【作者】 张健；

【导师】 王德民；

【作者基本信息】 长春理工大学 ， 机械电子工程， 2017， 硕士

【摘要】 滚焊机多轴协调运动控制精度直接决定滚焊机焊接钢筋笼的使用性能,因此研究多轴协调运动,提高其控制精度,对滚焊机的研制具有重要意义。本文首先根据滚焊机的控制要求对现有多轴运动控制策略的优缺点进行分析,决定采用虚轴法控制滚焊机的各伺服电机。然后对滚焊机的基本结构和工作原理进行详细研究,分析了造成滚焊机多轴运动不协调的原因,对滚焊机协调运动影响因素及各伺服电机进行分析和建模。根据滚焊机的控制要求本文采用欧姆龙NJ301作为运动控制器并选取EtherCAT作为滚焊机现场总线。最后根据各伺服电机模型通过Simulink建立滚焊机虚拟主轴控制模型,并对虚拟主轴中各参数的作用进行分析,研究各参数的优化设定方法并获得最佳设定值,通过与主令式控制和主从式控制的仿真结果进行对比分析,证明虚拟主轴控制能够取得最佳的运动控制效果,且所得设定参数的控制精度能够满足钢筋笼滚焊机的要求。更多还原

【Abstract】 Multi-axis coordinated control precision of seam welder directly determines the welding quality of reinforcing cage,so it is significant for seam welder to research multi-axis coordinated control.This paper firstly analyzes the existing control strategies according to the control requirements of the seam welder.Then the basic structure and working principle of seam welder are detailedly analyzed and the causes of motion excitation were found.The model of the servo motors and interference factors are established.According to the control requirements and the actual application situation of the seam welder this paper selected Omron NJ301 as the motion controller and selected Ether CAT as the field bus.Finally,the virtual axis control model was established using Simulink based on the models of the servo motors and the optimization method of the parameters of the virtual axis was analyzed.Compared with the command control and master-slave control,the control effect of the virtual axis control is best and could meet the control requirements of seam welder.更多还原