency crimping, high degree of automation, simplicity in operation and precise control of pressure and movement.
Description
Technical field
The present invention relates to a kind of compression bonding method and the device of mechanical work technical field, particularly relate to a kind of visual intelligent accurate digital control compression bonding method and device.Be applicable to the crimping of electric connector terminal, particularly to the crimping being crimped product needed applying certain pressure or will control crimping displacement.
Background technology
Compression bonding apparatus applies certain pressure to crimping product needed and carries out Stress control and Bit andits control.At present, domestic and international compression bonding apparatus mainly adopts manual or semi-automatic Press Plier, and this type of crimping tool manually applies pressure, and adopts manual pressure efficiency low, and crimp quality is uncontrollable, and crimping homogeneity of product and poor reliability, labour intensity is large.
Summary of the invention
Technical problem to be solved by this invention is: solve above-mentioned prior art Problems existing, and provides that a kind of crimp technology is advanced, crimping efficiency is high, automaticity is high, it is simple and easy to operate, realizes visual intelligent accurate digital control compression bonding method that pressure and displacement accurately control and device simultaneously.
The technical solution used in the present invention is: this visual intelligent accurate digital control compression bonding apparatus is: on base, install fixed support plate one, supporting bracket two, supporting bracket three, the two ends of front end high accuracy line slide rail and rear end high accuracy line slide rail are connected and fixed supporting bracket two and supporting bracket three respectively, moving slider two ends are separately fixed on the linear bearing that front end high accuracy line slide rail and rear end high accuracy line slide rail carry, servomotor and reductor are fixed in supporting bracket two by supporting seat, speed reducer output shaft is connected with high precision ball screw mandrel left end through shaft coupling, high precision ball screw mandrel is connected and fixed with moving slider from flanged, supporting bracket three is installed junction with the right-hand member of high precision ball screw mandrel and is mounted with a photoelectric encoder, moving slider is also fixedly connected with the pressure sensor towards the right side and depression bar, depression bar right-hand member is connected with the left-handed pivoted arm of crimp connection fixture by bolt, the right arm of crimp connection fixture is fixed on depression bar axle sleeve right-hand member, pressure shaft puts and is also mounted with a video camera, the front panel of compression bonding apparatus is provided with LCD panel and input through keyboard interface, compression bonding apparatus is connected and installed with electric control gear.
Electric control gear of the present invention, comprise dsp processor, 24 bit A/D converters, pressure sensor, 12 D/A converter, servomotor controller, servomotor, photoelectric encoder, display system, power module, industrial camera, PC, the pressure simulation signal that pressure sensor exports crimp connection fixture connects 24 bit A/D converters, 24 bit A/D converters are connected to dsp processor after analog signal is converted into digital signal, photoelectric encoder output pulse signal is also connected to dsp processor, the industrial camera output image signal that pressure shaft puts connects PC, PC is connected with dsp processor by RS232 interface, pressure data compares by dsp processor, after computing, output is connected to 12 D/A converter, be connected to servomotor controller after digital signal is converted into analog signal by 12 D/A converter, servomotor controller connects and controls servomotor, servomotor automatic crimping, dsp processor output pressure value, shift value connect display system and show.
The electric control principle of electric control gear of the present invention is as follows:
Electric control gear comprises dsp processor, high accuracy 24 AD, servo control system, display system, photoelectric encoder and shaping circuits, pressure sensor, electric power system, the analog signal that pressure sensor exports is converted into digital signal and is sent to DSP by 24 AD, DSP process is also made comparisons with the force value preset, the three tunnel pulses that photoelectric encoder exports are sent to DSP after pulse shaper, by DSP to servomotor rotating speed and turn to measurement.The analog signal that pressure sensor and displacement transducer export is converted into digital signal and is sent to DSP by AD converter, DSP is carried out processing and is automatically adjusted by double closed-loop PID algorithm with the force value preset and shift value, pid algorithm outputs signal to servo motor driving system, thus automatically carries out crimping control.Force value in control procedure, shift value are sent to liquid crystal display and show by last dsp processor, force value, shift value are sent to PC by RS232 communication interface simultaneously, the picture signal that PC sends back according to video camera carries out general analyzes, finally on PC, shows summarized results.
Visual intelligent accurate digital control compression bonding method of the present invention is:
(1) pressure needed for product and displacement setting, is crimped:
Start detection equipment, on a display panel the input pressure of crimping needed for product and displacement, after being provided with.Pressed key on a display panel, now apparatus control system will record force value and the shift value of input automatically;
(2), zero adjustment:
In crimping control procedure, first zero adjustment is carried out to equipment, calibration steps is on a display panel by down Arrow, device measuring depression bar runs downwards automatically, in downward running, when depression bar runs to measurement datum, equipment stops automatically, this self-braking process adopts the closed-loop control of pressure automatic feedback to realize, thus reach measurement zero adjustment;
(3), pressure and displacement measurement in control procedure is crimped:
After zero adjustment, press on a display panel and start to crimp key, compression bonding apparatus completes crimping overall process automatically according to setup parameter.In crimping process, force value and shift value are the quadrature coding pulse circuit measures of quantizations carried by high accuracy 24 bit A/D converter and DSP, and pressure and crimping displacement measurement method are:
（1）
Wherein F is tested force value, and x is AD converter number of significant digit,
for pressure sensor exports maximum pressure value,
for AD converter exports digital value;
In patent of the present invention, choosing pressure sensor output maximum pressure value is 100kgf, and AD converter is high accuracy 20 AD, can be drawn by above condition, and crimping Systems Theory pressure measxurement minimum resolution is
In patent of the present invention, selective light photoelectric coder is as crimping displacement measurement sensor, and the photoelectric encoder that this patent is selected is the incremental encoder often enclosing output 1000 pulses.Because mechanical device selects screw lead to be 4mm, the displacement that screw mandrel often rotates a circle is 4mm, and screw mandrel rotates a circle output 1000 pulses.There are 4 edges in each gap: TMS320F2812PGFQ quadrate encode module two passages respectively have a rising edge and a trailing edge, that is, screw mandrel often rotates a circle, TMS320F2812PGFQ quadrate encode module detects 4000 edges, and TMS320F2812PGFQ leaves the edge number detected in internal counter in.By showing that the least displacement resolution that electric control gear can be measured is 0.001mm/ above;
(4) high accuracy governor pressure control displacement crimp technology:
In patent of the present invention, pressure sensor and displacement transducer signal is gathered by 24 bit A/D converters and DSP, digital signal after AD converter conversion is input to dsp processor, and dsp processor is crimped by two-loop system algorithm realization pressure control control displacement with the force value of adopting in real time, shift value according to the pressure of default, displacement target value.
The present invention adopts Full automatic servo control system accurately to control crimping process, it is advantageous that crimping efficiency is high, controllability good, noise is little, energy-conservation, system crimping process stabilization is reliable.In patent of the present invention, the servo-control system speed of service can be adjustable from 0-3000 rev/min.Therefore, can according to the difference of crimping product, user can customize crimping speed to control crimping efficiency.Patent crimping efficiency of the present invention is 40Pcs/Min.
The present invention adopts advanced pressure sensor, displacement sensor technology, and electric Proportion valve accurate control technique, microcomputerized digital treatment technology, and select high accuracy industrial camera and mechanical measurement platform, it is intelligent, automaticity is high, simple to operate, precision is high, is a kind of advanced technology in intelligent measure and control field, the equipment of function admirable and method.
accompanying drawing illustrates:
Fig. 1 is structural front view of the present invention;
Fig. 2 is structure vertical view of the present invention;
Fig. 3 is electric control principle block diagram of the present invention;
Fig. 4 is electric control gear structured flowchart of the present invention;
Fig. 5 is core processor DSP and peripheral circuit diagram;
Fig. 6 is 5V/3.3V level conversion treatment circuit figure;
Fig. 7 is photoelectric encoder A phase Puled input shaping circuit figure;
Fig. 8 is photoelectric encoder B phase Puled input shaping circuit figure;
Fig. 9 is photoelectric encoder Z phase Puled input shaping circuit figure;
Figure 10 is motor speed control signal output amplifier figure;
Figure 11 is 24 AD conversion treatment circuit figure;
Figure 12 is pressure signal input interface circuit figure;
Figure 13 is motor control signal output interface circuit figure;
Figure 14 is code device signal input interface circuit figure;
Figure 15 is encoder power supply interface circuit diagram;
Figure 16 is control board power module circuitry figure;
Figure 17 is adaptive fuzzy PI controller principle block diagram.
Accompanying drawing mark illustrates:
1-supporting bracket one, 2-supporting bracket two, 3-supporting bracket three,
4-lock shaft, 5-crimp connection fixture, 6-depression bar axle sleeve, 7-servomotor,
8-reductor, 9-liquid crystal display, 10-keyboard, 11-control board,
12-base, 13-photoelectric encoder, 14-moving slider, 15-rear high accuracy line slide rail,
16-high accuracy roller bearing screw mandrel, 17-front high accuracy line slide rail, 18-accurate deep groove ball bearing,
19-precision linear axis holds, 20-depression bar, 21-shaft coupling, 22-supporting seat,
23-pressure sensor, 24-precision linear axis holds, 25-shell, 26-anticlockwise support arm.
embodiment:
See accompanying drawing, visual intelligent accurate digital control compression bonding apparatus of the present invention is: on base base 18, install fixed support plate 1, supporting bracket 22, supporting bracket 33, the two ends of front high accuracy line slide rail 17 and rear high accuracy line slide rail 15 are connected and fixed supporting bracket 22 and supporting bracket 33 respectively, moving slider 14 two ends are separately fixed on the linear bearing that front high accuracy line slide rail 17 and rear high accuracy line slide rail 15 carry, servomotor 7 and reductor 8 are fixed in support 22, reductor 8 output shaft is connected with high precision ball screw mandrel 16 upper end through shaft coupling 21, high precision ball screw mandrel 16 upper end is connected and installed with an accurate deep groove ball bearing 18, accurate deep groove ball bearing 18 is fixed in supporting bracket 22, supporting 22 is fixed in supporting bracket 22, high precision ball screw mandrel 16 is connected and fixed with moving slider 14 from flanged, the high precision ball screw mandrel of supporting bracket 33 is installed junction and is mounted with photoelectric encoder 13, moving slider 14 is also fixedly connected with the depression bar 20 towards the right side and pressure sensor 23, depression bar 20 right-hand member is connected with the left-handed pivoted arm 26 of crimp connection fixture 5 by lock shaft 4, crimp connection fixture 5 is fixed on depression bar axle sleeve 6 right-hand member, depression bar axle sleeve 6 is also mounted with a video camera, control board 11 is fixed in supporting bracket 22 and supporting bracket 33, the shell of compression bonding apparatus is provided with LCD panel 9 and keyboard 10, electric control gear comprises dsp processor, high accuracy 24 AD, servo control system, display system, photoelectric encoder and shaping circuits, pressure sensor, electric power system, the analog signal that pressure sensor exports is converted into digital signal and is sent to DSP by 24 AD, DSP process is also done to be automatically adjusted by double closed-loop PID algorithm with the force value preset and shift value, pid algorithm outputs signal to servo motor driving system, thus automatically carries out crimping control.Force value in control procedure, shift value are sent to liquid crystal display and show by last dsp processor, force value, shift value are sent to PC by RS232 communication interface simultaneously, PC carries out general analyzes in the picture signal sent back according to video camera, finally on PC, shows relevant parameter.
Control algolithm
Traditional pid algorithm structure simply, easily realizes, and is widely used in Direct Current Governor System, but is difficult to realize high accuracy and High-reliability Control.Fuzzy control is a kind of Based Intelligent Control using fuzzy set, Fuzzy Linguistic Variable and fuzzy logic inference as control algolithm, and it is without the need to founding mathematical models, is a kind of effective way solving uncertain system.Fuzzy-adaptation PID control utilizes current control deviation, in conjunction with the dynamic characteristic of controlled device, and for the practical experience of detailed process, according to certain control overflow or target function, pass through fuzzy rule inference, carry out on-line tuning to three parameters of PID controller, therefore patent of the present invention selects adaptive Fuzzy PID Control algorithm in control procedure.
1. adaptive Fuzzy PID Control algorithm
According to the actual conditions of system, in pid parameter, differentiation element is excessive to negative interaction from electrical motor gearshift control procedure, system responses process is caused to brake in advance, extend regulating time, larger overshoot is caused when accelerating from motor, so remove derivative action parameter here, only adopt PI controller.
The fuzzy reasoning thought of the design is: according to not error amount e in the same time and error rate value △ e, carries out on-line tuning to the parameter kp of PI controller and ki.Its theory structure forms the parameter correction part of i.e. conventional PI controller part and fuzzy control by two parts.Theory diagram as shown in figure 17.
From Figure 17 theory diagram, r (k) be the kth moment from electric machine theory displacement input value, c (k) is kth moment actual measured value, and e (k) is kth moment input error signal, the discrete form of expression of its PI controller:
（1）
Formula (1) is that position model PI controls formula.In order to increase reliability, the impact on system during minimizing DSP misoperation, adopts increment type PI to control formula:
（2）
The control formula of final increment type PI controller:
（3）
As shown in figure 17, application fuzzy control rule, the input language variable of this fuzzy controller is error value E, error rate value △ E, and output language variable is proportional gain factor kp and the integration gain factor ki of PI controller.Each linguistic variable Linguistic Value is described below:
During E={ is negative large, negative, negative little, zero, little, in, large, △ E={ negative large, negative in, negative little, zero, little, in, large, ki=zero, little, in, large, ki={ zero, little, in, large.Wherein in negative large, negative, negative little, zero, little, in, large referred to as { error value E and error rate △ E are quantized in the domain of [-6,6] by NB, NM, NS, z, PS, PM, PB}.Similarly, zero, little, in, large referred to as { z, s, M, B}, and quantize in domain [0,6].
Practical operation experience in system debug process and knowwhy, determine the setting principle of PI type Fuzzy parameter:
A, Error Absolute Value | e (K) | time larger, in order to accelerate the response speed of system, and become for avoiding instantaneously and may cause differential supersaturation because starting time error greatly and make control action exceed tolerance band, larger kp should be got, simultaneously for _ r prevents saturation integral, avoid system responses to occur larger overshoot, should integral action be removed, namely get ki=0.
B, Error Absolute Value | e (k) | with | △ e (k) | during for median size, in order to the response speed making system responses overshoot reduce again not influential system, kp, and ki can not get greatly, and less ki should be got, kp value need be of moderate size.
C, Error Absolute Value | e (k) | time less, in order to make system have good steady-state behaviour, the value of kp and ki should be increased, simultaneously in order to avoid vibration appears in system near set point, and consider the interference free performance of system, select suitable kp value.
The method of measurement adopted in patent control procedure of the present invention is as follows:
Method 1: in patent of the present invention, force value realizes measuring by high accuracy 24 bit A/D converter, and its method of measurement is:
（1）
Wherein F is tested force value, and x is AD converter number of significant digit,
for pressure sensor exports maximum pressure value,
for AD converter exports digital value.
In patent of the present invention, choosing pressure sensor output maximum pressure value is 100kgf, and AD converter is high accuracy 20 AD, can be drawn by above condition, and crimping Systems Theory pressure measxurement minimum resolution is
Method 2: selective light photoelectric coder is as dimensional measurement transducer in patent of the present invention, the photoelectric encoder that this patent is selected is the incremental encoder often enclosing output 1000 pulses.Because mechanical device selects screw lead be the displacement that 4mm(screw mandrel often rotates a circle to be 4mm), screw mandrel rotates a circle output 1000 pulses.There are 4 edges in each gap: TMS320F2812PGFQ quadrate encode module two passages respectively have a rising edge and a trailing edge, that is, screw mandrel often rotates a circle, TMS320F2812PGFQ quadrate encode module detects 4000 edges, and TMS320F2812PGFQ leaves the edge number detected in internal counter in.The above least displacement resolution showing that electric control gear can be measured is had to be 0.001mm/.
Provided by the present inventionly realize the accurate compression bonding apparatus of visual intelligent, this measurement mechanism part has: supporting bracket 1, supporting bracket, supporting bracket 3, lock shaft, crimp connection fixture, depression bar axle sleeve, servomotor, reductor, liquid crystal display, keyboard, control board, base, photoelectric encoder, moving slider, rear high accuracy line slide rail, high accuracy roller bearing screw mandrel, front high accuracy line slide rail, accurate deep groove ball bearing, precision linear axis holds, depression bar, shaft coupling, supporting seat, pressure sensor, precision linear axis holds, shell, the compositions such as anticlockwise support arm.
Patented technology advantage of the present invention
(1) high accuracy governor pressure crimp technology
In patent of the present invention, by 24 bit A/D converters, external pressure sensor signal is converted to digital signal and is sent to dsp processor, through dsp processor computational analysis, show that system pressure measure theory minimum resolution is 0.001N.
(2) high accuracy control displacement crimp technology
Selective light photoelectric coder induction system crimping displacement signal in patent of the present invention, the signal of photoelectric encoder induction carries quadrature coding pulse circuit by dsp processor and carries out measures of quantization, through dsp processor computational analysis, show that the least displacement resolution of measurement reaches
.
(3) photographic technique
Industrial high definition pick-up head is selected to be connected with PC in patent of the present invention.During the work of this device, its crimping process is sent to PC in real time with image format, and administrative staff and technical staff also can find in office the situation that terminal leakage is pressed, terminal compression joint is not in place.Adopt photographic technique, improve crimp quality, and provide foundation for quality tracing.
(4) hi-Fix control technology
Select high accuracy 12 D/A converter outputting analog signals to control servomotor rotating speed in patent of the present invention, accurately control to reach accurate location by rotating speed, Systematical control rotating speed minimum resolution is 0.75 rev/min.
(5) synchronous governor pressure control displacement crimp technology
Measured pressure and the displacement of crimping system by 24 bit A/D converters, quadrature coding pulse circuit precise acquisition pressure sensor, photoelectric encoder signal in patent of the present invention.The signal that 24 bit A/D converters, quadrature coding pulse circuit collect is carrying out analyzing and processing through high-speed dsp processor inner adaptive fuzzy double closed-loop PID algorithm, controlled quentity controlled variable after analyzing and processing is sent to 12 D/A converter by dsp processor, then control servomotor by 12 D/A converter outputting analog signals, final realization crimps the empty shift technique of system synchronization governor pressure.
(6) high efficiency crimping
Patent of the present invention adopts Full automatic servo control system accurately to control crimping process, it is advantageous that crimping efficiency is high, controllability good, noise is little, energy-conservation, system crimping process stabilization is reliable.In patent of the present invention, the servo-control system speed of service can be adjustable from 0-3000 rev/min.Therefore, can according to the difference of crimping product, user can customize crimping speed to control crimping efficiency.Patent crimping efficiency of the present invention is 40Pcs/Min.
Patent of the present invention adopts advanced pressure sensor, displacement sensor technology, and electric Proportion valve accurate control technique, microcomputerized digital treatment technology, and select high accuracy industrial camera and mechanical measurement platform, it is intelligent, automaticity is high, simple to operate, precision is high, is a kind of advanced technology in intelligent measure and control field, the equipment of function admirable and method.
Crimping process is as follows:
Start detection equipment, on a display panel the input force value of crimping needed for product and shift value, apparatus control system will record force value and the shift value of input automatically.Measuring equipment control system exports control command to servo motor driving system, thus control servomotor rotation generation moment of torsion, servomotor rotates the moment of torsion produced and is delivered to reductor, then transfer torque to screw mandrel through shaft coupling, while screw mandrel rotates, drive moving slider to do bilateral reciprocation.The direction of motion of moving slider controls servomotor by control system and rotates forward reversion realization.When in motor rotating forward process, drive moving slider to move right, be fixed on the displacement signal that the encoder Real-time Collection screw mandrel in supporting bracket 3 rotates.The depression bar being simultaneously arranged on moving slider also moves right with moving slider, until depression bar reaches the preset shift value of start, in the process, due to constantly rotating forward of motor, depression bar is applied to the pressure be crimped on product and constantly increases, this pressure signal is by being arranged on the pressure sensor Real-time Collection on depression bar top, the pressure signal collected is converted to digital signal through high accuracy 24 bit A/D converter and delivers to DSP, to make comparisons with the pressure preset through DSP process, when the power applied is identical with pre-set pressure, DSP controls motor reversal, moving slider return, simultaneously DSP by Real-time Collection to photoelectric encoder displacement signal automatically calculate moving slider and run displacement.Finally, DSP calculates according to the data measured and displacement formula the displacement and force value that are crimped product, and the displacement data liquor charging of object being measured is brilliant and PC carries out system display simultaneously.
The brief introduction of electric control gear circuit:
In this electric control gear circuit, Fig. 5 is the core of whole electric control gear, it is made up of the necessary Peripheral clock circuit of TMS320F2812PGFQ and TMS320F2812PGFQ chip, power supply, reset circuit, shunt capacitance, C10, C64, Y3 form clock oscillation circuit, it is the clock source of TMS320F2812PGFQ, R99, C13 provide reset signal for TMS320F2812PGFQ, and M7 is catching diode, and in Fig. 3, all the other electric capacity are shunt capacitance.External pressure sensor output difference sub-signal is amplified by 1 pin of interface JP1,11 pin of 2 pin input ADS1234,12 pin again, the multiplication factor of amplifier is by TMS320F2812PGFQ programming realization, in Figure 11, R19, R20, R155, R159, R160, R161, R162 prevent digital signal from high-speed transfer process, producing ringing, and Y1 is mainly for ADS1234 work provides clock source.23,24,25,26,27,28 pin of ADS1234 are connected with 41,45,46,48,49,55 of TMS320F2812PGFQ respectively, and the instruction of ADS1234 controlling of sampling is exported by 41,45,46,48,49,55 pins of TMS320F2812PGFQ.Because external pressure sensor output voltage is millivolt level signal, in the design, select high accuracy 24 AD ADS1234 chips, this chip sampling resolution is 0.0012mv.The A of outside input photoelectric coding, B, Z phase pulse signal is by 4 pin of interface JP2, 1 of JP3, 2 pin are input to 6 of operational amplifier LM339, 4, 10 pin carry out signal shaping, signal after LM339 Shape correction is from 1 of LM339, 2, 13 pin output to 2 of level transferring chip IC10, 3, 4 pin, in Figure 5, resistance R71, R72 is for A phase pulse shaper provides 3.2V threshold voltage, in figure 6, resistance R84, R85 is for B phase pulse shaper provides 3.2V threshold voltage, in the figure 7, resistance R78, R79 is for Z phase pulse shaper provides 3.2V threshold voltage, the Z phase signals that photoelectric encoder exports is that photoelectric encoder rotates a circle, Z phase exports a pulse signal.IC10 is mainly converted to the pulse signal of+5V of outside input the+3.3V pulse signal of TMS320F2812PGFQ compatibility.IC10 has 1 pin of two control pins 1,19, IC10 to be control IC10 data transfer direction, and IC10 19 pin is the enable pin of IC10, and 1,19 pin of IC10, IC10 are connected with 107,109 pin of TMS320F2812PGFQ respectively.IC10 direction, enable control signal are exported by TMS320F2812PGFQ.From the pulse signal of 2,3,4, the 5 pin inputs of IC10 after level conversion from 18 of IC10,17,16,15 pin are passed to 57,59,60,90 pin of TMS320F2812PGFQ quadrate encode module.TMS320F2812PGFQ quadrate encode module detects A, B phase rising edge of a pulse and the trailing edge of outside input, and the edge number that quadrate encode module detects by TMS320F2812PGFQ leaves in TMS320F2812PGFQ internal counter.Value in this quadrate encode module counter is that the design's displacement measurement provides accuracy guarantee.90,94 pin of TMS320F2812PGFQ export Serve Motor Control signal, the control signal that 90,94 pin of TMS320F2812PGFQ export is passed to level transferring chip IC10, IC11, IC10, IC11 are converted to 5V signal the signal of the 3.3V that 90 of TMS320F2812PGFQ, 94 pin export, this two-way Serve Motor Control signal is passed to 1,2 pin of TLC5618 from IC10 5, IC11 2 pin, this two ways of digital signals is converted to analog signal through D/A converter TLC5618, and the analog signal after conversion is from 1,2 pin of 4, the 7 pin output interface JP4 of TLC5618.The data transfer direction of chip IC 11 is connected with 151,155 pin of TMS320F2812PGFQ respectively with enable signal, the data transfer direction of IC11 and enable signal control command are exported by 107,109 pin of TMS320F2812PGFQ, and resistance R40, R42, R45, R6, R44, R47 in circuit play metering function.Power module external input power voltage is+12V, this power module for circuit provide+10 ,+5V ,+3.3V ,+1.8V working power.
Claims (1)
1. a visual intelligent accurate digital control compression bonding method, adopt visual intelligent accurate digital control compression bonding apparatus, visual intelligent accurate digital control compression bonding apparatus, base is installed fixed support plate one, supporting bracket two, supporting bracket three, the two ends of front end high accuracy line slide rail and rear end high accuracy line slide rail are connected and fixed supporting bracket two and supporting bracket three respectively, moving slider two ends are separately fixed on the linear bearing that front end high accuracy line slide rail and rear end high accuracy line slide rail carry, servomotor and reductor are fixed in supporting bracket two by supporting seat, speed reducer output shaft is connected with high precision ball screw mandrel left end through shaft coupling, high precision ball screw mandrel is connected and fixed with moving slider from flanged, supporting bracket three is installed junction with the right-hand member of high precision ball screw mandrel and is mounted with a photoelectric encoder, moving slider is also fixedly connected with the pressure sensor towards the right side and depression bar, depression bar right-hand member is connected with the left-handed pivoted arm with crimp connection fixture by bolt, the right arm of crimp connection fixture is fixed on depression bar axle sleeve right-hand member, pressure shaft puts and is also mounted with an industrial camera, the front panel of compression bonding apparatus is provided with LCD panel and input through keyboard interface, compression bonding apparatus is connected and installed with electric control gear, described electric control gear, comprise dsp processor, 24 bit A/D converters, pressure sensor, 12 D/A converter, servomotor controller, servomotor, photoelectric encoder, display system, power module, industrial camera, PC, the pressure simulation signal that pressure sensor exports crimp connection fixture connects 24 bit A/D converters, 24 bit A/D converters are connected to dsp processor after analog signal is converted into digital signal, photoelectric encoder output pulse signal is also connected to dsp processor, the industrial camera output image signal that pressure shaft puts connects PC, PC is connected with dsp processor by RS232 interface, pressure data compares by dsp processor, after computing, output is connected to 12 D/A converter, be connected to servomotor controller after digital signal is converted into analog signal by 12 D/A converter, servomotor controller connects and controls servomotor, servomotor automatic crimping, dsp processor output pressure value, shift value connect display system and show, visual intelligent accurate digital control compression bonding method is:
(1) pressure needed for product and displacement setting, is crimped:
Start detection equipment, on a display panel the input pressure of crimping needed for product and displacement, after being provided with, pressed key on a display panel, now apparatus control system will record force value and the shift value of input automatically;
(2), zero adjustment:
In crimping control procedure, first zero adjustment is carried out to equipment, calibration steps is on a display panel by down Arrow, device measuring depression bar runs downwards automatically, in downward running, when depression bar runs to measurement datum, equipment stops automatically, this self-braking process adopts the closed-loop control of pressure automatic feedback to realize, thus reach measurement zero adjustment;
(3), pressure and displacement measurement in control procedure is crimped:
After zero adjustment, press on a display panel and start to crimp key, compression bonding apparatus completes crimping overall process automatically according to setup parameter; In crimping process, force value and shift value are the quadrature coding pulse circuit measures of quantizations carried by high accuracy 24 bit A/D converter and DSP, and pressure and crimping displacement measurement method are:
Wherein F is tested force value, and x is AD converter number of significant digit, F
maxfor pressure sensor exports maximum pressure value, AD_Data is that AD converter exports digital value;
Choosing pressure sensor output maximum pressure value is 100kgf, and AD converter is high accuracy 20 AD, can be drawn by above condition, and crimping Systems Theory pressure measxurement minimum resolution is
Selective light photoelectric coder is as crimping displacement measurement sensor, and the photoelectric encoder of selection is the incremental encoder often enclosing output 1000 pulses; Because mechanical device selects screw lead to be 4mm, the displacement that screw mandrel often rotates a circle is 4mm, and screw mandrel rotates a circle output 1000 pulses; There are 4 edges in each gap: TMS320F2812PGFQ quadrate encode module two passages respectively have a rising edge and a trailing edge, that is, screw mandrel often rotates a circle, TMS320F2812PGFQ quadrate encode module detects 4000 edges, and TMS320F2812PGFQ leaves in the edge number detected in internal counter; By showing that the least displacement resolution that electric control gear can be measured is 0.001mm/ above;
(4) high accuracy governor pressure control displacement crimp technology:
Pressure sensor and displacement transducer signal is gathered by 24 bit A/D converters and DSP, digital signal after AD converter conversion is input to dsp processor, and dsp processor is crimped by two-loop system algorithm realization pressure control control displacement with the force value of adopting in real time, shift value according to the pressure of default, displacement target value;
It is characterized in that,
Control algolithm
Adaptive Fuzzy PID Control algorithm is selected in control procedure;
Adaptive Fuzzy PID Control algorithm
According to the actual conditions of system, in pid parameter, differentiation element is excessive to negative interaction from electrical motor gearshift control procedure, system responses process is caused to brake in advance, extend regulating time, larger overshoot is caused when accelerating from motor, so remove derivative action parameter here, only adopt PI controller;
The fuzzy reasoning thought of the design is: according to not error amount e in the same time and error rate value △ e, carry out on-line tuning to the proportional gain factor Kp of PI controller and integration gain factor Ki, it is the parameter correction part of conventional PI controller part and fuzzy control that its theory structure be made up of two parts;
E (k) is kth moment input error signal, the discrete form of expression of its PI controller:
In formula (1), u (k) is K moment input signal sampled value
Formula (1) is that position model PI controls formula, and in order to increase reliability, the impact on system during minimizing DSP misoperation, adopts increment type PI to control formula:
Δu(k)＝u(k)-u(k-1)
＝K
P[e(k)-e(k-1)]+K
ie(k)
＝[(K
P+K
i)*e(k)]-K
Pe(k-1) (2)
In formula (2), △ u (k) is input signal sampled value variable quantity
Application fuzzy control rule, the input language variable of PI controller is error amount e, error rate value △ e, and output language variable is proportional gain factor Kp and the integration gain factor Ki of PI controller, and each linguistic variable Linguistic Value is described below:
During e={ is negative large, negative, negative little, zero, little, in, large, △ e={ negative large, negative in, negative little, zero, little, in, large, Kp={ zero, little, in, large, Ki={ zero, little, in, large, wherein in negative large, negative, negative little, zero, little, in, large referred to as { NB, NM, NS, z, PS, PM, PB}, error amount e and error rate △ e is quantized in the domain of [-6,6], similarly, zero, little, in, large referred to as { z, s, M, B}, and quantize in domain [0,6];
Determine the setting principle of PI type Fuzzy parameter:
A, Error Absolute Value | e (k) | time larger, in order to accelerate the response speed of system, and become for avoiding instantaneously and may cause differential supersaturation because starting time error greatly and make control action exceed tolerance band, larger Kp should be got, simultaneously for preventing saturation integral, avoid system responses to occur larger overshoot, should integral action be removed, namely get Ki=0;
B, Error Absolute Value | e (k) | with | △ e (k) | during for median size, in order to the response speed making system responses overshoot reduce again not influential system, Kp, and Ki can not get greatly, and less Ki should be got, Kp value need be of moderate size;
C, Error Absolute Value | e (k) | time less, in order to make system have good steady-state behaviour, the value of Kp and Ki should be increased, simultaneously in order to avoid vibration appears in system near set point, and consider the interference free performance of system, select suitable Kp value.
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| WO2016205404A1 (en) * | 2015-06-15 | 2016-12-22 | Milwaukee Electric Tool Corporation | Hydraulic crimper tool |
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