基于ACR9000控制器的自动光学检测平台设计 

针对自动光学检测（AOI）平台运行过程中的定位精度控制问题，提出了一种基于速度和加速度前馈控制与PID反馈控制的复合控制算法，该算法对输入量进行跟踪补偿控制以消除系统稳态误差，用于提高AOI平台定位精度。基于开放式的数控系统设计方法设计了AOI平台。在Matlab/Simulink环境下，构建了基于该复合控制算法的定位精度控制仿真模型，仿真结果验证了复合控制算法的有效性。将该复合控制算法作为ACR9000控制器的控制算法，并基于ACR9000控制器进行AOI平台实验研究。应用该AOI平台进行了印刷电路板（PCB）检测实验，实验结果表明文中复合控制算法能够提高AOI平台定位精度，AOI平台的定位精度满足印刷电路板检测要求，可以将该AOI平台用于印刷电路板检测。

Automatic optical detection platform design based on ACR9000 controller

In view of the automatic optical inspection (AOI) platform positioning precision control problem in the process of operation, putting forward a compound control algorithm based on the velocity and acceleration feedforward control algorithm and the PID feedback control algorithm. For improving the positioning precision of AOI platform, the compound algorithm eliminates the steady-state error of the system by tracking compensation control to the input. The AOI platform was designed based on the open CNC system. In the Matlab / Simulink environment, the position precision control simulation model was built based on the compound control algorithm, and the results verified the effectiveness of the compound control algorithm. Then applying this compound control algorithm to the ACR9000 controller, and conducting the experiment of the AOI platform based on the controller. The printed circuit board (PCB) test experiment was carried out based on the AOI platform, the results showed that the precision of AOI platform positioning was improved by the compound control algorithm and it met the detection requirements of printed circuit board, so the AOI platform can be used to detect the print circuit board.