机械伺服高速精冲机的驱动系统设计与仿真
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摘要
在双电机多连杆机构驱动的机械伺服精冲机中,一个电机连接短曲柄在冲压工作段提供主冲压力,另一个电机连接长曲柄在滑块快速上行阶段和滑块返程阶段调节滑块运动速度。为保证力矩分配的合理性与精冲机冲压作业的周期性,双电机必须协调运转。对此采取的控制策略为:对两个曲柄采用相位反馈的方式,在相关特征相位点切换电机速度曲线,并且设置冲压工作段中非出力电机保持零速以保证双电机的协调运行。通过Adams和Simulink的仿真结果表明,所提出的方法能够有效实现二自由度机械伺服精冲机传动系的正常冲压作业的周期性运行与两个电机的合理力矩分配。
For mechanical servo fine-blanking machine driven by two motors with multi-link mechanism,the main punching force during the press working section comes from the motor linked with the short crank,and the speed regulation during the rapid upward and return stage mainly depends on another motor linked with the long crank. It's necessary to make sure the two motors corporate well that each motor has reasonable torque and the fine-blanking machine can work periodically. Therefove,a control strategy was carried out: with the phase feedback of the two cranks,switch motor speed curve at characteristic phase,and set the speed-regulation motor at zero speed station to make sure that the two motors can corporate well. The result of the simulation based on Adams and Simulink shows that the proposed strategy can effectively realize the normal periodic operation of the fine-blanking machine and the rational torque distribution of the two motors.
For mechanical servo fine-blanking machine driven by two motors with multi-link mechanism,the main punching force during the press working section comes from the motor linked with the short crank,and the speed regulation during the rapid upward and return stage mainly depends on another motor linked with the long crank. It's necessary to make sure the two motors corporate well that each motor has reasonable torque and the fine-blanking machine can work periodically. Therefove,a control strategy was carried out: with the phase feedback of the two cranks,switch motor speed curve at characteristic phase,and set the speed-regulation motor at zero speed station to make sure that the two motors can corporate well. The result of the simulation based on Adams and Simulink shows that the proposed strategy can effectively realize the normal periodic operation of the fine-blanking machine and the rational torque distribution of the two motors.
引文
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[2]邓明,胡根铭,吕琳,等.精冲压力机的现状及发展趋势[J].锻压技术,2016,41(8):1-6.Deng M,Hu G M,LüL,et al.Present situation and development trend of fine blanking press[J].Forging&Stamping Technology,2016,41(8):1-6.
[3]华林,胡亚明,刘艳雄,等.精冲技术与装备[M].武汉:武汉理工大学出版社,2015.Hua L,Hu Y M,Liu Y X,et al.Fine Blanking Technology and Equipment[M].Wuhan:Wuhan University of Technology Press,2015.
[4]Yossifon S,Shivpuri R.Design considerations for the electric servo-motor driven 30 ton double knuckle press for precision forming[J].International Journal of Machine Tools&Manufacture,1993,33(2):209-222.
[5]Yan H S,Chen W R.On the output motion characteristics of variable input speed servo-controlled slider-crank mechanisms[J].Mechanism&Machine Theory,2000,35(4):541-561.
[6]Yan H S,Soong R C.Kinematic and dynamic design of four-bar linkages by links counterweighing with variable input speed[J].Mechanism&Machine Theory,2001,36(9):1051-1071.
[7]Meng C F,Zhang C,Lu Y H,et al.Optimal design and control of a novel press with an extra motor[J].Mechanism&Machine Theory,2004,39(8):811-818.
[8]Li C H,Tso P L.Experimental study on a hybrid-driven servo press using iterative learning control[J].International Journal of Machine Tools&Manufacture,2008,48(2):209-219.