自适应S型曲线对电气布线机的速度规划  

Electric wiring machine speed planning based on adaptive S-curve

作　　者：王凯[1] 郑晟 WANG Kai;ZHENG Sheng(College of Electrical and Power Engineering,Taiyuan University of Technology,Taiyuan 030024,China)

机构地区：[1]太原理工大学电气与动力工程学院,山西太原030024

出　　处：《现代电子技术》2022年第1期114-118,共5页Modern Electronics Technique

基　　金：国家自然科学基金项目(61703300);中国博士后科学基金项目(2019M651082);山西省研究生教育创新计划项目(2019SY157)资助。

摘　　要：针对电控柜的电气布线而设计的自动布线机,可有效提高电控柜生产行业的工作效率。而在布线机的工作过程中,布线时速度的平滑加减速和两折线段转接的处理,是该设备设计时需考虑的关键问题之一。针对传统S型加减速曲线存在的七段变速区改进后的自适应S曲线,可通过前瞻处理提前获取各布线路径长度信息,得到最大允许速度后选择4种不同的变速曲线,进行更好的速度规划从而实现平滑变速;针对布线转角处速度过渡处理,提出二次对称转接法,能有效提高加速度约束条件下转接角的最大允许速度和系统平稳性,提升布线效率。通过Matlab仿真结果证明该方法的可行性和有效性,可为后续自动布线机控制系统设计提供经验。The automatic wiring machine designed for the electrical wiring of the electric control cabinet can effectively improve the working efficiency of the production industry of electric control cabinet. In the working process of the wiring machine,the smooth acceleration and deceleration of the speed during wiring and the processing for the transfer of the two-fold line segment are the key issues that require consideration in the design of the equipment. In view of the improved adaptive Scurve in the 7-segment shifting zone of the traditional S-shaped acceleration and deceleration curve,the information about the length of each wiring path is obtained in advance by forward-looking processing. After the maximum allowable speed is realized,4 different shifting curves are selected for better speed planning,so as to achieve smooth speed change. In terms of the speed transition processing at the wiring corner,the second symmetric transfer method is proposed,which can effectively improve the maximum allowable speed of the transfer corner and the system stability under the condition of acceleration constraint,and improve the wiring efficiency. The Matlab simulation shows the feasibility and effectiveness of the method. Therefore,this method can provide experience for the subsequent design of the control system for the automatic wiring machine.

关 键 词：电气布线 自动布线机 自适应S曲线 前瞻处理 速度规划 平滑变速 二次对称转接法 加速度约束 

分 类 号：TN876-34[电子电信—信息与通信工程] TP23[自动化与计算机技术—检测技术与自动化装置]