Research On Control System Of The Electric Cylinder Based On ARM

Industrial automation design is to build a driving platform,which always is air cylinder, hydraulic cylinder or electric cylinder as the foundation.In many industrial applications, the use of the traditional hydraulic cylinder and air cylinder will be restricted by its own characteristics, while electric cylinder has an incomparable advantage.Electric cylinder and derived institutions constitute the three Cartesian coordinate manipulator hands, cylindrical mechanical hands, truss mechanical hands,two axis H/cross parallel mechanical structure, three axis sliding block type delta mechanical structure of complex institutions,which widely used in loading and unloading, material handling,gluing,welding,cutting,palletizing and other industrial automation equipment.In this paper, according to the structural characteristics of the electric cylinder,motion characteristics, combined with practical applications and working conditions, I researched electric cylinder products in the market, summed up technical parameters,and then put forward functional requirements and technical indicators of the cylinder control system.Fully considered with the cost, and compared with the advantages and disadvantages of various control system construction scheme, I proposed the electric cylinder control system based on ARM.In the hardware circuit part, the STM32F103ZET6 is the core control unit, with the auxiliary hardware module added in.It is including: minimum system circuit module,memory module, communication interface module, human-computer interaction module,pulse output module, limit and origin signal module, encoder input module, digital input and output modules etc.In the part of software system, it includes real-time operating system ?C/OS-III transplantation, graphical user interface ?C/GUI transplantation,light IP protocol stack LwIP transplantation, file system Fat Fs transplantation and application program designs,which mainly includes the design of the communication program, the design of similar G step code analysis,the design of multi-axis motion control program, the design of human-computer interaction program, the design of IO port monitoring program etc.Finally, this paper makes some research and verification on the high performance of the high-speed and high stability of space motion control of the speed planning and and interpolation algorithm.Considering introducing the velocity planning of the fastS-shaped acceleration and deceleration, the algorithm is introduced in detail and the simulation results are presented.Referring to the modern numerical control machining technology, the interpolation algorithm of continuous micro and short line segments is introduced.Interpolation calculation of complex trajectories is by means of spatial arc transition.What's more,the algorithm is introduced in detail and the simulation is compared with the direct transition method.The feasibility of the algorithm is verified by comparing and analyzing in the end.