本文關(guān)鍵詞： 自動(dòng)加樣系統(tǒng) 加樣機(jī)械臂 S3C2440A μC/OS-Ⅱ 協(xié)同仿真　出處：《重慶大學(xué)》2012年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著醫(yī)療技術(shù)的發(fā)展，醫(yī)療機(jī)構(gòu)需要處理的血型實(shí)驗(yàn)樣本量的增加，使得實(shí)驗(yàn)人員的工作量也隨之增加。傳統(tǒng)的手工和半自動(dòng)血型實(shí)驗(yàn)方法不僅操作繁瑣，效率較低，精密度較差，而且也較容易出現(xiàn)人為差錯(cuò)，無(wú)法滿足醫(yī)療機(jī)構(gòu)檢驗(yàn)需求，實(shí)現(xiàn)血型實(shí)驗(yàn)的自動(dòng)化越來越受到重視。自動(dòng)加樣系統(tǒng)是基于生物阻抗法的全自動(dòng)血型分析系統(tǒng)的重要組成部分，也是整個(gè)自動(dòng)化實(shí)驗(yàn)平臺(tái)的關(guān)鍵部件之一，研究和開發(fā)具有高精度定位、高精度抽放樣功能的自動(dòng)加樣系統(tǒng)具有十分重要的意義。 針對(duì)自動(dòng)化血型實(shí)驗(yàn)平臺(tái)的高精度定位、高精度抽放樣和高安全性加樣需求，本文在對(duì)進(jìn)口全自動(dòng)血型分析儀器自動(dòng)加樣系統(tǒng)性能分析的基礎(chǔ)上，研究和制定了全自動(dòng)血型實(shí)驗(yàn)平臺(tái)的自動(dòng)加樣系統(tǒng)加樣方案，根據(jù)設(shè)計(jì)方案，，最終完成了自動(dòng)加樣系統(tǒng)機(jī)械結(jié)構(gòu)設(shè)計(jì)、運(yùn)動(dòng)控制設(shè)計(jì)和嵌入式控制系統(tǒng)設(shè)計(jì)。通過對(duì)自動(dòng)加樣系統(tǒng)關(guān)鍵機(jī)構(gòu)的有限元分析，驗(yàn)證和優(yōu)化了設(shè)計(jì)方案。最后，通過加樣機(jī)構(gòu)臂的運(yùn)動(dòng)和控制協(xié)同仿真，對(duì)其設(shè)計(jì)方案進(jìn)行了驗(yàn)證和優(yōu)化，并為控制參數(shù)的設(shè)計(jì)和優(yōu)化提供了很好的參考。 本論文主要的研究?jī)?nèi)容涉及如下方面：①通過調(diào)研和分析，根據(jù)加樣系統(tǒng)的功能要求，制定了自動(dòng)加樣系統(tǒng)的總體設(shè)計(jì)方案，詳細(xì)分析了自動(dòng)加樣系統(tǒng)的組成原理及其工作流程，并給出了自動(dòng)加樣系統(tǒng)的性能指標(biāo)。②完成了包括加樣機(jī)械臂、樣本試劑轉(zhuǎn)盤和微量液體抽放樣機(jī)構(gòu)的自動(dòng)加樣系統(tǒng)的機(jī)械結(jié)構(gòu)設(shè)計(jì)，應(yīng)用UG NX7.5建立了加樣系統(tǒng)的三維實(shí)體模型。針對(duì)加樣機(jī)械臂的懸臂結(jié)構(gòu)特點(diǎn)，對(duì)其進(jìn)行了有限元分析，驗(yàn)證了設(shè)計(jì)方案。③根據(jù)自動(dòng)加樣系統(tǒng)機(jī)械運(yùn)動(dòng)部分相似定位控制需求，詳細(xì)設(shè)計(jì)了運(yùn)動(dòng)控制方案，完成了基于運(yùn)動(dòng)控制芯片LM629N和驅(qū)動(dòng)芯片L298的直流電機(jī)PID位置伺服控制系統(tǒng)的軟、硬件設(shè)計(jì)。④針對(duì)自動(dòng)加樣控制系統(tǒng)時(shí)序復(fù)雜、實(shí)時(shí)性要求高的特點(diǎn)，通過兩種控制方案的比較，從系統(tǒng)的可靠性和穩(wěn)定性，還有系統(tǒng)升級(jí)維護(hù)和擴(kuò)展考慮，選擇了最優(yōu)控制系統(tǒng)方案，完成了基于S3C2440A和μC/OS-Ⅱ的嵌入式控制系統(tǒng)設(shè)計(jì)，包括μC/OS-Ⅱ系統(tǒng)在S3C2440A上的移植和任務(wù)程序設(shè)計(jì)及中斷處理設(shè)計(jì)，給出了部分系統(tǒng)移植程序代碼、函數(shù)原型和任務(wù)程序流程圖。⑤為了提高加樣機(jī)械臂性能，使用ADAMS和MATLAB/Simulink對(duì)其進(jìn)行了運(yùn)動(dòng)和控制協(xié)同仿真，仿真結(jié)果達(dá)到了理想的控制要求，為控制參數(shù)的設(shè)計(jì)和優(yōu)化及控制程序的編寫提供了很好的參考。
[Abstract]:With the development of medical technology, the amount of blood type experimental samples that need to be handled by medical institutions increases, which makes the workload of laboratory personnel increase. Traditional manual and semi-automatic blood group test methods are not only cumbersome, but also inefficient. Poor precision, and also more prone to human error, unable to meet the needs of medical institutions for testing, Automatic sampling system is an important part of automatic blood type analysis system based on biological impedance method, and it is also one of the key parts of the whole automated experiment platform. It is of great significance to study and develop the automatic sampling system with high precision positioning and high precision drawing function. In order to meet the requirements of high precision positioning, high precision sampling and high safety sampling of automatic blood type test platform, this paper analyzes the performance of automatic sampling system of imported automatic blood group analysis instrument. The automatic sample feeding system of automatic blood type experiment platform was studied and formulated. According to the design scheme, the mechanical structure design of automatic sample feeding system was finally completed. Motion control design and embedded control system design. Through the finite element analysis of the key mechanism of the automatic sampling system, the design scheme is verified and optimized. The design scheme is verified and optimized, which provides a good reference for the design and optimization of control parameters. The main research contents of this paper are as follows: 1. Through investigation and analysis, according to the functional requirements of the sampling system, the overall design scheme of the automatic sampling system is formulated. The principle and working flow of the automatic sampling system are analyzed in detail, and the performance index .2 of the automatic sampling system is given. The mechanical structure design of automatic sampling system of sample reagent turntable and micro liquid pumping mechanism is designed. The three-dimensional solid model of sample feeding system is established by UG NX7.5. According to the characteristics of cantilever structure, finite element analysis is carried out. According to the requirement of the mechanical movement part similar positioning control of the automatic sampling system, the motion control scheme is designed in detail. The software of DC motor PID position servo control system based on motion control chip LM629N and drive chip L298 is completed. Considering the reliability and stability of the system, as well as the maintenance and expansion of the system upgrade, the optimal control system scheme is selected, and the embedded control system design based on S3C2440A and 渭 C / OS- 鈪

本文編號(hào)：1525608