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本文设计了一种基于双NIOSⅡ软核处理器的焊枪摆动器伺服系统,系统采用FPGA嵌入NIOSⅡ软核处理器进行控制,一个NIOSⅡ软核对焊缝跟踪的图像进行控制,另一个NIOSⅡ软核根据图像处理的信息实现对焊枪摆动器的控制。两个NIOSⅡ软核的结合实现了行走电机和焊枪摆动电机的运动,使两者有机结合实现设定的摆动焊接方式,并可以通过改变摆动参数实现对焊枪摆速、摆幅、左右滞时的任意调节。实验结果表明:基于双NIOSⅡ的焊枪摆动器伺服系统设计灵活、结构简单。
In this paper, a servo system based on dual NIOSⅡ soft-core processor is designed. The system uses FPGA embedded NIOSⅡ soft-core processor to control. One NIOSⅡ soft-core controls the welding seam tracking image. Another NIOSⅡ soft- The processed information realizes the control of the welding gun oscillator. The combination of the two NIOS Ⅱ soft cores realizes the movement of the walking motor and the welding gun swing motor so as to realize the set swing welding method by combining the two and can change the swing parameters of the welding gun in terms of swing speed, swing, left and right hysteresis Adjust freely. The experimental results show that the servo system based on dual NIOS Ⅱ has the advantages of flexible design and simple structure.