接触力约束下的焊头机构快速启停控制  

Optimal Fast Start-stop Control of Die Bonder Under Contact Force Constraints

作　　者：吴小洪[1] 刘金保[1] 杨志军[1] 曹占伦[1] 

机构地区：[1]广东工业大学机电工程学院,广州510006

出　　处：《机械设计与研究》2011年第2期72-74,86,共4页Machine Design And Research

基　　金：国家自然科学基金资助项目(50905033);广东省自然科学基金(8451009001001414);广东省科技计划(2009B010900032)资助项目

摘　　要：为了实现对高速粘片机的接触力控制,提出了基于机构动力学—控制系统协同仿真和优化的速度规划方法。首先,建立焊头机构运动控制系统模型,目标函数是在最大接触力约束下运动时间最短。其次,引入位移状态变量,将接触力控制转化为位移无超调的最速控制问题,获得无超调约束下运动时间最短的控制系统参数和速度,并通过位移偏置量调整来实现对接触力的控制。仿真结果表明,优化后的运动曲线可以在高速时保持软着陆,实现对接触力的控制。In order to achieve contact force control of high-speed bonder,a planning method of speed control based on mechanism dynamic control co-simulation and optimization is proposed.First,the motion control system model of head mechanism is built,the objective function is the shortest movement time under maximum contact force.Secondly the state variables of displacement is introduced,and the contact force control is conversed into the most speed control problem which displacement is no overshoot.The shortest constrained motion control system parameters and velocity are dotained with overshoot-free,and the control of contact force is achieved by adjusting the bias displacement.Simulation results show that the optimized motion curve can keep a soft landing at a higher speed,thus the control of contact force is realized.

关 键 词：接触力约束 焊头机构 位移控制 力控制 

分 类 号：TP305.94[自动化与计算机技术—计算机系统结构]