CN102854828A - Servo control system of single-shaft high-speed dispensing robot - Google Patents
Servo control system of single-shaft high-speed dispensing robot Download PDFInfo
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Abstract
The invention discloses a servo control system of a single-shaft high-speed dispensing robot. The servo control system comprises a battery, an alternating current power supply, a signal processor, a processor unit, a high-speed direct current motor and a dispensing robot, wherein the signal processor is used for driving the processor unit under the current independently supplied via the alternating current power supply or a battery; and the processor unit is used for sending a control signal to the high-speed direct current motor, so as to control the movement of the dispensing robot. The servo control system of the single-shaft high-speed dispensing robot provided by the invention is a dispensing servo control system with high speed and high efficiency, and has the capacity of achieving the division of the work of a DSP (Digital Signal Processor) processor and an FPGA (Field Programmable Gata Array) processor, therefore, the DSP processor can be released from heavy workload, and the interference resistance can be greatly improved.
Description
Technical field
The invention relates to the technical field of adhesive dispensing robot, and particularly relevant for single shaft high speed adhesive dispensing robot servo-control system.
Background technology
In today of hi-tech fast development, traditional mode of production is increasingly backward, novel automated production will become the new century and accept the important way of market challenges, and the means of raising labour productivity are not only in robotization, and the Long-term Development Strategy of Enterprises Future 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, it is changing traditional production model, boost productivity and the adaptive faculty aspect in market is demonstrated great superiority, it is replaced the people out from the working environment of abominable danger simultaneously, carries out production strictly in line with rules and regulations, and this all is significant with social progress to promoting economic development.Along with manufacturing industry requires more and more higher to demand and the environmental protection of robot equipment and the working environment that improves laborer, special convection cell is controlled, and fluid drop, the automatic machinery adhesive dispensing robot that is coated on product surface or interiors of products are produced immediately.
The single shaft adhesive dispensing robot be mainly used in the Product Process glue, paint and other liquid Accurate Points, annotate, be coated with, put and drip to each product exact position, can be used for realizing getting ready, the function such as setting-out.This adhesive dispensing robot only has a power, can only do a kind of action, such as, the straight reciprocating motion on direction, perhaps rotatablely moving of a direction do not have aggregate motion.The single shaft adhesive dispensing robot generally may refer to linear motion unit, and a complete single shaft adhesive dispensing robot roughly is divided into following components:
1) motor: actuating motor is the power source of adhesive dispensing robot, and it carries out the relevant action that adhesive dispensing robot is walked at straight line according to the instruction of microprocessor;
2) algorithm: algorithm is the soul of adhesive dispensing robot, and adhesive dispensing robot must adopt certain intelligent algorithm to arrive more in addition from any quickly and accurately, forms point-to-point motion;
3) microprocessor: microprocessor is the core of adhesive dispensing robot, is the brain of adhesive dispensing robot.The information that adhesive dispensing robot is all comprises glue point size, positional information, and motor status information etc. all needs through microprocessor processes and makes corresponding judgement.
The single shaft adhesive dispensing robot combines multi-subject knowledge, and for the manipulative ability, team collaboration's ability and the innovation ability that promote students, the digestion of promotion student classroom knowledge and the scope of one's knowledge of expansion student are all very helpful.The adhesive dispensing robot technology carry out the talent that can cultivate large quantities of association areas, and then promote technical development and the industrialization process of association area.But because the unit of domestic this adhesive dispensing robot of research and development is less, R ﹠ D Level is relatively backward relatively, the structured flowchart of the single shaft adhesive dispensing robot servo-control system of research and development, and such as Fig. 1, long-play is found to exist a lot of safety problems, that is:
What (1) use as the power acquisition of adhesive dispensing robot is direct supply after the general AC power rectification, and whole glue is moved unsuccessfully;
What (2) adopt as the topworks of adhesive dispensing robot is stepper motor, and the problem that often can run into pulse-losing occurs, and causes mistake is appearred in the memory of position;
(3) owing to adopt stepper motor, so that organism fever is more serious, need sometimes to dispel the heat;
(4) owing to adopt stepper motor, so that the mechanical noise of system's running increases greatly, be unfavorable for environmental protection;
(5) owing to adopt stepper motor, its motor body generally all is heterogeneous structure, and control circuit need to adopt a plurality of power tubes, so that control circuit is relatively complicated, and has increased the controller price;
(6) owing to adopt stepper motor, so that system generally is not suitable at high-speed cruising, produce easily vibration when walking at a high speed;
(7) owing to adopting stepper motor, so that the moment less of system;
(8) owing to controlling improperly reason, causing sometimes, stepper motor produces resonance;
(9) because adhesive dispensing robot will close and start frequently, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer can't satisfy the requirement that adhesive dispensing robot starts fast and stops, and dynamic performance is bad;
What (10) relatively adopt all is the larger plug-in components of some volume ratios, so that automatically dropping glue machine people control system takies larger space, weight is relatively all heavier;
(11) owing to disturbed by the surrounding environment labile factor, singlechip controller often can occur unusually causing that adhesive dispensing robot is out of control that antijamming capability is relatively poor;
(12) owing to be subjected to single-chip microcomputer capacity and algorithm affects, adhesive dispensing robot is not stored the information of glue point, and information all when running into power-down conditions will disappear, this so that whole some glue process to restart;
(13) the some colloid system Once you begin will be finished whole some glue motion, middle point without any suspending or cushioning.
For satisfy at a high speed, the needs of High-efficient Production, must redesign based on monolithic processor controlled single shaft automatically dropping glue machine people control system existing, seek a kind of high speed, put the glue servo-drive system efficiently.
Summary of the invention
For the problems referred to above, the purpose of this invention is to provide a kind of single shaft high speed adhesive dispensing robot servo-control system, solved in the prior art single shaft adhesive dispensing robot control system at a high speed and 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 single shaft high speed adhesive dispensing robot servo-control system is provided, comprise battery, AC power, signal processor, processor unit, High-speed DC motor and adhesive dispensing robot, described signal processor provides separately current drives described processor unit by AC power or battery, described processor unit sends and controls signal to described High-speed DC motor, the motion of control adhesive dispensing robot.
In a 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 the servocontrol module, data memory module and I/O control module, wherein, dsp processor is used for the control human-computer interface module, the path read module, online output module, data memory module and I/O control module, the FPGA processor is used for control servocontrol module, and carries out in real time exchanges data between dsp processor and the FPGA processor and call.
In a preferred embodiment of the present invention, described processor unit further is connected with the output terminal of High-speed DC motor.
In a preferred embodiment of the present invention, described servocontrol module also comprises modular converter, and described modular converter is used for digital signal is converted to simulating signal.
Whether in a preferred embodiment of the present invention, described servocontrol module also comprises coder module, and described coder module judges whether to meet rate request for detection of the actual speed of adhesive dispensing robot, too fast or excessively slow, and sends control signal.
In a preferred embodiment of the present invention, described servocontrol module also comprises current module, and the output power that described current module is used for the adjustment battery reaches the scope that adhesive dispensing robot needs.
In a preferred embodiment of the present invention, described servocontrol module also comprises the speed module, described speed module is connected with the coder module communication, too fast or excessively slow when coder module detection adhesive dispensing robot actual speed, the speed module is regulated the adhesive dispensing robot actual speed according to the result that coder module detects.
In a preferred embodiment of the present invention, described servocontrol module also comprises displacement module, and whether described displacement module arrives set displacement for detection of adhesive dispensing robot, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
Single shaft high speed adhesive dispensing robot servo-control system of the present invention, in order to improve arithmetic speed, guarantee stability and the reliability of single shaft high speed adhesive dispensing robot 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 take into full account battery in the effect of this system, realize the function of Single Controller synchro control single shaft, give the control of FPGA processor the single-axis servo system of workload maximum in the single shaft high speed adhesive dispensing robot servo-control system, give full play to faster characteristics of FPGA processor data processing speed, and human-computer interface module, the path read module, online output module, the functions such as data memory module and I/O control module are given dsp processor control, so just realized the division of labor of dsp processor and FPGA processor, dsp processor is freed from the hard work amount, and antijamming capability strengthens greatly.
Description of drawings
Fig. 1 is the schematic diagram of single shaft adhesive dispensing robot servo-control system in the prior art;
Fig. 2 is the schematic diagram of the single shaft high speed adhesive dispensing robot 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 the speed curve movement of adhesive dispensing robot.
Embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present invention is described in detail, thereby so that advantages and features of the invention can be easier to be it will be appreciated by those skilled in the art that protection scope of the present invention is made more explicit defining.
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 process with vision signal, also be applied in gradually in the various senior control system.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, and greatly peripheral circuits design reduces system cost and system complexity, has also greatly improved the data storage processing power.
Hardware Implementation based on field programmable gate array (FPGA) and modern electronic design robotization (EDA) technology is recent years to have occurred a kind of brand-new design philosophy.Although FPGA itself is the cell array of standard just, the function that does not have general integrated circuit to have, but the user can be according to the design needs of oneself, by specific placement-and-routing instrument its inside is reconfigured connection, within the shortest time, design the special IC of oneself, so just reduce cost, shorten the construction cycle.Because the design philosophy of FPGA processor adopting software implementation realizes the design of hardware circuit, so just so that have good reusable and the property revised based on FPGA processor designed system, this brand-new design philosophy has been applied in gradually high performance interchange and has driven in the control, and fast-developing.
As shown in Figure 2, be the schematic diagram of the single shaft high speed adhesive dispensing robot servo-control system of preferred embodiment of the present invention.In the present embodiment, single shaft high speed adhesive dispensing robot servo-control system comprises battery, AC power, signal processor, processor unit, High-speed DC motor and adhesive dispensing robot, and described processor unit further is connected with the output terminal of High-speed DC motor.Wherein, described battery is lithium ion battery, is a kind of electric supply installation, for the work of whole system provides operating voltage.
Among the present invention, described signal processor provides separately current drives described processor unit by AC power or battery, and described processor unit sends and controls signal to described High-speed DC motor, the motion of control adhesive dispensing robot.
The present invention overcomes single-chip microcomputer in the prior art can not satisfy the stability of single shaft adhesive dispensing robot walking and the requirement of rapidity, the mode of operation of having given up the single-chip microcomputer that domestic adhesive dispensing robot adopts, the brand-new control model of DSP+FPGA processor is provided, control panel is take the FPGA processor as processing core, realize the real-time processing of digital signal, dsp processor is freed in the middle of the work of complexity, the signal processing algorithm and the response that realize part are interrupted, and realize data communication and storage live signal.
See also Fig. 3, described processor unit is a dual core processor, and it comprises dsp processor and FPGA processor, and the two mutually communication is carried out in real time exchanges data 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 for 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 for control 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 for reading the speed that has preset, acceleration, the parameter settings such as position; Online output module is used for the duty of prompting adhesive dispensing robot, such as being in the adhesive dispensing robot course of work 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, described modular converter comprises analog-digital converter (ADC, Analog to Digital Converter) and digital analog converter (DAC, Digital to Analog Converter); Whether described coder module judges whether to meet rate request for detection of the actual speed of adhesive dispensing robot, too fast or excessively slow, and sends control signal.
Described current module and battery are connected modular converter and are connected with controller.Modular converter is judged operating power according to the electric current of battery and controller, and power condition is fed back to battery, and the output power that current module is used for the adjustment battery reaches the scope that adhesive dispensing robot needs.
Described speed module is connected with the coder module communication, and to detect the adhesive dispensing robot actual speed too fast or excessively slow when coder module, the actual speed that the result that the speed module detects according to coder module regulates adhesive dispensing robot.
Described displacement module detects adhesive dispensing robot and whether arrives set displacement, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
Be a dual core processor for processor unit, under the power supply opening state, adhesive dispensing robot is introduced into self-locking state, then the glue dispensing valve of adhesive dispensing robot is placed on scrap rubber retracting device place, open the glue dispensing valve door then colloid automatically flow out, after evenly, begin to move to starting point, the Actual path parameter that the adhesive dispensing robot handle stores is transferred to the dsp processor in the controller, dsp processor is converted into the distance that the High-speed DC motor will move to these kinematic parameters, then with the communication of FPGA processor, the FPGA processor is according to the electric current of High-speed DC motor and the PWM ripple of optical code disk Information generation control High-speed DC motor movement, behind driving circuit, control motor movement, then by the FPGA processor the deal with data communication to dsp processor, continue to process follow-up running status by dsp processor.
In conjunction with above description, master system comprises the functions such as human-computer interface module, path read module, online output module; Kinetic control system comprises the functions such as servocontrol module, data memory module, I/O control module.Wherein the servocontrol module of workload maximum 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 in real time exchanges data and call.
The concrete function of single shaft high speed adhesive dispensing robot servo-control system is achieved as follows among the present invention:
1) operating personnel are installed in processing component on the anchor clamps;
2) opening power, can judge the supply voltage source at opening power moment dsp processor, when determining to be powered battery, if cell voltage low pressure, controller will block the PWM ripple output of FPGA processor, and this moment, the High-speed DC motor can not be worked, and voltage sensor will be worked simultaneously, the double-core controller sends the low pressure alarming signal, and battery is changed in the man-machine interface prompting;
3) start the adhesive dispensing robot automatic control program, load task by 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, and time-delay certain hour wait work begins;
6) in order to drive the motion of single shaft adhesive dispensing robot Quick-Point glue, this control system is introduced the FPGA processor, generate the PWM ripple of motor movement by it, but enter real-time communication by I/O mouth and dsp processor, controlled output and the blockade of its PWM waveform by dsp processor;
7) in automatically dropping glue machine people motion process, dsp processor can constantly store the distance of process or the some glue point of process, and according to the definite distance that will move next working point adhesive dispensing robot High-speed DC motor of these range informations, then dsp processor and the communication of FPGA processor, transmit these parameters to the FPGA processor, then the speed ladder diagram of controlling motor movement by the FPGA processor according to electric current and the optical code disk Information generation of High-speed DC motor, as shown in Figure 4, the area that comprises of ladder diagram is exactly the distance that adhesive dispensing robot High-speed DC motor will move;
8) if adhesive dispensing robot is found 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 process, the High-speed DC motor of adhesive dispensing robot is with the original place self-locking;
9) optical code disk that is contained on the High-speed DC motor 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 according to the traffic direction of High-speed DC motor 1 or subtract 1;
When 10) the position signalling A pulse of optical code disk and B pulse and Z pulse are low level simultaneously, just produce a position signalling to the FPGA processor, then the absolute position of record motor is converted into the particular location of adhesive dispensing robot in a glue component;
11) in motion process, if having received, controller puts at a high speed the glue order, controller can be according to adhesive dispensing robot in the particular location of a glue component and the position that should exist, send corresponding position data etc. to the FPGA processor, the FPGA processor is automatically transferred corresponding PID according to peripheral transducing signal and is regulated pattern, calculate the pwm control signal that the High-speed DC motor of adhesive dispensing robot need to upgrade by the FPGA processor, control is put at a high speed glue;
12) if when adhesive dispensing robot runs into unexpected outage in operational process, battery can automatically be opened and immediately adhesive dispensing robot be powered, when the flow currents of motor surpasses setting value, this Time Controller can block the PWM ripple output of FPGA processor immediately, the High-speed DC motor quits work, thereby has effectively avoided the generation of high-rate battery discharge;
13) if in a glue process, read the automatic pause point, the FPGA processor can be controlled the High-speed DC motor with the acceleration parking of maximum, make process automatic pause occur and store current information, until controller reads and again press START button information the FPGA processor is reworked, and transfer storage information adhesive dispensing robot can be worked on from the automatic pause point;
14) in motion process, pulsation appears if detect the torque of High-speed DC motor, and the torque of FPGA processor meeting auto-compensation has reduced the High-speed DC motor torque to an impact of glue process;
15) adhesive dispensing robot 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 effectively protected battery;
16) after the some glue motion of finishing whole processing component, glue dispensing valve can stop plastic emitting, and movement locus is walked out in time-delay;
17) adhesive dispensing robot resets position zero point, waits for the task in next cycle.
The beneficial effect that single shaft high speed adhesive dispensing robot servo-control system of the present invention has is:
1: owing to adopt high performance 32 bit DSP processors, so that system's processing speed increases greatly, requirement that can fine satisfied some colloid system rapidity;
2: in motion process, taken into full account the effect of battery in this system, constantly all the running status of adhesive dispensing robot is being monitored and computing based on DSP+FPGA double-core controller, when running into the AC power outage, battery can provide the energy immediately, avoided the failure of single shaft high speed adhesive dispensing robot servo-control system motion, and provide in the process of power supply at battery, the moment is observed the electric current of battery and protects, avoided the generation of large electric current, so fundamentally solved large electric current to the impact of battery, avoided the generation of the battery overaging phenomenon that causes owing to heavy-current discharge;
3: by FPGA processor process points glue robot motor's independent servocontrol, so that control fairly simplely, greatly improved arithmetic speed, solved the slower bottleneck of single-chip microcomputer operation in the prior art, it is short to have shortened the construction cycle, and system's portable ability is strong;
4: substantially realize full SMD components material, realized veneer control, not only saved control panel and taken up room, and be conducive to alleviating of adhesive dispensing robot volume and weight;
5: in order to improve arithmetic speed and precision, this automatically dropping glue machine people has adopted the High-speed DC motor to substitute the stepper motor of commonly using in the legacy system, so that operational precision improves greatly, efficient also is improved to some extent;
6: because this controller adopts the FPGA processor to process whole data and the algorithms of single-axis servo system, dsp processor is freed from the hard work amount, prevent that effectively adhesive dispensing robot is out of control, antijamming capability strengthens greatly;
7: because the control signal of motor is to generate by the FPGA processor, can export simultaneously PWM modulation signal and direction signal by the FPGA processor like this, by the driving circuit direct-driving motor, not only alleviated the burden of dsp processor, simplified interface circuit, and saved dsp processor internal composition position, speed control program, and the trouble of various pid algorithms, so that the debugging of system is simple;
8: in the adhesive dispensing robot operational process, controller can carry out on-line identification and utilize the relation of High-speed DC motor torque and electric current to compensate the torque of High-speed DC motor, and the shake of High-speed DC motor torque is on the impact of adhesive dispensing robot dynamic property when having reduced quick walking;
9: in the inner servocontrol of FPGA processor, integrated multiple PID regulates pattern, can automatically adjust its inner pid parameter according to the peripheral ruuning situation of robot, easily realize segmentation P, PD, PID control and nonlinear PID controller, owing to there is not dsp processor to participate in this computing, so that its motion process has certain adaptive function, and arithmetic speed is higher than the system of special-purpose motion chip controls, is conducive to improve the some glue speed of putting at a high speed colloid system;
10: owing to have a memory function, this so that the adhesive dispensing robot power down or run into fault after can transfer easily the good routing information of gluing, even yet secondary point glue easily after breaking down does not need artificial intervention;
11: in whole some glue process, added the breakpoint setting, be conducive to like this in motion process, estimate and put the good position of glue, found in advance a some glue problem.
The above only is 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 do; 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 (8)
1. single shaft high speed adhesive dispensing robot servo-control system, it is characterized in that, comprise battery, AC power, signal processor, processor unit, High-speed DC motor and adhesive dispensing robot, described signal processor provides separately current drives described processor unit by AC power or battery, described processor unit sends and controls signal to described High-speed DC motor, the motion of control adhesive dispensing robot.
2. single shaft high speed adhesive dispensing robot 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, described kinetic control system comprises the servocontrol module, data memory module and I/O control module, wherein, dsp processor is used for the control human-computer interface module, the path read module, online output module, data memory module and I/O control module, the FPGA processor is used for control servocontrol module, and carries out in real time exchanges data between dsp processor and the FPGA processor and call.
3. single shaft high speed adhesive dispensing robot servo-control system according to claim 1 is characterized in that, described processor unit further is connected with the output terminal of High-speed DC motor.
4. single shaft high speed adhesive dispensing robot 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 digital signal is converted to simulating signal.
5. single shaft high speed adhesive dispensing robot servo-control system according to claim 2, it is characterized in that, described servocontrol module also comprises coder module, described coder module is for detection of the actual speed of adhesive dispensing robot, judge whether to meet rate request, whether too fast or excessively slow, and send control signal.
6. single shaft high speed adhesive dispensing robot 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 for the adjustment battery reaches the scope that adhesive dispensing robot needs.
7. single shaft high speed adhesive dispensing robot servo-control system according to claim 5, it is characterized in that, described servocontrol module also comprises the speed module, described speed module is connected with the coder module communication, too fast or excessively slow when coder module detection adhesive dispensing robot actual speed, the speed module is regulated the adhesive dispensing robot actual speed according to the result that coder module detects.
8. single shaft high speed adhesive dispensing robot servo-control system according to claim 2, it is characterized in that, described servocontrol module also comprises displacement module, whether described displacement module arrives set displacement for detection of adhesive dispensing robot, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
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| CN103231382A (en) * | 2013-04-15 | 2013-08-07 | 苏州工业园区职业技术学院 | Image processing based servo control system for single-degree-of-freedom (SDOF) medium-speed full-automatic soldering robot |
| CN114527686A (en) * | 2021-12-24 | 2022-05-24 | 珠海博杰电子股份有限公司 | Dynamic control system for piezoelectric ceramic valve |
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| CN114527686A (en) * | 2021-12-24 | 2022-05-24 | 珠海博杰电子股份有限公司 | Dynamic control system for piezoelectric ceramic valve |
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Application publication date: 20130102 |