柔性冷弯成型制造中的多维运动控制

发布时间：2018-04-29 21:41

本文选题：柔性冷弯成型 + 运动控制　；参考：《北方工业大学》2012年硕士论文

【摘要】：随着汽车、建筑等行业对变截面冷弯型材需求的提出,柔性冷弯成型技术应运而生。与发展较为成熟的传统冷弯成型技术相比,柔性冷弯成型在成型机理、成型机结构研制和成型机控制等发面都处于初步研究阶段。国外如德国、瑞士、法国、日本等已开发的设备还处于实验研究阶段,国内北方工业大学填补了此项技术在国内研究的空白。柔性冷弯成型因其具有成本低,效率高,寿命长,噪声低,污染小等优点,在汽车、建筑、家具等领域具有广阔的应用前景。目前,变宽度、变高度和超高强钢材料的冷弯成型是国内外研究的热点问题。本文先对国外具有代表性的成型机原理进行简要概述,对成型控制方法做初步探讨,并指出设计超高强钢成型机时面临的难题。然后阐述了北方工业大学提出的一种基于双齿条单齿轮机构的成型机,该成型机结构紧凑,承载力大,适用于变宽度和高强钢材料的冷弯型材的成型。柔性冷弯成型生产的是截面形状沿纵向变化的型材,因此需要控制轧辊相对板材做横向移动,同时要求控制轧辊旋转到与板材边缘相切。正是板材的前进,轧辊横向的移动和旋转这三种运动相互协作才生产出最终所需的变截面型材产品。此论文正是致力于解决柔性冷弯成型中的复杂运动控制问题,提出了轧辊的核心控制算法,并用VC++和OpenGL进行了编程和轨迹仿真,验证了求取角度的正确性。利用这种算法可以成型出平面任意二维曲线轮廓的冷弯型材,该算法可以集成到开放式的柔性冷弯成型控制系统中,控制伺服电机按程序给定指令运动,从而实现最终的板材成型。最后,本文针对双齿条单齿轮机构的柔性冷弯成型机的控制问题做了近一步探讨。解决了该机型的轨迹规划问题和控制齿条移动的电机位置指令分配问题。利用VC++编程求解出齿条移动的插补点信息,并将插补点信息导入到SolidWorks中进行了仿真验证,通过求得的轨迹和实际轨迹进行比较,验证了此算法的正确可行性,对控制系统的开发具有指导和借鉴意义。
[Abstract]:With the demand of the automobile, construction and other industries for the variable section cold bending profile, flexible cold forming technology emerges as the times require. Compared with the traditional cold forming technology, flexible cold forming is in the initial stage of research, such as the forming mechanism, the structure development of the molding machine and the control of the forming machine. Abroad, such as Germany, Switzerland, France, Japan and other developed equipment is still in the stage of experimental research, the domestic Northern University of Technology filled the gap in domestic research. Because of its advantages of low cost, high efficiency, long life, low noise and low pollution, flexible cold forming has a broad application prospect in automobile, building, furniture and other fields. At present, the cold forming of variable width, height and ultra-high strength steel materials is a hot topic at home and abroad. In this paper, the principle of representative molding machine abroad is briefly summarized, the control method of forming is discussed, and the difficulties in designing ultra-high strength steel forming machine are pointed out. Then, a kind of forming machine based on double rack single gear mechanism proposed by Northern University of Technology is described. The machine has compact structure and large bearing capacity, which is suitable for forming cold bending profile of variable width and high strength steel material. Flexible cold forming produces profiles whose section shape changes along the longitudinal direction, so it is necessary to control the roll to move laterally from the sheet to the plate, and to rotate the roll to tangent the edge of the plate at the same time. It is the advance of the plate, the lateral movement and rotation of the roll that cooperate with each other to produce the final product of the variable section profile. This paper is devoted to solving the complex motion control problem in flexible cold forming. The core control algorithm of roll is put forward, and the correctness of angle calculation is verified by programming and trajectory simulation with VC and OpenGL. By using this algorithm, the cold-formed profile of planar two-dimensional curve profile can be formed. The algorithm can be integrated into the open flexible cold-forming control system, and the servo motor can be controlled to move according to the program given instructions. In order to achieve the final plate forming. Finally, the control problem of the flexible cold forming machine of double rack single gear mechanism is discussed in this paper. The problem of locus planning and the assignment of motor position instructions to control rack movement are solved. The interpolation point information of rack movement is solved by VC programming, and the interpolation point information is imported into SolidWorks for simulation verification. The correct feasibility of the algorithm is verified by comparing the obtained trajectory with the actual track. It is of guiding and referential significance to the development of control system.
【学位授予单位】：北方工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH165

【引证文献】