Grading Actuator Simulation And Optimization Analysis For Free Pallet Conveying Fruit

Grading post-harvest fresh fruits can significantly increase the fruit added value and bring greater profits for fruit practitioners. In order to reduce the vulnerability of delicate fruit, this paper puts forward a kind of method based on free pallet conveying which is suitable for delicate fruit grading sorting. To improve the accuracy of the delicate fruit production line for fruit grading and reduce the blindness of the scen debugging, virtual prototype simulation model was established and optimized with the technology of mechanical dynamics simulation analysis and electronic simulation analysis.The main research contents and results are as follows:1. Virtual prototype mechanical dynamics simulation model was established in ADAMS software. In ADAMS software, constraint and motion and contact between various components was created. The preliminary analysis of the simulation of kinematics and dynamics verified the correctness of the virtual prototype.2. With the distance of fruit tray center of mass to the center line of the rating area conveyor belt as fruit grading accuracy of judgment standard, though three factors and three levels of quadratic general rotary design experiments which carried out on the virtual prototype, we got that the significant effect factors which influence the fruit grading accuracy are the rotating angle of actuator and the speed of conveyor belt and the fruit weight, a single factors significantly affect the accuracy of fruit classification, secondary single factors and interaction factors influence on fruit grading accuracy is not significant, the quadratic regression model can't fit fruit classification accuracy. In accordance with the three factors and three levels orthogonal experiment design method, nine trials was carried out on the virtual prototype. Through the analysis of variance and regression of experimental results, we got the ternary linear regression equation and the factor of the speed of conveyor belt have the biggest impact on the fruit grading accuracy, followed by the rotating angle of actuator and the fruit weight. The process parameters of the vulnerable fruit production line for fruit grading was obtained by the regression equation, through verification test, we got that when the weight of the fruit range in 236.3 to 287.7 grams, fruit grading accuracy is 86.7.0%, when fruit weight range in 247.8 to 275.2 grams, fruit grading accuracy rate reached 100%.3. The force between fruit grading actuator and free pallet produced during the process of working was analyzed, through calculation, we got the maximum torque of grading actuator is about 1N·m. Based on the maximum torque, the servo motor model was determined. Then, the mathematical model of fruit grading actuator servo motor was established. The controller parameters of the current loop, velocity loop and position loop in the grading actuator servo control system was determined though theoretical calculation.4. Mechanical and electronic co-simulation model of grading actuator was established. Using established co-simulation model, Mechanical and electronic co-simulation of the current loop, speed loop and position loop was carried out respectively, though co-simulation, we got the tuned parameters. According to the tuned parameters, mechanical and electrical co-simulation was carried, as a result, position input response ability of grading actuator servo control system is very good.