Velocity Characteristic Analysis Of X_Z Axis And Rotary Of Aluminium Ingot Servo Stacker

With the development of the electrolytic aluminum industry, it put forward higher requirements on the degree of automation equipment for aluminum ingot casting machine.Stacking machine is the key part of the equipment in the aluminum ingot casting machine, all aspects of the research on it can improve the production efficiency of aluminum ingot casting machine.And the stacking machine itself play a protective role to prevent its fatigue damage and increase its service life. In this thesis, based on the damage caused by the irrationally of the speed planning and the trajectory planning,we analyze the speed characteristics,and finally achieve the purpose of optimization.First of all, this thesis on the stacking machine structure motion are analyzed.The trajectory planning on the basis of the analysis, a reasonable trajectory are determined by the method of cubic spline interpolation. Stacker manipulator aluminum ingot is determined after the upgrade of the height, walk away, and put the ingot decreased height.Secondly, through the planned track before, and then make a further movement analysis.Compared with several types of servo motor acceleration and deceleration curve(trapezoidal speed curve, Index speed curve,and S solving speed curve), according to their respective advantages and disadvantages,the trigonometric speed curve is proposed, and the simulation results are verified by MATLAB, which is applied to the speed control of servo motor.On the basis of the mathematical model of the motor, the model of the servo control system is established, and the simulation results are verified by Simulink.Adjust the parameters to make it more responsive. Using Solidworks to establish a three-dimensional model of the stacking crane, and import ADAMS, set up its simulation environment.Combined with the servo control system model and the formation of electric-mechanical simulation model was finished.Finally, according to the working requirements of the crane, the planned trajectory, and the distribution of speed and time, used the electric-mechanical simulation model and got the results of the kinematics and dynamics simulation. It can be seen that the optimization resultis reasonable and the velocity characteristic curve is feasible.