Research On Coordinated Control Of Servo Crank Press Driven By Dual Motors

With the continuous development of servo control technology in recent years,Servo drive as the main driving mode has been rapid development in the market.However,to processing some large workpiece,servo press requires large torque and great punching force,To tackle this problem,the general idea is to use more power,more capacity servo motor as a power source.However,the development of high-power,high-capacity servo motor needs large capacity investment,the industry will use a number of small servo motor to drive a common servo press to satisfied the various needs of the industry.China started later on development on large-scale servo press,in the multi-motor joint drive servo press,Synchronization of position,velocity and torque and other key technologies facing knowledge innovation and technological development of the dual task.In this paper,synchronization and coordination of the double-motor combined drive servo crank press are analyzed and related.The main work of this paper includes the following four aspects:(1)Based on the simplified results,Solidworks software was used to establish the three-dimensional solid model of the double-motor-driven servo crank press,and then introduced into the ADAMS software.And the kinematics simulation of the model is provided.The correct virtual prototype model is provided to study the synchronization and coordination of the double-motor combined drive servo crank press.(2)The mathematic model of the double motor combined drive servo crank press is established by using the mathematical tools such as Lagrangian equation and analytical mechanics,and its correctness is verified.(3)Aiming at the nonlinear variation characteristics of the synchronous and coordinated control system of the double motor combined drive servo crank press,the conventional PID control method and the robust sliding mode variable structure(VSC)control method are designed according to the mathematical model.And the PID-VSC control algorithm is designed by combining the advantages of PID control and sliding mode variable structure(VSC)control algorithm.(4)The coordinated simulation of MATLAB / ADAMS are established.By comparing the simulation results of different control strategies,it is found that the PID-VSC control algorithm has better performance of control on the synchronizationand coordination of the double-motor combined drive servo crank press.