Control System Design Of The Cabin Flexible Assembly Platform

At present, with the continuous development of China's aerospace industry and growing various types of cabin assembly work, missile manufacturing industry has brought forward higher request to the cabin assembly technology, such as the requirement of automation, short cycle, low cost and flexible assembly. This paper analyzes the status and the trend of development of flexible assembly technology for cabin at home and abroad, and control system of cabin assembly device is designed to meet the needs of automation, flexibility and visualization for cabin assembly.Firstly, according to the characteristics of cabin assembly, the assembly needs of cabin flexible assembly plateform is analyzed, and on this basis, the mechanical structure and the movement mechanism of the device is introduced, and a detailed review of the cabin assembly process is given.Secondly, the current situation of the development of the motion control network is introduced, and on the basis of Synq Net the high performance motion control network is determined, the control architecture of IPC and motion controller is selected, in view of the different situations the semi closed loop control or closed loop control mode is discussed, and also XMP-Synq Net-PCI motion control card, AKD servo drives and EB series servo motors are selected for the hardware of the control system, the control scheme of the device is refined, so as to build a good hardware environment for the following software development.Control software is as the soul of the movement control process, to ensure that the control system of assembly device can work properly, the development of the control software will start from the following two aspects. One is the lower driver software development based on the MPI movement function library of, including real-time communication between industrial computer and motion controller; the other is the management application program based on the industrial computer, using MFC architecture programming, the realization of human-computer interaction software is mainly composed of three parts: task query, assembly production and equipment monitoring, etc..Finally, the model of the force differential equation for the servo system of Transfer Plateform is established, and the formula of steady state error is derived from the angle of control principle, and the simulation model of MATLAB is used to solve the problem, and the measure to improve the accuracy of servo system is obtained.