【作者】 余洋；

【导师】 王毅；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2014， 硕士

【摘要】 贴片机是一种自动完成印刷电路板焊制的精密设备。近些年来，随着元器件的微型化及印刷电路板的复杂化，对贴片机的要求也越来越高。通常提升贴片机的性能主要从两个方面入手，一是机器视觉的改善，二是运动控制的优化；机器视觉的改善包括提高相机精度，优化图像处理算法等；运动控制的优化包括选择合理的硬件设备，设计最优控制算法等。本文基于实验室自主研发的贴片机，对贴片机在XY方向的运动控制系统进行了讨论。本文的研究主要包括以下四个方面：一是对单电机控制系统进行了建模分析。本文参考其他学者对同步带的性能分析，对同步带建立了动力学方程并以此推导出同步带数学模型。同时利用系统辨识推导出所选取的交流伺服电机的数学描述，由此给出了单电机控制系统的完整模型。二是针对单轴伺服系统的不稳定性，设计了单电机控制器。单电机控制器采用模糊PID控制，模糊PID控制具有参数的自适应性，可以根据实时的偏差及偏差变化率调整参数，增加了系统的鲁棒性，提高了单轴的伺服性能。三是研究了Y轴双电机的同步问题。Y轴双电机的同步是保证贴片机正常工作的基础，本文提出了基于位置偏差补偿的交叉耦合控制方式，替代了传统的交叉耦合控制，并借助PID思想设计了一个PD控制器对Y轴双电机进行同步控制。四是完成了控制板卡的硬件设计。控制板卡的功能主要包括两个部分，运动控制及同步控制。控制板卡采用传统的DSP+CPLD结构，DSP为算法处理单元，CPLD辅助数据流控制，PCI总线作为通信协议。控制板卡分别对各单元进行了模块化设计，DSP选用运算速度较快的TMS320F28335，在DSP里实现了运动控制、同步算法控制及T型速度规划等功能；CPLD作为译码单元，完成了PCI协议的解析，磁栅尺信号读取及SRAM时序操作等任务。设计的控制板卡还预留了CAN总线、AD采样、串口输入、PWM输出等模块，供板卡设备以后进行功能扩展。更多还原

【Abstract】 The placement is a kind of machine which welds PCB(Printed Circiut Board)automatically and precisely. In recent years, SMT machine become more and moreimportant along with component miniaturization and PCB complication. There are twoaspects to improve the system performance: the improvement of machine vision and theoptimization of motion control. In order to improve machine vision, the way usuallyinclude increasing the accuracy of camera and optimization of image processingalgorithm and so on. At the same time, the optimization of motion control include thebest choice of hardware, designing optimal control algorithm, etc. The paper is based onour independently researching SMT machion, focus on the X-Y platform and researchits law of motion. Summarizing the full paper, this article research mainly includes thefollowing four aspects:The first one is modeling and analysis of Single motor control system. The paperReference other scholars performance analysis of synchronous belt, establish theequations of dynamics of synchronous belt. Finally the Mathematical model ofsynchronous belt has been deduced. At the same time, aiming at the AC servo motor,mathematical description is derived by using system identification. Therefore, thecomplete model of single motor control system is given.Secondly, aiming at the instability of single axis servo system, fuzzy-PID Controlalgorithm is used to solve the problem. Fuzzy-PID can adjust PID parameter by positiondeviation According to the practical experience and equipment needs, fuzzy-PIDcontroller has been designed to increase the robustness of the system and improve theperformance of single axis servo motor.The third aspect is the study of how to synchronize two motors of Y axis. Keepingtwo motors synchronization is the basis of guaranteing the normal work of theplacement machine. In this paper, the author comes up with using cross-couplingcontroller to solve synchronization problems. Cross-coupling controller is easy todesign, this paper adopt PD controller instead of traditional cross-coupling controller.The simulation results show that PD controller of synchronous effect is significant,which can meet the needs of the actual control.Finally the paper complete the hardware design of a control board. The function ofthe control board mainly includes two parts, motion control and synchronization control.Control board adopts traditional DSP+CPLD structure, DSP is used as processing unit,CPLD is used as decoding tool, PCI bus is used as the communication protocol. Theboard design each unit modular separately. DSP adopts faster TMS320F28335tocomplete Motion control, synchronization control, T velocity planning and so on. CPLD need to finish the PCI protocol parsing, read signal of ruler, access data of SRAM. Atthe same time, the board reserve the CAN bus, AD sampling, serial port communication,PWM output as function extension for future.更多还原