Optimization And Control Simulation Of Hybrid Driven Tying Mechanism

Tying is the most complicated and important process during Zongzi banding, its performance determines the success of the whole processes. The traditional four linkage mechanism can only qualify nine precise points or five given positions; it cannot meet the demands of tying process. Take the great advantages of flexibility and precise output of the Hybrid driven mechanism into consideration, this essay uses Hybrid driven mechanism to design the Tying mechanism.Great efforts were devoted to design the tying mechanism; the following are the main of the research work:1. A model of the hybrid driven five bar mechanism is modeled according to the condition of the Tying process. Kinematics and inverse kinematics of the model are analyzed by using close vector method, and dynamic by Lagrange method.2. Optimization parameters and servo-motor motion of the model are induced, which is used GA to minimize the acceleration fluctuation and power of the servo-motor based on inverse kinematics analysis. Then, the motion curve of the servo-motor is polyfited by using high-level multinomial. After that, the final Optimization parameters of the model are induced by using GA to minimize the contrail error of the servo-motor based on kinematics analysis. Systematically performance of the model can greatly improved by doing so.3. The control system is designed. A complex algorithmic of Repetitive Control, Friction Compensation and ordinary PID algorithmic is designed according to the characters of nonlinear, repetitive and sudden load of the model. Less error, higher real time character and more robust comparing to the traditional PID control algorithmic are reached by using this algorithmic.4. Co-simulation is made by using ADAMS and MATLAB. It turns out that the previous design is effective, and the mechanism has a great performance.5. The effect of parameter error of each parameter for output error was deduced by using partial differential method. The bounds of the output contrail of the designed hybrid driven mechanism are deduced, the result shows that the designed mechanism has great flexibility.