基于偏差耦合的大功率全电动折弯机同步控制

Synchronous Control of High-Power All-Electric Bending Machine Based on Relative Coupling Strategy

为实现大功率全电动折弯机对金属板材的多轴同步折弯,结合前馈控制与模糊控制,提出一种基于偏差耦合的多电机同步控制算法.该算法根据各轴电机运动位置之间的偏差进行同步调节,并采用等效速度、加速度前馈提高单电机快速性能,使多电机运行同步性能得到很大程度的提高,可满足金属板材折弯加工的精度要求.文中通过对具体的折弯机行走机构进行建模仿真,并在试验平台上进行实际测试,证明所提出的同步控制算法具有满意的同步精度与鲁棒性.

Proposed in this paper is a relative coupling-based multi-motor synchronous control algorithm for the high-power all-electric bending machine applied to the multiaxial synchronous bending of sheet metal.In this algorithm,multiple motors drive according to the position deviation synchronously,and the rapidity of each motor is improved by adopting the equivalent velocity and the acceleration feedforward,thus implementing preferable synchronization and meeting the accuracy requirements of sheet metal bending.Moreover,a modeling simulation and a practical test are performed on a bending-machine experiment platform.The results demonstrate that the proposed synchronous control algorithm is of high synchronization accuracy and strong robustness.