Double-joint Synchronous Measurement And Control System Of Self-driven AACMM

In the working process of the self-driven AACMM,it has relatively high requirements for its repetitive positioning accuracy and dynamic measurement accuracy.Therefore,it is necessary to perform high-precision real-time measurement of the encoders at the end of each joint and the motors of the six joints.High-precision synchronous control.In order to ensure that the measurement and control system of the self-driven AACMM has good synchronization,stability and real-time performance,this article refers to the measurement and control system of the six-degree-of-freedom tandem robot,and studies the double-joint synchronous measurement and control system of the self-driven AACMM,laying the foundation for the final realization of its overall measurement and control system.First,the overall structure,working principle,kinematics model and trajectory planning of the self-driven AACMM are introduced.On this basis,the "FPGA+STM32"architecture is determined as the core of the motion controller in the measurement and control system,and introduced The framework,technical indicators and functions of each part of the double-joint synchronous measurement and control system of the self-driven AACMM are described.The surface-mount three-phase PMSM is selected as the closed-loop servo drive device for each joint of the self-driven AACMM.The basic structure,working characteristics and mathematical models of the motor under different coordinate systems are introduced,and detailed analysis and determination are made The three-closed-loop control strategy of a surface-mounted three-phase PMSM is established,and two surface-mounted three-phase PMSM synchronous control system simulation models are built in MATLAB/Simulink.According to the performance requirements of the self-driven AACMM measurement and control system,the overall hardware system and related circuits of the motion controller with the "FPGA+STM32" architecture as the core are designed,including the FPGA minimum system circuit,the joint end encoder acquisition circuit,CAN bus communication interface circuit,serial communication interface circuit,STM32 minimum system circuit,motor drive signal interface circuit,power drive circuit,current sampling circuit,control and feedback signal interface circuit.At the same time,the program of data acquisition of joint terminal encoder,synchronous control and communication of two table-mounted three-phase PMSM are designed in the FPGA software.In the STM32 software,a three-loop control program based on id=0 vector control strategy for a single table-mounted three-phase PMSM is designed,and the related program is designed in the upper computer software LabVIEW.Finally,an experimental platform for data acquisition ofj oint end encoders and two surface-mounted three-phase PMSM synchronous control was built,and conducted a performance verification experiment.According to the experimental results,the anti-disturbance module in the data acquisition program of the joint end encoder can effectively filter out interference and noise.The FPGA and the 16-bit NI USB-6229 data acquisition card with a sampling frequency of 1MHz are completely consistent with the data collected by the same encoder.The synchronization control program of two surface-mount three-phase PMSM has good real-time and synchronization.,and the angle error of the joint rotation is within the allowable range.The dual-joint synchronization measurement and control system of the self-driven AACMM designed in this paper has good stability,real-time and synchronization.Figure[64]table[6]reference[83]...