【作者】 高文斌；

【导师】 许家忠；

【作者基本信息】 哈尔滨理工大学 ， 控制理论与控制工程， 2010， 硕士

【摘要】 夹砂玻璃钢管道作为一种新型复合材料管道,具有轻质、高强度、耐腐蚀、内壁光滑、流量大、不结垢、不留渣、不爆破、可靠性高、寿命长、造价低廉等优点,应用前景广泛,现已广泛应用与农业、电力输水、城市给排水等各个领域。夹砂玻璃钢管道生产线控制系统是生产玻璃钢夹砂管道的重要设备,然而目前市场上已有的大部分的此类缠绕机控制系统均采用的是NC嵌入PC的方式,此种方式下运动控制器和计算机连成一体。这种机构使系统的完全开放性受到限制,而且在实际的加工生产过程中,由于计算机系统容易受外界干扰、不够稳定,使得整个缠绕机系统的稳定性和可靠性下降。针对以上问题,设计了以TRIO MC302为核心、以触摸屏DOP-B07S200为人机界面、以交流伺服系统为驱动元件的嵌入式夹砂管道缠绕机数控系统。本系统是重载系统,在实际生产过程中,由于缠绕工艺的要求,电机需要不断的换向,而且在缠绕过程中出现断纱时需要接纱,这两种场合下都需要电机低速运行。当系统低速运行时,电机会出现低速爬行的现象,这不仅会影响系统的动态运行特性,而且会加速机械部件的磨损,因此在本论文开始首先对电机的摩擦动力学进行了仿真研究,仿真结果表明当电机的速度低到一定程度时,电机的速度曲线会出现“波动”现象,位移曲线会出现“波浪线”现象,降低了系统的动态性能。为了抑制这种现象的发生,采用了模糊PID的控制方法对电机进行控制,结果表明模糊PID的控制方法可以有效的降低此现象的出现几率,并提高了系统的动态性能。之后结合现代开放式数控系统的设计理念以及设计的工艺要求,对该数控系统进行了总体方案的设计以及硬件电气设计,其中包括伺服系统的电气设计、运动控制器与伺服系统的电气设计以及运动控制器的I/O口电气设计。软件设计方面,以Windows为开发平台,以Screen Editor 2.00.05编程软件为开发工具,完成了具有参数设置、I/O点测试、实时显示等功能的数控系统上位机软件的开发。根据实际的加工工艺要求,利用TRIO的软件开发工具开发了下位机的运动控制程序,以完成具体的加工操作,该程序可实现手动、半自动、自动三种操作模式。经过实践的检验,本文中设计的夹砂管道缠绕机数控系统实现了夹砂玻璃钢管道的缠绕,运行状态良好,达到了预定的设计要求。更多还原

【Abstract】 As a new type of composite material pipe, Fiberglass Reinforced Plastic Pipe has an extensive application prospect, with its advantages such as light weight, high strength, corrosion resistance, smooth inner wall, flow rate, not scaling, leaving no residue, non-blasting, high reliability, long life to be used and its lower cost. In nowadays, it has been widely used in agriculture, electricity water, urban water supply drainage fields and so on.Fiberglass Reinforced Plastic Pipe Production Line Control System is an important equipment for the production of glass fiber reinfoced plastic pipe RPM, however, most of the winding machine control systems sold in market today are adopted the way that embed NC to PC, in this mode the motion controller integrates with computer. Such machine restricts the completely opening-up characteristic of the system, and also in the actual processing of the production process, because the computer system is vulnerable to outside interference, and it is not stable enough to make the entire winding machine system stability, then the reliability of the whole winding machine system will be declined. In order to solve this above problem, an embedded coarse pipe winding machine which adopts the TRIO MC302 as the core, the touch screen DOP-B07S200 as the support, and also the AC servo system serves as the driven components is designed.This system is an overloaded system, in the production process, as the winding process requirements, motor needs to commutate constantly, and needs to pick up yarn in the winding yarn break occurred during the time, both occasions need to run low-speed motor. When the system is running lowly, the low-speed crawling phenomenon for the electric machine will exist. This will not only affect the system’s dynamic operational characteristics, but also will acceler- ate the speed of wearing and tearing of mechanical components, so this paper firstly carries out simulation studies of the friction motor power studies to guide the follow-up to the next bit plane in the PID parameters. Simulation results show that the motor speed curve will appear“volatility”phenomenon and displa-cement curve will appear“wavy line”phenomenon when the motor speed of a low to a certain extent. In order to suppress the occurrence of this phenomenon, using fuzzy PID control method to control the motor, the results show that the fuzzy PID control method can effectively reduce the probability of this phenom-enon, and improve the system dynamic performance. Then the overrall program of this numerical control system is designed and at the same time, the hardware, electrical design, including the electrical design of servo systems, controller’s I / O port electrical design are also carried out, with the integration of the morden open design concepts and design process requirements. In the aspect of soft wear design, this system adopts Windows as a development platform and the Screen Editor 2.00.05 programming software as the development tools to complete the soft wear development of this numerical control system, with a set of parameters, I / O port testing, real-time display and other functions. According to the actual processing requirement, this system makes used of TRIO to develop a next-bit machine motion control procedures in order to complete the specific machining operation, the program can be realized in three kinds of operating modes: manual, semi-automatic and automatic. After the test in practice, RPM Pipe Winding Machine CNC System designed in this paper, running in good condition, and reached the pre-design requirements.更多还原