【作者】 朱轶强；

【导师】 颜文俊；

【作者基本信息】 浙江大学 ， 控制理论与控制工程， 2002， 硕士

【摘要】 柔性装配系统(Flexible Assembly System)是近年才发展起来的一种自动装配系统，它是由计算机控制的具有高度的装配自动化、装配柔性、生产率及较好的可靠性的自动装配系统。 20世纪，随着柔性加工系统的开发趋于成熟，并进入推广阶段，以及计算机技术的发展，为柔性装配系统的开发创造了条件。另一方面，由于近几年来产品的迅速更新，产品品种的不断增加和批量的下降，对自动装配系统要求具有一定的柔性。于是人们把已经开发成功的柔性加工系统的原理应用于柔性装配系统的开发之中。柔性装配系统与以前应用的固定装配系统配置及操作有着本质的区别，柔性装配系统要求系统具有良好的响应内部和外部变化的能力，同时柔性应贯穿系统的整个生命周期(设计、实现、运行、维护)，具有可集成性和协作能力。 本文将柔性装配系统(FAS)的概念和系统思想引进了锁片装配系统的研制过程中。使采用PLC控制的锁片自动装配系统更具特色：那就是柔性。在整个研制过程中，贯穿柔性装配的思想。在设计中，考虑不同锁片装配的兼容性，使系统不仅可以装配双锁片，而且也可以装配其他类型的锁片。采用模块化设计思想，在硬件上采用组合式结构的PLC作为系统的控制器，便于系统调整；对于整个装配过程的控制任务采用模块化的编程思想，以适应调整工况的要求。 在FAS系统运行中，故障的出现是影响系统性能的一大杀手。因此故障诊断不可少。FAS由于它的复杂性及随机性，其故障具有种类多，分布广，原因复杂等特点，这些因素增加了FAS的故障诊断的难度和复杂度。使得传统的基于数学模型和物理模型的方法无法满足FAS故障诊断的要求。本文中采用专家系统技术来诊断处理FAS故障，介绍了FAS系统故障诊断的一些方法，详细介绍了FAS故障诊断专家系统的推理方法及推理策略，以及知识库的建立。根据这些故障诊断的理论，结合锁片自动装配系统，建立了一个故障诊断的专家系统，从系统结构，阐述了模型的建立，并着重分析了该系统的推理机制，对其推理算法进行了一定的研究，为今后的进一步研究奠定了基础。更多还原

【Abstract】 Flexible assembly system is a sort of assembly system controlled by computer and is automatic assembly system with altitudinal assembly automatization, assembly flexible character, high productivity and preferable reliability.In 20th century, with the development of flexible manufacture system and computer flexible assembly system has made a fast promotion. In another side, in order to adapt to the need of quick exchange of product and the increase in types of product, automation assembly system must be flexible. And then, the principle of flexible manufacture system has been used into the development of flexible assembly system. Flexible assembly system unlike old fix assembly system, it requires fine response to change of inside or outside. During the whole period of action, the ’Flexible’ would run through the system.In this paper, the concept and idea of FAS has been introduced into the research automatic assemble system for car’s latch pieces so it behave more flexible. During the whole period of development, the idea of flexible has been used in hardware and also in software. When designed the system, the compatibility of assembly for different types pieces must be considered. System can assemble not only two-pieces type latch but also other types latches. Modularized idea has been used run through the whole work.When FAS is running, fault can influence the performance of the system. For this reason, fault diagnosis has an important role. Since it’s complexity and randomicity, fault appears many types and a wide distribution . The reasons to cause fault are complex also. All of these elements add the difficulty and complexity of fault diagnosis of FAS and cause traditional method based on math and physics can not met the need of fault diagnosis of FAS. In this paper, some method of faults diagnosis had been introduced and the technology of expert system has been used to deal with the fault of FAS and it’s reasoning strategy. According to these theories, one expert system of fault diagnosis has been built up and made a good start for deep research.更多还原