直线驱动的精密点胶系统设计与关键技术分析

发布时间：2018-01-06 17:22

本文关键词：直线驱动的精密点胶系统设计与关键技术分析　出处：《山东大学》2017年硕士论文　论文类型：学位论文

【摘要】：流体点胶技术作为一种针对液体材料的制造技术,在电子器件封装,柔性导线制作,智能器件制造,细胞打印等领域发挥着越来越重要的作用。本文通过对现有技术的学习与探索,总结了现有技术的优缺点,进而设计了新型的音圈电机驱动的精密流体点胶制造系统,并对该系统的关键部分,点胶流量控制系统和点胶位置控制系统,进行建模与分析。具体研究内容如下:(1)设计了直线驱动的点胶增材系统。点胶流量控制系统创造性的采用音圈电机直接驱动的活塞泵式点胶方式,实现点胶流量与流速的精密控制。点胶位置控制系统采用音圈电机配合柔性板簧的定位平台,实现大行程高精度定位。设计了点胶系统整体架构,由上位机控制下位机,下位机分别通过NI6251数据采集卡与点胶流量系统传送数据和NI6259与柔性定位系统传送数据,通过协同配合实现精密点胶。(2)针对音圈电机驱动的点胶流量系统进行分析,探索了一种首先将系统分拆然后组合求解的思路,考虑音圈电机动力学方程、活塞受力平衡方程和流体运动方程,形成了针对该类复杂系统的理论建模方法,为控制器的设计提供了模型基础。进一步地,设计了 MATLAB仿真模型框图,确定系统相关参数并做仿真实验,结果显示系统跟踪0.5mm/s的斜坡信号启动时误差在20nn,表明系统良好的流量与流速控制效果。并搭建实验装置,做点胶流量控制系统相关实验,成功制作出线宽小于0.4mm的线性结构点胶样品,初步实现了点胶功能。(3)针对点胶位置控制系统进行建模与分析,探讨了单个柔性板簧的力学分析和整个柔性定位平台的力学模型建立方法,形成了针对基于柔性板簧的大行程微位移定位平台的建模与分析方法,为柔性定位平台的结构设计和参数优化提供了理论依据。综合柔性定位平台工作行程、占用空间和工作频率等因素,根据理论分析选择电机型号和柔性定位平台材料,设计矩形板簧和双级π型板簧的相关尺寸参数,并通过ANSYS进行仿真优化,确定平台最终设计参数和相关性能理论值。(4)针对点胶位置控制系统进行相关性能实验。根据柔性定位平台的优化参数,搭建实验装置。实验中将四输入三输出的柔性定位系统简化为单输入单输出系统,并阐述了纯线性测量与线性耦合角度测量基本方式。通过调试各个音圈电机输入电压比例,补偿因加工误差带来的柔性定位平台的不对称性,实现沿x方向、y方向和绕z轴方向的运动。分别对各个方向进行系统辨识和开环运动行程性能测试,并设计PID控制器做系统闭环跟踪和分辨率等性能测试。实验结果表明系统线性运动工作频率可达23.5Hz,转动方向工作频率达18.5Hz,沿x方向、y方向和绕z轴方向可分别达到±2.33mm、±2.28mm、±1.2°的工作行程和1um、1um、0.004°的分辨率,实现了微观尺度下平面三自由度的大行程精密运动,初步验证了本装置良好的定位性能,为点胶位置控制提供了保证。
[Abstract]:The fluid dispensing technology as a manufacturing technology for liquid material, in electronic packaging, flexible wire production, intelligent device manufacturing, cell printing and other fields play an increasingly important role. In this paper, through the study and exploration of the existing technology, summarizes the advantages and disadvantages of the existing technology, and then designs the precision fluid dispensing. Motor driven model of manufacturing system, and the key part of the system, flow control system and position control system for dispensing dispensing, modeling and analysis. The specific contents are as follows: (1) the design of the linear drive system. The increasing material dispensing dispensing flow control system using creative piston pump dispensing mode voice coil direct drive motor, to achieve precise control of the dispensing of flow and velocity. The dispensing position control system using a voice coil motor with positioning platform flexible leaf, large travel and high precision Positioning. Designs the overall architecture of dispensing system controlled by computer, lower computer, lower computer through the NI6251 data acquisition card and data transmission system and fluid flow rate NI6259 and flexible positioning system data, through coordination with the implementation of precision dispensing. (2) according to the analysis of the voice coil motor driven flow system dispensing, explore a for the system partition and then combination solution ideas, consider the voice coil motor piston dynamics equation and force equilibrium equation and flow equation, the formation of a theoretical modeling method for this kind of complex system, provide the model foundation for the design of the controller. Furthermore, the design of the MATLAB simulation model diagram, system parameters determination and simulation results show that the 0.5mm/s ramp signal tracking system startup error in 20nn, shows that the system is good flow and velocity control and build the real effect. Experimental device to do experiments of dispensing flow control system, the successful production of line width less than 0.4mm of the linear structure of the dispensing samples, realized the dispensing function. (3) for dispensing position control system modeling and analysis, discusses the mechanical model of the mechanical analysis and the flexible positioning platform of single flexible spring method, form in view of the wide range flexure spring based on micro displacement positioning platform modeling and analysis method, provides a theoretical basis for structural design and parameter optimization of flexible positioning platform. The integrated flexible positioning platform working stroke, occupied space and working frequency and other factors, according to the theoretical analysis, the motor model and flexible positioning platform material, size parameters of rectangular design leaf spring and double leaf spring type, and through the ANSYS simulation platform to determine the final optimization, design parameters and relationship theory (4) according to the value. The dispensing position control system performance experiment. According to the optimization parameters of flexible positioning platform, set up the experimental device. The flexible positioning system in the experiment, four input and three output is simplified into a single input single output system, and expounds the way of pure linear measurement and linear coupling angle measurement base. Through debugging the voice coil motor input voltage ratio of each. The asymmetry of the flexible positioning platform can compensate for the error caused by the processing, to achieve along the X direction, Y direction and around the Z axis movement respectively. System identification and open-loop movement performance test for each direction, and the design of PID controller system closed-loop tracking and resolution performance test. The experimental results show that the linear motion system the frequency of up to 23.5Hz, the rotation direction of the frequency of the 18.5Hz, along the X direction, Y direction and Z direction can reach around + 2.33mm + 2.28mm + 1.2, respectively, at the work line Cheng and 1um, 1um, the resolution of 0.004 degree, realized the micro scale and three degree of freedom large stroke precision movement, initially verified the good positioning performance of the device, and provided a guarantee for dispensing position control.

【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

【相似文献】