Research On Smooth Motion Control Of Variable Cross Section Roll-forming Machine

As mechanical parts become lightweight gradually,industrial production has high requirements in terms of roll-forming equipment.So it is necessary to optimize the equipment to achieve high quality processing,stable equipment operation and high production efficiency.At home and abroad,scholars mainly focus on the research of forming machine now,but few documents carry or solve problems in equipment manufacturing optimization.In this paper,from the perspective of part processing efficiency and processing equipment service life of variable cross section roll-forming machine,these three aspects of forming feed speed,acceleration and deceleration scheme and forming trajectory are studied,and the manufacturing optimization of forming machine are completed.Besides,the smooth motion control of the variable cross section roll-forming machine is realized.Based on the D-H method,the forward and inverse kinematics analysis of the variable cross section roll-forming machine are completed.In operating space,the mathematical expressions of joint position and joint speed are obtained.The Jacobian matrix is solved and the equipment dexterity analysis is completed,and the optimal structural parameters of the forming machine are found.The kinematics and dynamics of the variable cross section roll-forming equipment are analyzed.During the forming process,the functional relationship between the geometry of the forming path and the kinematics and dynamics of the forming mill is obtained.Under the constraints of every axis acceleration,servo motor driving force and power,a method for solving the maximum safe form speed of roll-forming machine is proposed.And for the specific forming parts,the maximum safe feed speed is solved.Under the premise of ensuring the quality of the parts and the stable processing of the equipment,this method can improve the processing efficiency of the forming machine.For the sudden change of velocity and acceleration,Bezier interpolation method and three-contour curve method are proposed respectively.The Bezier interpolation curve ensures that the forming trajectory has no "sharp points" and the speed of the rolls at the rolling control points is not abrupt,which also reduces the jamming and vibration of the machine.The three-contour curve ensures that the acceleration is continuous during machine feeding and reducing the jitter during equipment operation.It ensures smooth control of the machine while it is running and also guarantees real-time response of the machine.It has certain theoretical guidance and industrial reference value for the development of the roll-forming field.