Design Of Control System For Three-Axis Servo Injection Molding Machine Manipulator

With the development of the industrial automation and the rising cost of human resources in our country, the simple oblique arm injection molding machine manipulator, pneumatic injection molding machine manipulator and single axis servo injection molding machine manipulator cannot match the development of the Injection Molding industries. The three-axis or five-axis servo injection molding machine manipulator will be more and more popular in the injection molding industries, as they can provide high performance, and carry out complex activities.Based on the practical needs of enterprises injection and the detailed review of the working process of injection molding machine and three-axis servo rampant injection molding machine manipulator, This dissertation has completed the design of manipulator control system. The control system adopts master and slave structure and is dvivided into upper computer and lower computer, based on the S3C2416(the core processor of upper computer) and STM32F303VCT6(the core processor of lower computer) processors, respectively. The established system introduced the plane stright line, the space straight line and the plane arc interpolation algorithm, carry out the stacking, detecting, adapting and obstacle avoidance functions and improved the efficiency of manipulatorupon achieving the fundamental functions of the manipulator. Moreover, the online program module, which can be utilized to setup the flexible configuration functions, has also been combined in the established system, and then it can be utilized to expend the functions of the manipulator based on the practical requirement of the different applications.In this dissertation, according to the work characteristics of the manipulator and the needs of the control system, the overall scheme is introduced in detail from five aspects: the overall structure, the control algorithm, the task assignment, the state design and the communication design firstly. Secondly, the hardware circuit board based on the core processor of S3C2416 and an user-friendly upper computer software have been developed based on the practical requirement of the control system. To improve the operation efficiency of the upper computer software, the multi-threading mechanism has been introduced in the system, and then a simple, flexible online programming module has been designed and implemented. Thirdly, Based on the characteristics of lower computer system, the design of hardware circuit is completed,which is established upon the core processor of STM32F303VCT6, and adopted architecture of foreground and background, Completed the programm of the three state, S-type acceleration and deceleration algorithm and interpolation algorithm, and developed lower computer software of real-time, high reliability. Finally, the communication protocol based on the communication characteristics between the upper and lower computers has been setted-up, which can provide the fast and secure data transmission performance.The performance of the control system has been testified based on the experimental of control algorithm, positioning accuracy and online programming. It has been proved that the designed system can match the design requirements and has a good application prospects.