Design And Application Of Multi-axis Motion Control System For Automatic Pipe Bender

"Made in China 2025" plan is being speeded up,the demand for various kinds of elbow parts is increasing rapidly in these fields of aerospace,vehicles,petrochemical,household appliances,furniture and etc.Higher requirements for tube forming quality,forming precision and processing efficiency are proposed.The tube-bending machine is the main equipment which is used for bending tube fittings and the control system is the core of the tube-bending machine.So,it is imperative to upgrade the existing control system of tube-bending machine with advanced control technology.Based on CANopen bus protocol and under the environment of VTB programming,this paper gives out a full-automatic and good performance universal tube-bending machine control system with rich functionality and excellent performance.Its hardware structure is the ESTUN motion controller plus MCGS touchscreen.Some key technology and main problem are researched and investigated in details as follws.1.Based on fieldbus communication mode,in order to realize the motion control of single-axis servo system under the specified working mode,the working principle of CANopen and the DSP 402 device sub-protocol are deeply studied,and the configuration and corresponding software design of CANopen network in VTB environment are completed.2.In the process of pipe bending,aim at the requirement of the line speed synchronization between the C axis and Y axis,the study of dual axis servo synchronization control strategy is carried out.To solve the hidden trouble of the thin pipe fittings because of the simple use of passive feeding,according to the working characteristics of the tube-bending machine,this paper proposes the control mode combined with the speed master slave synchronization control strategy and the torque limit function of the driver which realizes the adaptive adjustment of active following feed and passive following feed.3.In order to meet the bending requirements of complex tube,the system uses two layers bending die structure.By controlling the distance of ejection,setting the operation sequence of feeding,bending and back bending and the logical control of auxiliary actions such as main mould,guided mould and follow-up mould,the system realizes the automatic changing die process.4.Based on MCGS configuration software,a monitor system with good human-computer interface function is designed.5.Through the actual bending process of a furniture seat skeleton,it verifies the function and reliability of the control system of the tube-bending machine,and achieves the design goal of full automatic and low cost.