Aeroengine Blade Assembly Platform Control System

According to the traditional assembly features of aeroengine blades,a control system based on the robotic blade automatic assembly system platform and the advantages of industrial robots are designed.The control system requires the assembly of the blade in the process of assembly of the robot movement in accordance with the predetermined spatial trajectory,thus controlling the automatic assembly of the blade.Because of its advantages of simple structure,low cost,easy control and large moving space,tandem robot is widely used in the assembly system.The platform manipulator fully exerts the function of automatically adjusting the position and attitude of the locating point according to the change of the position of the blade and the wheel disc and plays a key role in the successful assembly of the blade.In this paper,a three-degree-of-freedom manipulator control system for the study object,the programmable controller Siemens S7-200 as the main control unit,the permanent magnet synchronous motor servo motor,according to the assembly platform for the movement of the robot to write the operating program,and ultimately the robot Control requirements,improve the work efficiency of the robot assembly blade.In order to study the influence of system parameter variation and load disturbance on the high-precision positioning of the bottom of the manipulator's rotating control system unit,this paper uses fuzzy control theory and traditional PID control theory combined control method to establish a fuzzy control system controller to make the PID parameters can be dynamically changed according to the error and the change rate of error,and avoid the complex parameter debugging process,and to make the system have adaptive adjustment capability.Through the MOTION simulation of the motor between the manipulator and the base,joints and hands,the final design scheme of the manipulator is determined and optimized.The control system adopts PLC controller and the drive system adopts the design scheme of permanent magnet synchronous motor.In order to check the selected materials to meet the requirements,this paper uses finite element software to statically analyze the main components of the robot arm assembly platform.The results show that the strength and stiffness of the alloy steel can meet the working requirements of the assembly platform.Under the condition of ensuring the strength,rigidity and reliability of the platform in its normal operation,kinematics simulation of the articulated arm of the manipulator by using the simulation function under MATLAB software provides a theoretical basis for the reasonable planning of the trajectory of the manipulator's space motion.