Servo Motor Appears
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Abstract: Primarily Based On M Pc 05 Sports Controller Created A Set Of Automatic Packaging Machine Manage System . The Manage
Abstract: Based on M Pc 05 Sports Controller Created a set of Automated packaging machine Manage Method . The control system in the packaging Servo Motor In accordance to particular legal guidelines to adhere to spindle motor sport, the control system using classical proportional, integral, differential (PID) control algorithm to realize the servo motor control system of the packaging machine packing out item duration is not only great consistency, but also long-line modification bags and packaging pace.
Key phrases: PID control of servo motor motion controllerler
I. Introduction With the pc Electrical energy Digital Technologies, mechatronics products are very various countries. Device instrument , Car, House Home equipment , Packaging Machinery , Textile Machinery , Print Machinery and many other classes of goods every yr, new progress. Mechatronics has turn out to be increasingly concerned about all elements of its function to improve the effectiveness of improving people’s Existence , Energy conservation, enhance competitiveness plays a great role.
In the packaging business, the vast vast majority of packaging machine PLC To achieve closure on the horizontal motor control, the plan utilized to follow the spindle speed analog to sports activities, use of this manage method packaging, product consistency is not especially appealing, much more essential is challenging to improve packaging pace of two hundred bags / minute over Packing pace, this does not satisfy the enterprises to improve efficiency and need. To this end, we MPC05 movement controller primarily based on a packaging device manage method, the method has higher quality packaging goods and packaging efficiency are two important features, and also has a colour monitoring.
II functions Figure one shows a schematic of a packaging machine. eight longitudinal sealing roller that is driven by the asynchronous motor spindle motor, 9 sealing roller, cold seal roller 10, 12 Cutter Driven by a servo motor from the motor shaft. To follow the spindle motor from the shaft to do follow the activity. Its operating principle is MPC05 axis movement controller gets Encoder Signal, according to spindle encoder pulses in accordance with the legislation of motion must follow the primary axis servo motor generate for the suitable adhere to sports, the servo motor generate and driven through the chain roller sealing, cold sealing roller, cutter movement.
Sealing roller shaft to the reduction gear ratio of one:four with an encoder for closed loop control. The worth of the encoder and servo motor which should in concept go the distance in contrast to PID regulation, so that follow from the spindle motor servo motor axis closed loop place to do adhere to.
III, Controller Manage method controller using FPGA + DSP Program, Figure two chart for the controller, FLASH is used Storage DSP program, the additional area can be used to shop the configuration plan or add Project Purchase and system parameters and area data. NANDFLASH big board memory for storing configuration data, processing data. Controller core is DSP and FPGA, DSP Implementation CPU Functions, FPGA control functions and IO features.
The controller can process files RS 232 download, or through U disk Duplicate, the getting shaft encoder feedback signal and the feedback signal from shaft encoder, the path of the output pulse signal obtained servo motor driver, I / O port entry stop signal or flip indicators. Two serial ports, which A for the Computer serial interface, use Matsushita Servo data transfer protocol Communication . Serial port B is HMI Interface, a standard Modbus protocol communications.
four, the design of manage procedures
As vertical and horizontal seal sealing roller roller for the week appears are all 300mm, horizontal sealing roller has 4 bars, the horizontal sealing rollers can each switch to the bag packing 4. If the packaging bag length 300 / 4 = 75mm, then are synchronized to follow, that is, vertical and horizontal sealing packing bag sealing roller equal to the distance to go. If Bags Grew up in 75mm, the horizontal sealing roller should do in the area of non-engagement slow movement, then pace up once more to synchronize with the primary shaft in preparation for the next gear, if the bag length is much less than 75mm, the horizontal sealing rollers in the non-engagement zone ought to do l speed movement, then reduced and lower pace to synchronize with the main shaft in preparation for the subsequent engagement. Wang Feng in the mating region and the vertical is needed roller synchronous motion, or when the horizontal sealing roller faster than the pace of vertical sealing rolls, it will seem the phenomenon of tear movie when the horizontal sealing roller
Slower than the pace of vertical sealing rolls, the film will be a heap of phenomena, which will affect the high quality of processed products, severe cases may also be packing film tearing. Figure 3 exhibits the movement from the motor shaft Model .
A representative of located spindle, B reps from the shaft. First determine the A, B of the cycle duration (cycle length is required for packaging a bag pulses), and the synchronization coefficient, then the A cycle is divided into horizontal as proven in Figure 3, paragraph five, then below the A, paragraph five The length and synchronization coefficient, calculated induction factor, and finally calculate the corresponding B five the duration of the synchronization segment or (lower) pace area, asynchronous segment, drop (l) segment and synchronization pace area, which in the first Synchronous cross area of two teeth meshing roller closure, the acceleration and deceleration in the center area of the bag length to suit different needs change bags to achieve long final a very brief area is to enable synchronization into the subsequent gear is much more stable synchronization section ( Right here are the pulse length, quantity of models).
Axis place control from the use of more mature classic PID manage. PID control of easy principle, simple to use, and great adaptability. Here we use the incremental PID manage algorithm. Incremental PID manage has numerous benefits:
(one) as the computer output increment, so malfunction when the influence is little, if necessary, the technique can be used to eliminate the logic to judge
(2) do not accumulate in the equation to control the determination of incremental, only a sampling of recent k times the worth of the, that was easier to get through the weighted and the better manage impact.
PID controller is a linear Regulator It to set the worth (paragraphs from the shaft should be produced of pulses) and the actual output worth (from the shaft encoder worth) with less, get manage of bias, scale element (P), integral factor (I) and the differential coefficient (D) constituted by a linear combination of control variables (servo motor pulse frequency). Increment of control variable is determined as:
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