Development Of Motion Planning Algorithm And Control System For Four Axis Dough Cutting Machine

Dumpling skin,wonton skin and other dough products are mainstream dough products with a long tradition in China.With the continuous development of the domestic dough product consumption market,consumers’ demand for the quantity and quality of dough products is constantly upgrading.Customization of the shape and size of the dough products has become a new demand and joy for pasta consumers.The existing dough cutting machines in China are not highly automated and intelligent,and can only achieve a single shape and specified size of dough cutting tasks.Developing new types of dough cutting production equipment to meet market demand has become a new direction in the research and development of dough processing machinery.Therefore,under the aim of maximizing the utilization rate of dough,a motion control system for a four-axis dough cutting machine with a motion planning algorithm for dough cutting has an important market application potential,which can achieve automatic cutting of multiple varieties of dough.The three key technologies of four-axis dough cutting machine are studied,which included:the overall design of dough cutting machine,the research of motion planning algorithm and the application test of motion control system.The main research contents and conclusions are as follows:(1)The overall architecture of the motion control system of the four-axis dough cutting machine was constructed.Taking "motion control card + industrial computer" as the core motion control mode,the hardware in the motion control system was divided into hardware control subsystem,drive subsystem,electrical subsystem,and communication subsystem according to different functions for design and selection.Based on the.Net Framework framework,the upper computer software of the motion control system of the four-axis dough cutting machine was developed with C # programming language.According to the different applicable objects of the dough cutting machine equipment,the user permissions were divided,the upper computer software interface was designed respectively,and the main functions of each software were divided into the permission setting layer,the image display layer and the application function realization layer according to the interaction level according to the layered architecture idea.(2)A rectangular dough cutting and layout algorithm with defective surface embryos and a cutting path optimization algorithm after layout were proposed.The dough layout optimization was abstracted as a two-dimensional rectangular layout optimization problem,which was solved by combining the dual population genetic algorithm and the defect constrained minimum horizontal line algorithm.Based on the improved self-adaptive ant colony algorithm,the empty driving path of dough cutting after layout was optimized.The mathematical model of the algorithm was established,and the algorithm was programmed and implemented in MATLAB,and the operation experiments were carried out to verify the advantages of the algorithm in solving the rectangular dough layout problem in terms of solving speed,optimization effect and operation stability,as well as the feasibility and effectiveness of realizing the rectangular dough optimal layout in raw materials with defects.Compared with the traditional ant colony algorithm,the algorithm in this paper could more effectively optimize the cutting path after layout and shorten the empty driving distance.(3)An algorithm of multi-shape and uniform size dough cutting planning for regular dough embryo was proposed in this paper.According to the different geometric characteristics and cutting requirements of rectangular,circular and trapezoidal dough skins,sort out the algorithm logic.The mathematical model of the algorithm was established,and based on the cutting planning algorithm,combined with the functional instructions in the My SQL database and the GTS dynamic link library of the control card,the core motion planning and underlying motion control functions of the motion control system were implemented.(4)The practical application test of the motion control system of the dough cutting machine was carried out.The test platform of the motion control system of the dough cutting machine was built,and the testing and processing process of the dough cutting machine was designed.The test results showed that the motion control system developed in this paper was stable and reliable,which had a high degree of intelligence and automation,and could better meet the project and market demand.The proposed multi-shape and uniform size dough cutting planning algorithm for regular surface embryos could effectively improve the plateau material utilization and equipment efficiency.