叶片修复焊接机床机电联合仿真及轮廓误差控制

发布时间：2018-02-28 10:21

本文关键词： 叶片修复机床动力学伺服控制轮廓误差控制　出处：《中国民航大学》2015年硕士论文　论文类型：学位论文

【摘要】：由于航空发动机叶片曲面形状复杂,且对焊接质量的要求很高,提高航空发动机叶片自动焊接机床的结构性能和焊接精度是焊接修复加工的研究重点。为了提高最终的修复精度,本文对机床的静力学、动力学性能,伺服控制系统以及加工轨迹轮廓误差的控制进行了研究。具体研究内容为:根据加工要求对机床的结构进行了初始设计,分析了初始结构的静力学和动力学性能,在原有基础上对结构进行有针对性的改进,提高了结构刚度和固有频率。考虑了伺服电机振动,丝杠和大范围平动部件的扭转、伸缩、振动对机床精度的影响,将容易发生振动的滑枕、丝杠等部件柔性化,利用刚柔混合建模理论在ADAMS环境下建立了焊接机床的刚柔混合模型,建立了真实可靠的虚拟样机。建立了伺服控制系统的模型,对电流环、速度环、位置环的参数进行整定,使伺服控制系统获得良好的动态性能。将控制模型与刚柔混合机床动力学模型对接,搭建了机电联合仿真平台,编写程序实现插补算法,将三者结合构建了一个包含插补指令生成、伺服控制驱动、机械动力学模型三模块的机电联合虚拟样机,可以对焊接机床进行运动学、动力学分析,对伺服系统进行整定测试以及分析轨迹的轮廓误差。最后,应用线性轮廓逼近的方法将轮廓误差矢量化,可直接扩展到多轴运动系统。采用交叉耦合控制策略对轨迹进行仿真,降低了加工轨迹的轮廓误差。
[Abstract]:Because of the complex shape of the blade surface of the aero-engine and the high requirement of welding quality, To improve the structural performance and welding accuracy of automatic welding machine tool for aeroengine blade is the research focus of welding repair processing. In order to improve the final repair accuracy, the static and dynamic properties of the machine tool are studied in this paper. The servo control system and the control of machining trajectory contour error are studied. The detailed research contents are as follows: the initial design of the machine tool structure is carried out according to the machining requirements, and the static and dynamic properties of the initial structure are analyzed. The structural stiffness and natural frequency are improved based on the original structure. The effects of the vibration of the servo motor, the torsion, expansion and vibration of the lead screw and the large range of translational parts on the accuracy of the machine tool are considered. The flexible parts such as sliding pillow and lead screw, which are prone to vibration, are used to establish the rigid-flexible hybrid model of welding machine tool under ADAMS environment, and a real and reliable virtual prototype is established, and the model of servo control system is established. The parameters of current loop, speed loop and position loop are adjusted to make the servo control system obtain good dynamic performance. The control model is connected with the dynamic model of rigid and flexible hybrid machine tool, and the electromechanical simulation platform is built. The program is written to realize the interpolation algorithm, and the three modules are combined to construct an electromechanical virtual prototype, which includes three modules of interpolation instruction generation, servo control drive and mechanical dynamics model, which can be used to analyze the kinematics and dynamics of welding machine tools. Finally, the contour error is vectorized by linear contour approximation method, which can be directly extended to multi-axis motion system. Cross coupling control strategy is used to simulate the trajectory. The contour error of machining track is reduced.
【学位授予单位】：中国民航大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V263.6

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