[ieee 2008 7th world congress on intelligent control and automation - chongqing, china...

6
High Precision Pressure Control System of Cubic Press Based on ARM Shaojia He 1,2 , Jinhai Mo 2 , Shouqi Wei 2 , Dao Huang 1 1) State Research Center of Industrial Automation, East China University of Science and Technology, Shanghai 200237 (E-mail: [email protected]) 2) School of Mechanical and Electrical Engineering, Guilin University of Electronic Technology, Guilin 541004 (E-mail: [email protected]) Abstract—High control precision of pressure is one of the most important factor to guarantee the quality and quantity of synthetic diamond. But the pressure control system of cubic press in common use has the disadvantages of large zero drift, poor repeatability, and low control precision. To handle these problems, a novel pressure control system of cubic press has been developed. In this system, a cost-effective microprocessor ARM7TDMI (S3C44B0X) was employed, and an appropriate temperature compensation circuit was designed to reduce the negative influence of large environment temperature variation. The pressure boosting speed and pressure control precision were improved by three motors coordinated control. An efficient method was adopted to overcome the problems of large zero drift and poor repeatability by software. Furthermore, several measures were utilized to prevent the malfunction of system. Application results indicate that this control system has the advantages of low zero drift, high precision, good repeatability and reliability. Keywords—cubic press, synthetic diamond, ARM, pressure control ARM 1,2 2 2 1 1) 200237 2) 541004 ARM7TDMI (S3C44B0X) ARM 1 0007011 1 1 2 3 (P 2 ) p (T p ) P M (T S ) 978-1-4244-2114-5/08/$25.00 © 2008 IEEE. 7417 Proceedings of the 7th World Congress on Intelligent Control and Automation June 25 - 27, 2008, Chongqing, China

Upload: dao

Post on 17-Mar-2017

214 views

Category:

Documents


0 download

TRANSCRIPT

High Precision Pressure Control System of Cubic Press Based on ARM

Shaojia He1,2, Jinhai Mo2, Shouqi Wei2, Dao Huang1 1) State Research Center of Industrial Automation, East China University of Science and Technology, Shanghai 200237

(E-mail: [email protected]) 2) School of Mechanical and Electrical Engineering, Guilin University of Electronic Technology, Guilin 541004

(E-mail: [email protected]) Abstract—High control precision of pressure is one of the most important factor to guarantee the quality and quantity of synthetic

diamond. But the pressure control system of cubic press in common use has the disadvantages of large zero drift, poor repeatability, and low control precision. To handle these problems, a novel pressure control system of cubic press has been developed. In this system, a

cost-effective microprocessor ARM7TDMI (S3C44B0X) was employed, and an appropriate temperature compensation circuit was designed to reduce the negative influence of large environment temperature variation. The pressure boosting speed and pressure control

precision were improved by three motors coordinated control. An efficient method was adopted to overcome the problems of large zero drift and poor repeatability by software. Furthermore, several measures were utilized to prevent the malfunction of system. Application

results indicate that this control system has the advantages of low zero drift, high precision, good repeatability and reliability.

Keywords—cubic press, synthetic diamond, ARM, pressure control

�� ARM�������� ����

��� 1,2 ��� 2 � 2 �� 1 1) ������������������ �� 200237

2) � !"#$��%!���& � 541004

� � '()*+,-./�0123456789:;<=>�0123?��'(@)ABCDEFGH�I7JKLIMNO'PQRSTUVWXY�01238Z;[\]^_`ab6cd�01efg'%@)AB;ABhijk�lKmno

6 ARM7TDMI (S3C44B0X) p�qrst)uvUwxyz{|�}?�~�����@�)*�'()*���!%��)*6

����+,�AB���I�����.�rN��,����6��;AB���������r� U¡?��¢£�¤¥$

¦§¨�}©ªU§«_AB6�rw¬�k=6ª­p�®�¯4°±²_GH�I7JKL�PQO'6ST;³´@µ��¶

·�«¸UAB)*+,�I¹r�ºI7JK»Ul¼½�¾/w¬U¯¿À�01ÁÂ�|Â6��;

��� efg'%Ucd�01UARMU'()*

1��� ÃÄÅUÆÇÈÉIÊË�ËR��6ÌÍÎÏUÐ

ÑÒ�x�01ÓZÂV�Ucd�01��ÔÕÖÍ6

ÎÏ;×ØÙÚUxÛÜÁ68ZÝÞß��;à�áâ

ã���äfg'%åU=>�0123t8��efg æçèÄ#�é�êëìí¿îï�#è 0007011ð

'%UÛ23�}ñòóô 1 õQ;23?�ö÷-ïø�>~ùúûùüýùþ'ù§' 1ùþ'ù§' 2ùþ'ù§' 3ù�'ùÌÍ��;=AB�'��`/�(P2)Ú��;§'?��U)*'(�L�À �p;F �`�§'��U�'>6`/Ú�(Tp)�û��';=MN����U'(þ?��� PMÚUÎM����U�

��Þß��;���� ?`/6Ú�(TS)!"#�

978-1-4244-2114-5/08/$25.00 © 2008 IEEE. 7417

Proceedings of the 7thWorld Congress on Intelligent Control and Automation

June 25 - 27, 2008, Chongqing, China

';$­%&6��U23�}©ªwrk=6�y;

efg'%%¯�'()I$¦W,*I+¨�ºR

,T;��â-.¸U=>*/�0123456`z7

809-23'()*12¾/U)*+,1�[1]; {|³3«¸U8ÔÕ�ÜÁ��|Â6�01|ÜU

'(6)*+,ß4��56�À 0.1%FS;7lUë>'%6'()*CD8���9Â)*U:=23'(��

`/�ÚUý'ABúû�rU'(§;;7lU<Àý

'�=>¯`/6?@U'(ABCDEU='(DE�

]/�'�ÚUAB�';ë>U`F6'%Gz23?

�Ó�'HI÷U»6'%Ý8�'JKe÷;La)*

� ()U×NF{|ã�$¦MNCD�*6NOÞk

ß;<La)*� 6PMST-§'?��'(£��;Q

ØåU<À{|N�EFVIÚRÚS�r6�!%I

�TU�R]VU!W£��I!XYZ[7U¤\d

3AB�r1¾/U¤\Î{]^_`Rab;�TU�

]V6ÚRÚS�rÝd3cd�,����U�H[

7;ØåU<À'%-eÄfg°�rUhfiLÆÇÚ

�6jkll�;Lm��8nx�0162345|{

op;9ØU]^_`ab6efg'%'(@)AB[7]; 8'3Lq6)*ABUt)*qwr�)v%IDSP

st ARM p�q;<-U`F)v%6½�Í,�uU

1mXYÍ,�Ì6)*8Z;l¼ÛwvÏ6Ewø�

��U1m½���6�xUléÀIyz6¹rABÓ

86yz{|VIUÓ86 RAM ø�V�U)v%P7

1mXYAB8Z;}åUF�Îcd�UDSP Ó8�Î�6~�qUÛij���Ua�¯r� DSP;[]^r�_ ARMp�q S3C44B0X [3][4];Q

ARM-`�32�6+(���ìRISCðp�q'�UARMA�6ARM7TDMI��� p�që>ß��sæ�Uij1�UTmY2��Ul¼�¯��6�Î�%

ARM SDTU��h()6JTAG~�qU�wh~��� �Î;S3C44B0X-����`�éÀARM7TDMI6S0Cuv;�`�f%¯ARMp�q6õ¯nTï*T�I�Km�ÙÚ�%¯����6v�íWU��(�_Ûß

�AB��]^U���_AB6w¬KU��k2��

 |Ü6�Î;Q

2����� 2.1 !�)*AB�3 '(@)AB6]^U� 8¡¢'(6£@+,¤

Û�,iL�¥��;<Àcd�,����U¦§q[

¨©�6�¥���1Yh�.��;s_�.¦§q�

,iL�¥��U[AB�U��_©��,£@!=U

���~��¥6��;@�ª�«¬À'(¦§q�¬

Ã'(­§ª�6°�U�Å@¦§qT6cd�,;

�,®î^��U ? A/D�¯�°�p�q�wE±Å;®î�q���Up�q²��,�¥�xUx'(¦§

q®î~��,iL�¥;Q

éÀ S3C44B0X6efg'%'(@)ABóô 2õQ;AB��_()³�6 PID)*;

PWM

I/O

ù

+ Rt

Rp

S3C44B0X

I/O

I/O

I/O

I/O11

16Vss Vcc

Vcc

Vcc

AIN0

AIN1

ù

+ AD620

���9

tI³´µ

Flash ROM

SDRAM

��T ����

JTAG

3kW

3K

RC¢£ M3~V/I¶¯ �·q

�!¸¹ M3~

5.5kW11kW º!q »¼q

2 2 2 3K

�!¸¹ º!q !X½ 15 15 15

UART1 LCD

2

UART1

ô 2Q'(@)AB0�ôQ

Ú�

TR

¾ ¿ À Á Â

TS P1 P6

0

P2

P3

P4 P5

Ã Ä Å Æ Ç

�p P('()

TP

PM

(�È)

ô 1 �0123�}ñò

7418

�É®î°�QQë>Ê�6�Ë&efg'%623

'(/ 90MPaUÌ 6��Ë&'%623'(F 100MPaÍÎ;9ØUÏ»Ð� S3C44B0X�á6 A/D¶¯q�w��õÓ6£@¶¯+,UlÑÓ}åvÏ; <À S3C44B0X1Ò�q§;!=UaÓF�*·U

(0~100Hz)ÔÕ�6®î!wmÔÕÖ×6�q�5;9ØU]Ø ADCPSRÙEqs 20ÚQÛ 10 � A/DQ¶¯6Ú�Øs 10μs;¡�U'(��,®î6����ÜuUÝ�whXY¶¯Í,8Z;ØåUÞ�Ú�8ßàá�¡

��â¯ãäõå±6¥i;Q

)*®î°MQQ!�AB°M)*æç 15z!X½I��TqUh¤äèâés 11kWI5.5kW�ÞêÊ!%ì:�ëI�ëð�`è 3kW �·!%ì�ëð;Fø�>~IúûIüýIl'q��IÌÍ��Rì�Uh¤

�y?��U�ë��ëÙÚ�rh�Ì�r~���ë

6r�t8-F§'Úק§'+,;!X½¤»¼qí

¡?¼T¤Âs 220VAC/5A6 24VDCº!qî�;Qs_(�!=U[]^�� PWM °Mrs�·!%

6)*®î;S3C44B0X 6 PWM°M·Uw� 58.6kHzUïÓ ?()6 RC ¢£�wrs�·q6°�Uh)*!%;l� V/I ¶¯cð-s_��ñYZm(;[AB·�çò" MMV400 �·qÅ)*�·!%UÛ]Øs4~20mA6!Ê)*� ;Q´µ��'%´µât%´µ�³´µUáâTm´r

�ÞÙ;³´µt8�Àó&6�µUæç 10zTm´;ôõ´µ�ö6»¼�9^ØF��ê÷TÚQ�<°Mø

ù GPC0~3 î�ÚQlG`�<!ú�û¼üý°�øùGPE4~7U=¯´þDÚÚQ<´µ�����R���;p�qÓÓ����y`�6�-��s*!NÚQ$­°�

®îÚQ�Rþ´�¤ÚQ�È�Îþ´�ÚQ·AB¶�

²�Þß6yz;Q

c%Ñf��<À S3C44B0XQ�ᯠLCD )*qUa[ A B� �1 Òî �q 6 [ �ç � (Casio)6CMD520TT00-C1� LCD(STN��)U256�U5.1��U320×240 �:;<ÀÛ!W!'s 3.3VU9ØwÏ»�S3C44B0X Þ�;�µÚ·�_¼��Us����!�(Alps Electric)� n�6 ALPS LFUBK909 STNU�ò!ú ¼��U320×240TU5.2��;QEwqQ�<À S3C44B0X�¨1%¯ ROMU[ABv

Ï_ Flash ROM SST39VF160;��IwE�ª­Ó86�E��U[ABr�_ SDRAM-HY57V 161610D;�6ª­ ,s 16�U<äz BANK�3U! 2MB6Ew¤Â;Q

2.2 ��]^,T AB��6]^1Ó8XY�¶6Km8ZU�8�

�"86ñYZ��U·ABm2#$%aYZU§«A

Be�w¬°�r;2�6��]^w¯4°E*AB9

YZlåÎ6ab;AB6YZW`F¯�z&�ï`-

ø�YZU!X®î¡?ø�'(~�AB�)-?�¡

�YZUYZ®î¡?×ABÞ�6>I�¡�¤×Û�

AB6�»¡�~�U�*�F¯�®î+�UZ,®î

¦°U·¯4®î|{-�Ul�ª­��iLU./)

*O012Uå±�x½�1���-ABYZU!X®

î¡?ü!¡�~�ABsAB[¨|{YZ[6]; s_±²%aYZU§«AB«�w¬½�U��]

^�f��_hD��;Q

(1)Q!W�°ò6p�QQ�3â-�N�@µ.¸U4!W~�6YZ-xAB¾/�r6 �56;Û09-

N�¯#ITU��1R6!%!�]V6·7±ûUd

3!W!'£�U|{89!'�:;!Ê;N�³@.

¸U<mÚ�!W!'£�56nþ?±20%;LmYZ¡?ÏÊ!W=2~�)*ABUwmnd3>%U56n

?@q�;9ØUABÏÊ!W8á�×N�6�TU!

q]V!�`zêÊ!W;ÙÚU!W~òÓ��_'­

!ú� LC ¢£q�k=���=!¤�ªA°��É°â�U×%�!W°Þ�U��IT»°6� U¡?=

2!§B2UC��·®î~��É¡�;Q

(2)Q®î¦°¡���DQQ¦§q°�åò���D!EU¼8FÂGÚhH*YZ;®î^���IòJ.^

�q;Q

(3)Q�K!¸¹QQ°M)*í��_�!¸¹sº!q¸¹ULqw¯4H*YZ6L�;Q

(4)Q]Ø�òMQQ]Ø�òM/ÚqÙEqÚ³N�òMTmUC�AB>%;Q

(5) NO!=P6Q2RSQQNO!=P6RSüâ¡¢ªq�¤�òÞT�!XYZ��UæçA�Í!=

�*Í!=â�I�TU!=×�®î!=â�IU�ª

�×�U�ª�â�UÙÚxU�­§6q�¤!=Df

á�VòU�¼FÂWGª�+�6åòU·ÞT�6Y

Z=2 �;Q

ØåU<ÀN�XY�IZ�7I[\[7U9ØU

·�_]^K»6�_%`U¼·%`w¬»°ULq�

wh¯4�D%a!X§ßYZ;ÙÚ�8¯a��;Q

3����� )*AB��t8æçt�x�ö��R�x�ö; ¦B6'%@)ABFÌÍ�����nbNO'P

7419

QU¯Ú56�� 1MPa;@µ�â-.¸UL-'(¦§qË�ý&�Êõ/;9ØUFG÷23�6ø�>~

?�6��<`ÚcUh4Úc6'(�sGT;La(

)6p�®�Þ=¯4°�._'(�G6��U�wd

��,�¥1Yd36��;

3.1 ��ñYZ�� YZxAB��6opt8.N-ïABMN]e�`

�]>%`�AB½�?��|{i�r��}©ªf1

s|{g,R;9ØU��6]^hxLmNi��_Þ

ß6ñYZ��ï �������r� Q

�����r� -ï=t�xÝ3j�yz�p

�q:~�klO0U¡?�á/Ú�R/�mnp�qU

�<�R²z�x³�/Ú6£@×)*�rU+��~

�klO0;FLa�����r� �UARMp�q6³o�rÚ�VGUE*_YZx�xp@6wmK�l

¼ ARM p�q6�rm�q�_UÎÂrÞßq�U

��n�_ ARM p�q6�r�,cdU·+smkß

{|N�6��cdU§«ABw¬�r;Q

ARMp�q6/Ú�Rw¬KV�U<s§«ÛtÑ`1UF7b~�klO0+>U/u�R6%�©ªU

ó�R)*�IÚ��ª�{|�hR78ª­UvÓ~

�£´�7ØUC�àåwx;s_m¤ÚpßåÑ6�

9®îU�R/Ú� 10mS;Q9ØÚ�������r� Ú×���òM!=�2Ú

¯4à_AB6]e�`�]>%`Ni;Q

§¨ª­6«�Q

�x6]e�`wmnp@ABEy6ª­UõhU

������_ª­¤¥$¦h§«Ûw¬Uá�'(@

)q6i°M;%&��-F�}©ª�>�©�zz{

´AìM¥|}ð�3`zª­öU*rت­ö6~Y

V�;=<ª­ö6{´AM¥ÚU4öª­�wm��

��Kp@ULÚwÐ��?6V�ª­ö~�ª­�J�

~õ¯6V�ª­í�p@UÛ"�·)*qpÀ���

û%O0U�QABÓª­7ØU�ª­c�wJ��7

b��;Q

ªA¢£Q

sH*YZUק�@6'(��,®î6�×KU

�xät6°�®î��_ªA¢£;<À'(��,6

��-ÞxÜu6�ÂU9ØU��_`ì��¢£��ïQ

( ) (1 ) ( ) ( 1)Y n X n Y nα α= − + − (1)

Û�UX(n)-[÷�q�UY(n)-[÷¢£°M�U

Y(n-1)-�÷¢£°M�;��6r�h·�@®î1|{¸P1�s»;Q

3.2 t�x t�xt8< S3C44B0X6j��xI/Úq6j

��xh¤`z�c)*�'�3; �x�²�ÚU� ]Ø{|�hUÈ�`z��

{|�;<À S3C44B0X 6 I/O ùIsJ�� U9Ø"�x I/O ù)*ÙEq~�]ØUr��r� U�8]Ø�Ø�òMUh§b��6w¬½�;CPU6�Í°Mq HSO�Àþ�x]/6Ú�|{�RUÝ�-��/Úq;AB����/Úq�RUh/Úq 1rsÚ�é�Ux HSO ÙEq~�]ØÚQÙÚxåÕuv¤¼��PQq~�j�;t�xÊ�ôóô 3õQ;

Q

3.3 �R²z�x �R²z�x-)*AB��6��UÝ3®î�qI

¢£Iª­p�IPQI���GI����Ryz;Ù

Ú×/¹r� ì�yI��sâ��r� ðU$­8

Z��Þß6)*��U¡?��ÔÕxß6°M)*®

îU ¸¹�î��öU)*%z!%I½ò���T

qR;%Tm<Þß6Tm�öÝ3;�R²z�xÊ�

óô 4õQ;QQ

ô 3t�x�ôQ

t�x

9�RQ

�R�DÙEqQ

j�

¼��PQj�

]Ø{|�hQ

S3C44B0Xj�

I/OÙEqj�Q

¯9©ªj�Q

��RQ

´µ��Q

PQ°MQ

R��RQ

]Ø��/ÚqQ

Ú�

7420

Q

4� !"�#$ <'%ó�s 500mmU38.5mm Ë&U��� �

U'(]Ø©ªó. 1õQ;

. 1 '(]Ø©ªì)�ïMPað

þ' 1 §' 1 §' 2 §' 3 ÌÍ��

5.6 79.8 89.6 92.8 8.5

4'%0 ���9Â)*� U³@Û���§'

?��6`÷�''(��ñòóô 5 õQ;�'ÚMN_¸P6'(£�;@µ�U���§'?�MN_�÷

�'�r; ��[@)AB6³@�r'(ñòóô 6 õQ;�

�[@)AB6³@23'(ñò�¯þ�;³Á�U§

'?���ë`ÏF�rUÝ�-�'`ÏF~�ÇU9

Ø'(�¯Î{¸P��;³@�U'(ñò×'(]/

�2Uz��¯£�UiL�À 1‰UXY]^8Z;Q

³@£��EF`m�·YZ®îUªA¢£��§

«_£@6ª­6�×KU��6ñYZ��§«_AB

6��r;Q

e�6��µ´.¸U[@)AB±²_Þ���!

� I!¡¤Û��TU�(]V�rd36!W�¢

,£��!X'(d36YZU�rw¬U�¯Î{?y

�ab;�r7JK»U�¯MNO'PQRNi;

5�%& []^-<'%{|ãefg'%$¦xd6`á

â;B^�5.¸UFÛ�£�ÞÙ6��DU×Û��

·�4AB6'%Þ�UÛ)�|Â��/)�ez¤â

TU|ÜÜ¥ÝÕ�Þß��UÙÚ±²_�9Â)*Ú

·7�'xý'AB|{61oop; v7EF6��-ï�01623-`zVJ¦6?

ô 6 ��[@)ABÚ6'(ñò

CH1 500mV 100.0s

ô 5 ���9Â)*Ú6�''(��ñò

CH1 50mV 1.000s

ô 4�R²z�x�ôQ

âé§�'( Pi¨Q

��, Ti�Q

�R²z�xQ

�Q

-Q

PQab®�Q

��Q7b° ��}©ª©

ÑQ

9�RQ

���9��Q

¢£Q

�{Ö"�xQ

��}©ª§�IQ

{´��J�xQ

[7M¥ªQ

�PQ"�xQ

�°M)*Q

"�xQ

�´µ���xQ

Ô�´�Q

þ´ª

´�°�"�xQ

Ew�}©ªQ

PQ�}©ªQ

�JN�Q

��RQ

�R«�

¯

7421

�U'(×�013�EFV¬­69A;³´�³o{

|?�â-.¸U23?��6'(1ÓÓ8¾/Ul¼

ÆÇ�016BC{3Uó5mx'(~�k=6�yU

2345ns»;LÓ8$­%&��U ?e�6{|

³3� ´>�!�;[AB2®6©ª]Ø�¹r)*

h¤x¯°ª­6Ew¯¿À�.LzW�;

'()*

[1] �±². þ�³´#�×$¦. µ¶: ��ȳ��M·�,

1998. [2] S3C44B0X�\ª­¸¹. 2004.

[3] Guo Peiyuan, Chen Wenhua, Bao Man and He Xiaoyan,

“Sesign and implementation of flash file system in S3C44B0X

embedded system,” in Innovative Computing, Information and Control Conf., vol. 2, pp. 22-25, 2006.

[4] º»¼, ½¾¿, “S3C44B0X F�� @)AB�6ß�,” !"q�, vol. 28, no. 2, pp. 401-403.

[5] Benjamin C. Kuo, Automatic Control Systems. John Wiley & Sons, Inc., 2002.

[6] ���, ���, �. “cd�01'%)v%)*AB6w¬K]^,”��)*^�%, Vol. 18, no. 1, pp. 67-67,

2005. [7] ÀÁÂ, ÃÄÅ, �øÆ. “cd�0123�}6Çm)

*,” ��J.×���¬Ø,” Vol. 6, pp. 27-31.

7422