LED芯片高速分选机摆臂机电联合仿真及实验验证
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摘要
本文以LED芯片高速分选机摆臂旋转运动系统为研究对象,以提高芯片分选效率为研究目标,重点进行摆臂旋转运动系统和实现方案分析、伺服驱动系统分析与建模、多刚体和刚柔耦合机电联合建模、指令输入设计、机电联合仿真分析、实验平台搭建、实验验证的研究。具体内容如下:
首先通过介绍LED分选机的整体结构、功能介绍以及芯片分选过程,强调摆臂旋转系统的作用,指出摆臂机构的需求分析,提出摆臂运动系统影响分选效率的因素及解决方法;分析分选机摆臂旋转机构实现方案,讨论三种新的实现方案;分析摆臂旋转运动机构直驱方案的伺服驱动系统,为伺服驱动系统的建模做准备。
接着,根据直驱方案摆臂旋转运动系统使用的伺服驱动器和电机型号以及伺服参数,在MATLAB/SIMULINK中建立伺服驱动系统模型,进行仿真分析,选定伺服参数;根据摆臂旋转电机末端负载情况,建立虚拟负载模型,借助负载模型仿真选定摆臂运动规律输入。
然后,对实验平台的摆臂进行结构分析,利用Pro/E、ANSYS和ADAMS软件建立摆臂旋转运动系统的多刚体和刚柔耦合动力学模型,联立伺服驱动和动力学模型,建立机电联合仿真模型,并基于多刚体联合仿真模型初步调试伺服参数。依据EMAC卡脉冲发送速度曲线和LED单颗芯片分选周期方案进行联合仿真的指令输入设计。采用MATLAB的SIMIN模块调用输入指令,进行多刚体和刚柔耦合机电联合仿真分析。
最后设计和采购实验平台机械部件,集成机电系统,调试控制参数,搭建摆臂旋转运动实验平台。编写摆臂回零和旋转运动程序,进行摆臂运动规律和定位实验,优化控制参数,验证平衡式摆臂结构及机电联合仿真的有效性,实验结果表明直驱式实验平台提高了第一代分选机的分选效率,但没有完全达到摆臂机构需求,分析原因并提出展望。
In order to improve the efficiency of chip sorting, the paper studies on swing arm rotation system of high-speed LED sorting machine and focus on the optimization design and structure simulation of the swing arm, the analysis and modeling of servo drive system, electromechanical co-modeling of multi-rigid-body and rigid-flexible coupled body, the design of command inputs, co-simulation, the realization of swing arm rotation experiment platform, experimental verification. The main contents are:
First, through the introduction of the whole structure,function and chip sorting process, the role of rotating system and the influence factors of chip sorting efficiency were pointed out. The implementation of swing arm rotating system and three new plans were analyzed. The servo drive system of direct driving scheme was introduced for servo drive modeling.
And, based on the model and servo parameters of swing arm rotation system, the paper established its servo drive model on MATLAB/SIMULINK and adjusted servo parameters by simulation. According to actual load, a virtual load model is created for verifying the accuracy of servo drive model by load calibration.
Then, the dynamic models of multi-rigid-body and rigid-flexible coupled body were built by ADAMS, ANSYS and Pro/E. The dynamic model and servo drive model are connected to realize co-simulation model which is used for debugging servo parameters. The design of co-simulation command inputs based on the pulse speed curve of EMAC and chip sorting cycle was introduced to co-simulation using MATLAB/SIMIN.
At last, the swing arm experiment platform was built by designing, purchasing and assembling mechanical components, integrating electromechanical system and debugging control parameters. By preparing arm back to zero and rotation procedures and doing swing arm experiments of movement and location, control parameters were optimized and the new swing arm structure and co-simulation were verified. The results of experiment stated that experiment platform for direct drive improved the efficiency of the first generation sorting machine, but did not completely meet the demands of swing arm, the reasons for that were pointed out.
首先通过介绍LED分选机的整体结构、功能介绍以及芯片分选过程,强调摆臂旋转系统的作用,指出摆臂机构的需求分析,提出摆臂运动系统影响分选效率的因素及解决方法;分析分选机摆臂旋转机构实现方案,讨论三种新的实现方案;分析摆臂旋转运动机构直驱方案的伺服驱动系统,为伺服驱动系统的建模做准备。
接着,根据直驱方案摆臂旋转运动系统使用的伺服驱动器和电机型号以及伺服参数,在MATLAB/SIMULINK中建立伺服驱动系统模型,进行仿真分析,选定伺服参数;根据摆臂旋转电机末端负载情况,建立虚拟负载模型,借助负载模型仿真选定摆臂运动规律输入。
然后,对实验平台的摆臂进行结构分析,利用Pro/E、ANSYS和ADAMS软件建立摆臂旋转运动系统的多刚体和刚柔耦合动力学模型,联立伺服驱动和动力学模型,建立机电联合仿真模型,并基于多刚体联合仿真模型初步调试伺服参数。依据EMAC卡脉冲发送速度曲线和LED单颗芯片分选周期方案进行联合仿真的指令输入设计。采用MATLAB的SIMIN模块调用输入指令,进行多刚体和刚柔耦合机电联合仿真分析。
最后设计和采购实验平台机械部件,集成机电系统,调试控制参数,搭建摆臂旋转运动实验平台。编写摆臂回零和旋转运动程序,进行摆臂运动规律和定位实验,优化控制参数,验证平衡式摆臂结构及机电联合仿真的有效性,实验结果表明直驱式实验平台提高了第一代分选机的分选效率,但没有完全达到摆臂机构需求,分析原因并提出展望。
In order to improve the efficiency of chip sorting, the paper studies on swing arm rotation system of high-speed LED sorting machine and focus on the optimization design and structure simulation of the swing arm, the analysis and modeling of servo drive system, electromechanical co-modeling of multi-rigid-body and rigid-flexible coupled body, the design of command inputs, co-simulation, the realization of swing arm rotation experiment platform, experimental verification. The main contents are:
First, through the introduction of the whole structure,function and chip sorting process, the role of rotating system and the influence factors of chip sorting efficiency were pointed out. The implementation of swing arm rotating system and three new plans were analyzed. The servo drive system of direct driving scheme was introduced for servo drive modeling.
And, based on the model and servo parameters of swing arm rotation system, the paper established its servo drive model on MATLAB/SIMULINK and adjusted servo parameters by simulation. According to actual load, a virtual load model is created for verifying the accuracy of servo drive model by load calibration.
Then, the dynamic models of multi-rigid-body and rigid-flexible coupled body were built by ADAMS, ANSYS and Pro/E. The dynamic model and servo drive model are connected to realize co-simulation model which is used for debugging servo parameters. The design of co-simulation command inputs based on the pulse speed curve of EMAC and chip sorting cycle was introduced to co-simulation using MATLAB/SIMIN.
At last, the swing arm experiment platform was built by designing, purchasing and assembling mechanical components, integrating electromechanical system and debugging control parameters. By preparing arm back to zero and rotation procedures and doing swing arm experiments of movement and location, control parameters were optimized and the new swing arm structure and co-simulation were verified. The results of experiment stated that experiment platform for direct drive improved the efficiency of the first generation sorting machine, but did not completely meet the demands of swing arm, the reasons for that were pointed out.
引文
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[2]燕来荣, LED照明:未来新光源[J],大众用电, 2007年第12期:19-20;
[3] Kathleen Muray, BLUE LED PHOTOMETRY[Z], Part of the SPIE Conference on Illumination and Source Engineering, July 1998, SPIE Vol. 3428, 115-120;
[4] Wolfgang Pohomann, Thomas Vieregge, Martin Rode. High Performance LED Lamps for the Automobile:Needs and Opportunities[C]. Manufacturing LEDs for Lighting and Displays, Proc. of SPIE, Vol. 6797, 67970D(2007):1-15;
[5]吴小丽, LED技术在公路隧道的应用[J],公路隧道, 2006年第4期:54-55;
[6]陶梅, LED路灯专利简介[J],中国照明电器, 2008年第6期:25-26;
[7]张邦维,新型汽车照明光源LED灯[J],汽车与配件, 2007年第1期:42-45;
[8]周行卜,太湖汽车LED应用于开发[J],商用汽车, 2008年第3期:115-117;
[9]白衫, LED打印将与激光打印交相辉印[J],光机电信息,2004年第1期:30-32;
[10] David G. Pelka, Kavita Patel, An Overview of LED Applications for General Illumination[J], Design of Efficient Illumination Systems, Proc. of SPIE, Vol.5186(2003):15~25;
[11] LED运用在医疗技术的多元发展[J],光机电信息, 2007年第12期:67-68;
[12]郝金刚,梁春军,刘淡宁等, LED产业分析报告[J],现代显示, 2006年第3期:8-14;
[13]王龙文, LED芯片高速分选机分选工艺及性能优化研究[D],华中科技大学硕士学位论文, 2011年1月;
[14]王英俊, LED芯片分选机分选机构设计研究[D],华中科技大学硕士学位论文, 2009年5月;
[15]蔡立兵, LED芯片高速分拣若干关键技术研究[D],华中科技大学硕士学位论文, 2009年5月;
[16]郭强生, LED粘片机芯片拾取机构运动控制技术研究[J],电子工业专用设备, 2007年6月,总第125期, 27-32;
[17]路峰, LED芯片自动测试与分拣系统设计[D],哈尔滨工业大学硕士学位论文, 2005年12月;
[18]张海伟,基于X_Y平台的数控伺服系统建模与仿真[D],西北农林科技大学硕士学位论文, 2006年5月;
[19]王文深,潘周光,针对X-Y精密数控工作台进给伺服系统特性的分析[J],浙江工贸职业技术学院学报, 2008年第8期:31-36;
[20] T.Yamazaki, Mathematical model for feed drive system in microscopic motion area[J], Archives of Materials Science and Engineering, Vol.33(2008):35-38;
[21]周勇,高速进给驱动系统动态特性分析及其运动控制研究[D],华中科技大学博士学位论文, 2008年3月;
[22] GeorgeYounkin, Modeling machine tool feed servo drives using simulation techniques to predict performance[J], IEEE, 1989:1699-1706;
[23]胡俊,重心驱动工作台动力学建模及其特性分析[D],华中科技大学硕士学位论文, 2007年4月;
[24]郭章信,刘建亭, CK6163进给伺服系统参数对动态性能影响分析[J],安阳工学院学报, 2009年第4期:13-16;
[25]李佳特,数控机床进给伺服系统的性能评估与改进[J],制造技术与机床, 2004年第10期:112-115;
[26] Ping Ma, Chengxiang Liao, Zhenhui Chen and Aimin Chen, Dynamic Response of the Linear Motor Feed Drives with Magneto-rchological Fluid Damper[J], International Conference on Mechanic Automation and Control Engineering, June. 2010:3072-3077;
[27]施丽婷,黄筱调,杨勇,数控交流伺服系统三环整定及应用[J],南京工业大学学报, 2006年28期:36-40;
[28]王辉, CK6136数控车床交流伺服进给系统的分析与仿真[D],浙江工业大学硕士学位论文, 2009年5月;
[29]刘伟超,宋亚萍,高精度随动系统机电联合仿真[J],舰船科学技术, 2007年第5期:140-145;
[30] G Pritschow, N Cronn, Simulation Environment for Machine Tools[J], Production Engineering Machine Tools, Sep.2002:63-66;
[31] G Rehsteiner, F Weikert, S Rak Z, Accuracy Optimization of Machine Tools under Acceleration Loads for the Demands of High-Speed- Machining, Proceedings of the ASPE 1998 Annual Meeting.
[32] Neugebauer, R.Noack, S.Klug D, Simulation of Energy Flow in Hydraulic Drives of Forming Machines, 1st International Conference on computational Methods in Fluid Power Technology, Melbourne, 2003:333-348;
[33] H Van Brussel, W Symens;An Integrated Virtual Engineering Environment for Machine Tools[J], Autonome Produktion, Springer-Verlag, Berlin Heidelberg, 2003:474-487;
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