Sprayer motion control system based on FPGA and motion control method thereof

A technology of motion control system and motion controller, which is applied in the motion control system of spraying machine and the field of motion control of spraying machine based on FPGA, can solve the problems of slow speed, poor real-time performance, and insufficient processing precision, and achieve fast response and real-time performance Good, high-precision processing effect

Active Publication Date: 2019-11-19
INNER MONGOLIA UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the technical problems of the existing motion control system that the processing precision is not high enough, the speed is slow, and the real-time performance is poor, the present invention provides a FPGA-based spraying machine motion control system and its motion control method

Method used

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  • Sprayer motion control system based on FPGA and motion control method thereof
  • Sprayer motion control system based on FPGA and motion control method thereof
  • Sprayer motion control system based on FPGA and motion control method thereof

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Effect test

Embodiment 1

[0077] see figure 1 , the present embodiment provides a sprayer motion control system based on FPGA, which is used to control the five-axis automatic sprayer, and can realize speed control and trajectory interpolation. Among them, the five-axis automatic spraying machine includes a control fixture, a spray gun, three linear axis stepping motors and two rotary axis stepping motors, and the three linear axis stepping motors respectively drive the spray gun to move linearly in three-dimensional directions. The stepper motor drives and controls the rotation of the fixture and the spray gun respectively. The FPGA-based spraying machine motion control system includes a main processor, a motion controller, and peripheral circuits. The motion controller receives the motion information sent by the main processor and controls the five-axis automatic spraying machine according to the motion information. The motion controller includes an input information analysis module, a speed control...

Embodiment 2

[0163] The present embodiment provides a kind of spraying machine motion control method based on FPGA, and this method is applied in the spraying machine motion control system based on FPGA in embodiment 1, and it comprises the following steps:

[0164] Decode the motion information, and obtain the initial speed, given feed speed, fixed value acceleration and feed distance of the spray gun in the three-dimensional direction, and also obtain the initial coordinate value and end point of the spray gun in the three-dimensional direction Coordinate value and displacement, and control the rotation direction and rotation frequency of fixture and spray gun; Wherein, this step can adopt the input information analysis module of embodiment 1 to realize;

[0165] According to the initial speed, given feed speed, fixed value acceleration and feed distance, calculate the travel distance and travel time of each axis of the spray gun in the acceleration phase, constant speed phase and deceler...

Embodiment 3

[0168] This embodiment provides a spraying system based on FPGA, which includes a five-axis automatic spraying machine and a motion control system. Among them, the motion control system is used to control the five-axis automatic spraying machine, and the five-axis automatic spraying machine includes control fixtures, spray guns, three linear axis stepping motors and two rotary axis stepping motors, and the three linear axis stepping motors are respectively The spray gun is driven to move linearly along the three-dimensional direction, and the two rotary axis stepper motors drive and control the rotation of the fixture and the spray gun respectively. The motion control system adopts the FPGA-based spraying machine motion control system in Embodiment 1, and the use effect of the FPGA-based spraying system of this embodiment is the same as that of the motion control system in Embodiment 1.

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Abstract

The invention discloses a sprayer motion control system based on FPGA and a motion control method thereof. The system comprises a main processor and a motion controller, wherein the motion controllercomprises an input information analyzing module, a speed control module and an interposition module, the input information analyzing module is used for decoding input motion information, the speed control module is used for enabling a spray gun to perform trapezoidal acceleration and reduction changes in a three-dimensional direction by driving three linear axis step motors, so that the spray gunstably transits in a process from starting to maximal feeding speed; the interposition module comprises a linear interposition unit, a circular-arc interposition unit and an axis control unit, the linear interposition unit is used for enabling the spray gun to travel by needed linear track, and accumulated overflow is taken as pulse equivalent of linear interposition; the circular-arc interposition unit is used for enabling the spray gun to travel by circular-arc track, and accumulated overflow is taken as pulse equivalent of circular-arc interposition. The sprayer motion control system is high in processing speed, is relatively high in efficiency and real-time property, can realize multi-axis linkage, and is high in processing precision.

Description

technical field [0001] The present invention relates to a kind of control system of spraying technology field, relate in particular to a kind of spraying machine motion control system based on FPGA, also relate to the spraying machine motion control method based on FPGA of this system. Background technique [0002] In manufacturing, almost all mechanical and electrical products require surface painting operations. Spraying is a surface treatment technology that covers the surface of the object to be coated with paint through a spray gun and makes it firmly adhere to the coating. For example, for some common metal and plastic products in life, and even many equipment in the fields of military and aerospace, spraying is required to decorate, mark and protect the products. The performance of spray equipment has a major impact on product quality and yield. In recent years, some large enterprises have begun to use automatic spraying machines to replace manual operations. The pr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B05B12/00B05B13/04B05B15/70
CPCB05B12/00B05B13/0431B05B13/0421B05B15/70G05B19/042B05B12/12G05B19/045G05B2219/21109
Inventor 王树彬王娜
Owner INNER MONGOLIA UNIVERSITY
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