Research On Key Technology Of Transformer Automatic Winding Robot

With the rapid development of smart power grid,the requirements of transformer quality in power system are constantly improving.Transformer coil winding is a key link in transformer production and manufacturing.However,Chinese transformer coils are mainly wound by manual winding machine,so it is difficult to accurately control the insulation performance of transformer windings,interturn gap,wire compression force and other parameters,resulting in frequent insulation damage,interturn short circuit and other failures during transformer operation.In order to solve this problem,a design scheme of transformer winding robot workstation is proposed,and the key technologies of electrical control in workstation are optimized,including the speed control and tension control strategy of the coiler and the coiler.The trajectory and attitude control strategy and the coordination control strategy among the motors in the working process.The main research contents are as follows:Firstly,the process of transformer coil winding is analyzed,and an automatic robot workstation composed of automatic unwinding machine,winding winding machine and wire manipulator is designed.Focus on the study of alignment mechanism ABB1200,using D-H parameter method to establish the kinematics model,the forward and inverse kinematics analysis,get the relationship matrix between joint Angle and terminal coordinates and simulation verification.Secondly,the high precision cooperative motion control of multiple motors is carried out based on the control strategy of deviation coupling,and the effectiveness of the control strategy is verified in MATLAB.Aiming at the time-varying nonlinear characteristics of the tension control system in the workstation,the fuzzy control idea is introduced to design the tension control scheme,and the simulation is compared with the traditional PID control strategy.The results show that the fuzzy PID tension control system can maintain good tension control effect under different reference tension and step interference.Finally,the hardware control system of transformer winding robot is designed.The positive motion controller,Huichuan servo driver and ABB1200 are selected to build the hardware system.Based on the hardware system,the software design of wiring and tension control is completed.The key algorithm in MATLAB is used to monitor and control the winding process.