Research On The Control System Of Automatic Tool Changing Device In High-speed Machining Cente

The automatic tool changer is a critical component of high-speed machining centers that directly impacts machining efficiency and quality.This article focuses on the control system of the automatic tool changer in high-speed machining centers,formulating a control plan,analyzing and designing speed and position controllers,and an acceleration and deceleration planning algorithm for the drive system of the tool magazine and robot arm.The motion control is carried out using a programmable controller,and relevant data testing is completed.Initially,the composition of the automatic tool changer control system is introduced,and the speed and position control algorithms of the servo motor control system for the tool magazine and robot arm are studied.By analyzing the drawbacks of the PI controller,a fuzzy algorithm is adopted to design the speed controller.The simulation results validate the superior speed tracking performance and anti-interference performance of the fuzzy PI speed controller.Secondly,a self-disturbance position controller is designed based on the motor position relationship,and the self-learning ability of the RBF neural network is used to tune some parameters of the self-disturbance controller.The simulation results demonstrate that the RBF neural network-based self-disturbance position controller performs better than the PI position controller and self-disturbance controller in terms of tracking performance and anti-interference performance.Then,the motor speed planning algorithm for fast tool changing is analyzed.Based on the performance analysis of the trigonometric function acceleration and deceleration planning algorithm,a speed planning algorithm is designed using Taylor series and Chebyshev polynomial to approximate the trigonometric function.The simulation results reveal that the acceleration planning algorithm using Chebyshev polynomial to approximate trigonometric functions takes less time to compute on a computer.Finally,based on the mechanical structure of the automatic tool changer,a PLC control program is designed to control the entire device,and HMI is used to complete the parameter writing and data reading.After debugging the device,the tool changing speed of the robot arm and related data are tested and analyzed.The experimental results indicate that the tool changing time is 1.9 seconds,the speed error is less than 1%,and the position accuracy deviation is less than 0.01°,meeting the requirements of tool changing.