Motion Control System Of Welding Torch Based On DSP And UC/OS-II

Welding technology become more and more important in many departments of national economy. Welding automation is getting more concern accompany with the rapid development of science and the appearance of more new material and complex welding structure. In the aspect of auto-controlling of motion in welding, the devices of profiling are lack of flexibility and automatic, and the robots used in welding are expensive and complex. At the same time, the digital signal processor was lower price and more widely used and the embedded real-time operating system was highly developed. These make the motion control develop to multi-task, high–precision and real-time.In order to master the disagree of the cost and the automatic, accuracy and flexibility, this paper design a system of three-axis motion control with the core DSP to achieve coordinated movement of torch in XYZ three-axis, thus realizing the torch along the two-dimensional Weld-curve and the complex three-dimensional space of the Weld-curve motion. Use the TI's TMS320LF2407A with high speed, low power consumption, more control resources, and it is very suitable for real-time control needs. Take the uC/OS-II Embedded operating system into system and build a real-time multi-mission platform. On the base of search the need of welding torch in motion of welding, design the circuits of DSP system and reasonable driving circuit; accomplish the constant-motor-step and constant-torque-breakdown micro-step control of step motor, and accomplish interpolation calculation, SPWM micro-step control and improved digital PI control in uC/OS-II, meeting the demand for real-time control and maintaining the system scalability, optimized for upgrading.Therefore, this paper designes a system of the torch three-axis motion control with low-cost, high-performance, facilitate the expansion for the welding.