| In recent years,the phenomenon of recruitment difficulties and labor shortage and the cost of employing the rising have appeared in lots of enterprises of the Pearl River Delta region,more and more enterprises hope to substitute equipment of automation for traditional production in order to achieve the transformation and upgrading of production under the background of competitive pressure demand.It mostly gives first place to the manual operation in the production of traditional stamping machine,which is low efficiency and frequent accidents.In order to meet the demand of actual production,a control system of automatic manipulator developed in this paper,which is based on insteading of manual labor and the increase of productivity.Firstly,the research status and future development trend of domestic and foreign industrial manipulator is introduced and the content and purpose of the study is determined in this paper.The working characteristics of the punching machine and the production process of the stator silicon steel sheet are analyzed.According to the production demand and analysis of operation process of the manipulator,the hardware configuration of its control system is determined,which is composed of SIEMENS S7-200 series controller,servo motor,drive system,sensor,touch screen as man-machine interface and other electronic parts.The precision requirements of the feeding system and the mould are analyzed to determine the method of the positioning control which can meet the precision requirement,and measuring the movement accuracy of the feeding platform to meet the control requirements.Secondly,developing the plan of automatic control process and software control program after the design of electrical control circuit and preliminary calculation and configuration of the motion parameters of the actuator,there are including three ways of the work of manual,semi-automatic and automatic in this part according to the control requirements.The man-machine interaction is designed to monitor the running state of the manipulator.Finally,the optimization of PID control parameters of servo system is studied.The working state of servo motor system and its dynamic structure principle diagram are analyzed in this part.The control parameters of the servo system are optimized by using the stable boundary rule and the particle swarm optimization algorithm and the model is simulated in the MATLAB/Simulink environment.The results show that the servo control parameters based on particle swarm optimization can meet the requirements of the system's rapidity,accuracy and stability.The manipulator has reliable performance.The equipment is debugged and the final motion control parameters are determined in the field after the completion of the installation of equipment.The results of work shows that the stamping manipulator work well and has stable operation all the indicators meet the requirements after a number of repeated operation,it is fully able to bear the automatic loading and unloading work of punching machine. |
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