Programmable Multi-axis Controller Research Articles

Design of a High Precision Multichannel 3D Bioprinter

Three-dimensional (3D) printing technology is expected to solve the organ shortage problem. However, owing to the accuracy limitations, it is difficult for the current bioprinting technology to achieve an accurate control of the spatial position and distribution of a single cell or single component droplet. In this study, to accurately achieve the directional deposition of different cells and biological materials in the spatial position for the construction of large transplantable tissues and organs, a high-precision multichannel 3D bioprinter with submicron-level motion accuracy is designed, and concurrent and synergistic printing methods are proposed. Based on the high-precision motion characteristics of the gantry structure and the requirements of concurrent and synergistic printing, a 3D bioprinting system with a set of 6 channels is designed to achieve six-in-one printing. Based on the Visual C++ environment, a control system software that integrates the programmable multi-axis controller (PMAC) motion, pneumatic, and temperature control subsystems was developed and designed. Finally, based on measurements and experiments, the 3D bioprinter and its control system was verified to fulfil the requirements of multichannel, concurrent, and synergistic printing with submicron-level motion accuracy, significantly shortening the printing time and improving the printing efficiency. This study not only provides an equipment basis for printing complex heterogeneous tissue structures, but also improves the flexibility and functionality of bioprinting, and ultimately makes the construction of complex multicellular tissues or organs possible.

Positioning accuracy control of dual-axis dicing saw for machining semiconductor chip

Dicing of semiconductor chips constitutes an important procedure in the processing of integrated circuits, which poses a high-precision and high-speed stability requirements for dicing saw. In this study, the optimization of motion accuracy and position accuracy of dual-axis dicing saw (DDS) is studied and an overall control scheme of the DDS is designed. A programmable multi-axis controller (PMAC) is selected as the main control module and the servo motor is adopted as the linear axis drive element. The positioning algorithm of servo control system is analyzed. The position deviations are studied under different proportional gains, integral time constants, and speed feedforward gains. The high-precision contact and non-contact positioning method of the machine tool is developed. Positioning error of each linear axis is compensated using positioning error compensation module of PMAC. The dicing test results demonstrate that the improved control system could be used for high-precision and high-speed stability dicing of semiconductor chips.

Multi Axis Robot Coordinate Detection Method Based on LabVIEW

In view of the fact that the need of high precision and safe production of multi-axis robot, a real-time coordinate detection method is designed by using virtual instrument software structure VISA. Programmable multi-axes controller (PMAC) is used as the control system of the lower computer, LabVIEW as the upper computer, PMAC board communicates with the upper computer through industrial Ethernet, and sends command data and pulse signal to the servos through the bus. LabVIEW uses VISA software interface to communicate with the servo drivers, uses Modbus protocol to obtain absolute position data, and calculates the current coordinates of the workbench. Experiments show that the multi-axis robot coordinate detection method based on LabVIEW can realize the coordinate detection of the moving platform, and the following error current value can also be displayed in the working interface.

Control system for micro milling machine

The paper mainly studied an open architecture control system for micro milling machine, including hardware construction and the software development of the control system. Taking programmable multi-axis controller (PMAC) as movement controller, together with industrial computer, high-speed spindle, precision feeding stage, etc., constitute the hardware of the control system for the micro milling machine. The software on the platform of windows was developed using Microsoft Visual C (VC). After the measurement of operation precision for the numerical control system, experiments of milling micro component have been carried out. The experimental results demonstrate the overall performance of the control system designed for the micro milling machine.

Design and Research of Multiple Fiber Tows Placement Control System

In view that present traditional composites forming technologies are difficult to guarantee the processing quality of complex components such as components with small curvature radius or with concave-convex surface. this paper used the fiber placement technology, and in order to achieve the single independent and overall joint movement control of each fiber tows ,it adopted the mainstream open control mode of a PC machine combined with a programmable multi-axis motion controller . At the same time, it introduced a feedback system to realize the accurate pressure control of multiple fiber tows, so as to ensure the quality of fiber placement.

An Autonomous Robot for Casing Cutting in Oil Platform Decommission

The paper designs and develops a casing cutting robot for the platform decommission. This robot can achieve the sea-bottom casing reclamation duties required by the environment protection acts related to decommissioning of offshore oil plants. The objective of this research work was to investigate and explore the casing cutting robot model for the platform decommission. A 2-linear axis cutting robot is prototyped and a test bench is designed in the laboratory for the research. A surface control system provides remote control functionalities for the operator to command signals and automatic sequences. The robot control system based on Programmable Multi-Axis Controller (PMAC), which makes it easier to be operated. Moreover a Human Machine Interface (HMI) is developed to monitor and control the cutting process conveniently. The laboratory test results show that the robot system developed is very usable and it is working satisfactory for the casing cutting.

The Research of the AC Servo Control System for Shroud Removal Based on PMAC

The shroud removal system is an important part of the cryogenic target project. Based on research status of the cryogenic target shroud removal system, this paper presents a solution of AC servo control system using programmable multi-axis controller. The superior performance of the controller and the latest technology of AC servo control system provide a strong support for the solution. We complete the hardware system design and the development of PC software control system. On this basis, we carry out the shroud removal experiment. The experimental results show that the solution can basically reach the technical specifications of the cryogenic target shroud removal system.

Micro-Displacement Positioning of Giant Magnetostrictive Actuator

Giant magnetostrictive materials have a broad potential application in aviation and aerospace field owing to its good properties. The actuators made of the materials show excellent performance which makes them a good choice for precision positioning. This paper presents a micro-displacement positioning system of the giant magnetostrictive actuator (GMA). The structure of the system and its control method are described. In order to achieve the steady micro-positioning characteristics, the adjustment process of the system based on the control algorithm of Programmable Multi-axis Controller (PMAC) was researched. The response time of the GMA was less than 1 ms which was shown in the step response curve. Relatively large displacement (5~20 µm) positioning and micro-displacement (0.9~3 µm) positioning were achieved with the average positioning systematical errors of less than 0.5 µm.

A New Design of Programmable Multi-Axis Controller

On the system development platform based on SOPC Builder, completed transplanting µC/OS II on the Nios II. The paper change the front-back control traditional method by task design concept and assign system task to multiple different level task which is deployed by PRI to achieve the different operation task of robot. So the paper transfer the mechanism of traditional system soft which operate under one task sequence performance mechanism. According to experimentation, this method reduces the period of software development greatly, and it also improves the real-time’s property, reliability and expansibility the software well.

보현산천문대 1.8 m 망원경 제어시스템 현황 및 개선방안

We analyzed the current status of the telescope control system (TCS2) of the 1.8 m telescope in Bohyunsan Optical Astronomy Observatory (BOAO), and suggest a new TCS (TCS3) for the long term development of BOAO. The TCS2 was constructed in 1998 to replace the TCS1 which was installed with the telescope itself at the commencement of BOAO. One of the important parts of TCS is PMAC (Programmable Multi-Axis Controller), which is a general-purpose multi-axis motion controller. PMAC provides the direct interactive communication environment permitting users to command the controller directly with simple operations. This makes the setup, debugging, and diagnostics very easy. The TCS2 was operated stable for a long time, but the hardware and TCS computers have been deteriorated and are out of date now. The new TCS3 needs to be constructed based on a modern computer system. And functions such as pre-calculations of telescope limiting position, interworking with virtual observatory tools, and using GUI, etc should be added. Construction of the TCS3 will be a step creating a better observation environment for the Korean astronomical society.

Research of the Open CNC System Based on PC and Programmable Multi Axes Controller

The hardware and software structure of the open CNC system is researched and constructed based on the open PMAC. Moreover, the communication software of the system is designed to realize the .function of the open CNC system based on PC and PMAC. The open CNC system has strong flexibility and broad application by adopting this technology.

Design and Implementation of Trajectory Tracking for 3-Axis Servo Table Using UMAC Based on Optimal Preview Controller

This paper deals with the use of Programmable Multi-Axis Controller (UMAC) based on preview control method to give good trajectory tracking performance of 3-axis servo table. The paper consists of mathematical modeling, simulation, and an experimental work. Adopt the position coordinate method of three-dimensional space trajectory tracking. In this paper, based on previous research, it gives a trajectory tracking control algorithm, constructs an experimental system used to implement trajectory tracking, establishes its mathematical model, then uses the control algorithm to carry out simulation analysis, and finally uses the simulation results to carry out experimental study. In this paper, the experimental system, which decomposes object trajectory to various axes for tacking, is effective. It takes the best motion controller as the core, and takes servo motor as driving mechanism to drive precision positioning platform. It possesses of powerful real time and linkage performance, and the powerful hardware and software function enable it to have a wide range of applications.

Design of the Control System and Home Point Positioning Device for Minimally Invasive Vascular Interventional Surgery Robot

To realize the accurate positioning and stable holding of surgical tools by minimally invasive vascular interventional surgery(VIS) robot,a control system and a home point positioning device are designed.Constitutions of the robot system and its upper-lower control system based on PMAC(programmable multi-axis controller) are introduced firstly. Meanwhile,the quintic interpolation motion planning and three-loop PID algorithms are designed,which improve both the robot's response speed and stability.To find the base point of the robot's motion,the home point positioning method and device are proposed based on Hall sensors and information of motor motion.The experiment results show that the presented home point positioning device works stably and accurately.

Cutting Path Planning for Complex Optical Surface Using Hermite Interpolation

The cutting path planning is discussed in order to solve the difficulties of processing complex optical surfaces.Cutter location point(CL) planning is designed,cutting contact point(CC) discretization and cutting tool compensation are analyzed based on slow tool servo.Based on programmable multi-axis controller(PMAC),Hermite segment interpolation is analyzed which is used by trajectory interpolation,and three position velocity time(PVT) entrance parameters algorithms are putted forward,the constant speed method,the area method and the three points method.The simulation of cutting path of off-axis parabolic,toric and sinusoidal surfaces shows that the design of CL can be used to complex surfaces processing.Meanwhile,the analysis of z axis motion characteristics shows that area method(c = 2/3) and three points method both can meet the requirements of smooth velocity of z axis when z axis reciprocating frequency is similar to C axis rotary frequency.And three points method is better than area method in the change of acceleration when z axis reciprocating frequency is significantly greater than C axis rotary frequency.The proposed method affords benefit for practical manufacturing of complex optical surfaces.

Adaptive Friction Compensation Based on LuGre Model

In order to promote the dynamic performance and improve the adaptive ability of the open servo system,an adaptive friction compensation based on LuGre model is presented.The dynamic model of open servo system is established,and the friction characteristics are described based on LuGre model.Considering the parameters of friction model changed with the system,the controller of adaptive friction compensation is designed through backstepping method,and the global asymptotic stability of control system is proved by Lyapunov theorem.The adaptive friction compensation scheme is achieved by programmable multi-axis controller(PMAC),and the effectiveness of the scheme is verified by experiments.The experimental results show that comparing with the conventional feedforward compensation of velocity and acceleration,the adaptive friction compensation makes the tracing error of the sinusoidal motion decreases from ±40 μm to ±7 μm.Therefore,the proposed compensation scheme can effectively inhibit the disadvantageous influence of friction and lay the foundation for improvement of dynamic performance of servo system.

A New Application Research of Time-Base Following Control in Non-Circular Contour Turning Lathe

On the base of analyzing the kinematics equations of non-circular machine tool, a new control algorithm is created by lathe tool kinematics principle, which based on the time-base method, in the non-circular machine tool have been verified on the experimental results show that the machining accuracy can be improved effectively. In order to obtain non-circular turning function relative to traditional CNC system, a new Open CNC systems was designed based on PMAC (programmable multi-axes controller) and linear motor. The research focused on the time-base following control between the CNC system and the linear servo systems used for the non-circular section turning. The advantages of the linear motor system directly driven by simple structure, quick transient response, high velocity and acceleration, high accuracy, little vibration and noise etc, which meets the requirements of manufacturing parts with non-circular section, and has been widely applied in the CNC forming and machining. To fit the crank non-circular contour, uses the high frequency linear servo motor to drive the tool move to-and-fro with high frequency, so the tool will track the crank non-circular contour with real time. With the results of several experiments for time-base following control with displacement feedback, the feasibility and efficiency of Open CNC system are verified.

Rapid Tuning Method of PID Parameters for AC Servo Control System Based on PMAC

This paper introduces the structure and working principle of AC servo control system based on programmable multi-axis controller (PMAC). The configurations and parameter tuning method for PMAC PID filters are discussed. It has been shown that, by combining feed-forward control and feed-back control together, the robustness and stability of the servo control system can be improved and the servo tracking error can be minimized if the controller parameters are tuned properly.

Linear Motor Velocity and Acceleration Motion Control Study Based on PID+Velocity and Acceleration Feedforward Parameters Adjustment

This paper adopts with a PMAC Programmable Multi-axis Controller to control a linear motor through adjusting PID + velocity and acceleration feedforward parameters of the control card. The motor can reach 50-nm precision at lower speed. The PLC real-time monitoring function of the software is used to monitor the actual pace of registers. The real-time online adjustment of PID parameters of the motor at various speeds is realized, which makes the motor reach high motion accuracy at various velocity and acceleration.

Realization of Handwheel and Tool Setting of Micro Milling Machine Based on PMAC

The realization of the handwheel function is a key problem for development of numerical control system of micro milling machine. This paper introduced the interface specifications and hardware connecting methods of handwheel NK100AB2, developed control program based on PMAC (Programmable Multi-Axis Controller) and industrial personal computer, finally achieved the function of axes selecting and the feed rate selecting. Based on the traditional edge detector tool setting method, an improved tool setting method is proposed. The inverted micro milling cutter hilt is used to replace the traditional edge detector, which avoids the opposite reamer error caused by the irregular cutter blade shape, finally, tool setting function is achieved through the collecting of electrical signal. The research will provide a useful reference for the realization of handwheel and tool setting of micro milling machine based on PMAC.

Research on Control System for the Automation Process of X-Cor Sandwich Structure Material

To realize the automation process for Pin implanting of X-cor sandwich structure, a hardware architecture of CNC based on open control system was proposed in which a Programmable Multi-axes Controller (PMAC) was adopted as the key unit for motion control and the accessory card for on-off control. The time based control mode is applied to realize synchronization of motion control and on-off control and to improve the real-time effort of the main tasks that closely related to the Pin implanting process. In addition, the device driver for PMAC, a user graphical interface as well as numerical control program interpretation module were also designed and the whole system is applied to the core material manufacturing process of X-cor sandwich structure.