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为了实现对高速粘片机的接触力控制,提出了基于机构动力学—控制系统协同仿真和优化的速度规划方法。首先,建立焊头机构运动控制系统模型,目标函数是在最大接触力约束下运动时间最短。其次,引入位移状态变量,将接触力控制转化为位移无超调的最速控制问题,获得无超调约束下运动时间最短的控制系统参数和速度,并通过位移偏置量调整来实现对接触力的控制。仿真结果表明,优化后的运动曲线可以在高速时保持软着陆,实现对接触力的控制。
In order to realize the contact force control of high speed laminator, a speed planning method based on mechanism dynamics and control system co-simulation and optimization was proposed. First, the model of the welding head mechanism motion control system is established. The objective function is the shortest moving time under the constraint of maximum contact force. Secondly, the displacement state variable is introduced to convert the contact force control into the most speed-control problem with no overshoot displacement. The parameters and speed of the control system with the shortest movement time without overshoot constraint are obtained, and the contact force control. Simulation results show that the optimized motion curve can maintain a soft landing at high speed and achieve the control of contact force.