高精度多轴冷弯成型控制系统研究

发布时间：2018-06-26 07:07

本文选题：PID偏差耦合控制 + 同步控制　；参考：《北方工业大学》2017年硕士论文

【摘要】：冷弯成型产品因其表面质量好、材料利用高等优点被广泛应用于建筑、汽车、航天等领域。随着工业技术不断向高、精、尖的方向发展,对于板材的成型精度也有了更高的要求,而高精度的冷弯产品必然需要高精度的生产设备。本文主要致力于提高北方工业大学研制的单轴变截面冷弯成型机的成型精度。单轴变截面冷弯成型机是一种可实现单边变截面板材的设备,具有成本低、易于控制等特点。在成型过程中,板材截面的变化是通过控制伺服电机带动轧辊运动来实现的,板材的成形精度与控制成型辊的伺服电机的控制精度密切相关,因此提高单轴柔性冷弯机中单机组的伺服电机的同步性能是本文的重要工作之一。在PXI控制器、NI7350运动控制卡构建的双电机伺服控制系统上,通过大量的实验,分析比较了并行控制、主从控制等多种同步控制方案的同步精度与跟踪误差,提出了基于PID偏差耦合控制的提高双电机系统同步精度的控制方案,电机空载实验及机组实验均验证了方法的有效性。考虑到板材成型过程中板速的不可控,采用AutoCAD图形离散化方法获得板型数据,导入控制程序中,进一步降低板速影响,从而提高设备成型精度。此外,作为影响控制精度的重要因素,板材速度在成型中会因受到各种因素干扰而产生波动。本文采用多传感器组合监测的方法,合理、准确的估算板材实时速度,大大提高了多机组联动精度,从而进一步提高了板材的成型精度。
[Abstract]:Cold forming products are widely used in the fields of building, automobile and spaceflight because of their good surface quality and high utilization of materials. With the continuous development of industrial technology to the direction of high, fine and sharp, the forming accuracy of sheet metal has higher requirements, and high precision cold bending products must need high precision production equipment. This paper is mainly devoted to improving the forming accuracy of the uniaxial variable cross section cold forming machine developed by Northern University of Technology. Uniaxial cold forming machine with variable cross section is a kind of equipment which can realize single side variable section plate. It has the characteristics of low cost and easy control. In the forming process, the change of sheet section is realized by controlling the servo motor to drive the roll movement. The forming accuracy of sheet metal is closely related to the control precision of the servo motor controlling the forming roll. Therefore, it is one of the important work in this paper to improve the synchronous performance of single unit servo motor in single axis flexible cold bending machine. Based on the dual-motor servo control system constructed by PXI controller NI7350 motion control card, the synchronization accuracy and tracking error of parallel control, master-slave control and other synchronous control schemes are analyzed and compared through a large number of experiments. A control scheme based on pid deviation coupling control is proposed to improve the synchronization accuracy of double motor system. The validity of the method is verified by the no-load motor experiment and the unit experiment. Considering the uncontrollable speed of the plate during the forming process, the plate shape data are obtained by using AutoCAD graphic discretization method, which is introduced into the control program to further reduce the influence of the plate speed, thereby improving the forming accuracy of the equipment. In addition, as an important factor affecting the control accuracy, the velocity of sheet metal fluctuates during forming due to the interference of various factors. In this paper, the method of multi-sensor combined monitoring is used to estimate the real-time speed of plate reasonably and accurately, which greatly improves the precision of multi-unit linkage and further improves the forming accuracy of sheet metal.
【学位授予单位】：北方工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TG305;TP273

【参考文献】