Research On Lifting Mechanism Control Of Bolt Tensioning Machine Based On SIMOTION

The integral bolt tensioner is an important device designed for the switch of the end cap of a nuclear reactor unit.For the whole organization,its lifting mechanism plays a vital role.In the actual work,the stretching machine equipped with the traditional lifting mechanism proves that there is a problem of insufficient running precision,and even workers need to perform auxiliary work in the radiation environment.Based on the characteristics of the Stewart platform,a new type of lifting mechanism was designed.The dynamic and forward solution of the upper platform of the lifting mechanism was solved to solve the singular pose problem of the device,and the control strategy of the upper platform was proposed according to the principle of the forward and reverse solution of the mechanism.Dynamic simulation of the upper platform was performed using ADAMS.Perform freedom and motion analysis on the lower platform to determine the movement mode and control strategy of the lower platform.The motion control technology of the platform on the new lifting mechanism was analyzed,and the control method of the motion mode and motion speed of the moving platform was proposed.The trajectory tracking experiment simulation of the mechanism was carried out by the forward and inverse solution equations,which verifies the correctness and feasibility of the control method.Development of a new lift mechanism motion control system based on Siemens SIMOTION motion controller.Analyze the various components of the new lift mechanism control system,determine the specific technical parameters,and select the hardware system components.The project configuration and data configuration of the hardware device is performed on the SIMOTION SCOUT software,and the communication network was set.Based on SIMOTION SCOUT software platform,the control software system of the new lifting mechanism was developed.The zero return function of the new lifting mechanism was designed.Program the control axis to switch between manual and automatic modes.Combined with the process of the lifting mechanism,the control flow of the lifting device was designed.Figure 46;Table 5;Reference 40.