CN102841563A - Four-axis high speed dispensing robot servo-control system - Google Patents
Four-axis high speed dispensing robot servo-control system Download PDFInfo
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- CN102841563A CN102841563A CN2012103619936A CN201210361993A CN102841563A CN 102841563 A CN102841563 A CN 102841563A CN 2012103619936 A CN2012103619936 A CN 2012103619936A CN 201210361993 A CN201210361993 A CN 201210361993A CN 102841563 A CN102841563 A CN 102841563A
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Abstract
The invention relates to a four-axis high speed dispensing robot servo-control system. According to the invention, an FPGA (field programmable gata array) processor is introduced in a one-chip DSP (digital signal processor) to form a dual-core processor based on DSP and FPGA.For the dual-core processor, a multi-controller system realized by the original single-chip microcomputer is adopted through a centralized design, and the role of a battery in the multi-controller system is fully considered; synchronous control for four axes by one controller is realized; a four-axis servo system with maximum workload in the four-axis full-automatic high speed dispensing robot servo-control system is controlled by the FPGA processor to fully develop characteristic of faster data processing speed by the FPGA processor; functions such as a human-computer interface module, a path reading module, an online output module, a data storage module, and an I/O (input/output) module are controlled by the DSP; thus, division of work between the DSP and the FPGA processor is realized, and the DSP is liberated from heavy workload, so that the antijamming capability is greatly enhanced.
Description
Technical field
The invention relates to point gum machine device people's technical field, and particularly relevant for four-shaft high-speed point gum machine device people servo-control system.
Background technology
In today of hi-tech fast development, traditional mode of production falls behind day by day, and novel automated production will become the new century and accept the important way of market challenges.The means of raising labour productivity are not only in robotization, and the long term growth strategy of future enterprise is played an important role.Because robot is the main tool of novel robotization; The exploitation of industrial robot and application project thereof; Robot is become immediate productivity, and it is changing traditional production model, boosts productivity and the adaptive faculty aspect in market is demonstrated great superiority.Simultaneously it replace the people to come out from the working environment of abominable danger, carries out production strictly in line with rules and regulations, and this is to promoting economic development and social progress all is significant.Along with mobile phone, computer casing, CD-ROM device, printer; Manufacturing industry such as electronics industry, toy industry, medical equipment such as ink folder, PC plate, LCD, LED, DVD, digital still camera, switch, connector, relay, heating radiator, semiconductor require increasingly high to the demand and the environmental protection of robot equipment and the working environment that improves laborer; Special convection cell is controlled, and with the fluid drop, be coated on product surface or the inner automatic machinery point gum machine device people of product produces immediately.
Point gum machine device people is mainly used in the accurate point of glue, paint and other liquid in the product technology, annotate, be coated with, put and drip to each product exact position, can be used for realizing getting ready, setting-out, round or camber.Industries such as the research and development of " point gum machine device people " will encapsulate China's pcb board binding sealing, IC sealing, PDA sealing, LCD sealing, IC, IC is bonding produce huge economic benefit and social benefit.The higher relatively point gum machine device people of precision need carry out on the straight line on the XYZ plane of a three-dimensional, carry out gluing according to certain glue amount information on circular arc or the point-to-point position; If adopt one three point gum machine device people can simulate above-mentioned action simply; Because the motion of general its Z axle of point gum machine device people all is vertical movement; When needing the welding of side; This problem just can't be accomplished, and just need make its certain angle that can tilt by other one vertical angle that can regulate glue dispensing valve this time, so just formed easy four point gum machine device people.Four complete point gum machine device people roughly are divided into following components:
1) motor: actuating motor is point gum machine device people's a power source, and it carries out the relevant action that point gum machine device people walks according to the instruction of microprocessor on the plane of the processing component four-dimension;
2) algorithm: algorithm is point gum machine device people's soul, and point gum machine device people must adopt certain intelligent algorithm could be quickly and accurately to arrive more in addition from a bit, form point-to-point, or curvilinear motion;
3) microprocessor: microprocessor is point gum machine device people's core; Be point gum machine device people's brain, the information that point gum machine device people is all comprises glue point size; Positional information and motor status information etc. all need be passed through microprocessor processes and made corresponding judgment.
Point gum machine device people has combined multi-subject knowledge, for being lifted at school students'ability for practice, team collaboration's ability and innovation ability, promotes that the digestion of student classroom knowledge and expansion students'knowledge face are all very helpful.Point gum machine device people technology carry out the talent that can cultivate large quantities of association areas, and then promote the technical development and the industrialization process of association area.But because this point gum machine device people's of domestic research and development unit is less, it is relatively backward to research and develop level relatively, the structured flowchart of four point gum machine device people servo-control systems of research and development, and like Fig. 1, long-play is found to exist a lot of safety problems, that is:
What (1) adopt as point gum machine device people's power supply is the direct supply after the general AC power rectification, and whole some glue motion failed;
What (2) adopt as point gum machine device people's topworks is stepper motor, and the problem that runs into pulse-losing through regular meeting occurs, and causes mistake is appearred in the memory of position;
(3) owing to adopt stepper motor, make organism fever more serious, need dispel the heat sometimes;
(4) owing to adopt stepper motor, make the mechanical noise of system's running increase greatly, be unfavorable for environmental protection;
(5) owing to adopt stepper motor, its motor body generally all is a heterogeneous structure, and control circuit need adopt a plurality of power tubes, makes control circuit relatively complicated, and has increased the controller price;
(6) owing to adopt stepper motor, the system that makes generally is not suitable at high-speed cruising;
(7) owing to adopt stepper motor, make that the moment of system is less relatively;
(8) owing to controlling reason improperly, causing sometimes, stepper motor produces resonance;
(9) because point gum machine device people wants frequent closes and start, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer can't satisfy the requirement that point gum machine device people starts fast and stops, and dynamic performance is bad;
What (10) adopt relatively all is the bigger plug-in unit components and parts of some volume ratios, makes the automatically dropping glue robot control system take bigger space, and weight is relatively all heavier;
(11) owing to disturbed by the surrounding environment labile factor, singlechip controller occurs unusual through regular meeting, cause that point gum machine device people is out of control, and antijamming capability is relatively poor;
(12) for four point gum machine device people's some glue process; Generally require the pwm control signal of its four motors to want synchronously; Owing to receive the restriction of single-chip microcomputer computing power; The single-chip microcomputer servo-drive system is difficult to satisfy this condition, and it is inconsistent to make that point gum machine device people puts the glue amount, worse off cake during particularly for quick walking;
(13) owing to receive single-chip microcomputer capacity and algorithm affects, point gum machine device people is to the not storage of information of glue point, and information all when running into power-down conditions will disappear, and this makes whole some glue process to restart;
(14) the some colloid system Once you begin will be accomplished whole some glue motion, and the centre has no the point that suspends or cushion;
(15) owing to influenced by the single-chip microcomputer computing power, whole point gum machine device people does not have big problem basically when slow running, but when quickening in order to improve a colloid system efficient, serious problem will appear in the glued fruit of whole point.
For satisfy at a high speed, the needs of High-efficient Production, must design again based on monolithic processor controlled four-spindle automatic point gum machine device people control system existing, seek a kind of high speed, put the glue servo-drive system efficiently.
Summary of the invention
To the problems referred to above, the purpose of this invention is to provide a kind of four-shaft high-speed point gum machine device people servo-control system, solved in the prior art four point gum machine device people control system at a high speed with the defective of efficient poor performance.
For solving the problems of the technologies described above; The technical scheme that the present invention adopts is: a kind of four-shaft high-speed point gum machine device people servo-control system is provided; Comprise battery, AC power, first signal processor, secondary signal processor, processor unit, the first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator, the 4th high speed direct current generator and point gum machine device people; Described first signal processor provides current drives described processor unit separately through AC power or battery; Described processor unit sends first control signal, second control signal, the 3rd control signal and the 4th control signal respectively; Described first control signal, second control signal, the 3rd control signal and the 4th control signal are controlled the described second high speed direct current generator, the first high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator respectively; Second control signal through the described first high speed direct current generator, first control signal through the described second high speed direct current generator, the 3rd control signal through described the 3rd high speed direct current generator and the 4th control signal through described the 4th high speed direct current generator through the secondary signal processor synthetic after, the motion of reference mark glue robot.
In preferred embodiment of the present invention; Described processor unit is a dual core processor; Comprise dsp processor, FPGA processor and be located at dsp processor and the master system of FPGA processor and kinetic control system; Described master system comprises human-computer interface module, path read module and online output module; Described kinetic control system comprises servocontrol module, data memory module and I/O control module, and wherein, dsp processor is used to control human-computer interface module, path read module, online output module, data memory module and I/O control module; The FPGA processor is used to control the servocontrol module, and carries out exchanges data between dsp processor and the FPGA processor in real time and call.
In preferred embodiment of the present invention, described processor unit further is connected with the output terminal of high speed direct current generator.
In preferred embodiment of the present invention, described servocontrol module also comprises modular converter, and described modular converter is used for converting digital signal to simulating signal.
Whether in preferred embodiment of the present invention, described servocontrol module also comprises coder module, and described coder module is used for the actual speed of check point glue robot, judges whether to meet rate request, too fast or slow excessively, and sends control signal.
In preferred embodiment of the present invention, described servocontrol module also comprises current module, and the output power that described current module is used to adjust battery reaches the scope of point gum machine device people needs.
In preferred embodiment of the present invention; Described servocontrol module also comprises the speed module; Described speed module is connected with the coder module communication; Actual speed is too fast or slow excessively when coder module check point glue robot, and the speed module is come point of adjustment glue robot actual speed according to the result that coder module detects.
In preferred embodiment of the present invention, described servocontrol module also comprises displacement module, and described displacement module is used for check point glue robot and whether arrives set displacement, if from set far away excessively, send assisted instruction to controller; If near excessively, then send deceleration instruction to controller from set displacement.
Four-shaft high-speed point gum machine device people servo-control system of the present invention; In order to improve arithmetic speed, guarantee the stability and the reliability of four-shaft high-speed point gum machine device people servo-control system, the present invention introduces the FPGA processor in the dsp processor of monolithic; Formation is based on the dual core processor of DSP+FPGA; This processor is concentrated design to the multi controller systems of original chip microcontroller, and takes into full account the effect of battery in this system, realizes the function of four of single controller synchro control; Give the control of FPGA processor four maximum servo-drive systems of workload in the four-shaft high-speed point gum machine device people servo-control system; Give full play to FPGA processor data processing speed characteristics faster, and functions such as human-computer interface module, path read module, online output module, data memory module and I/O control module are given dsp processor control, have so just realized the division of labor of dsp processor and FPGA processor; From the hard work amount, free dsp processor, antijamming capability strengthens greatly.
Description of drawings
Fig. 1 is the schematic diagram of four point gum machine device people servo-control systems in the prior art;
Fig. 2 is the schematic diagram of the four-shaft high-speed point gum machine device people servo-control system of preferred embodiment of the present invention;
Fig. 3 is the block scheme of processor unit among Fig. 2;
Fig. 4 is point gum machine device people's a speeds curve.
Embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present invention is set forth in detail, thereby protection scope of the present invention is made more explicit defining so that advantage of the present invention and characteristic can be easier to it will be appreciated by those skilled in the art that.
Continuous development and maturation along with microelectric technique and computing machine integrated chip manufacturing technology; Digital signal processing chip (DSP) is because its computing power fast; Not only be widely used in communication and handle, also be applied in gradually in the various senior control system with vision signal.TMS320F2812 is the fixed point 32 bit DSP processors on the C2000 platform released of American TI company, is suitable for Industry Control, and Electric Machine Control etc. are of many uses.The operation clock also can reach 150MHz soon, and handling property can reach 150MIPS, every instruction cycle 6.67ns, and the IO mouth is abundant, and is enough concerning the general application of user, two serial ports.AD conversion etc. with 0 ~ 3.3v of 12.In-chip FLASH with 128k in the sheet * 16, the SRAM of 18K * 16, general application system can not wanted outer extension memory.Add independently ALU, have powerful digital signal processing capability.In addition, jumbo RAM is integrated in this chip, can greatly simplify periphery circuit design, reduces system cost and system complexity, has also improved the stores processor ability of data greatly.
Hardware implementation method based on field programmable gate array (FPGA) and hyundai electronics design automation (EDA) technology is recent years to have occurred a kind of brand-new design philosophy.Though FPGA itself is the cell array of standard just; There is not the general function that integrated circuit had; But the user can be according to the design demand of oneself; Placement-and-routing's instrument through specific reconfigures connection to its inside, in the shortest time, designs the special IC of oneself, so just reduces cost, shortens the construction cycle.Because the design philosophy of FPGA processor adopting software implementation realizes the design of hardware circuit; So just make and have good reusable and the property revised based on FPGA processor designed system; This brand-new design philosophy has been applied in the high performance AC driving control gradually, and fast-developing.
As shown in Figure 2, be the schematic diagram of the four-shaft high-speed point gum machine device people servo-control system of preferred embodiment of the present invention.In the present embodiment, four-shaft high-speed point gum machine device people servo-control system comprises battery, AC power, first signal processor, secondary signal processor, processor unit, the first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator, the 4th high speed direct current generator and point gum machine device people.Wherein, said battery is a lithium ion battery, is a kind of electric supply installation, for whole system operation provides WV.
Among the present invention; Described first signal processor provides current drives described processor unit separately through AC power or battery; Described processor unit sends first control signal, second control signal, the 3rd control signal and the 4th control signal respectively; Described first control signal, second control signal, the 3rd control signal and the 4th control signal are controlled the described second high speed direct current generator, the first high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator respectively; Second control signal through the described first high speed direct current generator, first control signal through the described second high speed direct current generator, the 3rd control signal through described the 3rd high speed direct current generator and the 4th control signal through described the 4th high speed direct current generator through the secondary signal processor synthetic after, the motion of reference mark glue robot.
The present invention overcomes that single-chip microcomputer can not satisfy the stability of four point gum machine device person walks and the requirement of rapidity in the prior art; The mode of operation of having given up the single-chip microcomputer that homemade point gum machine device people adopted; The brand-new control model of DSP+FPGA processor is provided; Control panel is an its processing core with the FPGA processor, realizes the real-time processing of digital signal, in the middle of the work of complicacy, frees dsp processor; The signal processing algorithm of implementation part interrupts with response, realizes data communication and storage of real time signal.
See also Fig. 3, said processor unit is a dual core processor, and it comprises dsp processor and FPGA processor, and the two communication is each other carried out exchanges data in real time and called.Described processor unit also comprises master system and the kinetic control system of being located at dsp processor and FPGA processor; Described master system comprises human-computer interface module, path read module and online output module, and described kinetic control system comprises servocontrol module, data memory module and I/O control module.Wherein, dsp processor is used to control human-computer interface module, path read module, online output module, data memory module and I/O control module, and the FPGA processor is used to control the servocontrol module.
Master system comprises human-computer interface module, path read module and online output module.Human-computer interface module comprises and begins/restart button and function selecting key; The path read module is used to read the speed that has preset, acceleration, parameter settings such as position; Online output module is used to point out point gum machine device people's duty, such as being in the point gum machine device people work process or the condition prompting that arrives at a station.
Kinetic control system comprises servocontrol module, data memory module and I/O control module.Wherein, the data memory module module is a storer; The I/O control module comprises RS-232 serial line interface, ICE port etc.; The servocontrol module further comprises modular converter, coder module, current module, speed module and displacement module.
Wherein, said modular converter comprises analog-digital converter (ADC, Analog to Digital Converter) and digital analog converter (DAC, Digital to Analog Converter); Whether said coder module is used for the actual speed of check point glue robot, judges whether to meet rate request, too fast or slow excessively, and sends control signal.
Said current module is connected with controller, modular converter with battery.Modular converter is according to the electric current of battery and controller, and the output power that judgment task power, and feed back to battery to power condition, current module are used to adjust battery reaches the scope of point gum machine device people needs.
Said speed module is connected with the coder module communication, and actual speed is too fast or slow excessively when coder module check point glue robot, the actual speed that the result that the speed module detects according to coder module comes point of adjustment glue robot.
Whether said displacement module check point glue robot arrives set displacement, if from set far away excessively, send assisted instruction to controller; If near excessively, then send deceleration instruction to controller from set displacement.
For processor unit is a dual core processor; Under the power supply opening state; Point gum machine device people is introduced into self-locking state; Be placed on scrap rubber retracting device place to point gum machine device people's glue dispensing valve then, open the glue dispensing valve door then colloid flow out automatically, begin to move to starting point after waiting evenly; Point gum machine device people gives the dsp processor in the controller Actual path parameter that stores and some glue information transmission; Dsp processor is converted into the distance of the point gum machine device people first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator and confidential operation of the 4th high speed direct current under the designated movement track to these kinematic parameters, and then with the communication of FPGA processor, the FPGA processor changes the servocontrol of four individual motor of signal Processing of the electric current that combines the motor feedback again and optical code disk according to these parameters; And give dsp processor the deal with data communication, continue to handle follow-up running status by dsp processor.
Describe in conjunction with above, master system comprises functions such as human-computer interface module, path read module, online output module; Kinetic control system comprises functions such as servocontrol module, data memory module, I/O control module.Wherein the maximum servocontrol module of workload is given the control of FPGA processor; Remaining comprises that master system gives dsp processor control; So just realized the division of labor of dsp processor and FPGA processor, also can carry out communication between the two simultaneously, carried out exchanges data in real time and call.
The function that four-shaft high-speed point gum machine device people servo-control system is concrete among the present invention realizes as follows:
1) operating personnel are installed in processing component on the anchor clamps;
2) opening power can be judged the supply voltage source at opening power moment dsp processor, when confirming to be powered battery; If cell voltage low pressure; With the PWM ripple output of blocking the FPGA processor, this moment, the first high speed direct current generator and the second high speed direct current generator can not be worked, and voltage sensor will be worked simultaneously; The double-core controller can send the low pressure alarming signal, and battery is changed in the man-machine interface prompting;
3) start-up point glue robot automatic control program loads task through the USB interface incoming task of controller or from hard disk;
4) topworks's (comprising glue brush and glue-spreading head) is moved to the starting point top, adjust initialized location;
5) the plastic emitting signal is effective, time-delay a period of time;
6) move in order to drive four point gum machine device people; This control system is introduced the FPGA processor; Generate the PWM ripple of four spindle motors motion by it, but get into real-time communication, by the output and the blockade of its PWM waveform of dsp processor control through I/O mouth and dsp processor;
7) in point gum machine device people motion process; Dsp processor can constantly store distance or the some glue point of process of process; And confirm the distance or the track that on two dimensional surface, will move according to these range informations to the next working point point gum machine device people diaxon first high speed direct current generator and the second high speed direct current generator; Dsp processor then with the communication of FPGA processor; Transmit these parameters and give the FPGA processor; The FPGA processor combines electric current and optical code disk signal and the peripheral transducing signal of motor collection to transfer corresponding PID automatically according to these parameters to regulate pattern, generate the PWM ripple of the control first high speed direct current generator and second high speed direct current generator motion automatically, then the servo motion of the control first high speed direct current generator and the second high speed direct current generator behind driving circuit more then;
8) point gum machine device people is in X and Y two dimensional surface motion process; Dsp processor can be confirmed the distance of the confidential operation of the 3rd high speed direct current and the angle of the confidential inclination of the 4th high speed direct current according to the glue dot information; Dsp processor then with the communication of FPGA processor; Transmit these parameters and give the FPGA processor; The FPGA processor combines electric current and optical code disk information and the peripheral sensor signal of the 3rd high speed direct current generator and the 4th high speed direct current generator to transfer corresponding PID automatically according to these parameters to regulate pattern then then; Generate the PWM ripple of control the 3rd high speed direct current generator and the 4th high speed direct current generator motion, behind driving circuit, control the servo motion of the 3rd high speed direct current generator and the 4th high speed direct current generator then, the 3rd high speed direct current generator and the 4th high speed direct current generator are accomplished simultaneously in this control system;
9) if no matter the automatically dropping glue robot controller is found the first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator glue point and endless loop occurred and will send interrupt request to dsp processor apart from finding the solution in motion process; Dsp processor can be to interrupting doing very first time response; If the interrupt response of dsp processor does not have enough time to handle; The first high speed direct current generator of automatically dropping glue robot, the second high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator are with the original place self-locking; And storage current information; After the pending fault eliminating, transfer a glue information during secondary opening again, continue to carry out uncompleted task;
10) optical code disk that is contained on the first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator can be exported its position signalling A and position signalling B; The position signalling A pulse of optical code disk and the every variation of B pulse logic state once, the location register in the FPGA processor can add 1 or subtract 1 according to the traffic direction of the first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator;
When 11) the position signalling A pulse of optical code disk and B pulse and Z pulse are low level simultaneously, just produce an INDEX signal and give the FPGA processor, the absolute position of record motor is converted into the particular location of automatically dropping glue robot in four-dimentional space then;
12) in motion process; Controller can be according to point gum machine device people in the particular location of a glue component and the position that should arrive; Send FPGA processor processes; The FPGA processor is transferred corresponding PID automatically according to peripheral transducing signal and is regulated pattern; Calculate the pwm control signal that the first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator of automatically dropping glue robot need upgrade by the FPGA processor, determine the speed that the first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator need upgrade, the speed of motor is quickened and slows down to satisfy figure 4;
13) if when point gum machine device people runs into sudden power in operational process; Accumulator can be opened automatically and immediately point gum machine device people supplied power; When the first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator and the 4th any one motor of high speed direct current generator electric current in motion process surpasses setting value; Controller can be controlled the FPGA processor immediately and quit work, thereby has avoided the generation of high-rate battery discharge effectively;
14) if in a glue process, read the automatic pause point on the man-machine interface; The FPGA processor can be controlled the acceleration parking with maximum of the first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator; Make process automatic pause occur and store current information; Read up to controller and to press START button information once more the FPGA processor is reworked, and transfer canned data point gum machine device people can be worked on from the automatic pause point;
15) in motion process, pulsation appears if detect the torque of motor, and controller is compensation automatically, has reduced motor torque to an influence of glue process;
16) point gum machine device people can detect cell voltage constantly at operational process, and when low pressure appearred in system, sensor meeting notification controller was opened and sent alarm, has protected battery effectively;
17) after the some glue motion of accomplishing the whole machining process parts, glue dispensing valve can stop plastic emitting, and movement locus is walked out in time-delay;
18) point gum machine device people resets position zero point, waits for following one-period.
The beneficial effect that four-shaft high-speed point gum machine device people servo-control system of the present invention has is:
1: owing to adopt high performance dsp processor and FPGA processor, make system handles speed increase greatly, requirement that can fine satisfied high speed point colloid system rapidity.
2: in motion process, taken into full account the effect of battery in this system, constantly all point gum machine device people's running status has been monitored and computing based on DSP+FPGA double-core controller; When running into the AC power outage; Battery can provide the energy immediately, has avoided the failure of automatically dropping glue system servo-drive system motion, and provides in the process of power supply at battery; The moment is observed the electric current of battery and protects; Avoided the generation of big electric current, so fundamentally solved of the impact of big electric current, the generation of the battery overaging phenomenon of having avoided causing owing to heavy-current discharge to battery;
3: by the independent servocontrol of four motors of FPGA processor processes point gum machine device people; Make that control is fairly simple, improved arithmetic speed greatly, solved the slower bottleneck of scm software operation in the prior art; It is short to have shortened the construction cycle, and the program transportability ability is strong;
4: realize full paster components and parts material basically, realized veneer control, not only saved control panel and taken up room, and help alleviating of point gum machine device people's volume and weight;
5: in order to improve arithmetic speed and precision, this point gum machine device people has adopted the high speed direct current generator to substitute the stepper motor of using always in the legacy system, makes operational precision improve greatly, and efficient also is improved to some extent;
6: because this controller adopts FPGA processor processes lot of data and algorithm, from the hard work amount, free dsp processor, prevented that effectively point gum machine device people is out of control, antijamming capability strengthens greatly.
7: because the control signal of No. four motors is through the output of FPGA processor, can export PWM modulation signal and direction signal simultaneously by the FPGA processor like this, through the direct drive motor of driving circuit; Not only alleviated the burden of dsp processor; Simplify interface circuit, and saved dsp processor internal composition position, speed control program, and the trouble of various pid algorithms; Make that the debugging of system is simple, and realized four real servo-controlled synchronisms;
8: in point gum machine device people operational process, controller can carry out on-line identification and utilize motor torque and the relation of electric current compensates the torque of motor, and the motor torque shake is to the influence of point gum machine device people dynamic property when having reduced quick walking;
9: in control; Multiple PID adjusting pattern that the FPGA processor is inner integrated; Can adjust its inner pid parameter automatically according to the peripheral ruuning situation of robot, easily realize segmentation P, PD, PID control and nonlinear PID controller, make system have certain self-adaptation;
10: owing to have a memory function, this makes can transfer the good routing information of gluing after the point gum machine device people power down easily, even also secondary point glue easily after breaking down;
11: in whole some glue process, added the breakpoint setting, helped like this in automatic motion process, estimating and put the good position of glue, found a some glue problem in advance.
The above is merely embodiments of the invention; Be not so limit claim of the present invention; Every equivalent structure or equivalent flow process conversion that utilizes instructions of the present invention and accompanying drawing content to be done; Or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (7)
1. four-shaft high-speed point gum machine device people servo-control system; It is characterized in that; Comprise battery, AC power, first signal processor, secondary signal processor, processor unit, the first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator, the 4th high speed direct current generator and point gum machine device people; Described first signal processor provides current drives described processor unit separately through AC power or battery; Described processor unit sends first control signal, second control signal, the 3rd control signal and the 4th control signal respectively; Described first control signal, second control signal, the 3rd control signal and the 4th control signal are controlled the described second high speed direct current generator, the first high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator respectively; Second control signal through the described first high speed direct current generator, first control signal through the described second high speed direct current generator, the 3rd control signal through described the 3rd high speed direct current generator and the 4th control signal through described the 4th high speed direct current generator through the secondary signal processor synthetic after, the motion of reference mark glue robot.
2. four-shaft high-speed point gum machine device people servo-control system according to claim 1; It is characterized in that; Described processor unit is a dual core processor; Comprise dsp processor, FPGA processor and be located at dsp processor and the master system of FPGA processor and kinetic control system, described master system comprises human-computer interface module, path read module and online output module, and described kinetic control system comprises servocontrol module, data memory module and I/O control module; Wherein, Dsp processor is used to control human-computer interface module, path read module, online output module, data memory module and I/O control module, and the FPGA processor is used to control the servocontrol module, and carries out exchanges data between dsp processor and the FPGA processor in real time and call.
3. four-shaft high-speed point gum machine device people servo-control system according to claim 2 is characterized in that described servocontrol module also comprises modular converter, and described modular converter is used for converting digital signal to simulating signal.
4. four-shaft high-speed point gum machine device people servo-control system according to claim 2; It is characterized in that; Described servocontrol module also comprises coder module, and described coder module is used for the actual speed of check point glue robot, judges whether to meet rate request; Whether too fast or slow excessively, and send control signal.
5. four-shaft high-speed point gum machine device people servo-control system according to claim 2 is characterized in that described servocontrol module also comprises current module, and the output power that described current module is used to adjust battery reaches the scope of point gum machine device people needs.
6. four-shaft high-speed point gum machine device people servo-control system according to claim 4; It is characterized in that; Described servocontrol module also comprises the speed module; Described speed module is connected with the coder module communication, and actual speed is too fast or slow excessively when coder module check point glue robot, and the speed module is come point of adjustment glue robot actual speed according to the result that coder module detects.
7. four-shaft high-speed point gum machine device people servo-control system according to claim 2; It is characterized in that; Described servocontrol module also comprises displacement module; Described displacement module is used for check point glue robot and whether arrives set displacement, if from set far away excessively, send assisted instruction to controller; If near excessively, then send deceleration instruction to controller from set displacement.
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