拉弯机控制系统及其多轴同步运动控制算法

Control System of Stretch Bending Machine and Multi-axis SynchronousMotion Control Algorithm

针对汽车零部件的复杂拉弯工艺需求,以稳定可靠、多轴同步运动和末端速度均匀可控为目标,采用工控机和运动控制卡设计了一种双六轴的伺服拉弯机控制系统。系统软件依据MVC设计模式进行设计开发,系统硬件以运动控制卡为核心,通过EtherCAT总线对电机进行实时控制。将虚拟主轴策略引入多轴同步运动控制算法,并通过运动仿真与试验验证了控制系统的可行性。

In order to meet the requirements of complex stretch bending process of automobile parts,a double-six-axis servo stretch bending machine control system is designed by using industrial computer and motion control card,with the goal of stability and reliability,multi-axis synchronous motion,and uniform and controllable end velocity.The system software is designed and developed according to the MVC design pattern,and the system hardware takes the motion control card as the core,and controls the motor in real time through the EtherCAT bus.The virtual spindle strategy is introduced into the multi-axis synchronous motion control algorithm,and the feasibility of the control system is verified by motion simulation and experiment.