Follow The Tracks Of Control And Experiment Study On The Principle On The Hybrid-driven Machine

The guideline of hybrid driving machine adopts regular motors to provide main power and adopting servo motors to adjust motion. The two types of motion inputs are synthesized through a multi-degree of freedom motion mechanism and output the motion required. Since servo motor is easy to be controlled, it can be used to drive motion mechanism with regular motor. By controlling the motion of servo motor with programs, the machine can output flexibility. It is therefore can meet the needs of various processes and products. The mechanism combines such advantages of regular motors as high efficiency and high capacity, and the flexibility of servo motors. It also makes up the traditional mechanism's disadvantage of lacking flexibility and relatively solves the contradiction of flexibility versus high speed, high efficiency, and high capacity. This dissertation proposes a new guideline for modern design of mechanism.In view of the importance of the research of hybrid driving machine, it is necessary to transform the theoretical research into real products and to bring the advantages into practices. It is also necessary to combine the theory and practice to validate the availability and nature of advance. The dissertation is focused on the experimental research on the ground of potential applications of hybrid driving presses. The key researches include the following. (1) Based on the theoretical research of hybrid driving machine, the measures of scale is optimized, the measures of scale of the experimental mechanism is defined, and the simulation of kinematics and kinetics is processed. (2) The quasi-static dynamic analysis of hybrid driving press is processed; the distribution model of the drive and power of hybrid driving press is given, and the relation between the resistance of drawing process and the power distribution of servo motor is studied. (3) The strategy of variable structure control to process closed-loop control on experimental mechanism is adopted, and the steady tracking control on hybrid driving mechanism is studied. (4) A model based on the inverse kinematics optimization theory to modify errors is suggested and the motion control method for the motion control of hybrid driving press that can compensate errors real-time on-line is given. A motion control software is also developed to realize the real-time on-line error compensation for hybrid driving press. This mean theoretically ensures the accuracy of active following motion of theoutput motion. (5) The experimental study on the real-time on-line error compensation for hybrid driving press is procesed and the software mentioned in (4) to study the experimental mechanism of hybrid driving press with and without serving load respectively is used. The foundation of the research and development is established for the sample hybrid driving press in the next stage.Finally, some suggests and prospect on the theoretical research and development of sample of hybrid driving press is proposed in this dissertation.