混合驱动机构速度波动控制研究
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摘要
混合驱动机构是以常规电动机和伺服电动机作为驱动器,两种类型的输入运动通过一个二自由度机构合成后实现预期的输出运动,其中常规电动机为系统提供主要的动力,伺服电动机提供较小动力的同时主要起调节作用。它兼容了传统机械系统和全伺服驱动机械系统的优点。混合驱动七杆机构是在闭链五杆机构的基础上引入了二级杆组,使机构结构简单、柔性大,尺寸型和输入运动变化大,可以实现给定的轨迹或运动,具有较高的实际应用价值。
将混合驱动七杆机构运用在压力机上,使得它既有传统机械式压力机的大功率、运行平稳等优点,又具有可控性、可调性,能够提供多组输出运动规律。因此,混合驱动压力机,不用改变机构几何参数,通过控制伺服电机运动规律,就能够较为方便地调节压力机滑块的位移和速度,以满足不同材料加工工艺的要求。
分析了机械式压力机滑块运动的典型规律,对混合驱动压力机的可行性进行了分析,选择了适于拉伸工艺的混合驱动七杆压力机的机构构型。运用回路矢量法对混合驱动七杆机构进行了逆运动学、正运动学分析,分别求出了混合驱动七杆机构中各构件的位移、速度和加速度的解析表达式。
建立了混合驱动七杆机构的优化设计模型,并将优化分为两步:第一步,假定伺服电机角速度与常规电机相同的条件下,优化设计出机构的尺寸参数;第二步,在第一步优化结果的基础上,使机构的尺寸参数不变,优化设计伺服电机输入运动规律。并用5次多项式对伺服电机的运动规律进行了优化设计,最后求得满足加工工艺要求的伺服电机角速度曲线。结论表明通过改变伺服电机的运动规律,不仅能调节滑块的速度,而且可实现不同的位移和速度曲线,即可实现适应不同工况的滑块的多组输出运动规律,从而实现了混合驱动压力机滑块运动规律的柔性输出。
Hybrid-driven mechanism is driven by constant speed motor and servomotor. Inputs from a uniform constant speed motor and a programmable motion servomotor are summed in two degrees of freedom at the output of the linkage. With this machine, the constant speed motor supplies the main torque and power, while the servomotor, which supplies a little part of torque and power, adjusts the output motion. This kind of machine system not only has advantages of classical mechanical system, but also is controllable and has great flexibility. Hybrid-driven seven-bar mechanism is formed by introducing a two linkage bar to five-bar mechanism. This is a new mechanism of simple structure with big flexibility which can generate given path or movement. It has high practical value.
This kind of press not only had advantages of classical press system, but also was controllable and had great flexibility with applying hybrid-driven seven-bar mechanism to press, it could provide for programmable motion outputs. Therefore, without changing the geometric parameters of the system, only through adjusting the trajectory of servomotor displacement, the press could meet different material processing requirements.
The typical kinetic rules of the mechanical presses were analyzed. Then the feasibility of hybrid-driven seven-bar mechanical presses was discussed. The type of the hybrid-driven mechanical press suitable for deep drawing was selected. The forward and inverse kinematics analysis of the hybrid-driven seven-bar mechanism was made by loop vector method, and the displacement, velocity and acceleration resolution expressions of each part were worked out.
In order to realize the flexible output of the slider, the optimum design of the hybrid-driven seven-bar mechanism was carried out through two major processes. The first process was to optimize the geometric parameters of the mechanism, on the assumption that the servomotor rotates at a constant angular velocity equal to the constant velocity motor. The second process was to optimize the displacement trajectory of the servomotor based on the results of the first process while keeping the geometric parameter unchangeable. The input displacement of the servomotor was separately optimized by using polynomial curve. The results pointed out that by adjusting the trajectory of servomotor displacement, the velocity of slider was not only changed, but also achieved different curve of displacement and velocity. It could provide for programmable motion outputs, the flexible output of slider was gained.
将混合驱动七杆机构运用在压力机上,使得它既有传统机械式压力机的大功率、运行平稳等优点,又具有可控性、可调性,能够提供多组输出运动规律。因此,混合驱动压力机,不用改变机构几何参数,通过控制伺服电机运动规律,就能够较为方便地调节压力机滑块的位移和速度,以满足不同材料加工工艺的要求。
分析了机械式压力机滑块运动的典型规律,对混合驱动压力机的可行性进行了分析,选择了适于拉伸工艺的混合驱动七杆压力机的机构构型。运用回路矢量法对混合驱动七杆机构进行了逆运动学、正运动学分析,分别求出了混合驱动七杆机构中各构件的位移、速度和加速度的解析表达式。
建立了混合驱动七杆机构的优化设计模型,并将优化分为两步:第一步,假定伺服电机角速度与常规电机相同的条件下,优化设计出机构的尺寸参数;第二步,在第一步优化结果的基础上,使机构的尺寸参数不变,优化设计伺服电机输入运动规律。并用5次多项式对伺服电机的运动规律进行了优化设计,最后求得满足加工工艺要求的伺服电机角速度曲线。结论表明通过改变伺服电机的运动规律,不仅能调节滑块的速度,而且可实现不同的位移和速度曲线,即可实现适应不同工况的滑块的多组输出运动规律,从而实现了混合驱动压力机滑块运动规律的柔性输出。
Hybrid-driven mechanism is driven by constant speed motor and servomotor. Inputs from a uniform constant speed motor and a programmable motion servomotor are summed in two degrees of freedom at the output of the linkage. With this machine, the constant speed motor supplies the main torque and power, while the servomotor, which supplies a little part of torque and power, adjusts the output motion. This kind of machine system not only has advantages of classical mechanical system, but also is controllable and has great flexibility. Hybrid-driven seven-bar mechanism is formed by introducing a two linkage bar to five-bar mechanism. This is a new mechanism of simple structure with big flexibility which can generate given path or movement. It has high practical value.
This kind of press not only had advantages of classical press system, but also was controllable and had great flexibility with applying hybrid-driven seven-bar mechanism to press, it could provide for programmable motion outputs. Therefore, without changing the geometric parameters of the system, only through adjusting the trajectory of servomotor displacement, the press could meet different material processing requirements.
The typical kinetic rules of the mechanical presses were analyzed. Then the feasibility of hybrid-driven seven-bar mechanical presses was discussed. The type of the hybrid-driven mechanical press suitable for deep drawing was selected. The forward and inverse kinematics analysis of the hybrid-driven seven-bar mechanism was made by loop vector method, and the displacement, velocity and acceleration resolution expressions of each part were worked out.
In order to realize the flexible output of the slider, the optimum design of the hybrid-driven seven-bar mechanism was carried out through two major processes. The first process was to optimize the geometric parameters of the mechanism, on the assumption that the servomotor rotates at a constant angular velocity equal to the constant velocity motor. The second process was to optimize the displacement trajectory of the servomotor based on the results of the first process while keeping the geometric parameter unchangeable. The input displacement of the servomotor was separately optimized by using polynomial curve. The results pointed out that by adjusting the trajectory of servomotor displacement, the velocity of slider was not only changed, but also achieved different curve of displacement and velocity. It could provide for programmable motion outputs, the flexible output of slider was gained.
引文
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[3] TOKUZ L C. A design guide for hybrid machine applications[J]. Tr. J. of Engineering and Environment Sciences, 1997: 21:1-11.
[4] GREENOUGH J D, ETAL. Design of hybrid machine[C]. Proceeding of the 9th IF To MM world Congress, 1995: 2501-2505.
[5] ALI KIRECC. A study on a hybrid actuator[J]. Mechanism Machine Theory 2000, 35(2):1141-1149.
[6] HERMAN J, VAN DE STRAETE, JORIS DE SCHUTTER. Hybrid cam mechanisms[J]. IEEE/ASME Transactions on Mechatronics,1996, 1(4): 284-289.
[7] CONNOR A M. The synthesis of hybrid five-bar path generating mechanisms using genetic Algorithms[J]. Genetic Algorithms in Engineering System: Innovations and Application, l995(2): 3l3-3l8.
[8] SESHA S V, BHARTENDU S. Programmable cam mechanisms[C]. The 26th International Symposium on Industrial Robots. 1995:267-272.
[9]孔建益,FUNK W等.具有一个受控原动件的五杆机构精确实现给定函数的研究[J].中国机械工程,1996,7(专刊):106-108.
[10]孔建益,FUNK W.受控机构的研究现状和发展展望[J].中国机械工程,1995,9(1):55-57.
[11]程光蕴.两自由度连杆机构精确实现平面轨迹的研究[J].东南大学学报,1990,20(3):64-67.
[12]周洪,邹慧君,王石刚.混合输入型五杆轨迹机构的分析与设计[J].上海交通大学学报,1999,33(7):865-869.
[13]周双林,邹慧君,姚燕安.混合输入五杆机构的奇异性分析[J].上海交通大学学报,2002(8):50-53.
[14]张策.弹性连连杆机构的分析与设计[M].北京:机械工业出版社,1997.
[15]陆永辉.混合输入机构驱动曲柄压力机的研究[D].天津:天津大学,2001.
[16]卢宗武.可控压力机研究[D].天津:天津大学,2002.
[17]李辉.混合驱动可控压力机的基础理论研究[D].天津:天津大学,2003.
[18]张昕.混合驱动机械系统在考虑速度波动情况下的运动重新规划[D].天津:天津大学,2005.
[19]张阁,邹慧君,郭为忠.混合输入七杆机构的可动性条件[J].机械设计与研究,2002.
[20]张新华.实现轨迹创成的混合驱动可控机构分析与综合[D].天津:天津大学,2002
[21]张新华,张策,田汉民.混合驱动机构的创新设计及其应用[J].机械设计与研究,2001,17(3):37-40.
[22]孟宪举,李辉.精确实现给定轨迹的混合驱动五杆机构[J].河北理工大学学报,2004(5):26-28.
[23]李永刚,孟彩芳,张策.两自由度多环混合驱动机构的可动性分析[J].机械设计,2003,20(9):17-19.
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[25]刘素平.变结构连杆机构动力学分析与辅助运动控制研究[D].上海:东华大学,2001.
[26]唐爱民.三相混合式步进电动机细分驱动系统的研究与实现[D].福州:福州大学,2004.
[27] YOSSIFON S, SHIVPURI R. Analysis and comparison of selected rotary linkage drives for mechanical presses[J]. International Journal of Machine Tools&Manufacture.1993,33(2):175-192.
[28] 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):193-208.
[29] YOSSIFON S, SHIVPURI R. Optimization of a double knuckle linkage drive with constant mechanical advantage for mechanical presses[J]. International Journal of Machine Tools&Manufacture.1993,3(2):209-222.
[30] FUNG R F, CHEN K W. Fuzzy sliding mode controlled slider-crank mechanism using a PM synchronous servo motor drive[J]. International Journal of Mechanism Science.1999,41.
[31]姚燕安.凸轮机构的主动控制[D].天津:天津大学,1999.
[32]董利平.混合驱动五杆机构系统滑模变结构控制的研究[D].成都:西南交通大学,2006.
[33]潘莉.实现轨迹的受控五杆机构研究[D].武汉:武汉科技大学,2004.
[34]张坷,王生泽.混合驱动连杆优化设计机性能实验研究,机械设计,2004(专刊),192~194.
[35] SLOTINE J E. Sliding controller design for non-linear systems[J]. Control. 1984, 40(22):421-434.
[36] CHEN J Y. Expert SMC-based fuzzy control with genetic algorithms[J]. Journal of the Franklin Institute, 1999(336):589-610.
[37] UTKIN V I. Sliding modes and their application in discontinuous systems[J]. Automat Remote Control, 1974(21):1898-1907.
[38] UTKIN V I. Variable structure control systems with sliding modes [J]. IEEE Transactions on Automatic Control, 1977(22):212-222.
[39] GHORBEL F H, CHETELAT O. Modeling and set point control of closed-chain mechanism: theory and experiment[J]. IEEE Transaction on Control Systems Technology, 2000, 8(5):801-815.
[40] GHORBEL F H. A validation study of PD control of a closed-chain mechanical system[J]. Decision and Control. 1997, 11(2):10-12.
[41] DULGER L C, ALI KIRECCI, TOPALBEKIROGLUR M. Modeling and simulation of a hybrid actuator[J]. Mechanism and Machine Theory, 2003, 38(3): 395-407.
[42]邓东芳,杨金堂,丁卫东.受控低副五杆机构实现函数的综合方法[J].武汉工业大学学报,2000(6):22-24.
[43]多尔夫,毕晓普著;谢红卫译.现代控制系统[M].北京:高等教育出版社,2005.
[44]张坷.混合驱动连杆机构系统动力学建模、优化与控制研究[D].上海:东华大学,2005.
[45]魏宏.混合驱动五杆机构结构和控制的集成设计研究[D].成都:西南交通大学,2004.
[46]吕继超.具有复合材料构件的混合驱动连杆机构控制及性能研究[D].上海:东华大学,2004.
[47]阮成功.混合驱动调速系统的设计与研究[D].福州:福州大学,2005.
[48]谢维.平面机构结构和控制的并行设计[D].成都:西南交通大学,2003.
[49]杨金堂,孔建益,钟炳迪.受控机构实现给定函数的运动误差研究[J].机械设计,2004(5):35-38.
[50]李学刚.混合驱动可控机构的研究[D].唐山:河北理工大学,2005.
[51]黄永强,张策.电动机连杆机构系统弹性动力分析中的几个理论问题[J].机械科学与技术,1998,17(2):200-202.
[52]方新国.平面两自由度七杆机构混合驱动机的设计理论及实验研究[D].上海:上海交通大学,2003.
[53]宫严.双自由度双余度步进电机驱动控制系统[D].西安:西北工业大学,2003.
[2] TOKUZ L C, JONES J R. Power Transmission and Flow in the Hybrid Machines[C]. The 6th International Machine Design and Production Conf, Menu, Ankara, Turkey, l994:209-218.
[3] TOKUZ L C. A design guide for hybrid machine applications[J]. Tr. J. of Engineering and Environment Sciences, 1997: 21:1-11.
[4] GREENOUGH J D, ETAL. Design of hybrid machine[C]. Proceeding of the 9th IF To MM world Congress, 1995: 2501-2505.
[5] ALI KIRECC. A study on a hybrid actuator[J]. Mechanism Machine Theory 2000, 35(2):1141-1149.
[6] HERMAN J, VAN DE STRAETE, JORIS DE SCHUTTER. Hybrid cam mechanisms[J]. IEEE/ASME Transactions on Mechatronics,1996, 1(4): 284-289.
[7] CONNOR A M. The synthesis of hybrid five-bar path generating mechanisms using genetic Algorithms[J]. Genetic Algorithms in Engineering System: Innovations and Application, l995(2): 3l3-3l8.
[8] SESHA S V, BHARTENDU S. Programmable cam mechanisms[C]. The 26th International Symposium on Industrial Robots. 1995:267-272.
[9]孔建益,FUNK W等.具有一个受控原动件的五杆机构精确实现给定函数的研究[J].中国机械工程,1996,7(专刊):106-108.
[10]孔建益,FUNK W.受控机构的研究现状和发展展望[J].中国机械工程,1995,9(1):55-57.
[11]程光蕴.两自由度连杆机构精确实现平面轨迹的研究[J].东南大学学报,1990,20(3):64-67.
[12]周洪,邹慧君,王石刚.混合输入型五杆轨迹机构的分析与设计[J].上海交通大学学报,1999,33(7):865-869.
[13]周双林,邹慧君,姚燕安.混合输入五杆机构的奇异性分析[J].上海交通大学学报,2002(8):50-53.
[14]张策.弹性连连杆机构的分析与设计[M].北京:机械工业出版社,1997.
[15]陆永辉.混合输入机构驱动曲柄压力机的研究[D].天津:天津大学,2001.
[16]卢宗武.可控压力机研究[D].天津:天津大学,2002.
[17]李辉.混合驱动可控压力机的基础理论研究[D].天津:天津大学,2003.
[18]张昕.混合驱动机械系统在考虑速度波动情况下的运动重新规划[D].天津:天津大学,2005.
[19]张阁,邹慧君,郭为忠.混合输入七杆机构的可动性条件[J].机械设计与研究,2002.
[20]张新华.实现轨迹创成的混合驱动可控机构分析与综合[D].天津:天津大学,2002
[21]张新华,张策,田汉民.混合驱动机构的创新设计及其应用[J].机械设计与研究,2001,17(3):37-40.
[22]孟宪举,李辉.精确实现给定轨迹的混合驱动五杆机构[J].河北理工大学学报,2004(5):26-28.
[23]李永刚,孟彩芳,张策.两自由度多环混合驱动机构的可动性分析[J].机械设计,2003,20(9):17-19.
[24]沈玉娟.变结构广义连杆机构辅助运动的结构与控制研究[D].上海:中国纺织大学,1998.
[25]刘素平.变结构连杆机构动力学分析与辅助运动控制研究[D].上海:东华大学,2001.
[26]唐爱民.三相混合式步进电动机细分驱动系统的研究与实现[D].福州:福州大学,2004.
[27] YOSSIFON S, SHIVPURI R. Analysis and comparison of selected rotary linkage drives for mechanical presses[J]. International Journal of Machine Tools&Manufacture.1993,33(2):175-192.
[28] 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):193-208.
[29] YOSSIFON S, SHIVPURI R. Optimization of a double knuckle linkage drive with constant mechanical advantage for mechanical presses[J]. International Journal of Machine Tools&Manufacture.1993,3(2):209-222.
[30] FUNG R F, CHEN K W. Fuzzy sliding mode controlled slider-crank mechanism using a PM synchronous servo motor drive[J]. International Journal of Mechanism Science.1999,41.
[31]姚燕安.凸轮机构的主动控制[D].天津:天津大学,1999.
[32]董利平.混合驱动五杆机构系统滑模变结构控制的研究[D].成都:西南交通大学,2006.
[33]潘莉.实现轨迹的受控五杆机构研究[D].武汉:武汉科技大学,2004.
[34]张坷,王生泽.混合驱动连杆优化设计机性能实验研究,机械设计,2004(专刊),192~194.
[35] SLOTINE J E. Sliding controller design for non-linear systems[J]. Control. 1984, 40(22):421-434.
[36] CHEN J Y. Expert SMC-based fuzzy control with genetic algorithms[J]. Journal of the Franklin Institute, 1999(336):589-610.
[37] UTKIN V I. Sliding modes and their application in discontinuous systems[J]. Automat Remote Control, 1974(21):1898-1907.
[38] UTKIN V I. Variable structure control systems with sliding modes [J]. IEEE Transactions on Automatic Control, 1977(22):212-222.
[39] GHORBEL F H, CHETELAT O. Modeling and set point control of closed-chain mechanism: theory and experiment[J]. IEEE Transaction on Control Systems Technology, 2000, 8(5):801-815.
[40] GHORBEL F H. A validation study of PD control of a closed-chain mechanical system[J]. Decision and Control. 1997, 11(2):10-12.
[41] DULGER L C, ALI KIRECCI, TOPALBEKIROGLUR M. Modeling and simulation of a hybrid actuator[J]. Mechanism and Machine Theory, 2003, 38(3): 395-407.
[42]邓东芳,杨金堂,丁卫东.受控低副五杆机构实现函数的综合方法[J].武汉工业大学学报,2000(6):22-24.
[43]多尔夫,毕晓普著;谢红卫译.现代控制系统[M].北京:高等教育出版社,2005.
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