基于CANopen总线的弯管机多轴运动控制系统设计与实现  

Design and Implementation of Multi-axis Motion Control System for Tube-bending Machine Based on CANopen Bus

作　　者：孙松丽 朱文亮 黄晓华[3] 瞿志俊 SUN Songli;ZHU Wenliang;HUANG Xiaohua;QU Zhijun(School of Intelligent Manufacturing,Taizhou Institute of Science&Technology,NJUST,Taizhou Jiangsu225300,China;School of Mechanical and Ocean Engineering,Huaihai Institute of Technology,Lianyungang Jiangsu 222005,China;School of Mechanical Engineering,Nanjing University Science&Technology,Nanjing Jiangsu 210094,China)

机构地区：[1]南京理工大学泰州科技学院智能制造学院,江苏泰州225300 [2]淮海工学院机械与海洋工程学院,江苏连云港222005 [3]南京理工大学机械工程学院,江苏南京210094

出　　处：《机床与液压》2019年第23期153-159,共7页Machine Tool & Hydraulics

摘　　要：以弯管机多运动轴机械系统为基础,采用ESTUN运动控制器+MCGS触摸屏的硬件配置,在VTB集成编程环境下,为实现基于CANopen总线的多轴交流伺服系统控制,对单轴定位运动控制实现路径进行了详细的设计。为实现弯管C轴与送料Y轴在弯管工序下的同步协调运动,提出了速度主从同步控制与伺服驱动器转矩限制相结合的控制方案,达到了弯管时Y轴主动送料与被动送料的自适应调整。工程应用结果表明:该系统工作可靠、性能良好,经济性佳。Based on the multi-motion axis mechanical system of the tube-bending machine,hardware configuration using ESTUN motion controller+MCGS touch screen is adopted and in the integrated programming environment of Visual Turbo Basic(VTB),from the perspective of control implementation of multi-axis AC servo system based on Controller Area Network(CANopen)bus,the realization path of the single-axis positioning motion control is designed in detail.In order to realize the synchronous and coordinated movement of the curved C-axis and the feeding Y-axis in the bending process,a control scheme combining the speed master-slave synchronous control and the torque limit of the servo driver was proposed,which achieved the adaptive adjustment of the Y axis active feeding and passive feeding.The result of engineering application shows that the system works reliably,and has good performance and economy.

关 键 词：运动控制 可视化工具基础(VTB) CANOPEN 单轴定位 双轴同步 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]