Design On Control System Of The Intelligent Creel Robot

With the rapid development of industry and increasing of labor costs, the automation of textile industry becomes a significant trend. Based on comprehensive analysis of traditional carpet weaving machines and current related technology, this paper brings about an automatic reform in traditional machines. As a result, the modified machine could winder automatically, carry yarn, transfer, connect the new and old yarn automatically and provide yarn to creel. In this way, when pattern changes, could it reduce the machine parking and artificial yarn changing time.Firstly, this paper introduces the structure and technical characteristic of CAN, analyzes the advantages and disadvantages of several CAN network topology structure, and makes the system showed in this paper become a tree network structure. If distance between systems is far and CAN network signal is weak, it could add trunk circuits to the system to improve the performance of the system.Due to the complexity of the system and the number of motors, traditional centralized control system is hard to meet the system requirements. Combined with the machinery structure of the system, this paper puts forwards one kind of hierarchical and distributed control system based on CAN. Without effecting the overall design, it use a hierarchical CAN network structure and increase or decreases the number of hierarchy arbitrarily, as a result, it improves the scalability and redundancy of the network. In the main network, it employs a master-slave mode, and a multi-master mode in the second layer network. Finally, the intelligent of the network increases greatly.With regard to the complexity of assignments in system and its artificial and automatic requirements, this paper shows a design of CAN network adapter and double CAN circuit board which is based on Cortex-MO ARM MCU. CAN network adapter could make CAN network communicate with PC and GALIL motion controller. Double CAN circuit can achieve functions of synchronization controller, the overall coordination and allocation of system tasks, while achieving bridge and repeater function, it can change the system topology and increase the communication distance.According to the system network performance and scalability requirements, we design a basic protocol for multi-robot networks proposed expansion frame ID with address assignment, enabling combination of the system information frame and multi-information of each segment separated. In29extended frame, the system uses8 bits as synchronous controller number, and the whole system is divided into multiple sub-networks segment, only ID through the synchronous controller can enter the sub-control, thus effectively filtering information, to improve the CAN network efficiency.Finally, the paper design a control system protocol, proposed the use of a timing diagram for the overall planning of complex tasks and assignments, including synchronous controller and each GALIL card in the timing diagram and includes a command to execute commands and returning command, the system according to the timing diagram draws synchronous controller assignments and GALIL card programming.