农用刀具激光焊枪空间位置电机控制

Space Position Motor Control of Laser Welding Torch for Agricultural Cutting Tools

文章主要是对由三个步进电机构成的激光焊枪空间位置控制的研究,通过协调三个步进电机的速度和角度,使焊枪实现在三维空间中能沿焊接轨迹动作。首先要将轨迹分割近似,确定轨迹在空间中三个坐标分量。计算出角度变化较大的步进电机,以此电机的工作频率为基准获得另外两个电机的工作参数,保证步进电机的同启同停且焊枪的轨迹尽量接近理想轨迹。

This paper mainly studies the spatial position control of the laser welding torch which is composed of three stepping motors.By coordinating the speed and angle of the three stepping motors,the welding torch can move along the welding trajectory in three-dimensional space.First,the trajectory is segmented and approximated to determine the three coordinate components of the trajectory in space.Then,the stepper motor with large angle change is calculated,and the working parameters of the other two motors are obtained based on the working frequency of the motor,which ensures that the synchronous start and stop of the stepper motor and the trajectory of the welding torch are as close as possible to the ideal trajectory.