Knife Trajectory Optimization And Tracking Control Of Mobile Flying Shear

Flying shear is used to scale shear movement of the steel plate,and it is an important link in the process of iron and steel production line.At present,the independent research and development of the flying shear in such aspects as efficiency,accuracy and stability had lagged far behind the international advanced level.So it is necessary to optimize the flying shear system.In this thesis,we study mobile flying shears,and analyze the two major factors influencing the performances of flying shear:knife speed curve and servo controller.Optimize the curve and design a new controller,main content of this topic is as follows:Firstly,it summarizes the research background and research status quo of flying shear,and the development of the related control theory.It summarizes the flying shear machine production line process,flying shear mode of motion,the choice of drive and drive system components.Secondly,permanent magnet synchronous motor is chosen as the controlled object,permanent magnet synchronous motor is studied respectively in the mathematical model of three coordinates.It is concluded that the vector control model of permanent magnet synchronous motor.Summing up its state space equation is obtained.Then,In view of the flying shear mode of motion,I analyzed speed curve of knife sets.Respectively using the string cubic spline interpolation and function Five times polynomial curve is optimized.I studied the dynamic output feedback based on servo compensation and LQR controller design method,and given the total scheme of the knife machine control system and the block diagram.Designed dynamic output feedback controller based on servo compensator,regional pole assignment,and LQR.Then solve the parameter by using linear matrix inequality.Finally,simulated the optimized curve,simulated the simulation speed optimization,displacement,and acceleration curves respectively.At the same time,the controller is simulated.It can be seen from the simulation results,the control system has satisfactory performance.