码垛机器人微机控制系统的物理实现

Physical Realization of Palletizing Robot Computer Control System

把高科技产品机器人用于石化企业是非常必要,而码垛机器人就是石化企业后续设备的自动化生产的必要产品之一。文中主要阐述码跺机器人控制组成的几个要点,如系统凸极永磁同步电动机数字模型的建立;微机选型;微机实现的软硬件设计方案。同时,从硬件和软件的角度阐述了码垛机器人控制系统的设计思想,建立了交流永磁电动机的数学模型。归纳比较了不同的CPU和采样周期的选择方案,给出了关键部件的设计电路,提出了C高级语言和汇编语言混和编程实现控制的思想。

It is necessary for petro-chemical enterprises to use robot (products of high science and technology) , and palletizing robot is one of products of automatic production of pctro-chemical continuous equipment. In this paper,several points about control components of palletizing robot are explained. For example,the mathmatical model on AC motor is established,computer type is selected, hardware and sofeware are designed,part of critical circuits are given,and,algorithms written in C language and macro compilatian together are described.