The Research And Development Of Two Degrees Freedom Of Nc Welding Positioner

In order to meet the demand of robot automatic welding, A half closed loop position servo motion control system based on PLC is developed, realized functions like the rotary/pitch2axis linkage inching control, continuous trajectory, and robot linkage control.On the basis of the above design, a BP network and genetic algorithm is modeled to optimize the PID control parameters of welding positioner, then the simulation model based on simulink is established. Finally, an actual displacement test is carried on, running effect, positioning accuracy meet the design requirements, proved the developed control system is feasible.Thesis mainly completed the following research work:(1) The welding positioner is analysised and designed, including welding positioner transmission scheme, body structure scheme and control system scheme.Using PLC as the core of the motion controller, servo motor as the execution component, the driving scheme is established, the corresponding components and circuit is also designed.(2) The welding positioner prototype is completely made, including machining, assembling, installation of circuit components, compiling of the control program and system debugging.(3) The servo system is analysised and the mathematical model is established. Then PID control parameters is optimized by genetic algorithm and BP neural network. In simulink condition, the system simulation is built and verified the rationality of the PID parameters.(4) The welding positioner is tested, including the rationality of the motion control subroutine, positioning accuracy under different working conditions. Then experimental data is analysised, and positioning accuracy error compensation model is established.