本文關鍵詞： ARM μC/OS-II μC/GUI FPGA 插補　出處：《南昌大學》2014年碩士論文　論文類型：學位論文

【摘要】：近些年，隨著直線電機的迅速發(fā)展，從根本上改變了傳統(tǒng)的傳動方式，影響了整個制造工業(yè)。以直線電機構(gòu)成的焊接機器人逐漸普及，其智能控制技術就顯得尤為重要。目前國內(nèi)的焊接智能控制技術還沒有普遍應用，為了實現(xiàn)高精度、高速度的焊接控制系統(tǒng)，本文對基于ARM的直角坐標系焊接機器人的控制系統(tǒng)進行了研究。 根據(jù)直角坐標系焊接機器人的運動需要，搭建了以ARM為主處理器，F(xiàn)PGA為從處理器的系統(tǒng)硬件平臺，并對外圍電路進行了設計。完成了主從處理器之間的相互讀寫數(shù)據(jù)，采用前加減速控制算法，后插補算法作為控制的核心算法，并做了選擇和相應的改進。選擇源代碼開放、移植簡易的μC/OS-II系統(tǒng)，完成編程讀取G代碼文件、加減速控制脈沖輸出和插補參數(shù)傳遞，采用μC/GUI作為其圖形顯示界面，以觸摸的形式完成了人機交互。 本文給出了基于ARM+FPGA的直角坐標系焊接機器人控制系統(tǒng)的設計方案，，并介紹了用于數(shù)控系統(tǒng)的插補原理和加減速原理。在ADS交叉編譯軟件上完成了操作系統(tǒng)和圖形開發(fā)系統(tǒng)的整合移植，并給出了相關驅(qū)動代碼和應用軟件程序。在QuartusII軟件上設計完成了插補模塊，并說明了具體實現(xiàn)過程，用Modelsim進行了仿真。最后分別對控制系統(tǒng)和編程方法，進行了測試與仿真，滿足設計要求。
[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.
【學位授予單位】：南昌大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TM359.4;TP242

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