环形智能填装机构的节律控制-机械电子工程专业论文.docxVIP

研究生优秀毕业论文 Abstracl Abstracl 硕士学位论文 Abstract With the rapid development of science and technology and cross—integration in all technology areas，warehouse storage technology is gradually changed from mechanical automatic control to intelligent automatic contr01．A smart circular supply system wi也higher storage density was designed for this work．This circular loading mechanism is smart supply system which contairls storage，cargo delivery and control system．This paper studies the rhythm control effect of the dual motor driving circular loading mechanism． This paper simplified the control model of the circular loading mechanism，analyzed the workflow of choosing，transfer and transmission．A core authentication mechanism Was designed in accordance with the working principle of the circular loading mechanism．This research designed two sets of independent AC servo control system for the mechanical actuators on tlle X axis and Z axis of the authentication mechanism．In this paper．AC servo drivers based on TI 2000 Series DSP chip TMS320F28 1 2 and STM32F 1 03VBT6 were designed and CAN bus communication between the DSP and the STM32 control systems was established．Speed and current double closed loop of AC servo control software based on field oriented control(FOC)plus space vector pulse width modulation(SVPWM)algorithms Was designed and cross·‘coupled dual·-motor coordination control strategy was made in the research． In order tO verify the control effect of the smart circular loading mechanism，experiments were designed and carried out on the core authentication mechanism．The results indicate that the circular loading mechanism using dual servo motor for transfer rhythm control is feasible， and dual motor COOrdination control effect in the system iS ideal when speed iS lO