基于STM32的智能手套机运动控制系统设计与开发
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摘要
传统的纯机械齿轮结构自动针织手套机具有结构复杂、效率低下、故障率高、维护成本昂贵等诸多缺点,故多电机结构的智能伺服手套机成为新的发展方向;其中,智能手套机运动控制系统是决定其性能的关键;针对上述问题,设计开发了一款基于STM32F407高性能微处理器的智能手套机运动控制系统,系统实现了高速高精度的编织运动控制,并开发有网络监测、全中文示教编程等功能;同时,为解决主轴机头高速往返运行中存在的停顿现象,根据冲量定理规划其位置控制,针对带来的位置误差问题,设计了基于模糊逻辑的位置补偿控制算法,减小位置误差;最后,经过现场测试,系统能高效地完成手套编织工作,主轴机头重复定位精度高,且人机交互界面简洁易操作;该系统为智能手套机运动控制系统的开发应用提供较好的参考价值。
The structure of traditional automatic glove knitting machines is composed of plenty of gears,which brings complex production,low efficiency,high failure rate,high cost and other disadvantages.Thus,motors are employed to the machine to replace the gears and it becomes a new tendency of this industry.However,the motion control system(NCS)of the machine is still immature,which is a core component.To this end,a NCS is developed based on STM32 F407 in this paper.Besides the knitting motion control,network monitoring and teaching programming functions are also developed.On the other hand,when the principal axis of the machine runs in high speed round-trip,a tiny pause will occur when a point-to-point control method is used,which will seriously degrade the performance of the machine.To address the issue,aposition control method based on the impulse theorem is devised and a fuzzy logic control is applied to decrease position errors.Finally,product testing is performed in a factory.The NCS can complete the knitting tasks effectively,and the position errors of the principal axis are held small enough.The human-machine interface is succinct and efficient.Moreover,the NCS will provide a positive reference for the developments and applications of glove knitting machines.
The structure of traditional automatic glove knitting machines is composed of plenty of gears,which brings complex production,low efficiency,high failure rate,high cost and other disadvantages.Thus,motors are employed to the machine to replace the gears and it becomes a new tendency of this industry.However,the motion control system(NCS)of the machine is still immature,which is a core component.To this end,a NCS is developed based on STM32 F407 in this paper.Besides the knitting motion control,network monitoring and teaching programming functions are also developed.On the other hand,when the principal axis of the machine runs in high speed round-trip,a tiny pause will occur when a point-to-point control method is used,which will seriously degrade the performance of the machine.To address the issue,aposition control method based on the impulse theorem is devised and a fuzzy logic control is applied to decrease position errors.Finally,product testing is performed in a factory.The NCS can complete the knitting tasks effectively,and the position errors of the principal axis are held small enough.The human-machine interface is succinct and efficient.Moreover,the NCS will provide a positive reference for the developments and applications of glove knitting machines.
引文
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[2]赵子轩,袁嫣红,张建义.模块化手套机控制系统设计研究[J].机电工程,2014,31(5):607-611.
[3]汪木兰,朱昊,左健民.基于PSoC和FPGA的手套机电气控制系统开发[J].纺织学报,2007(10):103-107.
[4]詹建潮,王庆九,陈宗农,等.面向网络的全自动手套机控制系统研制[J].纺织学报,2004(4):110-112.
[5]郭得权,袁嫣红,张建义.基于ARM的手套机控制器设计[J].机电工程,2012,29(1):74-78.
[6]郝为强.S形曲线在伺服控制系统中的应用分析[J].伺服控制,2007(2):50-52.
[7]路云飞,朱勇.测量机传动系统刚性对测量精度影响分析[J].航空精密制造技术,2015,51(2):12-15.
[8]侯天兴,杨兴国,黄成,等.基于冲量定理的滚石对构筑物冲击力计算方法[J].岩石力学与工程学报,2015,34(S1):3116-3122.
[9]陈金法.泵站自动化控制系统的设计与实现[J].自动化技术与应用,2011,30(2):67-69.
[10]宋鑫,家玮.增强型并口EPP模式下多路压力传感器采集系统[J].现代电子技术,2005(22):77-78.
[11]张文滔,王钊,黄锐等.基于WIFI的室温氢检测系统的设计与研究[J].计算机测量与控制,2018,26(2):32-35.
[12]Yiu J.Getting Started with the KEIL RealView Microcontroller Development Kit[M].Elsevier Inc.2007:307-334.
[13]刘艳霞,桑兆辉.基于ARM芯片S3C4510的步进电机加减速控制[J].机床与液压,2007(7):180-181.