【作者】 李强；

【导师】 张伟军；

【作者基本信息】 上海交通大学 ， 机械电子工程， 2009， 硕士

【摘要】 全自动电炉加料机器人是指代替人工、广泛应用于各种形状的玻璃窑炉的全自动加料机器人。本论文面向该机器人的控制系统设计和实现过程中的关键技术问题展开研究,包括控制系统设计、控制系统选型和实现以及仿真系统。NI CompactRIO是一款高级嵌入式控制和采集系统,基于NI可重新配置I/O(RIO)技术。本论文针对该系统进行总体技术研究,并针对基于CompactRIO的运动控制系统进行了设计和研究。本论文主要工作如下:根据全自动六角电炉加料机器人系统配置和功能要求,完成了驱动、控制、传感系统的硬件选型,并设计了控制系统硬件的主电路和控制电路;针对本课题控制系统软件技术要求,确定了加料机器人软件各主要功能模块的设计方案,开发了相应软件系统;利用CompactRIO可重构控制器,搭建运动控制平台,并开展了一系列相关控制程序试验。更多还原

【Abstract】 This thesis is focused on the issue of motion control system design of automatic glass furnace feeding robot, which is used in different shape glass furnace to replace human. The NI CompactRIO programmable automation controller (PAC) is a low-cost reconfigurable control and acquisition system designed for applications that require high performance and reliability. CompactRIO is powered by reconfigurable I/O (RIO) FPGA technology. The following work has been done for automatic glass furnace robot and CompactRIOp:First Then we described the technical requirements of the glass feeding robot and its mechanical design principle. Next, we compared the several alternative control system hardware solutions and design the main electrical circuit as well as the control circuit.You can find the comparisons and hardware details in this part.Then, all modules of the control process were schemed and programmed into computer software.Descriptions of flow diagrams and some original codes were also attached.And then we use CompactRIO as controller to buil motion control platform; finally we carry out a series of control experiments.更多还原