混合驱动机器的跟踪控制和原理性实验研究
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摘要
混合驱动机器的基本思想是采用常规电机为系统提供主要动力,伺服电机起运动调节作用,两种类型的输入运动通过一个多自由度机构合成后产生所需要的输出运动。因为伺服电机具有良好的可控性,所以可以使用伺服电机与常规电机配合驱动机器运动,通过编程控制伺服电机运动规律,达到柔性输出的目的,以适应不同的加工工艺和多种产品的需要。其兼容了由定转速电机驱动的传统机构高效率、高承载力及伺服驱动机构柔性可调的优点,弥补了传统机械缺乏柔性的缺点,比较理想地解决了柔性化与保持高速、高效、高承载力这一对矛盾,为现代机械设计提出了一个新思路。
鉴于混合驱动机器的理论研究的重要性和有待于尽快转化成实际产品,在冲压工业上发挥其显著功效。将理论与实践相结合,验证其可靠性和先进性。本文着重进行以混合驱动压力机为潜在应用背景的实验研究,主要有:以混合驱动机器的理论研究为依据,进行尺度参数的优化,确定实验机构的尺度参数,进行运动学和动力学仿真;对混合驱动压力机进行了准静态动力分析,给出了混合驱动压力机的动力和功率分配模型,并对拉深工艺阻力与伺服电机的功率分配的关系进行了研究;采用变结构控制策略,对混合驱动实验机构进行全闭环运动控制,实现对混合驱动压力机稳定的轨迹跟踪控制和仿真研究;提出基于逆运动学理论作为误差校正模型的混合驱动压力机运动控制方法,并进行实时在线误差补偿的运动控制方法研究,开发了混合驱动压力机运动控制实时在线误差补偿的运动控制软件,为提高运动输出的主动跟随运动精度,提供了理论保证;进行了混合驱动压力机实时在线误差补偿控制的实验研究,利用运动误差实时在线补偿控制软件分别对混合驱动压力机实验机构进行了无工作载荷和有工作载荷的实验研究,为下一步进行混合驱动压力机的样机研制奠定了基础。
最后,对混合驱动压力机的基础理论研究和样机的试制,提出了一些建议和展望。
The guideline of hybrid driving machine adopts regular motors to provide main power and adopting servo motors to adjust motion. The two types of motion inputs are synthesized through a multi-degree of freedom motion mechanism and output the motion required. Since servo motor is easy to be controlled, it can be used to drive motion mechanism with regular motor. By controlling the motion of servo motor with programs, the machine can output flexibility. It is therefore can meet the needs of various processes and products. The mechanism combines such advantages of regular motors as high efficiency and high capacity, and the flexibility of servo motors. It also makes up the traditional mechanism’s disadvantage of lacking flexibility and relatively solves the contradiction of flexibility versus high speed, high efficiency, and high capacity. This dissertation proposes a new guideline for modern design of mechanism.
In view of the importance of the research of hybrid driving machine, it is necessary to transform the theoretical research into real products and to bring the advantages into practices. It is also necessary to combine the theory and practice to validate the availability and nature of advance. The dissertation is focused on the experimental research on the ground of potential applications of hybrid driving presses. The key researches include the following. (1) Based on the theoretical research of hybrid driving machine, the measures of scale is optimized, the measures of scale of the experimental mechanism is defined, and the simulation of kinematics and kinetics is processed. (2) The quasi-static dynamic analysis of hybrid driving press is processed; the distribution model of the drive and power of hybrid driving press is given, and the relation between the resistance of drawing process and the power distribution of servo motor is studied. (3) The strategy of variable structure control to process closed-loop control on experimental mechanism is adopted, and the steady tracking control on hybrid driving mechanism is studied. (4) A model based on the inverse kinematics optimization theory to modify errors is suggested and the motion control method for the motion control of hybrid driving press that can compensate errors real-time on-line is given. A motion control software is also developed to realize the real-time on-line error compensation for hybrid driving press. This mean theoretically ensures the accuracy of active following motion of theoutput motion. (5) The experimental study on the real-time on-line error compensation for hybrid driving press is procesed and the software mentioned in (4) to study the experimental mechanism of hybrid driving press with and without serving load respectively is used. The foundation of the research and development is established for the sample hybrid driving press in the next stage.
Finally, some suggests and prospect on the theoretical research and development of sample of hybrid driving press is proposed in this dissertation.
鉴于混合驱动机器的理论研究的重要性和有待于尽快转化成实际产品,在冲压工业上发挥其显著功效。将理论与实践相结合,验证其可靠性和先进性。本文着重进行以混合驱动压力机为潜在应用背景的实验研究,主要有:以混合驱动机器的理论研究为依据,进行尺度参数的优化,确定实验机构的尺度参数,进行运动学和动力学仿真;对混合驱动压力机进行了准静态动力分析,给出了混合驱动压力机的动力和功率分配模型,并对拉深工艺阻力与伺服电机的功率分配的关系进行了研究;采用变结构控制策略,对混合驱动实验机构进行全闭环运动控制,实现对混合驱动压力机稳定的轨迹跟踪控制和仿真研究;提出基于逆运动学理论作为误差校正模型的混合驱动压力机运动控制方法,并进行实时在线误差补偿的运动控制方法研究,开发了混合驱动压力机运动控制实时在线误差补偿的运动控制软件,为提高运动输出的主动跟随运动精度,提供了理论保证;进行了混合驱动压力机实时在线误差补偿控制的实验研究,利用运动误差实时在线补偿控制软件分别对混合驱动压力机实验机构进行了无工作载荷和有工作载荷的实验研究,为下一步进行混合驱动压力机的样机研制奠定了基础。
最后,对混合驱动压力机的基础理论研究和样机的试制,提出了一些建议和展望。
The guideline of hybrid driving machine adopts regular motors to provide main power and adopting servo motors to adjust motion. The two types of motion inputs are synthesized through a multi-degree of freedom motion mechanism and output the motion required. Since servo motor is easy to be controlled, it can be used to drive motion mechanism with regular motor. By controlling the motion of servo motor with programs, the machine can output flexibility. It is therefore can meet the needs of various processes and products. The mechanism combines such advantages of regular motors as high efficiency and high capacity, and the flexibility of servo motors. It also makes up the traditional mechanism’s disadvantage of lacking flexibility and relatively solves the contradiction of flexibility versus high speed, high efficiency, and high capacity. This dissertation proposes a new guideline for modern design of mechanism.
In view of the importance of the research of hybrid driving machine, it is necessary to transform the theoretical research into real products and to bring the advantages into practices. It is also necessary to combine the theory and practice to validate the availability and nature of advance. The dissertation is focused on the experimental research on the ground of potential applications of hybrid driving presses. The key researches include the following. (1) Based on the theoretical research of hybrid driving machine, the measures of scale is optimized, the measures of scale of the experimental mechanism is defined, and the simulation of kinematics and kinetics is processed. (2) The quasi-static dynamic analysis of hybrid driving press is processed; the distribution model of the drive and power of hybrid driving press is given, and the relation between the resistance of drawing process and the power distribution of servo motor is studied. (3) The strategy of variable structure control to process closed-loop control on experimental mechanism is adopted, and the steady tracking control on hybrid driving mechanism is studied. (4) A model based on the inverse kinematics optimization theory to modify errors is suggested and the motion control method for the motion control of hybrid driving press that can compensate errors real-time on-line is given. A motion control software is also developed to realize the real-time on-line error compensation for hybrid driving press. This mean theoretically ensures the accuracy of active following motion of theoutput motion. (5) The experimental study on the real-time on-line error compensation for hybrid driving press is procesed and the software mentioned in (4) to study the experimental mechanism of hybrid driving press with and without serving load respectively is used. The foundation of the research and development is established for the sample hybrid driving press in the next stage.
Finally, some suggests and prospect on the theoretical research and development of sample of hybrid driving press is proposed in this dissertation.
引文
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