Research And Implementation Of 3-RPS Parallel Machine Open Control System Based On PMAC

As the parallel machine tool can solve the problem that asymmetric structure of traditional machine tool directly causes uneven stress and thermal deformation in the production and processing,large bearing capacity,large error,complicated and bulky structure,it has high practical value.Therefore,Many scholars have made in-depth researches on parallel machine tools,and less-degree-of-freedom parallel machine tools have become a hot spot in recent years.The 3-RPS parallel machine tool belongs to one of the more representative ones,and its structural rigidity is high,Fast response,three parallel drive rod,which is conducive to real-time control,and has been widely used in actual production,the subject of the main 3-RPS parallel mechanism as the research object to study the control system.First of all,this paper mainly researches and analyzes the open control system both at home and abroad.Based on this,the overall control scheme of 3-RPS parallel machine tool is proposed as IPC+PMAC.The control system of IPC,motion controller,servo Motor,servo drive selection.According to the hardware structure has been selected to design the wiring of the hardware system,including the system hardware platform wiring,PMAC and IPC wiring,PMAC and servo system wiring,shaft position control wiring,servo feedback wiring.Secondly,through the built-in hardware system position control and other aspects of the drive motor to complete the machine tool trajectory interpolation motion,The position of the control shaft can be obtained.Then,the PMAC application system development tools software PEWIN32 Pro the actual control of the machine PID parameter adjustment.The step function is used as the input of the system,and the PID parameters are adjusted by the step response to complete the debugging of the system dynamic characteristics.By adjusting the feedforward speed and the feedforward of the acceleration by the parabola,the following error of the system can be reduced or eliminated.Through the commissioning,the rapid response and stability control of various institutions have been realized.Then,the software system design of the machine tool,PEWIN32 Pro software to establish PMAC and PC communication exchange mechanism to complete the dynamic link library and host computer communication.After adjusting the whole control system,this paper carries out a simple motion program running test of the machine tool,through the test machine can achieve linear motion,circular motion,single or multi-axis incremental motion and X,Y,Z axis linkage.Then under the Windows XP environment,based on VB software well-designed man-machine interface,including the servo switch control,back to zero,operating space,point to point,joint coordinates and set the interface to achieve the entire system of motion control.Finally,the prototype test of 3-RPS parallel machine tool is carried out.Experiments show that the control plan of IPC+PMAC can precisely coordinate the three axes of machine tool X,Y and Z,and can perform the actual milling bevel and inclined hole drilling.