| In recent years, it requires high quality steel pipe in the large-scale construction of China long-distance pipeline,which demands advanced pipe manufacturing technology.To meet the requirements, two step welding(Tack-Final welding) technology was introducedfrom abroadin spiral submerged arc welded(SSAW) steel pipe industry. Tack-Final welding technology from abroad cost a lot of money, and foreign enterprises set a high technical barriers, especially in the core technology, thecontrol software and system. In this paper, the motion control system of the Final welding machine was studied, which wantedtoprovide alittleaidto the localization of the Tack-Final equipment.Firstly, the motion system of mechanical equipment and processes was describedto analysis the main three kinds of motionin the production process: linear motion, rotation in place and spiral motion. And the mechanical model of the three motions was established to calculate and analysis the force of pipesin various states, which provided the theoretical mechanics support and control requirements. The modern motion control technology developmentwas studied, and the servo driver, servo motors, industrial Ethernet bus, an encoder and a system controller technology was analyzed, based on which the hardware control scheme of Final welding machinewas designed.Then based on the Virtual NC axissynchronization control model, the the software system for multi axis synchronous servo control was designed, with analyzing the performance and characteristics of TwinCAT software development platform. After the system design completed, the dynamic performance of the steel tube motion PID parameters were optimized, and the control program of the whole steel pipe production process was tested.In this paper, the final welding steel pipe motion system shows very good performance, stable operation in unison, action of the instantaneous speed, which greatly meet the production requirements of the Final welding machine. |
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