《自动化技术与应用》2023年第42卷第6期控制理论与应用ControlTheoryandApplicationsTechniquesofAutomation&Applications基于机器视觉与PLC的三轴转台闭环控制方法李谨,侯宗宗,乔俊杰,秦可(中国船舶重工集团公司第七二五研究所，河南洛阳471000)摘要:针对点胶工序中需要消除点胶机工作原点与PCB板定位误差的问题，对视觉系统、三轴转台的结构设计与控制系统设计进行研究分析，提出一种通过机器视觉获得电路板相对于工作台原点的位移和转角偏差，利用PLC对三轴工作台进行运动控制补偿偏差，并通过视觉实时监控位移和转角实现位置闭环控制的方法。编写上位机软件与PLC控制程序，设计搭建一种补偿电路板定位误差的三轴转台及控制电路。对系统机电联调测试，测试结果表明该方案可有效的解决工件定位误差的问题。关键词:机器视觉；PLC；三轴转台；闭环控制中图分类号：TP273文献标识码:A文章编号:1003-7241(2023)06-0005-05Closed-loopControlofThree-axleTableBasedonImageRecognitionandPLCControlLIJin,HOUZong-zong,QIAOJun-jie,QINKe(ChinaShipbuildingIndustryCorporation725THResearchInstitute,Luoyang471000China)Abstract:AimingattheproblemofthePCBhasarelativedeviationfromtheoriginpointofdispenserintheprocessofdispensingSMDcomponentsonPCB,itisneedtoaligntheworkingoriginofthedispenserandthepositioningpointofthePCBbeforedispensing.Thecontrolprogram,structuredesignandcontrolmethodofthree-axisturntablearestudied.AmethodisproposedtoobtainthedeviationsofthePCBrelativetotheoriginoftheturntablethroughimagerecognition,andthenusePLCtocontrolthemotionoftheturntabletocompensatethedeviations.Closed-loopcontrolisrealizedthroughreal-timemonitoring.AmethodisintroducedofcommunicationbetweenhostcomputerandPLC,thehostcomputersoftwareandPLCprogramsarewrote,thestructureandcon-trolcircuitofthree-axisturntablearedesigned.Thetestresultsshowthatbyusingimagerecognitiontechnologytocontrolthemo-tionofthethree-axisturntableinaclosedloop,theworkpieceontheturntablecanbeaccuratelycorrectedandpositioned.Keywords:imagerecognition;PLC;three-axleturntable;closed-loopcontrol收稿日期:2022-01-28DOI:10.20033/j.1003-7241.（2023）06-0005-05.1引言为提高PCB电路板的防水防尘防腐蚀性能，并...
