The industrial robot joint dc servo system based on PLC

Industrial robot joint dc servo system based on PLC newmaker welcome to e hall exhibition hall 3 PLC controller PLC programmable controller, PLC programming cable. 。 。 1 the introduction with the development of modern science and technology, PLC has widely used in industrial control microcomputer. At present, the industrial robot joint is mainly controlled by ac servo system, this study will mature technology and easy programming, high reliability, small volume of SIEMENS S - 200 programmable controller, applied to the controlled circulation reversible system, developed the robot joint, dc servo system for the servo control of industrial robot joints. 2 industrial robot joint industrial robot joint dc servo system is driven by dc servo motor, through the circulation of reversible speed control system to control motor is FanZhuanLai reach the purpose of the servo control of industrial robot joints. 2. System USES SIEMEN S7-1 control system structure 200 type PLC and D/A D/A conversion module, PLC digital signals into analog signals by BT - I converter speed control system ( Mainly by the speed regulator ASR, current regulator ACR, circulation regulator ARR, GTS is trigger GTD, group triggers, current feedback device of TCV) Drive dc motor, drive robot joint action according to control requirements. The system structure is shown in figure 1. Figure 1 dc servo system structure diagram 2 robot joints. 2 system principle as shown in figure 2, the working principle of the system of controlled circulation reversible speed control system of main circuit adopts cross coupling method, a vice side of the rectifier transformer windings into Y type, one after another into delta type, two ac power phase stagger 30 °, the power frequency voltage frequency for l2 circulation times. To exchange circulation suppression, put in two groups of indirectly controlled rectifier bridge the two equilibrium reactor, the armature loop remains a flat wave reactor. Control circuit is mainly composed of speed regulator ASR, current regulator ACR, circulation regulator ARR, GTS is trigger GTD, group triggers, current feedback device of TCV ( See figure 2) , two group of synchronization trigger signals respectively from synchronous transformer and rectifier transformer corresponds. Figure 2 industrial robot joint dc servo system schematic diagram to a zero, speed regulator ASR, current regulator ACR blocked by zero velocity signal lock is zero. At this point, the system is mainly composed of circulation regulator ARR cross feedback constant current system. Because of the influence of circulation given SCR 2 group were in a state of rectifier, the size of the output voltage is equal and opposite polarity, dc motor armature voltage is zero, the motor stalling, the output current flows through the silicon controlled formation of circulation in the 2 groups. Circulation shoulds not be too large, generally limited to about 5% of the motor rated current. Positive starts, with the increase of rotational speed signal Ugn, blockade lifted signal, speed regulator ASR is losing, the motor is running. At this point, is set of current feedback voltage + Ufi2 reflects the sum of the motor armature current and circulation current; The group - current feedback voltage Uril reflected the armature current, thus can be adjusted to the main current. Which are set on circulation for controller input - a given signal Ugih and cross - current feedback signal Ufil tiny influence on the adjustment process. The group the input voltage of the regulator ( +Uk) + ( - Ugih) + ( Ufi2) , with the increase of armature current, when reaches a certain extent, circumfluence disappear automatically, the group into a state thyristor to inverter. Reverse startup instead. In addition, the controlled circulation reversible speed control system still has the bridge inverter braking, reverse connect braking and regenerative braking process. Due to the boot process is also the course of the circulation decreases, therefore, when the motor stalling, circulation reaches the maximum value of the system. To those over the switching dead zone system, improve the transition characteristics. 3 system design of program design for manually enter an Angle value, let the motor rotation, through the light that goes with motor code disc to detect motor turn Angle, rotation Angle into the pulse signal. Due to the motor rotation speed is very fast, so can only send pulse signal to the PLC high-speed counter. Then record the pulse counter with manual input, if both equal to the motor has reached the specified Angle position, otherwise continue to be revised. It is important to note that due to the motor mutations from turning to stop there will be a certain inertia, therefore when comparing signal should be allowed to have certain error, otherwise the motor will be always in a correct position state. System block diagram is shown in figure 3. Figure 3 system program block diagram 4 conclusion dc servo system based on PLC is developed, using the characteristics of the PLC controller expansion ability, carry a manual lose put device, realize the visual operation of industrial robot joint dc servo system. Its advantage is: ( 1) Don't need to change the circuit structure, can realize the control of motor and reversing by the program; ( 2) Can make the motor does not wait for you just stop running immediately reverse direction; ( 3) Can make the motor stop, avoid motor rotational inertia; ( 4) Programming, maintenance is convenient.
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