云计算模式下多线切割机张力控制系统设计

Design of Multi-Wire Cutting Machine Tension Control System under Cloud Computing Mode

针对多线切割机因内部零件受损、受外界噪声影响、张力过大或过小而出现切割强震问题,提出一种应用云计算的张力控制系统实现有效解决。从动力学的角度出发,分析多线切割机的工作性质,明确摆杆角速度、切割加速度及摩擦系数等关键参数,然后利用云计算融合参数并输入到系统硬件的电编码互感器。伺服驱动器会根据输入参数发出相关指令,通过传感器发送至伺服控制器中完成张力控制。为避免系统控制的专一性,通过计算张力摆杆、切割滑轮以及切割钢丝间的动力惯量,使得惯量值与加速度值存在正比关系,利用轴误差算法逼近跟踪误差与控制误差值,计算系统控制转矩的定积分,同步控制轴的节点时间。实验表明:该系统的鲁棒性和可靠性较强,控制精准度高。

Aiming at the problem of cutting strong vibration caused by internal parts damage,external noise and too much or too little tension of multi-wire cutting machine,a tension control system based on cloud computing is proposed to effectively solve the problem.From the perspective of dynamics,the working properties of multi-wire cutting machine are analyzed,and the key parameters such as pendulum angular velocity,cutting acceleration and friction coefficient are defined.Then,the parameters are fused by cloud computing and input into the electrical code transformer of the system hardware.The servo driver will issue relevant instructions according to the input parameters and send them to the servo controller through the sensor to complete the tension control.In order to avoid the specificity of system control,the dynamic inertia between tension pendulum,cutting pulley and cutting steel wire is calculated,so that the inertia value and acceleration value have a proportional relationship,the axis error algorithm is used to approximate the tracking error and control error value,the definite integral of the control torque of the system is calculated,and the node time of the control shaft is synchronized.Experiments show that the system has strong robustness and reliability,and high control accuracy.