Simulation Study On The System For Steel Bar Dynamic Splitting Based On Visual Feedback Control

In recent years, the visual feedback control technology has been developed by leaps and bounds. This paper used visual feedback control technology, to build a system for steel bar dynamic splitting through simulation, and study some the typical problems one of this subject.First of all, according to the need of the subject, designed an experiment simulation platform. On the basis of platform needs analysis, given the overall design of the program, and divided the software module. The collision method was used for the simulation of bar motion state with chain bed; Quasi-X-Y type mechanical arm was used as steel executive mechanism.The visual feedback of the main processing points was decomposed. Analysis of the existing bar recognition algorithm, used multi-algorithms of quasi-circular object recognition method to recognize steel bars, has achieved the anticipated effect. Forward time calculating offset bar tracking aligning method, effective solution to the steel bar when steel wedge on the disturbance brings inaccurate contraposition problem. Based on mark steel wedge vertex recognition scheme to reduce false recognition probability, improves the precision of recognition, to ensure the accuracy of visual feedback.Then dynamic steel bar splitting strategy was designed. Different ways was used to determine separation of single-layer and multi-layer stacked bar location. Motion path planning for steel wedge vertex was proposed, including normal separation motion path and the adjustment trajectories when isolation was given on error. Through the analysis of the static and dynamic characteristics of the symmetric valve controlled asymmetric cylinder, derivation of the transfer function of the hydraulic system.Closed loop control system based visual feedback was design with a fuzzy self-tuning PID control algorithm and the hydraulic model has been built, to control the executive mechanism. Multiple simulations in the simulation platform, the results show that the steel bar dynamic splitting strategy has a certain validity and practical value.