Development Of Automatic Transmission Control System For Medical Instruments Based On PMAC

This paper takes the medical instrument automatic transmission control system as the research background,and discusses the design and development process of the automatic transmission control system based on PMAC.First,the overall scheme and circuit design are carried out.Then,combined with the research on the key technologies in the system automation delivery process,the system software development and realize the various control functions are completed.At last,the system debugging and function test are finished.The following work are done in this paper:(1)Based on the technical indexes and functional demands of the system,the total design plan of an automatic conveying control system is carried out,the mechanical structure is a Cartesian coordinate robot,the control core is PC and motion control card.The selection of mechanical structures and hardware components,the circuit design and wiring are finished.(2)The process design of the system automatic conveying scheme is carried out.In order to improve the stability and rapidity of the medical instrument automatic transmission control system,the start-stop planning,speed preview and multi-axis linkage of the movement are studied.Firstly,based on the analysis and comparison of various start-stop planning curves,the applicability of the S-curve in the motion function is studied,so that the acceleration of the three axes in the start-stop phase is continuous without mutation.Then the Speed forward-looking technology of the continuous straight line junction in the transport motion is studied,which effectively shortens the system motion time and improves the work efficiency.Finally,the multi-axis linkage linear interpolation algorithm of the system is studied to ensure the stability and rapidity of the motion of each axis under multi-axis linkage.(3)Based on the dual CPU structure of the system PC and PMAC,the software system development consisting of upper and lower computer software is completed.Both of the upper and lower software adopt modular design ideas.The upper human-computer interaction software is developed in Delphi.By developing the initialization communication module,motion parameter command delivery module,status display monitoring module and other modules,the software development of the automatic transferarea,display area,basic functions area,status bar and other functional partitions are realized.The lower software develops the PMAC programs of the motor initialization,high speed data collection,PLC monitoring and other modules on the controller.Combined with the research of key technologies,the development of single-axis orientation,positioning,zero-return movement and various automatic conveying motion functions have been completed.Finally,the PC and PMAC are configured to enable the two to complete network port communication.(4)According to the system performance indicators,the initial debugging of the system is completed.The debugging work includes three parts: hardware debugging,closed-loop debugging,and function and indicator verification.Hardware debugging includes electrical debugging and controller driver configuration;closed-loop debugging is mainly for debugging of steady-state characteristics and dynamic precision;function and indicator verification means that various indicators are measured during function verification,and the start and stop involved in the motion function is started.Algorithms such as planning,speed preview,and linear interpolation have been validated in the system.The product will be delivered soon.