定子硅钢片高速冲压机械手控制系统研究

发布时间：2018-04-12 15:13

本文选题：冲压机械手 + 可编程逻辑控制器　；参考：《深圳大学》2017年硕士论文

【摘要】：近年来,珠三角地区企业出现了招工难、用工荒、用人成本上升现象,迫于企业竞争压力需求,越来越多的企业引进自动化设备改造生产线使企业生产转型升级。在传统冲压机械加工生产中,以人工操作冲床为主,工作效率低,工伤事故频发。本文基于代替人工劳动、提高生产率为主要目的研发一种辅助压力机快速上下料的自动化机械手的控制系统,以满足实际生产需求。本文首先介绍了国内外工业机械手的研究现状及未来发展趋势,确定了研究的内容和目的。分析冲压机床的工作特点和定子硅钢片的生产工艺过程,确定机械手的总体结构。其次,结合生产需求,分析机械手的动作流程,确定机械手控制系统的硬件配置方案,整个控制系统由西门子S7-200系列控制器、伺服电机、气压驱动系统、传感器、触摸屏作为人机交互和其它的电子元件组成。对上料系统与模具的配合进行精度需求分析,计算物料运送平台所需要的定位精度,确定能满足精度要求的定位控制方式,并测量物料运送平台的综合定位精度使其达到控制要求。再次,设计电气控制回路系统,完成强电部分和弱电部分线路连接,设计外部信号与控制器、伺服驱动器与控制器相关配置和接线,初步计算和配置执行部件的运动参数,制定自动控制流程方案的和编写软件控制程序,该部分使得系统能够按照控制要求以手动、半自动、自动和校模多种方式进行工作,设计人机交互界面对机械手进行操作控制和运行状态进行实时监控。最后,对伺服系统的PID控制参数的优化进行研究,该部分剖析了伺服电机系统的工作状态,推导出永磁同步电机的状态方程,构建伺服闭环控制系统的数学模型,确定其动态结构原理图,分别采用稳定边界法则和粒子群算法对伺服系统的控制参数进行优化分析,并在MATLAB/Simulink环境下进行建模仿真,得出基于粒子群算法整定的伺服控制参数能够更好地满足系统的快速性、准确性和稳定性要求,使得上下料冲压机械手具有可靠的使用性能。在现场完成设备的安装后,对设备进行调试工作,确定最终的运动控制参数,经过多次的反复运行表明,本冲压机械手工作良好、运行稳定,完全能胜任辅助压力机的自动上下料工作,各项指标均达到要求。
[Abstract]:In recent years, enterprises in the Pearl River Delta region have faced difficulties in recruiting, shortage of employment and rising employment costs. Under the pressure of competition, more and more enterprises have introduced automatic equipment transformation and upgrading production lines.In the traditional stamping machine production, manual operation punch machine is the main, low working efficiency, frequent industrial accidents.In this paper, an automatic manipulator control system is developed for the purpose of replacing manual labor and increasing productivity to meet the actual production demand.This paper first introduces the present situation and future development trend of industrial manipulator at home and abroad, and determines the content and purpose of the research.The working characteristics of stamping machine and the production process of stator silicon steel sheet are analyzed, and the overall structure of manipulator is determined.Secondly, according to the production demand, the operation flow of the manipulator is analyzed, and the hardware configuration of the manipulator control system is determined. The whole control system is composed of Siemens S7-200 series controller, servo motor, pneumatic drive system, sensor, etc.The touch screen is composed of man-machine interaction and other electronic components.The accuracy requirements of the feeding system and the die are analyzed, the positioning accuracy required by the material transportation platform is calculated, and the positioning control mode that can meet the precision requirements is determined.The integrated positioning accuracy of the material delivery platform is measured to meet the control requirements.Thirdly, the electrical control loop system is designed to connect the strong and weak parts of the circuit, the external signal and controller are designed, the servo driver and the controller are configured and connected, and the motion parameters of the executive parts are preliminarily calculated and configured.Making the program of automatic control flow and writing the software control program. This part enables the system to work in manual, semi-automatic, automatic and modular ways according to the control requirements.The man-machine interface is designed to control the manipulator and monitor its running state in real time.Finally, the optimization of PID control parameters of servo system is studied. In this part, the working state of servo motor system is analyzed, the state equation of permanent magnet synchronous motor is deduced, and the mathematical model of servo closed-loop control system is constructed.The dynamic structure schematic diagram is determined, and the control parameters of the servo system are optimized by using the stable boundary rule and particle swarm optimization algorithm, and the simulation is carried out under the environment of MATLAB/Simulink.It is concluded that the servo control parameters based on particle swarm optimization algorithm can better meet the requirements of system speed, accuracy and stability, so that the upper and lower stamping manipulator has reliable performance.After the installation of the equipment is completed on the spot, the equipment is debugged and the final motion control parameters are determined. The repeated operation shows that the stamping manipulator works well and runs stably.Fully competent for automatic loading and unloading of auxiliary press, each index meets the requirements.
【学位授予单位】：深圳大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TG385;TP241

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