Research On Positioning And Deviation Correction Control System Of FPGA-based Stone Unloading Board Machine

Currently,natural stones,such as marble and granite,are commonly utilized in the field of public facilities due to their unique diversity and durable characteristics.During the stone slab processing,the unloading process is a crucial step,which to a certain extent determines the quality,production efficiency,and utilization rate of the stone slab products.However,the low level of automation in domestic stone slab processing has resulted in manual operations,primarily utilizing impact drilling to unload the stone slab.This involves drilling cracks near the joint between the stone slab and the base plate,followed by manually prying off the slab at the joint.This article focuses on the positioning and correction system of the crack-cutting mechanical device,primarily for granite slabs,utilizing the FPGA as the controller and image processing technology to obtain edge position information where the stone slab bottom and the base plate connect for positioning.The research also introduces vector control as the correction control scheme for the motor.The main research contents of this article include the following aspects:(1)To meet the comprehensive requirements of the positioning and correction control system,it is necessary to design the crack-cutting mechanical device,crack-cutting motor control scheme,and stone slab target positioning scheme for the system.The transmission scheme of the ball screw must also be determined.In addition,a permanent magnet synchronous motor and SVPWM model are built to achieve vector control.Finally,the use of image processing technology is proposed to obtain the position information of the stone slab target for accurate positioning.(2)The main controller for this system is the FPGA development board.Add the acquisition module composed of image sensor and analog-to-digital converter,the display module composed of TFT display screen,and the drive module composed of servo motor and driver.Additionally,the system incorporates a high uniformity LED strip light source and a light source simulation controller for optimal lighting conditions.These hardware components form the structure of the system and are essential in creating the stone slab target positioning experimental platform.(3)Port the image processing algorithm to the FPGA platform and complete the software structure design,simulation,and board-level verification through top-down design thinking.This is used to achieve real-time collection,processing,and display of the front and bottom surface images of the stone slab,obtain the pixel row coordinates of the first two edge parts of the image from top to bottom,and use the difference between the pixel row coordinates to calculate the coordinate information of the stone slab target position.(4)Conduct experimental testing for the target positioning of the stone slab image,and the experimental results show that the maximum error compared with manual measurement is within 1mm.Build a vector control model for the permanent magnet synchronous motor and test the correction effect of the position loop part through the PI controller.Conduct crack-cutting experiments on the stone slab,integrating the functions of each module.The experimental results show that the positioning accuracy of the impact drill meets the expected requirements,verifying the feasibility of the positioning and correction control system.