Design Of The Controller For Sample Machine Of SPFCH Intelligent Robot

Steel Plate Forming by Line Cooling and Heating (SPFCH) is a critical technology to shipbuilding industry. It is hard and contains many complicated factors. At present, the technology is still applied by hand rather than by machine. The automatization of the technology means a lot to shipbuilding industry because it can improve the steel plate forming quality, accelerate the producing speed and reduce the cost. We have finished the trial machine and continue to design the sample machine of SPFCH intelligent robot.This thesis discusses the design of the controller for sample machine of SPFCH intelligent robot.Compared with trial version, the sample machine not only keeps but also improves its merits on servo system based on the SERCOS bus, modularized controller, powerful and flexible user programming interface and so on. The sample machine mainly makes much improvement on the following aspects: as for the measure system, because of new equipment's long measure range it avoids the damage to the measure equipment caused by the high temperature; as for the process of concave type steel plate, it introduces a new edge-determine method to avoid the "processing flaws" caused by complex edge conditions; as for dual-torch processing, it introduces a new control scheme based on automatic torch height sensing after plentiful experiments; as for saddle type steel plate, it introduces a set of measure-process control scheme based on the fitting-computing positioning method; in addition, it also introduces some new instructions to perfect its function as a platform of manufacture and research; it also introduces some necessary safety precautions, such as photoelectric sensors, to conform to the safety rules.The thesis takes the process technique as the main thread, and comprehensively introduces the design of the hardware system, the control method used to carry out the process technique, the modularization and the hierarchy of the software system and the key algorithms in sequence. In the key algorithms part, measure algorithm, control algorithm of processing concave type steel plate, control algorithm of processing saddle type steel plate and the analysis of dual-torch process are introduced.