基于STM32的智能手套机运动控制系统设计与开发

Design of Intelligent Glove Control System Based on STM32

摘要:

传统的纯机械齿轮结构自动针织手套机具有结构复杂、效率低下、故障率高、维护成本昂贵等诸多缺点,故多电机结构的智能伺服手套机成为新的发展方向。其中,智能手套机运动控制系统是决定其性能的关键。针对上述问题,设计开发了一款基于STM32F407高性能微处理器的智能手套机运动控制系统,系统实现了高速高精度的编织运动控制,并开发有网络监测、全中文示教编程等功能。同时,为解决主轴机头高速往返运行中存在的停顿现象,根据冲量定理规划其位置控制,针对带来的位置误差问题,设计了基于模糊逻辑的位置补偿控制算法,减小位置误差。最后,经过现场测试,系统能高效地完成手套编织工作,主轴机头重复定位精度高,且人机交互界面简洁易操作。本系统为智能手套机运动控制系统的开发应用提供较好的参考价值。

Abstract:

The structure of traditional automatic glove knitting machines is composed of plenty of gears, which brings complex production, low efficiency, high failure rate, high cost and other disadvantages. Thus, motors are employed to the machine to replace the gears and it becomes a new tendency of this industry. However, the motion control system (NCS) of the machine is still immature, which is a core component. To this end, a NCS is developed base on STM32F407 in this paper. Besides the knitting motion control, network monitoring and teaching programming functions are also developed. On the other hand, when the principal axis of the machine runs in high speed round-trip, a tiny pause will occur when a point-to-point control method is used, which will seriously degrade the performance of the machine. To address the issue, a position control method based on the impulse theorem is devised and a fuzzy logic control is applied to decrease position errors. Finally, product testing is performed in a factory. The NCS can complete the knitting tasks effectively, and the position errors of the principal axis are held small enough. The human-machine interface is succinct and efficient. Moreover, the NCS will provide a positive reference for the developments and applications of glove knitting machines.