全自动工业包缝机伺服控制系统研究

发布时间：2018-06-14 17:01

本文选题：包缝机 + 永磁同步电机　；参考：《东华大学》2016年硕士论文

【摘要】：工业包缝机,是一种在纺织服装工厂中用于包边缝制的设备,其结构复杂,伺服控制技术难度高。长期以来,国内所使用的电控工业包缝机的伺服控制器基本上由国外进口,国内相应的研发起步较晚,技术水平不高,使得高性能的电控包缝机只是少数高端服装生产企业才能享受的奢侈品。国内纺织服装行业的持续高速发展,为缝制设备行业带来了巨大的发展机遇,而包缝机的性能是由其伺服控制系统所决定的,当高性能的伺服系统应用于大规模的工厂化生产时,可以减轻劳动强度,极大地提高生产质量和生产效率。因此,开发出高性能的包缝机伺服控制系统具有重要意义。为了研究开发出适用于工业使用的包缝机伺服系统,本论文在研究工业包缝机工作机制的基础上,考虑了伺服系统的性能指标要求,对伺服系统进行方案设计,以及硬件系统和软件系统的设计,并在实验室机器上进行了测试。本论文的主要工作如下:(1)对交流伺服控制系统进行理论研究,包括永磁同步电机数学模型、矢量控制技术以及电压空间矢量脉宽调制技术,为包缝机伺服系统方案设计、硬件和软件设计提供理论基础。(2)针对伺服电机的选型进行了分析,根据包缝机系统性能要求,设计了位置、速度、电流三闭环控制策略。为了实现准确的伺服控制,确定了伺服电机的转子位置检测方法和转速测量方案。同时,针对电机闭环矢量控制系统进行了仿真研究,采用基于人工蜂群算法的智能pid控制器进行速度环设计和仿真,充分利用人工蜂群算法的寻优机制,提高电机速度控制性能。此外,还对包缝机伺服系统的制动控制方案进行了设计。(3)针对工业包缝机伺服系统硬件进行设计,采用ti的dsp芯片tms320f28034作为核心控制器,外接多个外围电路,与伺服系统其它部件通过多个接口实现互联。对电流采样电路、母线电压采样电路、转速及位置检测电路等进行设计,对功率驱动芯片进行选型,对其它外围电路如脚踏板调速电路、电磁阀驱动电路和电眼传感器电路等进行了设计。(4)针对工业包缝机伺服系统软件进行设计,采用ti的ccs集成开发环境进行软件开发,利用事件驱动型编程架构,对包缝机伺服系统的软件状态框图和系统软件状态机进行详细设计。同时,针对电机矢量控制算法给出了模块的算法流程图,对包缝机系统故障处理模块进行了软件设计,并对操作面板的按键和显示部分进行了设计。最后,对所开发的包缝机伺服系统进行了详细的性能测试。测试结果表明,所开发的伺服系统满足工业应用需求,具有较好的工业应用前景。同时还对全文进行了总结和展望,提出了进一步研究的方向。本论文的主要创新点如下:(1)创新性地将人工蜂群算法和pid控制器相结合,并设计了包含超调惩罚项的适应度函数,将人工蜂群算法的随机寻优机制应用到电机速度环控制参数的优化过程中,仿真结果表明电机速度控制效果较好。(2)为了实现包边缝制过程的自动启停,在包缝机伺服系统中添加了两对电眼传感器,根据检测情况判断是否有布料经过抬压脚下方,实现了自动检测布料位置、自动抬起抬压脚的功能,有效提高了伺服控制系统的自动化程度。(3)为了保证工业加工现场的环境清洁,在控制系统中添加了两个吸风电磁铁模块,通过控制电磁铁通断和气动吸风装置,将包边缝制过程中产生的碎线和碎布料吸入到指定袋内,有效保持了工业加工现场的清洁。
[Abstract]:Industrial seaming machine is a kind of equipment used to sew in the textile and garment factories. Its structure is complex and the servo control technology is difficult. For a long time, the servo controller of the electronic control industrial slit machine used in China is basically imported from abroad. The corresponding research and development in China is late and the technical level is not high, so the high performance electronic control package is made. The machine is only a luxury for a few high-end garment manufacturers. The continuous and rapid development of the domestic textile and garment industry has brought great opportunities for the development of the sewing equipment industry, and the performance of the sewing machine is determined by its servo control system. When the high performance servo system should be used in large-scale factory production, it can be reduced. The light labor intensity greatly improves the production quality and production efficiency. Therefore, it is of great significance to develop a high performance servo control system for the slit machine. In order to develop the servo system for the industrial use of the slit machine, this paper takes into account the performance index of the servo system on the basis of the study of the working mechanism of the industrial slit machine. The main work of this paper is as follows: (1) the theoretical research of AC servo control system, including the mathematical model of permanent magnet synchronous motor, vector control technology and voltage space vector pulse width modulation technology, is the main work of this paper. The design of the servo system for the slit machine is designed and the hardware and software design provides the theoretical basis. (2) the selection of the servo motor is analyzed. According to the performance requirements of the slit machine, the position, speed and current three closed loop control strategy are designed. In order to realize the accurate servo control, the rotor position detection method and speed of the servo motor are determined. At the same time, the simulation study of the motor closed loop vector control system is carried out. The intelligent PID controller based on artificial bee colony algorithm is used to design and simulate the speed loop. The optimization mechanism of the artificial bee colony algorithm is fully utilized to improve the speed control performance of the motor. In addition, the braking control scheme of the servo system of the slit machine is also carried out. Design. (3) to design the hardware of the industrial seaming machine servo system, the DSP chip tms320f28034 of Ti is used as the core controller, and the external circuit is connected with the other parts of the servo system through multiple interfaces. The current sampling circuit, the bus voltage sampling circuit, the speed and the position detection circuit are designed, and the power of the power is designed. Rate driven chip is selected, other peripheral circuits such as foot pedal speed control circuit, solenoid valve drive circuit and electric eye sensor circuit are designed. (4) the design of the servo system software for industrial slit machine is designed, the CCS integrated development environment of Ti is used to develop software, and the event driven programming architecture is used for the servo system of the slit machine. The software state block diagram and the system software state machine are designed in detail. At the same time, the algorithm flow chart of the module is given for the motor vector control algorithm. The software design of the failure processing module of the slot machine system is designed, and the key and display part of the operation panel are designed. Finally, the developed seaming machine servo system is developed. The test results show that the developed servo system meets the needs of industrial application and has a good prospect of industrial application. At the same time, the full text is summarized and prospected, and the direction of further research is put forward. The main innovations of this paper are as follows: (1) the artificial bee colony algorithm and the PID controller phase are innovatively. Combining, and designing the fitness function containing the overshoot penalty item, the stochastic optimization mechanism of the artificial bee colony algorithm is applied to the optimization process of the motor speed loop control parameters. The simulation results show that the motor speed control effect is better. (2) in order to realize the auto start stop of the edge sewing process, two pairs of electricity are added to the seaming machine servo system. The eye sensor, according to the detection condition, determines whether the cloth is under the lifting pressure foot, realizes the automatic detection of the position of the cloth, automatically raises the function of the lifting and lifting feet, and effectively improves the automation of the servo control system. (3) in order to ensure the clean environment of the industrial processing site, two air suction electromagnet modules have been added to the control system. Through the control of the electromagnet and the pneumatic suction device, the broken wire and the broken material produced during the sewing process are inhaled into the specified bag, which effectively keeps the cleaning of the industrial processing site.
【学位授予单位】：东华大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TS941.562.3

【参考文献】