Research And Implementation The Control System Of Pneumatic Parallel Manipulator Base On FPGA

The characteristics of the6DOF parallel manipulator are that high stiffness, high precision and large carrying capacity, as a result, the the6DOF parallel manipulator are widely applied in force rendering devices, vehicle and aircraft Hardware-In-the-Loop simulation and test devices. Compared with ordinary serical manipulator, there are characteristics of complicated structure, small motion space, inverse positional problem, complicated controlling and driving circuit and difficulty in motion control algorithm development. The control circuit is particularly important as the development of intermediate links.First, the implementation of the6DOF parallel manipulator in different actuator are analyzed in the paper, and the significance of researching the pneumatic is explained. And then the research status at home and abroad is summarized, and the main work of this article is also introduced.Second, This paper describes the structure and working principle of the Field Programmable Gate Array (FPGA) base pneumatic servo, and the selection of pneumatic actuator, solenoid valve. The development, application and architecture of FPGA are introduced in the paper. A detailed description of the FPGA hardware and software development process is given.Third, Introduce the overall hardware design of the pneumatic control system. Study on measurement mechanism and signal acquisition of magnetoresistive displacement senor. The application of high-speed switching solenoid valve in the pneumatic system is also elaborated. By analyzing and researching the dynamic and the static of solenoid valve, power driving circuit of switching solenoid valve is designed. Then have a brief introduction to the other peripheral circuit of the pneumatic control system. Lastly, on the basis of board-level system design, using FPGA developing software Quartus II for logic design. Analyzing the principle of Fourfold-Frequency Direction-Judgment, then the implementation of its logical function. Introduce PWM signal generation mechanism and circuit structure, then the PWM module fit for FPGA implementation is designed.Developing a fixed-point incremental PID control module for pneumatic servo control base on FPGA. finally, through the simulation and functional verification of logic design above, And the optimal overall logic structure were summarized.