复合材料编织机械手控制器的研究

发布时间：2018-04-08 17:30

本文选题：三维编织复合材料　切入点：CAN总线　出处：《天津工业大学》2017年硕士论文

【摘要】：三维编织复合材料具有很高的强度、刚度、耐腐蚀、耐高温、抗冲击等优良特性,在工业领域得到广泛关注。工业上对于三维编织复合材料的高效率、自动化生产也提出了更高的要求。目前,国内外对于三维编织复合材料的研究多集中在编织工艺,材料参数以及性能提高等方面,而对于复合材料编织自动控制系统的研究较少。三维复合材料的编织多使用三维编织机,一台三维编织机有很多编织站,每个编织站上有个圆形滑道,根据编织物的不同,滑道上装有数量不等的携纱器,所有携纱器带动纱线按照编织工艺要求的轨迹在滑道上旋转就完成了编织过程。本项目设计了一款复合材料编织机械手控制系统,可以应用在大型三维编织机上,通过机械手的伸缩夹住或放开携纱器,当夹住携纱器的时候,机械手按照程序设定的轨迹带动携纱器的旋转。在该控制系统中,编织机的每一个编织站都有一个85步进电机和两个42步进电机,由一台STC12C5A60S2单片机控制,构成下位机控制系统,分别用作控制机械手的伸缩和旋转运动。所有的下位机通过S3C2410进行控制,构成上位机控制系统,上位机含有数字输入和屏幕显示。其功能为收集下位机的执行状况,给每一个下位机发出指令,根据下位机状态决定执行与否,若不能执行,或等待,或收集错误信息。上位机控制器和下位机控制器之间通过CAN总线通讯。本文在对四步法编织原理做了深入阐述的基础上首先对系统的硬件电路进行设计,主要有电机驱动电路,CAN总线通信电路,电源管理电路;然后根据四步法工艺,编写宏指令,将宏指令下载到下位机控制器中,并编写电机控制程序,通信程序以及错误信号采集程序;最后为了便于监控和调试,还开发了编织机监控界面,监控界面可以反馈下位机的运行状态,错误信息以及CAN总线的收发信息。
[Abstract]:Three-dimensional braided composites have been widely concerned in industrial field for their excellent properties such as high strength, rigidity, corrosion resistance, high temperature resistance, impact resistance and so on.In industry, high efficiency and automatic production of three-dimensional braided composites are required.At present, the research on 3D braided composites is mainly focused on braiding technology, material parameters and performance improvement, but less on braiding automatic control system.A three-dimensional braiding machine has many braiding stations, each of which has a circular chute, which, depending on the braid, is equipped with a variety of yarn carriers.All the yarns are rotated on the slideway according to the path required by the knitting process.This project designed a composite braiding manipulator control system, which can be used in a large three-dimensional knitting machine, through the manipulator's telescopic clamping or releasing the yarn carrier, when clamping the yarn carrying device,The manipulator rotates the yarn carrying device according to the track set by the program.In this control system, each knitting station of the knitting machine has an 85 step motor and two 42 step motors, which are controlled by a single STC12C5A60S2 single chip computer. The control system of the lower machine is used to control the extension and rotation of the manipulator respectively.All the lower computers are controlled by S3C2410 to form the upper computer control system. The upper computer contains digital input and screen display.Its function is to collect the execution status of the lower computer, issue instructions to each lower machine, decide whether to execute or not according to the state of the lower machine, if it cannot, wait, or collect error information.The upper computer controller and the lower computer controller communicate through CAN bus.On the basis of the deep exposition of the four-step braiding principle, this paper first designs the hardware circuit of the system, mainly includes the motor drive circuit and the can bus communication circuit, the power management circuit, and then, according to the four-step method technology, compiles the macro instruction.The macro command is downloaded to the lower computer controller, and the motor control program, communication program and error signal acquisition program are written. Finally, in order to facilitate monitoring and debugging, the monitoring interface of the knitting machine is also developed.The monitor interface can feedback the running state of the lower computer, error message and CAN bus receiving and sending information.
【学位授予单位】：天津工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TB33;TP241

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