【摘要】：傳統(tǒng)的激光切割中,要求激光束與輔助氣體噴嘴必須同軸,才能保證各方向上加工質(zhì)量的一致性。研究發(fā)現(xiàn),若激光照射加工材料的焦點(diǎn)和輔助氣體噴射焦點(diǎn)的中軸線不同軸時(shí),能夠有效的提高工件的加工質(zhì)量和加工速率。因此需要一種結(jié)構(gòu)緊湊、高速、高精度的驅(qū)動(dòng)器保證實(shí)時(shí)控制激光束與輔助氣體焦點(diǎn)的位置。針對(duì)上述驅(qū)動(dòng)器的要求,利用磁力驅(qū)動(dòng)技術(shù)的特點(diǎn),本文在第一代實(shí)驗(yàn)樣機(jī)的基礎(chǔ)上,提出一種基于魯棒控制的激光切割機(jī)光路磁力控制平臺(tái)。在針對(duì)第一代實(shí)驗(yàn)樣機(jī)的驅(qū)動(dòng)實(shí)驗(yàn)研究中,發(fā)現(xiàn)3組永磁彈簧的位置精度對(duì)驅(qū)動(dòng)器的軌跡控制影響有較大的影響,因此,提出了優(yōu)化的改進(jìn)方案,設(shè)計(jì)并制造了第二代實(shí)驗(yàn)樣機(jī)。在結(jié)構(gòu)上,采用3組差動(dòng)式電磁鐵提供3自由度的驅(qū)動(dòng)力,采用軸向放置軸向磁化的環(huán)形永磁體提供回復(fù)力。該微動(dòng)平臺(tái)在平動(dòng)平面內(nèi),可以實(shí)現(xiàn)X、Y方向的平動(dòng)和C軸的轉(zhuǎn)動(dòng)。根據(jù)驅(qū)動(dòng)器的結(jié)構(gòu),用虛位移法建立了磁環(huán)永磁體的徑向磁力數(shù)學(xué)模型和差動(dòng)電磁鐵的數(shù)學(xué)模型,并分別進(jìn)行了永磁彈簧的有限元分析和實(shí)驗(yàn)研究以及電磁鐵的理論計(jì)算和實(shí)驗(yàn)驗(yàn)證,明確了環(huán)形永磁體和電磁鐵線圈的磁力和位移等參數(shù)的關(guān)系。建立了激光光路控制驅(qū)動(dòng)器的動(dòng)力學(xué)模型。由于在動(dòng)力學(xué)模型的建立中,進(jìn)行了差動(dòng)電磁鐵和永磁彈簧在工作點(diǎn)附近的線性化,因此模型并不能準(zhǔn)確的表達(dá)系統(tǒng)特性,因此在控制上選用魯棒控制策略,根據(jù)系統(tǒng)的特點(diǎn),選擇合適的參數(shù),利用MATLAB魯棒控制工具箱,設(shè)計(jì)了混合靈敏度魯棒控制器,用 MATLAB/Simulink 進(jìn)行仿真分析�；� dSPACE1104/controldesk和 MATLAB/Simulink的無縫連接,進(jìn)行了響應(yīng)特性、位置特性、轉(zhuǎn)角特性的實(shí)驗(yàn)研究。
[Abstract]:In the traditional laser cutting, the laser beam and the auxiliary gas nozzle must be coaxial in order to ensure the consistency of the processing quality. It is found that the machining quality and processing rate of the workpiece can be improved effectively if laser irradiates the focal point of the material and the central axis of the auxiliary gas jet focus. Therefore, a compact, high-speed and high-precision driver is needed to control the position of the laser beam and the auxiliary gas focus in real time. According to the requirements of the above drivers and the characteristics of magnetic drive technology, this paper presents a magnetic control platform of laser cutting machine based on robust control on the basis of the first generation of experimental prototype. In the research of driving experiment of the first generation experimental prototype, it is found that the position precision of three groups of permanent magnet spring has great influence on the locus control of the actuator. The second generation experimental prototype is designed and manufactured. In structure, three sets of differential electromagnets are used to provide 3-DOF driving force, and axial annular magnetized permanent magnets are used to provide the return force. In the translational plane, the platform can realize the translation of XY direction and the rotation of the C-axis. According to the structure of the actuator, the mathematical model of radial magnetic force of permanent magnet and the mathematical model of differential electromagnet are established by virtual displacement method. The finite element analysis and experimental study of the permanent magnet spring and the theoretical calculation and experimental verification of the electromagnet are carried out respectively. The relationship between the magnetic force and the displacement of the ring permanent magnet and the electromagnet coil is clarified. The dynamic model of laser optical path control driver is established. Because the differential electromagnet and permanent magnet spring are linearized near the operating point in the establishment of the dynamic model, the model can not express the characteristics of the system accurately, so the robust control strategy is chosen in the control, according to the characteristics of the system. The mixed sensitivity robust controller is designed by using the MATLAB robust control toolbox and the appropriate parameters are selected. The simulation analysis is carried out with MATLAB/Simulink. Based on the seamless connection of dSPACE1104/controldesk and MATLAB/Simulink, the characteristics of response, position and angle are studied experimentally.
【學(xué)位授予單位】：沈陽工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TG485

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 藍(lán)益鵬;胡學(xué)成;陳其林;申永山;;可控勵(lì)磁磁懸浮進(jìn)給平臺(tái)電磁特性的有限元分析[J];機(jī)械工程學(xué)報(bào);2017年04期

2 金俊杰;段振云;孫鳳;路英園;;永磁懸浮無塵傳送系統(tǒng)的懸浮特性及解耦控制仿真分析[J];中國機(jī)械工程;2016年04期

3 王偉華;張子?jì)?周海波;周振宇;;一種同步直線電機(jī)推力波動(dòng)特性的檢測(cè)方法[J];中國電機(jī)工程學(xué)報(bào);2016年02期

4 王金鵬;周宏平;時(shí)運(yùn)來;;直線超聲電機(jī)驅(qū)動(dòng)的精密運(yùn)動(dòng)平臺(tái)位移分辨率[J];振動(dòng)與沖擊;2015年22期

5 彭兵;張囡;夏加寬;沈麗;張志峰;孫宜標(biāo);;永磁直線電機(jī)端部效應(yīng)力的解析計(jì)算[J];中國電機(jī)工程學(xué)報(bào);2016年02期

6 宗凌瀟;馬衛(wèi)華;羅世輝;;直線電機(jī)地鐵車輛電機(jī)的隔振優(yōu)化分析[J];機(jī)械工程學(xué)報(bào);2015年18期

7 張維煜;朱q，

本文編號(hào)：2211034