Research On Control System Of Load/unload Manipulator For Motor Lamination

At present, with the rapid growth of our country industrial economy, automation equipment is in constant increasing in industrial every field. However, in the punching industry, most of the factories are still manually operation, in which case the operator is of heavy workload, production efficiency is low and industrial accidents is frequently. Therefore, the plants needed an automated manipulator which can assist punching machine for putting and retrieving work-pieces. This not only can replace man operation, but also can improve productivity, reduce the rate of accidents and improve the level of punching process. This thesis presents an automated load/unload manipulator for putting and retrieving work-pieces and study its control system, which can be able to achieve the above requirements.Firstly, this thesis analyzes the research status of manipulator at home and abroad. According to the actual requirements of punching process, this thesis overall designs load/unload manipulator’s mechanical structure and describes manipulator’s workflow. Analysis manipulator’s pneumatic and vacuum systems and designs their parameters.In order to solve the positioning accuracy of manipulator, this thesis designs high-speed switching valve controlled pneumatic servo control system controlled by PWM. Mainly, analysis the characteristics of cylinder and high-speed switching valve. Establish mathematical model and transfer function of cylinder servo control system. Introduce the manipulator’s electrical control system design. Design manipulator’s master section, cylinder control section, adsorption of work-piece section, human-computer interaction and software components.Finally, this thesis uses PID controller based on BP neural network to control cylinder servo system control and focus on the design of the BP neural network PID controller. Based on MATLAB simulation platform, study the simulation of high-speed switching valve controlled cylinder servo control system controlled by PWM based on BP neural network. The simulation results show that the studied load/unload manipulator’s control system can meet the practical requirements of punching production and it has a high value in motor lamination processing industry.