Research On Control Simulation Of Multi-wire Parallel Winding Device Of Small Motor Stator

As the power source of equipment,small motor is widely used in industry,agriculture,household appliances,national defense,military and other fields.The existing manual and single-wire winding technology of small motor stator can no longer meet the technical demand of the market,and the winding precision and efficiency cannot be guaranteed.To solve the above problems,this paper designs and analyzes the structure of the multi-line parallel winding device,designs its control algorithm and ROS simulation scheme,and finally carries out control simulation research based on the ROS platform.The structure design and analysis of multi-wire parallel winding device.According to the technical requirements of winding device,the principle of multi-wire parallel winding is studied and the structure design scheme of winding device is proposed.Based on this scheme,the overall structure of the multi-line parallel winding device was designed,the stress of the enameled wire on the winding block was analyzed,the radius of edges and corners of the winding block was designed and optimized,and the working principle of the winding device was analyzed.Finally,the forward and inverse kinematics analysis of the winding device was carried out to solve the position and pose of the end of the winding device relative to the base coordinates and the values of the variables of each joint and the parameters of the connecting rod,so as to provide a theoretical basis for the subsequent control algorithm and simulation scheme design.Design of control algorithm and ROS simulation scheme of multi-line parallel winding device.Based on the principle analysis of conventional PID control algorithm,an adaptive adjusting PID algorithm with better control effect is proposed.By analyzing the error change trend generated when the adaptive adjusting algorithm is used to control the wound motor,the strength and output of the control effect to reduce the error are judged.Then the motor system model of winding device is established and its transfer function is solved.The conventional and adaptive PID control algorithms are simulated to verify the control effect.Finally,the winding device was designed based on ROS system control simulation scheme and task sequence,to provide guarantee for subsequent simulation control work.Based on ROS platform,the control simulation of small motor stator winding device was carried out.Firstly,the Urdf model of winding device was established to configure the parameter characteristics of joint connecting rod and Rviz visual platform.In Rviz,simulated the winding motion of the winding device,analyzed the motion pose of each connecting rod,and verified the correctness of the Urdf model of the winding device and the configuration of the visual platform.Configure winding device Move It! feature pack and plan its winding movement,on the basis of simulation of Gazebo configuration joint controller,the joint control of the winding device for winding motion simulation,analysis of whether it can implement parallel line of stator winding function,verify the rationality of the winding device structure design,simulation and control scheme and the feasibility of the task sequence.The structure design and control of the multi-line parallel winding device for small motor stator are studied,which can provide technical support for the field of multi-line parallel winding in domestic small motor stator and has important practical value.