Research On The Measures Of Automation Equipment Vibration Reduction By Its Motion Control

With the continuous improvement of manufacturing automation,automatic processing,automatic assembly,automatic detection and other systems are rapidly replacing the traditional manual operation equipment.In all kinds of automation systems,servo motor is the core motion control system with its excellent controllability and motion accuracy which are more and more replacing the traditional pneumatic and hydraulic components.The servo motor as the actuating element provides more complex and powerful control functions for the system,and also makes it possible to control the vibration from the source of vibration.With good controllability of servo motor,by controlling the start and stop acceleration it can change the way of the moving parts to stimulate the overall structure.At the same time,through modal analysis of the system structure,the sensitive frequencies of different excitation sites are found.It is a reference to design the proper motion acceleration curve for the servo motor.The inertia force spectrum of the moving parts is used to avoid the sensitive frequency of the structure.In this way,the coupling relation between controlled motion and structural vibration is suppressed so as to achieve the purpose of controlling structural vibration.In this way,the coupling relation between controlled motion and structural vibration is suppressed so as to achieve the purpose of controlling structural vibration.This is the main contents of this research.The main research contents of this paper as follows:(1)In the automation device of production line,motor control system driven by servo motor which direct control task is usually the speed and displacement of moving parts.The vibration excitation of the component movement is mainly derived from the inertia force generated during the acceleration and deceleration of the servo motor.Therefore,this paper firstly studies the spectrum distribution of a given acceleration curve,The design method of speed control and displacement controlcurve of servo motor.In order to control the spectral distribution of inertia force of moving parts,the purpose of vibration excitation is reduced.(2)The sensitive frequency of mechanical structure vibration is the frequency of each order mode.For a concrete structure,although in theoretically there are infinitely modes of vibration.However,the vibration of machining precision and working efficiency is mostly distributed in low order mode.The second part of this paper focuses on the test and analysis of sensitive frequency.Through testing obtaining modal frequencies associated with different moving parts.(3)A practical experiment platform was constructed to verify the feasibility of the above methods.First,for the vibration subject of the platform,a mathematical model that can be simplified to a second degree of freedom spring mass system,calculated its first and second order modal frequency.Based on the frequency design servo motor accelerated and decelerated process.Then,the correctness and feasibility of the method are proved through practical testing.(4)A Lagrangian equation with a generalized coordinates is established for an actual system.By setting the constraint condition that the vibration is zero at the start-stop stage.The control scheme of acceleration and deceleration is proposed for the motion control of the structure.The experimental results show that the method presented in this paper has obvious effect on vibration control.