Event-driven motion planning and control of paper currency sorting and strapping integrated instrument

Aiming at the collaborative working problem of mechanical drive process of the paper currency sorting and strapping integrated instrument, an event-driven motion planning and control method is proposed. In order to accurately obtain the movement distance of paper currency, the position of strapping motor cutter, the baffle of paper currency inlet motor and the baffle of paper currency outlet motor, the PSD position sensor is adopted to realize the measurements of related physical variables, which are the movement reference parameters of event-driven mechanical transmission instruments. The key modules of the proposed event-driven control strategy, such as the set of task layers, the definition of every motion, the mathematical model and the path planning, is discussed in detail so as to realize the motion coordination and self-correction of the mechanical drive process. Simulation results show that the proposed control strategy has high adaptive processing capacity of abnormal working conditions.