Research On Control System And Algorithm Of Hybrid Grinding And Polishing Machine Tool For Blade Finishing

Blade is the key part in energy and power equipment,which is important to the safety and stability of the whole machine.In order to improve the blade surface polishing finishing automation,optimize the blade machining efficiency,shorten the blade production cycle,reduce man-made factors on the influence of blade precision and surface quality,intelligence and precision manufacturing researching team of Jilin University developed a hybrid grinding and polishing machine tool for blade finishing.According to the process requirements,control system and algorithm will be study in this paper.The hybrid grinding and polishing machine tool is different with other machines.Its overall movement exists coupling phenomenon,so need to kinematics analysis was carried out on the machine.We use spinor kinematics method and spinor method to analyze the struction of the machine.The singularity postures in the process of movement can be avoided.According to these results,we can get positive machine kinematics solution and inverse solution,which is the basis of the control system and velocity planning.We need to study the machine tool dynamic characteristics under different position.This paper apply the Kane dynamic equation method to establish the dynamic model of the machine and through a simulation to verify the model;In order to improve the reliability of control and the quality of surface processing,we use dynamic model with s-shaped scheme with the combination of acceleration and deceleration method for planning a machine tool processing speed.The paper adopts open architecture hardware platform which is constructed by PC and UMAC.We targeted actual participation in space motion of machine tool 5 axis made the optimization scheme.At the two shafts to linear motion with grating ruler established full closed loop control system;The movement of two virtual shafts depends on the parallel mechanism.Displacement sensor is installed on the parallel mechanism;Rotating shaft of workpiece using reducer to improve system stiffness.Motor adopts torque control mode,which can improve the response speed of the control system and optimize closed-loop feedback characteristics of the system.We developed control system software.The software can complete machine regular exercise and intelligent humanoid machining of the blade.The control scheme and kinematics analysis of the machine tool are verified by experiments.The actual position of each shaft is compared with the input value to ensure the rationality of the control scheme.The coordinates of the three coordinates are compared with the results of kinematics analysis to ensure the correctness of the analysis.The velocity planning algorithm is verified by experiments,which based on the combination of dynamics and S shape acceleration and deceleration.By comparing the surface quality of the workpiece with the trapezoidal acceleration and deceleration scheme,it is found that the velocity planning algorithm is feasible,and the surface quality of the workpiece is improved in practical machining.