Design And Implementation Of Servo Control System For Ship Crane Plate Device

With the construction of the "Twenty-first Century Maritime Silk Road" strategy in China,the shipbuilding industry has gradually become a strategic pillar industry for maintaining maritime security,guaranteeing water transportation and maintaining the sustained economic growth of the national economy.Ship manufacturing is a multi-variety,small number of production areas,known as "comprehensive industrial laurel" title.The forming process of hull curved panel is an important part of the whole shipbuilding field,and its automation is still low at present.This paper developed a set of auxiliary hull plate in the process of hanging plate device,in order to raise automation level of integration in the process of hot and cold plate.Functional requirements of ship hanging plate device based on a board in the process.First,the mechanical structure of the hanging plate device and the installation arrangement of the motor are introduced,and the overall control scheme of the system is determined.The ship lifting device is mainly controlled by 12 servomotors,and the system adopts the motion controller MP2310 as the lower machine.By the size of the steel plate to be processed,calculate the required power by Yaskawa.selection of motor,the circuit wiring of the system is also introduced.Considering the integration process of hot and cold plate,need to adopt the pressure head rolling plate,the PID and fuzzy PID control are used to guarantee the constant tension of the wire rope to ensure that the hanging plate device will not be pulled out when the steel plate is deformed.In order to clarify the dynamic characteristics of tension control system,the mathematical model of servo motor,reducer and reel is analyzed,and the closed loop transfer function model of the whole control system is established,and the whole system is simulated theoretically.The simulation results show that the dynamic response of the closed loop system is rapid,the control effect is good,and the constant tension control requirement of the system is satisfied.Ship hanging plate device in the process of integrated cold and cold processing,It is also necessary to move along with the hydraulic system pressure head according to the set path to complete the positioning function.This requires the motion control of the hanging plate in the XY plane,that is to say,multi axis linkage motion control is needed.The cart is driven by two motors.The principle of master slave synchronous control is introduced.Position control is carried out by new phase control method,and multi axis linkage control strategy is analyzed.The operating mechanism of MP2310 software is introduced,and the design of software flow chart for synchronous control,multi axis linkage and constant tension control is carriedout respectively.Finally,the experimental verification of the control algorithm is carried out on the actual experimental equipment.The experimental results are in agreement with the theoretical simulation results,which proves that the designed control algorithm can be applied to the actual ship lifting device.