三角肘杆伺服压力机性能研究与仿真

对比分析了三角肘杆伺服压力机的运动性能。针对伺服压力机三角肘杆机构建立了运动学模型,计算绘制出滑块运动特性曲线,并进行了运动仿真。通过与普通肘杆机构实例比较分析,说明了三角肘杆传动机构的性能特点,以及参数对滑块运功的影响规律。     

伺服压力机对称肘杆主传动机构数值分析

对称肘杆机构是大型伺服压力机采用的一种传动机构,其传动性能关系到伺服压力机的控制和整体设备的结构设计及性能。通过对对称肘杆机构的运动特性进行分析,在得到该机构的自由度、位移、速度及加速度方程的基础上,建立起伺服压力机主传动机构的数值模型,能够为伺服压力机的设计及控制提供依据。     

伺服机械压力机传动系统的优化分析

合适的压力机工作机构可以改善滑块运动性能,提高工作机构增力比,降低电动机容量,提高伺服压力机性能,降低成本。以增力比较大的肘杆机构为对象,分析了曲柄滑块、普通直线连杆-等长肘杆和三角连杆-不等长肘杆3种机构的工作特性,建立其运动学模型。以4 000 kN伺服压力机为例,采用MATLAB进行了运动学-动力学仿真分析。分析结果表明,三角连杆-不等长肘杆具有更好的动力学和运动学特性:在同等公称压力条件下,三角连杆机构所需曲柄转矩比曲柄连杆机构减少了88.7%,比直线连杆-等长肘杆的输入转矩减少了70.6%。     

双肘杆机械压力机实现柔性加工的混合闭环伺服控制系统的研究

提出一种混合闭环伺服控制系统,应用在交流伺服电动机驱动的双肘杆机械压力机上实现可控柔性化加工。通过对伺服压力机驱动系统的分析建立其机电数学模型的前提下,确定伺服控制系统的整体结构组成。针对特定加工工艺的滑块轨迹曲线,通过前馈控制器转换为电动机转角的参考信号,并利用滑模控制和模糊控制技术对滑块位置误差补偿控制器和电动机转角位置控制器进行设计。对压力机整体系统进行仿真分析,获得该伺服系统在压力机冲击负载干扰的情况下具有良好的鲁棒性和稳定性。最后完成该双肘杆压力机混合闭环伺服控制系统的搭建和调试,并在其上对三种不同材料进行筒形拉深工艺试验,验证伺服控制系统的有效性,从而为该双肘杆压力机实现各种柔性加工工艺提供一种切实可行的解决方案。     

基于MATLAB的伺服机械压力机传动机构运动学/动力学仿真研究

以增力较大的肘杆机构为对象,分析了普通直线连杆-等长肘杆和三角连杆-不等长肘杆两种机构的工作特性,建立了它们的动力学和运动学模型。以4000kN伺服压力机为例,采用MATLAB仿真软件对伺服机械压力机传动机构进行了运动学-动力学仿真分析。分析结果表明,三角连杆-不等长肘杆与直线连杆-等长肘杆相比具有更好的动力学和运动学特性:在同等公称压力条件下,三角连杆-不等长肘杆的输入扭矩较直线连杆-等长肘杆的输入扭矩小70.6%,而公称压力行程内前者的平均速度约为后者平均速度的50%。     

上三角肘杆式主驱动机构的优化

针对伺服压力机主驱动机构的主要杆件对机构运动学和动力学特性的影响,提出一种优化结构的方法以提高机构的机械效益。基于压力机的主驱动机构的工作原理,建立压力机主驱动机构的上三角肘杆机构的ADAMS仿真模型。建立上三角肘杆机构的正运动学数学模型,同时运用MATLAB编写计算程序进行数值计算,得到上三角肘杆机构在不同杆长条件下输出端的运动变化特性曲线,验证连杆尺寸的设计具有合理性。进行上三角肘杆机构的动力学特性分析,得到各个铰节点的受力变化情况。建立机构的参数化优化模型,以机械效益最大为优化目标,计算获得优化后的杆长尺寸,并得到上三角肘杆式主驱动机构输出力的放大倍数提高了2.75倍。     

考虑运动副间隙三角连杆肘杆式压力机机构动力学研究

针对考虑运动副间隙三角连杆肘杆式压力机机构动力学建模、仿真及分析问题,提出了相应的向量键合图法.基于无质量杆-弹簧阻尼运动副间隙模型,建立了含运动副间隙的三角连杆肘杆式压力机机构向量键合图模型.应用相应的方法,使机构向量键合图模型的贮能元件皆具有积分因果关系.在此基础上,基于Matlab实现了含运动副间隙三角连杆肘杆式...     

对称肘杆伺服压力机运动控制器研究

伺服压力机是传统的机械部分和伺服控制系统的结合,其运动输出可控、生产高效、精度高、噪音低,在各个加工行业中都有广泛的应用。但由于压力机的滑块运动曲线不是恒定的正弦曲线,因此需要针对工件加工的工艺要求对滑块的位置进行标定和对工艺曲线进行相应的拟合与优化。针对此问题,设计了一种对称肘杆伺服压力机控制系统,以此来满足其运动控制功能和性能需求。经过仿真和实验结构表明,该设计可以更好的提高生产效率和加工精度,并且在生产过程中能够很灵活的运用。     

伺服压力机肘杆机构优化设计

主要对伺服压力机传动系统设计的基本原则进行了探讨,并对2000kN小松式肘杆机构伺服压力机的传动系统进行了优化。根据滑块位移曲线单调与驱动扭矩最小原则,优化结果表明,与传统曲柄连杆机构相比,曲柄扭矩降低可达83％,大大降低了对伺服电机驱动扭矩的要求。     

肘杆压力机杆系数学模型

建立两种肘杆压力机杆系的运动学模型和力学模型;对比肘杆压力机与六连杆压力机的性能曲线,证明肘杆压力机更适合小行程、大吨位压力机。     

Phase-Division-Based Dynamic Optimization of Linkages for Drawing Servo Presses

Existing linkage-optimization methods are designed for mechanical presses; few can be directly used for servo presses, so development of the servo press is limited. Based on the complementarity of linkage optimization and motion planning, a phase-division-based linkage-optimization model for a drawing servo press is established. Considering the motion-planning principles of a drawing servo press, and taking account of work rating and efficiency, the constraints of the optimization model are constructed. Linkage is optimized in two modes: use of either constant eccentric speed or constant slide speed in the work segments. The performances of optimized linkages are compared with those of a mature linkage SL4-2000A, which is optimized by a traditional method. The results show that the work rating of a drawing servo press equipped with linkages optimized by this new method improved and the root-mean-square torque of the servo motors is reduced by more than 10%. This research provides a promising method for designing energy-saving drawing servo presses with high work ratings.     

High-accuracy servo press system for the clinching joint process

This paper focuses on the quality improvements on clinching joints using a servo press with a Radial basis function neural network and a sliding mode (RBFS) control strategy. Bottom thickness, which is affected by the press punch position, is usually used to monitor clinching joint quality. Traditional clinching presses are driven by pneumatic pistons or motors that provide feedback on punch force or motor position. However, this feedback is indirectly related to the joint bottom thickness. Clinching workers who set the control parameters on these presses depend on tests and statistics. Thus, this paper presents a servo press system that utilizes punch position feedback to directly control the joint bottom thickness. Transmission errors are considered for the movement accuracy of the servo press. A mathematical model of the servo press is established for analyzing. An algorithm, which combines RBF neural network and sliding mode, is proposed and applied for press position tracking. This algorithm adopts an RBF neural network to approximate the nominal model of the press system. The update law of the algorithm is based on the Lyapunov function used to prove the stability of a closed-loop system. The sliding mode controller compensates for the neural network error and disturbance. Finally, experiments are executed on the servo press with an RBFS controller. To evaluate the performance of the proposed method, a fuzzy PID controller is also applied to the press for comparison. The results indicate that the servo clinching press system with RBFS efficiently and accurately control the clinching jointing process.

     

伺服压力机与传统压力机的对比及其优势

主要介绍了伺服压力机与传统压力机的结构差异,并详细分析了伺服压力机能耗低、噪音低的特点,以及在复杂工艺加工中的巨大优势.     

精密校直液压机离散电液位置伺服系统的研究

在建立精密校直液压机（精校机）电液位置伺服系统离散数学模型的基础上，对精校机电液位置伺服系统的性能进行研究，设计了精校机电液位置伺服系统的实验系统，并在不同负载下对精校机电液位置伺服系统进行了实验研究，为国产精校机的开发提供了理论和技术支持。     

伺服压力机运动分析及降噪效果评价

本文对伺服压力机滑块的位移和速度进行了运动分析,在C++Builder6.0中编写控制程序在试验冲床上做加工试验。测量了冲击时噪声,进行噪声频谱分析。伺服压力机相对于普通压力机有着明显的低噪声的优势。     

交流伺服电机驱动机械式压力机的发展

分析了机械式压力机交流伺服电机驱动的背景，总结了交流伺服驱动压力机的特点及当前的发展现状。指出研制高容量、大扭矩、低持速交流伺服电机；提高大变负荷下交流伺服驱动系统的效率，开发新的传动机构以满足伺服控制和承载能力的需要是现阶段此项技术发展的关键。     

A two-step calibration methodology of multi-actuated mechanical servo press with parallel topology

We present a two-step calibration methodology of multi-actuated mechanical press with parallel topology and illustrate the method with a case study of a dual-actuated servo press with parallel topology. The kinematic model of the servo press is established firstly. From the total differentials of the kinematic equations, the error sensitivity matrix is obtained to find out linear dependent parameters and the effects of kinematic parameters on the press accuracy are studied. It is found that the press mechanism has the advantage that the press accuracy at the working area is less sensitive to the kinematic parameter errors. The experiment is carried out to measure the motions of the moving platform and slider. By the kinematic error model, the kinematic parameters of the active and passive chains are identified, respectively. Experimental results show that the accuracy of the servo press improves by 82% after kinematic calibration.     

Drawing motion profile planning and optimizing for heavy servo press

An efficient drawing mode for heavy servo press was proposed with four sections which are defined on the whole slide motion stroke. Four key control points, which represent the requirements of drawing process, were employed to realize the eccentric drawing motion profile planning. To reduce the power requirement of the servo motor, a flexible acceleration and deceleration control algorithm was proposed, and the eccentric motion profile of the servo press was constructed based on the algorithm. Then, the optimization model of the drawing eccentric motion profile was established to maximize the production rate, taking into account all boundary conditions including the maximum velocity and acceleration of slide, the space and time limit of feeder, the torque and thermal limit of servo motor. This optimization model was solved by the combination of the penalty function and the complex method, which need the least time. The program of the drawing motion profile optimization was developed and applied on a 2,500 t servo press. Finally, the experimental validation of the body side panel drawing was carried out. The results show that the proposed efficient drawing mode and the optimization method could obtain the optimal motion profile and the maximum production rate. This research provides the theoretical foundation and optimization method for the drawing motion profile optimization design for heavy servo press.     

转塔冲床齿轮-斜楔机构优化与动力学仿真

为了提高伺服转塔冲床的动态性能,采用齿轮-斜楔机构作为伺服转塔冲床的主传动机构,在ADAMS软件中建立了该机构的参数化动力学模型;以电机所需扭矩最小为优化目标,对机构进行了优化设计.结果表明,该齿轮-斜楔机构能够有效利用伺服电机扭矩.