Research On Multi-axis Linkage Control System Of Large Curvature Hull Plate Forming

Hull plate molding is one of the key processes in shipbuilding and traditional manual bending operations have been unable to meet the needs of modern shipbuilding. In order to ensure bending quality, reduce labor intensity and improve production efficiency, meet the development needs of advanced manufacturing technology, automation has become an inevitable trend. The topic researched the bow and stern of the hull which is large curvature and small.The hotline arranged close even cross and molding process is complex and less research-related at home and abroad. In this case, the multi-axis control system of large curvature hull plate processing molding process is studied.Firstly, this paper designed a multi-axis motion control bending machine with double swing-type guns based on the analysis of line heating process characteristics.The main researches are:(1) Analysis of the multi-axis platform, five-axis linkage mechanical structure, control principle of the gun and achieve arbitrary processing swinging posture of the gun base on the hardware structure and control theory;(2) Chose the open formal structure with industrial motion controller and PC, focus analyzed the multi-axis motion control and PLC control. Multi-axis open-loop is controlled by PC at last.On the basis of the hardware platform, the paper further established the kinematic model of the entire multi-axis motion control system, the main researches are:(1) According to plate bending machine axis structure to establish a corresponding movement of the chain model, determined the relationship between the tool coordinate and work piece coordinate by neighboring deputy campaign coordinate conversion, established the five-axis motion control mathematical model of the gun;(2) Analyzed the multiple solutions of the double rotation axis, proposed a scheme which meets the minimum absolute value of the difference between the corner;(3) Analyzed the independent rotation model of fire and water gun, obtained the displacement of the axis and given an experimental analysis at last. The completion of the above work will lay the foundation for other multi-axis control system theory.Given the gun and ship vulnerable to collide when processing large curvature hull plates, this paper analyzed the acceleration and deceleration control algorithm deeply, the main research are:(1) According to the continuous variables and boundary condition, this paper constructs a trigonometric acceleration and deceleration algorithm with continuous velocity and jerk;(2)Analyzed all varieties of situations in trigonometric acceleration and deceleration algorithm, and gave the corresponding parameter solution;(3) Through the simulation of S and trigonometric acceleration and deceleration algorithm, simulation data verified the effectiveness of the algorithm.Finally, this paper analyzed the software architecture of the multi-axis control system, the main researches are:(1) designed the motion control and PLC control program;(2) analyzed the communication modules and floating point data packet communication mode between motion controller and PLC, to solve the timeliness and accuracy of the data.Through combining the efficient linkage control algorithms and multi-axis hardware platform, the machining accuracy and efficiency of the large curvature plate will be improved. This research will provide a platform for the further development of automated plate bending theory.