The Control System Design And Redundant Drive Control Research For5UPS-PRPU Redundant Parallel Machine Tool

This paper finds that the control system has greatly restricted the achievements ofredundancy drive control strategies, based on the analysis of the existing5UPS-PRPURedundant Parallel Machine Tool (RPMT) PMAC Control System in our laboratory, andbecause of the existence of internal wiring cabinet aging, control system wiring’scomplexity, maintenance difficulty,5UPS-PRPU Redundant PMT UMAC Control Systemis designed, and several redundant drive control strategies and deepen the redundant drivecontrol research are proposed.Firstly, the existing5UPS-PRPU RPMT PMAC Control System is briefly analyzed,with its deficiencies in support of the redundant drive control experiments pointed out.According to the requirements of PMT redundant drive and the principle of wiring andmaintenance concision, the RPMT overall control system hardware design is determined,and5UPS-PRPU RPMT PMAC Control System is built in the structure of “IPC+UMAC motion control card”, and this paper details the electrical design and selection ofthis system.Secondly, the parameters of5UPS-PRPU RPMT UMAC Control System is tuned,including the parameters of Panasonic AC servo motor drive, UMAC motion control cardand spindle motor drive.Thirdly, with Windows XP operating system as the platform and by Visual Basic6.0programming language, the open PMT control system software is developed in a modularapproach, which includes modules of interactive interface, security, rod length calibration,single chain drive, interpolation code, I/O control, spindle control, mode selection and soon.Finally, the dynamic model of5UPS-PRPU RPMT is built in Kane method, and itsredundant driving force with no load is solved in the use of optimization algorithms. Thispaper proposes several redundant drive control strategies and conducts some experiments,which provide a reference to redundant drive control studies, and proves that5UPS-PRPU RPMT UMAC Control System is reliable and can provide strong support for theredundant drive and related experiments’ conducting.