基于改进复合三角函数的伺服压力机轨迹规划研究  

Trajectory Planning of Servo Press Based on Improved Composite Trigonometric Functions

作　　者：徐道春[1,2] 吕明青 邵珠峰[3,4] 陈涵玉 胡益玮 王传英 XU Daochun;LÜMingqing;SHAO Zhufeng;CHEN Hanyu;HU Yiwei;WANG Chuanying(School of Technology,Beijing Forestry University,Beijing 100083,China;Key Laboratory of State Forestry and Grassland Administration on Forestry Equipment and Automation,Beijing Forestry University,Beijing 100083,China;State Key Laboratory of Tribology,Tsinghua University,Beijing 100084,China;Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and Control,Tsinghua University,Beijing 100084,China;Jier Machine-Tool Group Co.,Ltd.,Ji’nan 250022,China)

机构地区：[1]北京林业大学工学院,北京100083 [2]北京林业大学林业装备与自动化国家林草局重点实验室,北京100083 [3]清华大学摩擦学国家重点实验室,北京100084 [4]清华大学精密超精密制造装备及控制北京市重点实验室,北京100084 [5]济南二机床集团有限公司,济南250022

出　　处：《农业机械学报》2023年第2期450-458,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2020YFB1710700)。

摘　　要：为使伺服压力机具有良好的拉深性能,需要对其轨迹进行合理规划。针对六连杆大型伺服压力机,构建一种主传动机构轨迹规划方法。基于库伦-粘性摩擦模型,建立主传动机构的高精度动力学模型。考虑冲压过程中的工艺约束和要求,提出基于复合三角函数的伺服电机加减速控制的改进模型。针对主传动机构的能耗和效率进行分析,以滑块运动的周期能耗和生产节拍为优化指标,通过线性加权的方式构造多目标优化函数,引入机械手送料时间、滑块最大速度、主动件角速度、伺服电机动态限和热极限等约束,采用遗传算法完成了多目标优化设计。结果显示:优化后,伺服压力机主传动机构在一个周期的能效提升4.54%,生产节拍时间减小3.23%,实现了良好的拉深工艺模式。In order to make the servo pressure machine have good drawing performance,it is necessary to plan its trajectory reasonably.The six-link drive mechanism was dimensionally optimised in the previous work to improve the basic motion performance of the press,while the acceleration and deceleration control of the servo motor and the planning of the motion trajectory of the slider are required in order to give full play to the advantages of the high energy efficiency and high efficiency of the servo press.A trajectory planning method for the main drive mechanism was developed for a large six-link servo press.Firstly,a high-precision kinetic model of the main drive mechanism was established based on the "Coulomb-viscous" friction model.Then,considering the process constraints and requirements in the stamping process,an improved model of servo motor acceleration and deceleration control based on composite trigonometric function was proposed.Finally,the energy consumption and efficiency of the main drive mechanism were analysed.Taking the periodic energy consumption and production beat of the slider movement as the optimization index,the multi-objective optimization function was constructed by linear weighting.The constraints such as manipulator feeding time,maximum speed of the slider,angular speed of the driving part,dynamic limit and thermal limit of the servo motor were introduced,and the multi-objective optimization design was completed by using genetic algorithm.The results showed that after optimization,the energy efficiency of the main transmission mechanism of the servo press in one cycle was increased by 4.54%,the production beat time was reduced by 3.23%,and a good drawing process mode was realized.

关 键 词：伺服压力机 轨迹规划 库伦-粘性摩擦模型 加减速控制 多目标优化 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TG315.9[自动化与计算机技术—控制科学与工程]