为了实现龙门双驱的高速、高精度同步需求,搭建双直线电机龙门双驱伺服进给实验平台,对比分析倍福控制器在不同进给速度下双驱同步进给系统的同步误差变化,并分析了加速度、运动位置对同步误差的影响.将同步误差视为随机信号,利用快速傅里叶变换将同步误差的时域信号变换为频域信号,分析龙门双驱系统在不同进给速度下产生的同步误差的频率与幅值.基于速度-位置下同步误差的实验数据,利用正弦曲线拟合建立同步误差与速度-位置影响因素的数学模型,通过实验对比验证该模型对预测同步误差的有效性.

为了避免为不同产品设计专用的复杂定位夹具、提高机床柔性化和自动化程度,研究了基于机器视觉的五轴点胶数控机床的工件定位算法.该文提出了一种耦合视觉系统的五轴机床运动学模型标定方法,平均重投影误差达到0.17像素水平.还提出了一种基于五轴机床运动学模型的工件定位算法,并采用机器视觉技术以及非线性优化方法实现了工件定位特征点的加工坐标求解,实验结果表明,通过定位结果求得的定位特征点两两实际物理距离与理论物理距离的平均误差为7.5 μm.

为了提高五轴机床转轴位姿标定的效率,提出了一种基于机器视觉求解双转台五轴机床转轴位姿(转轴向量和轴上一点)的方法.首先通过工业CCD相机拍摄不同转轴下的标定板照片,经过图像处理技术得到相机内外参;然后建立机床几何误差模型得到坐标系间的空间转换关系,从而计算得到转轴位姿在内的机床参数的初始解;最后通过levenberg-marquardt(L-M)算法得出最优的机床参数解值,随后,通过加工点跟随实验验证转轴位姿的精度.实验结果表明,所提出的求解方法满足实际加工精度要求,并且测量方法简单、快速.通过采集不同的标定板采图方式和L-M迭代初始值的仿真实验,验证了此方案具有良好的鲁棒性.

工业以太网现场总线EtherCAT的应用越来越广泛,为了开发基于EtherCAT的运动控制器,利用IgH EtherCAT Master for Linux开源框架和ZYNQ平台开发EtherCAT主站控制器;采用实时扩展保证Linux系统的实时性,通过改造数据帧收发通道降低通讯时的抖动;然后对EtherCAT通讯时的数据帧进行抓包分析.实验结果表明,此开发的主站控制器能很好地实现EtherCAT的技术功能,在1ms的通讯周期下,测得的抖动可维持在2μs以内,具备良好的实时性和稳定性,能有效应用于对实时性要求较高的多种工控领域.

分析SPARTAN6 FPGA芯片加载的原理和过程,设计一种基于Cortex-A8微处理器的FPGA配置接口,详细讨论了FPGA配置方法,各配置引脚的作用,完成了接口硬件原理图设计以及Linux下的驱动和应用软件设计,通过逻辑分析仪采集了配置过程各IO的波形并进行分析.该接口在嵌入式多轴运动控制器上工作良好,稳定可靠,加载完成XC6SLX16 FPGA固件只需要0.46s,可以在Linux下在线甚至远程升级固件,不需要专用FLASH芯片,不占用微处理器专用接口资源.该接口具有可移植性强、稳定可靠等优点,有一定的参考意义.

操作软件是现代电气运动控制系统的重要组成部分.为使人们更加方便地通过运动控制器控制电机进行电气运动,通过研究运动控制系统各部件之间的通信与控制原理,以及运动控制过程中所需功能,基于Qt Creator设计并实现了一款运动编程平台软件,不仅可满足基本操作控制需求,而且具有填表式编程功能.在定制设计的三轴运动控制系统实验台上进行操作测试实验,验证了该编程软件操作的有效性和控制便捷性.

介绍以STM32F4系列的微控制器开发板为实验平台实现对步进电机位置和速度控制程序的设计.通过在STM32F405芯片的IO口输出方波脉冲给到步进电机驱动器,实现对步进电机的控制.由于STM32F405芯片具有多个定时器,每个定时器又有多路通道可以输出方波脉冲信号,因此可以通过配置不同的定时器同时输出多几路不同频率的脉冲信号,实现对多轴的控制.为了使步进电机运行具有较好的加减速特性,在程序中加入了T型加减速的算法.该程序的设计对于进行嵌入式步进电机控制器的开发具有很大的参考意义.

如今在工控领域多数采用CAN总线进行数据传输,通过电脑实时显示各个节点数据的变化,而多数电脑没有CAN通信接口.针对此现象,采用内部集成了CAN控制器的基于Cortex-M4内核的32位高性能微控制器STM32F407设计通信转换器,实现CAN各个节点数据通过USB接口与电脑虚拟串口进行传输.软件上制定通信数据传输协议,保证通信的准确性和可靠性.通过实验证明,该设计通信实时性强、可靠性高,具有一定通用性,可在多数应用场合推广.

针对工业控制领域中,PID参数整定难的问题,提出基于均值的新型高效自适应惯性系数的粒子群算法,將测定控制系统整体性能的适应度值和决定粒子搜索能力的惯性系数结合,根据不同适应度值选用不同的惯性系数.在Simulink中,将改进的PSO算法运用到PID算法模型优化中,不断测试,得到PID参数性能,直至得到最优参数.将优化的参数与标准粒子群算法作仿真对比,验证该方法对PID控制器参数优化的有效性.

本文先用拉格朗日法对一款六自由度焊接机器人进行动力学分析，得出该机器人各个关节的峰值力矩理论值。并运用SolidWorks建立了该款机器人的三维装配模型，将其导入到Adams后进行动力学仿真分析，在Adams中仿真出焊接机器人在不同工况下各个运动情况，得出各个关节处的力矩图。并将仿真出的峰值力矩与所求的理论峰值力矩对比，验证仿真数据的正确性。将仿真结果与该机器人各个驱动关节处电机经减速器减速后的输出力矩对比，验证电机选型的合理性。

Aimed at the multi-axis motion process of LCD panel detection,the research on the safety control technology of the systematic anti-collision was done . Firstly, multi-axis motion mode was analyzed in the detection. Motion control flow of the system was designed. Secondly, by means of coordinate transforma-tion theory, multi-axis motion control was mapped to its unified reference coordinate of the equipment . Ac-cording to the analysis of different conditions of auto, manual and MDI mode in the detection, it was put forward that the integrated control method of motion safety based on prejudging of position and real-time de-tecting of interference region. Meanwhile, multi-axis motion control system of LCD panel detection was also integrally developed. Finally, according to detecting requirements, multi-axis motion testing of three condi-tional modes was carried out. The feasibility of the safety control technology of the systematic anti-collision was proved.

We introduced the application of machine vision in the dispensing industry. By using positioning system, we can calculate the new coordinates of the workpiece through the MARK point on it, and determine the dispensing trajectory again. Then we can control the dispensing equipment to complete the dispensing process. Experimental results showed that the trajectory of dispensing position precision can reach 0.02mm to overcome the problems of the high production cost, the low accuracy and the inefficiency by using traditional dispensing process.

This paper presented a method of splitting closed space oval graphics,to complete the space defined by three oval split.We also proposed two different concepts of split step and output step,to determine the split coordinate points and output coordinate points.Split step method was combined with variable central angle increment elliptical interpolation algorithm to ensure the stability of the split step.The algorithm is simple,stable,and can arbitrarily change the output step.

This article described how to use the methods of MFC class to get the control point on the contour of TrueType fonts,how to restore the curve equation of the contour,and to discrete the points of the contour.We have successfully implanted the methods in the CAD software.As a result,TrueTpye font can be effective used in industrial occasions.

Taking domestic self-developed six-joint industrial robot which was used in small-scale industrial production line as the research object,we determined the overall design of the structure of the robot according to its performance and structure requirement.The Solidworks 3D modeling software was used to construct the entity model of machine's arm,and the ANSYS software was used to complete the finite element static analysis of the big arm.The results complied with the design requirements.In this paper,the research provided a scientific basis for the rationality and reliability for the design of six-joint industrial robot,especially the big arm used in different load situations.

本文以吸附剂测试仪中对压力变化快速响应的需求为出发点,借鉴国外先进控制理念,采用高性能运动控制器和伺服电动缸对设备进行自动化改造,使其能够在无人监管的情况下,精确测量吸附剂的吸附能力,并且直观的将测量结果以坐标系的形式显示在触摸屏上,大大的提升了设备的测量能力和速度.

The paper focused on how to select the right software wait-state to improve the efficiency of the DSP systems under the premise of ensuring the stability of the system,and gave a detailed description by the design of TMS320VC33 and Flash.

In this paper,an intelligent human-machine interface of laser cutting machine is introduced based on Atmel 89C51RC.It employes keybord and LCD as I/O equipment and RS 232 for communication,the software followed the thinking of modular design.Practice shows that the interface is simple,easy to operate,work stable and reliable.

本文针对CO2激光电源在工业现场的损坏现象,在CO2激光电源的整流滤波电路上进行浪涌防护实验,并分析了浪涌抑制器件的选择,确定了CO2激光电源的浪涌防护措施,实验验证了该措施有效、可行.

The paper introduces the actuality and present problems of the field of Laser Carving briefly,establishes the frame project based the chips of DSP and FPGA and develops one kind of Moving Controlling Card-MPC03,of which discusses the card's functions and peculiarities and supplies successful resolving project to above discussed all problems.