【作者】 王承凯；

【导师】 李斌； 毛新勇；

【作者基本信息】 华中科技大学 ， 机械工程， 2011， 硕士

【摘要】 本文以LED芯片高速分选机摆臂旋转运动系统为研究对象,以提高芯片分选效率为研究目标,重点进行摆臂旋转运动系统和实现方案分析、伺服驱动系统分析与建模、多刚体和刚柔耦合机电联合建模、指令输入设计、机电联合仿真分析、实验平台搭建、实验验证的研究。具体内容如下:首先通过介绍LED分选机的整体结构、功能介绍以及芯片分选过程,强调摆臂旋转系统的作用,指出摆臂机构的需求分析,提出摆臂运动系统影响分选效率的因素及解决方法;分析分选机摆臂旋转机构实现方案,讨论三种新的实现方案;分析摆臂旋转运动机构直驱方案的伺服驱动系统,为伺服驱动系统的建模做准备。接着,根据直驱方案摆臂旋转运动系统使用的伺服驱动器和电机型号以及伺服参数,在MATLAB/SIMULINK中建立伺服驱动系统模型,进行仿真分析,选定伺服参数;根据摆臂旋转电机末端负载情况,建立虚拟负载模型,借助负载模型仿真选定摆臂运动规律输入。然后,对实验平台的摆臂进行结构分析,利用Pro/E、ANSYS和ADAMS软件建立摆臂旋转运动系统的多刚体和刚柔耦合动力学模型,联立伺服驱动和动力学模型,建立机电联合仿真模型,并基于多刚体联合仿真模型初步调试伺服参数。依据EMAC卡脉冲发送速度曲线和LED单颗芯片分选周期方案进行联合仿真的指令输入设计。采用MATLAB的SIMIN模块调用输入指令,进行多刚体和刚柔耦合机电联合仿真分析。最后设计和采购实验平台机械部件,集成机电系统,调试控制参数,搭建摆臂旋转运动实验平台。编写摆臂回零和旋转运动程序,进行摆臂运动规律和定位实验,优化控制参数,验证平衡式摆臂结构及机电联合仿真的有效性,实验结果表明直驱式实验平台提高了第一代分选机的分选效率,但没有完全达到摆臂机构需求,分析原因并提出展望。更多还原

【Abstract】 In order to improve the efficiency of chip sorting, the paper studies on swing arm rotation system of high-speed LED sorting machine and focus on the optimization design and structure simulation of the swing arm, the analysis and modeling of servo drive system, electromechanical co-modeling of multi-rigid-body and rigid-flexible coupled body, the design of command inputs, co-simulation, the realization of swing arm rotation experiment platform, experimental verification. The main contents are:First, through the introduction of the whole structure,function and chip sorting process, the role of rotating system and the influence factors of chip sorting efficiency were pointed out. The implementation of swing arm rotating system and three new plans were analyzed. The servo drive system of direct driving scheme was introduced for servo drive modeling.And, based on the model and servo parameters of swing arm rotation system, the paper established its servo drive model on MATLAB/SIMULINK and adjusted servo parameters by simulation. According to actual load, a virtual load model is created for verifying the accuracy of servo drive model by load calibration.Then, the dynamic models of multi-rigid-body and rigid-flexible coupled body were built by ADAMS, ANSYS and Pro/E. The dynamic model and servo drive model are connected to realize co-simulation model which is used for debugging servo parameters. The design of co-simulation command inputs based on the pulse speed curve of EMAC and chip sorting cycle was introduced to co-simulation using MATLAB/SIMIN.At last, the swing arm experiment platform was built by designing, purchasing and assembling mechanical components, integrating electromechanical system and debugging control parameters. By preparing arm back to zero and rotation procedures and doing swing arm experiments of movement and location, control parameters were optimized and the new swing arm structure and co-simulation were verified. The results of experiment stated that experiment platform for direct drive improved the efficiency of the first generation sorting machine, but did not completely meet the demands of swing arm, the reasons for that were pointed out.更多还原