Analysis Of Motion Characteristics Of Multi-axis Hair-planting Machine And Study Of Its Control System

The hair-planting machine has jitter after the high-speed positioning is finished,and reducing the jitter of the positioning end of the table has a significant significance for the improvement of the planting efficiency.The content of this thesis is aimed at the research of vibration suppression algorithm and the realization of control system after the high speed positioning of the hair-planting machine.Firstly,the mechanism and control requirements of the hair-planting machine were analyzed,and the overall control scheme of the hair-planting machine was proposed.For the phenomenon that the XY table is prone to residual vibration after the positioning is completed,the XY table is simplified to the double inertia model,the transfer function of the servo motor output position to the end position of the table is established,and the cause of the vibration at the end of the positioning is analyzed and passed.Simulation experiments verify the effectiveness of the delay filter theory.Aiming at the problem that the actual position response curve does not conform to the attenuation vibration curve,an improved calculation method of the position curve characteristic parameters is proposed.Aiming at the complexity of the filtered speed curve formula and difficult planning,this paper designs a time-delay filtering speed planning algorithm based on table look-up method.The algorithm can accurately control the frequency of sending pulses by using rounding technology and variable-cycle frequency conversion technology.And the number,so that the actual output curve is similar to the theoretical speed curve.Secondly,in the case of a large number of control objects and complex types,a dual controller is designed to control the hair-planting machine.In order to achieve high-speed communication between controllers,a communication protocol based on CAN bus is designed.Based on the indepth study of the control technology of the hair-planting machine,an electronic cam-based XY table and hair-changing mechanism control algorithm is proposed,which solves the problem of difficult control of the control object and improves the accuracy and stability of the control object’s end positioning.Finally,the control system of the hair-planting machine is debugged,and the test platform is built to test and analyze the speed planning algorithm based on the time-delay filtering theory.The test and debugging results show that the XY table can accurately follow the spindle position movement,the master-slave controller communication is stable and fast,and meets the working condition requirements;the time-delay filtering speed planning algorithm suppresses the residual vibration of the system,reduces the impact of the positioning end,and improves The responsiveness of the system.