化纤长丝自动落卷系统仿真平台开发

针对典型化纤长丝自动落卷系统在工艺要素整定过程中,因素复杂且难以通过理论方法进行研究的问题,基于Unity3D引擎开发了用于确定工艺要素的化纤长丝自动落卷系统仿真平台。平台在软件开发中采用将系统节拍控制与任务执行分离的方法,通过对各功能模块进行封装,使得软件层次清晰;同时为对比验证仿真结果的有效性,在MatLab环境下对生产线工况进行了简化建模;基于仿真平台量化对比了3种机器人避让策略,并在多品种化纤长丝混合生产的工况下整定了落卷机器人运行速度。结果表明:仿真平台的仿真结果有效;落卷优先的避让策略更适合化纤长丝自动落卷生产线;在所述工况下,当落卷机器人运行速度为2.3 m/s时,系统能够实现完全自动落卷。

Simulation platform for chemical filament automatic doff system

ing at the problem that the chemical filament automatic doff system has many process parameters and is difficult to be systematically studied by theoretical methods, a virtual reality simulation platform based on Unity3D was developed to select process parameters. The platform adopted the method of separating the beat control and the execution in the system operation. The software hierarchy was clear by encapsulating each functional module. Then, in order to verify the effectiveness of the simulation results, the production line conditions were simplified and modeled in the MatLab environment. Then the three robot avoidance strategies were contrasted based on the simulation platform, and the running speed of the doff robot was set under the conditions of mixed production of multi-species chemical filaments. The conclusions are as follows. The simulation result of the simulation platform is effective, and the avoidance strategy of doff priority is more suitable for the automatic doff production line of chemical filament. When the speed of the doff robot is 2.3 m/s, the system can realize complete automatic doff.