Research On The Electromechanical Co-simulation Of Servo Drive Globoidal Indexing Cam Mechanism

Globoidal indexing cam mechanism has high indexing accuracy and good dynamic performance in the high-speed running condition, which is widely used in textile, packaging and printing and other light industrial machinery. The traditional mechanical transmission way has become increasingly unable to meet the current mechatronic system toward high speed and efficient development trend, using independent servo drive technology to replace traditional mechanical transmission has become the key technology to improve the performance of mechanical and electrical system. Therefor, in this paper, the globoidal indexing cam mechanism is designed to be driven by independent servo drive. In order to analyze the dynamic performance of the system, and make a judgment on the feasibility of whether the globoidal indexing cam mechanism can be driven by servo drive, an electromechanical co-simulation method is applied in this paper.Based on the analysis of current situation of co-simulation study, key technology of co-simulation is analyzed. Firstly, as the research object of this paper, the globoidal indexing cam’s contour surface equation and conjugate contact equation are derived based on conjugate surface method, and the 3D model of the mechanism is established.Secondly, as a theoretical basis for dynamic simulation, the kinetic parameters of the mechanism are calculated. When domestic scholars use ADAMS to study the dynamic performance of globoidal indexing cam, the constraint between cam and roller is aways set to solid-to-solid contact, but the deviation between the simulation result and the theoretical value is too large. Aiming at the problem, the constraint between cam and roller is set to point-to-curve constraint in this paper. And the simulation result shows that the result is more accurate when the point-to-curve constraint is used. In order to make the dynamic model more in line with the actual situation, considering the flexible deformation and using the finite element method, a rigid flexible coupling dynamic model based on ADAMS/ANSYS is built.Thirdly, the permanent magnet synchronous motor model and its three loop control model are established. By using the software interface technology, the co-simulation model of servo drive globoidal indexing cam mechanism based on ADAMS/MATLAB is set up.Finally, the effects of speed feedforward control and load characteristics on the following performance of servo system are studied, and the following performance of the system can be improved when the speed feedforward control is adopted. Co-simulation results show that servo drive globoidal indexing cam system has good tracking performance, globoidal indexing cam mechanism with independent servo drive is feasible.