The quantitative signal of the liquid filling machine is adjusted by the compound feedforward controller to form the speed command signal. The deviation signal after comparing the speed command signal with the speed feedback signal is adjusted by the speed ring proportional integral controller to generate the current command signal. After vector transformation in the current ring, the torque current is transmitted by SPWM to control the operation of the AC servo motor. The filling process is controlled by the number of pulses produced by the rotary encoder per revolution.
020-34563445The liquid Filling machine is composed of industrial camera, monochrome image acquisition card, high brightness low Angle array ring light source, industrial computer, driver, coordinate table and development platform. The industrial camera CCD captures the image of the detected bucket on the weighing platform of the detection and weighing module in real time and transmits it to the image acquisition card. After digital decoding A/D conversion and other processing, it is transmitted to the computer memory through the I bus for storage. The image processing program accesses the memory buffer of the retained image. In the process of acquiring and transmitting the image signal, the noise caused by the environmental impact, the interference of electrical signals such as sensors, and the imperfection of transmission channel makes the image degenerate. For the noise in digital images, such as Gaussian noise, salt and pepper noise, uniform distribution noise, there should be noise reduction pretreatment.
Image preprocessing improves the visual effect of the image, enhances the clarity of the image, and makes it more conducive to computer processing. The system uses a fast median filter algorithm to denoise the signal, and then uses image binarization to segment the image. Compared with the similar low-pass linear filter, the median filter can filter the point and coarse line noise in the image, remove binary noise, pulse noise and particle noise, and reduce the random noise without blurring the boundary. It is suitable for image processing to obtain the position information of the circular filling port in the image of the barrel cover surface through calculation, that is, the filling port radius, the filling port center mark and the height of the oil gun. Then, the corresponding position information is transmitted to the stepper motor control system, and the motor control system drives the X-Y-Z axis stepper motor according to the pulse instruction issued by the computer, and drives the oil gun to run above the filling port to realize automatic positioning and filling.
