基于ARM的直角坐标系焊接机器人的控制

发布时间：2018-03-01 06:05

本文关键词： ARM μC/OS-II μC/GUI FPGA 插补　出处：《南昌大学》2014年硕士论文　论文类型：学位论文

【摘要】：近些年，随着直线电机的迅速发展，从根本上改变了传统的传动方式，影响了整个制造工业。以直线电机构成的焊接机器人逐渐普及，其智能控制技术就显得尤为重要。目前国内的焊接智能控制技术还没有普遍应用，为了实现高精度、高速度的焊接控制系统，本文对基于ARM的直角坐标系焊接机器人的控制系统进行了研究。根据直角坐标系焊接机器人的运动需要，搭建了以ARM为主处理器，FPGA为从处理器的系统硬件平台，并对外围电路进行了设计。完成了主从处理器之间的相互读写数据，采用前加减速控制算法，后插补算法作为控制的核心算法，并做了选择和相应的改进。选择源代码开放、移植简易的μC/OS-II系统，完成编程读取G代码文件、加减速控制脉冲输出和插补参数传递，采用μC/GUI作为其图形显示界面，以触摸的形式完成了人机交互。本文给出了基于ARM+FPGA的直角坐标系焊接机器人控制系统的设计方案，，并介绍了用于数控系统的插补原理和加减速原理。在ADS交叉编译软件上完成了操作系统和图形开发系统的整合移植，并给出了相关驱动代码和应用软件程序。在QuartusII软件上设计完成了插补模块，并说明了具体实现过程，用Modelsim进行了仿真。最后分别对控制系统和编程方法，进行了测试与仿真，满足设计要求。
[Abstract]:In recent years, with the rapid development of linear motors, the traditional transmission mode has been fundamentally changed, which has affected the entire manufacturing industry. The intelligent control technology is especially important. At present, the welding intelligent control technology has not been widely used in China. In order to realize the high precision and high speed welding control system, In this paper, the control system of Cartesian coordinate system welding robot based on ARM is studied. According to the motion requirement of right-angle coordinate system welding robot, a system hardware platform with ARM as slave processor is built, and the peripheral circuit is designed. The mutual reading and writing data between master-slave processor is completed. The forward acceleration and deceleration control algorithm and the back interpolation algorithm are adopted as the core control algorithm, and the selection and corresponding improvement are made. The open source code is selected, the simple 渭 C / OS-II system is transplanted, and the G code file is read by programming. The acceleration and deceleration control pulse output and interpolation parameters are transferred, 渭 C / GUI is used as its graphical display interface, and the man-machine interaction is accomplished in the form of touch. In this paper, the design scheme of control system of right-angle coordinate system for welding robot based on ARM FPGA is presented. The principle of interpolation and acceleration and deceleration for NC system is introduced. The integrated transplantation of operating system and graphic development system is completed on ADS cross-compiling software. The related driver code and application software program are given. The interpolation module is designed and completed on the QuartusII software, and the realization process is explained. Finally, the control system and the programming method are tested and simulated with Modelsim. Meet the design requirements.
【学位授予单位】：南昌大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM359.4;TP242

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