【作者】 张斌；

【导师】 袁楚明； 严思杰；

【作者基本信息】 华中科技大学 ， 机械工程， 2020， 硕士

【摘要】 风电叶片及其模具由于曲面复杂,难以磨抛等特点,目前仍主要依赖于人工磨抛的方式。并随着叶片及模具尺寸的日益增大,风电行业磨抛强度也伴随着增加,粉尘污染也越来越严重,人工磨抛的低效率以及磨抛表面质量一致性难以保证等工作特点,使得人工磨抛方式越来越不被行业看好。加上车间环境恶劣,磨抛从业者的健康受到很大威胁,未来可能出现磨抛从业者短缺的问题。因此,借用机器人实现自动磨抛就具有十分重要的现实意义。在对国内外自动磨抛现状进行调研后,本文针对合作方对叶片模具的磨抛工艺要求,设计了一种适用于叶片模具自动磨抛的控制系统。本文主要完成对控制系统的方案设计,以及系统的硬件设计与配置,并根据控制系统的功能需求,使用可编程控制器的程序设计软件进行功能实现。在系统的硬件设计中,根据现场作业环境以及作业需求,主要包括对机器人单元、伺服驱动单元、可编程逻辑控制与通讯单元以及电控柜等设备的详细设计;在系统功能实现中,根据系统的功能需求,对系统中各设备之间的工业通讯网络进行了搭建,并编写PLC控制程序,实现了系统控制功能;最后,利用触摸屏对系统中主要设备的状态进行控制与监控,实现人机交互。此外,针对磨抛伺服机构的速度PI控制器,采用模糊控制对其进行了优化,使其转速超调量减小,动态性能和抗干扰能力得到改善,以此增强其磨抛变负载过程中的适应能力,改善磨抛质量。最后,对所设计的自动磨抛控制系统进行了运行调试,证实系统能够正常可靠的工作,同时满足了合作方对模具表面粗糙度的要求,表面光滑且质量一致性好,已在实际模具磨抛作业中应用。更多还原

【Abstract】 Due to the complicated surface and the difficulties in grinding and polishing,the blades of wind generator and their moulds are still mainly dependent on manual grinding and polishing.Moreover,with the increasing size of the blades and moulds,the grinding strength of wind power industry also increases,dust pollution becomes more and more serious,the low efficiency of artificial grinding and polishing and the consistency of surface quality is difficult to guarantee,which make the manual grinding and polishing less and less favored in the industry.In addition,the poor workshop environment has greatly threatened the health of the workers,and there may be a shortage of grinding and polishing workers in the future.Therefore,the use of robots to achieve automatic grinding and polishing is of great realistic significance.After investigating the current situation of automatic grinding and polishing at home and abroad,this paper designs an automatic grinding and polishing control system for the blades’ moulds to meet the partner’s requirements on the grinding and polishing process of the blades’ moulds.This paper mainly completes the design of the control system,as well as the hardware’s design and the configurations of the system,and according to the functional requirements of the control system,uses the programmable logic controller(PLC)programming software to achieve the function.To design the hardware platform of the system,it mainly includes the detailed design of the robot unit,the servo drive unit,the programmable logic control and communication unit,the power control cabinet and other equipments to meet the workshop’s environment and the system’s requirements.In the realization of system functions,according to the functional requirements of the system,the industrial communication network between the system equipments are built,and the program of the programmable logic controler is written to realize the system’s control function.Finally,the touch screen is used to control and monitor the state of the main equipments in the system,so as to realize the man-machine interaction.In addition,for the speed PI controller of the grinding and polishing servo mechanism,fuzzy control is adopted to optimize it,so as to reduce the speed overshoot,improve its dynamic performance and anti-interference ability,eventually to enhance its adaptability of variable load and improve the grinding and polishing quality.Finally,the automatic grinding and polishing control system has been debugged,which has proved that the system could work normally and reliably.And the automatic grinding and polishing control system has also met the partner’s requirements for the surface roughness of the moulds,with the smooth surface and good quality consistency,and it has been applied in the actual grinding and polishing operation of the moulds.更多还原