Transactions of Materials and Heat Treatment

Title：Mechanism design and motor synchronous control of multistation feeding manipulator

Authors： Hong Lin Sun Yu Cao Chunping

Unit： Nanjing University of Science and Technology

KeyWords： automatic production precise hot die forging multistation feeding manipulator synchronous control integral terminal sliding mode control algorithm

ClassificationCode：TG315.5

year,vol(issue):pagenumber：2018,43(6):89-93

Abstract：

In order to achieve automatic production of multistation hot die forging production line, the corresponding feeding manipulator mechanism on the multistation hot die forging press was designed，and the multiposition feeding manipulator realized three actions of clampingopening, liftingdropping and transferretreating by a linear transmission module adopting Cartesian coordinate system positioning. In addition, integral terminal sliding mode control algorithm to ensure the movement accuracy of manipulator were designed for the four permanent magnet synchronous motors used on the manipulator. The simulation results show that four motors can reach the specified speed within 0.1 s, fast step response speed and overshoot less than 3%，and the tracking error of four motors can converge to zero within 0.1 s. In the end, the feeding manipulator and multistation press are completely cooperated to meet the production needs by experimental verification of producing complete machine, and reach the designed operating frequency of 15 times per minute.

Funds：

江苏省重点研发计划(BE2015011-3)

洪琳（1994-），女，硕士研究生；Email：1057324588@qq.com；通讯作者：孙宇（1964-），男，博士，教授；Email:sunyu@njust.edu.cn

Reference：

［1］赵旭辉.热模锻压力机的应用现状分析
［J］.金属加工：热加工，2014，(5)：54.

Zhao X H. Application analysis of hot dieforging press
［J］. Metal Working, 2014, (5): 54.

［2］陈健，史政，黄伟，等.基于EtherCAT的多工位高速多工位送料机械手控制系统设计与实现
［J］.机床与液压，2016，44(5)：127-130，134.

Chen J, Shi Z, Huang W, et al. Design and implementation of threedimensional high feeding manipulator for multistage transfer control system based on EtherCAT
［J］. Machine Tools and Hydraulic, 2016, 44(5): 127-130，134.

［3］王延年，丁恒.多工位冲压生产线自动送料机械手控制系统设计
［J］.锻压技术， 2016，41(6):55-60.

Wang Y N, Ding H. Control system design on automatic feeding manipulator in the multistation press line
［J］. Forging ＆ Stamping Technology, 2016, 41(6): 55-60.

［4］黄伟，郑天江，宁学涛，等.基于多亲遗传算法B样条轨迹规划
［J］.制造业自动化， 2015，37 (14):125-128.

Huang W, Zheng T J, Ning X T, et al. Bspline trajectory planning based on genetical gorithm
［J］. Manufacturing Automation, 2015，37 (14):125-128.

［5］刘然，孙建忠，罗亚琴，等.多电机滑模环形耦合同步控制策略研究
［J］.中国机械工程，2010，21 (22)：2662-2665.

Liu R, Sun J Z, Luo Y Q, et al. Research on synchronous control strategy of multimotor with sliding mode annular coupled
［J］. China Mechanical Engineering, 2010, 21(22): 2662-2665.

［6］马文华，张冬梅，刘昕彤，等.多电机速度同步自适应积分滑模控制
［J］.包装工程，2017，38(15)：121-125.

Ma W H, Zhang D M, Liu X T, et al. Adaptive integral slidingmode control for multimotor speed synchronization
［J］. Packaging Engineering, 2017, 38(15): 121-125.

［7］徐攀，徐为民，谭莹莹，等.基于自适应扰动补偿的多电机时变滑模控制
［J］.控制工程，2013，20(S1)：218-222.

Xu P, Xu W M, Tan Y Y, et al. Timevarying sliding mode control of multimotor based on adaptive disturbance compensation
［J］. Control Engineering, 2013, 20(S1): 218-222.

［8］韩仁银, 郭阳宽, 祝连庆,等. 多电机同步控制综述
［J］. 电机与控制应用, 2017, 44(6):8-12.

Han R Y, Guo Y K, Zhu L Q, et al. Multimotor synchronous control review
［J］. Motor and Control Applications, 2017, 44(6): 8-12.

［9］崔皆凡, 邢丰, 赵楠,等. 基于模糊控制器的改进耦合多电机同步控制
［J］. 微电机, 2011, 44(3):75-77.

Cui J F, Xing F, Zhao N, et al. The improved coupling multimotor synchronous control based on fuzzy controller
［J］. Micromotor, 2011, 44(3): 75-77.

［10］李鹏飞，王伟涛，万亚斌.基于相邻偏差耦合的多电机模糊PID同步控制
［J］.机械设计与研究，2013， 29(5)： 45-48，58.

Li P F, Wang W T, Wan Y B. Multimotor fuzzy PID synchronous control based on the adjacent deviation coupling strategy
［J］. Mechanical Design and Research, 2013, 29(5): 45-48，58.

Service：

【This site has not yet opened Download Service】【Add Favorite】