基于电子凸轮追剪的排序机控制系统设计  

Design of Control System of Sorting Machine Based on Electronic Cam Chasing Shear

作　　者：邱巧迪 徐世许 王伟 QIU Qiao-di;XU Shi-xu;WANG Wei(School of Automation,Qingdao University,Qingdao 266100,China;OMRON,Qingdao 266100,China)

机构地区：[1]青岛大学自动化学院,山东青岛266100 [2]欧姆龙自动化(中国)有限公司,山东青岛3266100

出　　处：《控制工程》2022年第11期2138-2144,共7页Control Engineering of China

摘　　要：针对传统白酒生产线生产效率低、设备卡顿和箱体磨损等问题,设计了一种基于电子凸轮追剪的白酒排序控制系统。首先利用SysmacStudio平台,将运动控制器NJ501-1400、R88D伺服驱动器和R88D系列伺服电机通过EtherCAT总线相连,搭建了电子凸轮的控制系统平台。其次,建立控制系统的数学模型,设计电子凸轮控制算法,通过五次多项式算法对各环节的脉冲速度和加速度进行插补,优化电子凸轮曲线,最后通过Sysmac Studio软件跟踪变量得到对应的电子凸轮曲线。仿真和实验结果表明,五次多项式插补可使脉冲速度和加速度曲线更加平滑,在实际应用中提高生产效率,减少了机器卡顿、箱体磨损等问题。Aiming at the problems of traditional liquor production line such as low production efficiency,equipment jams and box wear, a liquor sorting control system based on electronic cam chasing shear is designed. Firstly, the Sysmac Studio platform is used to connect the motion controller NJ501-1400, R88D servo driver and R88D series servo motor by the EtherCAT bus to build an electronic cam control system platform.Secondly, the mathematical model of the control system is established, and the electronic cam control algorithm is designed. The pulse velocity and acceleration of each link are interpolated by the fifth-order polynomial algorithm, and the electronic cam curves are optimized. Finally, the Sysmac Studio software is used to track the variables to obtain the corresponding electronic cam curves. Simulation and experimental results show that the fifth-order polynomial interpolation makes the pulse velocity and acceleration curves smoother, improves production efficiency in practical applications, and reduces machine jams and box wear.

关 键 词：电子凸轮 Sysmac Studio 机械手 五次多项式 追剪算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]