Design And Implementation Of Control Strategy Of Sampling Machine Based On ARM

The sampling machine is a sampling device which is widely used in grain enterprise.The sample machines currently used are generally developed by using industrial computers and PLCs.The cost of development is high and the process of sampling relies on the manual operation which is cumbersome.Because of the low cost and good maintainability of embedded systems,embedded systems become more and more widely used in the field of industrial control.This thesis uses ARM as the core processor to make research on the automatic control system of the sampling machine.Firstly,this thesis analyzes the mechanical structure,working principle and project requirements of the single-arm sampling machine,and summarizes the requirements of the prototype in the automation control.Under the premise of full investigation,the overall design scheme of the automatic sample control system of the industrial touch screen and ARM is proposed.The thesis focuses on the analysis and solution of the problems caused by the prototype in actual working conditions.The analysis and improvement of the imprecision of point-by-point Interpolation algorithm in the case of multi-axis linkage is made.The interpolation action with too large step size is subdivided according to the reference value.Secondary interpolation is performed to ensure the stability of the machine during the operation.The residual vibration caused by the belt drive structure on the swing arm of the sampling machine is modeled and compensated,and the zero-oscillation shaper is introduced to suppress the residual vibration at the end of the swing arm.The problem caused by the physical deformation which is caused by the force of the swing arm is modeled,and the software compensation is performed on the basis of the model.Then,the hardware of the system is designed according to the overall scheme of the system.Based on the hardware platform of the system,the human-machine interface and software program of ARM are developed,including the implementation of control algorithm,the signal processing of inter-module communication,digital quantity,pulse quantity and encoder and the implementation of compensation algorithm.At last,the entire system is verified on the prototype,and the system can run safely,stably and reliably.