变截面辊弯成形制造装备多机构协作内力规划

doi:10.3901/JME.2021.07.018

机械工程学报 ›› 2021, Vol. 57 ›› Issue (7): 18-25.doi: 10.3901/JME.2021.07.018

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变截面辊弯成形制造装备多机构协作内力规划

黄昔光¹, 杨子强¹, 李端玲², 李强¹

1. 北方工业大学机械与材料工程学院北京 100144;
2. 北京邮电大学自动化学院北京 100876

收稿日期:2020-08-05 修回日期:2020-12-28 出版日期:2021-04-05 发布日期:2021-05-25
作者简介:黄昔光，男，1979年出生，博士，副教授。主要研究方向机构学与机器人学，制造装备运动控制。E-mail：marchbupt@126.com;杨子强，男，1991年出生，硕士研究生。主要研究方向为机器人技术。
基金资助:
国家自然科学基金(51105003,51775004,51775052)、北京市自然科学基金(3172010)、国家重点研发计划(2020YFC0811004)、陕西省自然科学基础研究计划(2019JM-181)和北方工业大学毓优人才支持计划资助项目。

Internal Force Planning of Multi-mechanism Cooperative for Variable Cross Section Roll-forming Machine

HUANG Xiguang¹, YANG Ziqiang¹, LI Duanling², LI Qiang¹

1. School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100144;
2. Automation School, Beijing University of Posts and Telecommunications, Beijing 100876

Received:2020-08-05 Revised:2020-12-28 Online:2021-04-05 Published:2021-05-25

摘要/Abstract

摘要： 针对变截面辊弯成形制造中诸多不确定性因素造成对制造装备产生剧烈变负载冲击的问题，提出了一种自适应抵消变负载冲击的变截面辊弯成形制造装备多机构协作内力动态优化分配算法。基于拉格朗日法推导了成形装备和板材动力学方程，建立了包含成形制造装备以及成形板材在内的联合动力学数学模型。为平衡成形过程中剧烈的变负载，基于成形制造平衡条件对成形轧机左右臂的内力进行了动态分配。针对成形装备多机构系统组成的闭链多体系统动力学耦合问题，以板材受到的净挤压力为零作为优化目标，采用加权伪逆法对动态分配后的内力进行优化解耦，从而获得变截面辊弯成形装备多机构协作内力规划新方法。最后，以变截面成形制造过程中由于轧辊打滑导致加工失败为例，基于Matlab软件进行计算机数值计算与仿真。仿真结果表明，当由于轧辊打滑引起负载变化时，采用提出的多机构变负载协作内力规划算法，能使各驱动轴力矩自动适应并抵消变负载冲击，使整线快速恢复正常成形加工，从而可以确保变截面辊弯成形制造的平稳运行与加工效率。研究将为变截面辊弯成形制造装备的智能控制以及智能制造提供理论基础与技术支持。

关键词: 变截面辊弯成形制造, 多机构协作, 内力规划, 变负载

Abstract: In order to solve the nonlinear variable load impact problem caused by complex elastoplastic deformation and springback of the sheet in variable cross section roll-forming manufacturing, a multi-mechanism cooperative internal force dynamic programming algorithm is proposed for the machine. The dynamic equations of the machine and steel sheet are derived by Lagrange method, and the joint dynamics equation including machine and steel sheet is established. In order to balance the nonlinear variable payload, the dynamic distribution of internal force is carried out based on the manufacturing equilibrium conditions. Taking the no squeeze of the steel as the optimization objective, the weighted pseudo-inverse method is used to optimize the distribution of internal force, and a new method for planning the coordinated operating force of the variable cross section roll-forming machine with multiple mechanisms and variable load is obtained. Finally, in view of the slippage problems in the machine actual processing, computer numerical calculation and simulation based on Matlab software. The simulation results show that when the payload of the steel changes, the internal force planning algorithm can make the drive shaft torque automatically adapt variable payload, and verify the correctness of the algorithm. The research will provide theoretical basis for intelligent control of variable cross section roll-forming machine.

Key words: variable section roll-forming manufacturing, multi-mechanism cooperative, internal force planning, variable payload

中图分类号:

TG156

黄昔光, 杨子强, 李端玲, 李强. 变截面辊弯成形制造装备多机构协作内力规划[J]. 机械工程学报, 2021, 57(7): 18-25.

HUANG Xiguang, YANG Ziqiang, LI Duanling, LI Qiang. Internal Force Planning of Multi-mechanism Cooperative for Variable Cross Section Roll-forming Machine[J]. Journal of Mechanical Engineering, 2021, 57(7): 18-25.

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变截面辊弯成形制造装备多机构协作内力规划

Internal Force Planning of Multi-mechanism Cooperative for Variable Cross Section Roll-forming Machine

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