【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量的一致性。研究發(fā)現(xiàn),若激光照射加工材料的焦點和輔助氣體噴射焦點的中軸線不同軸時,能夠有效的提高工件的加工質量和加工速率。因此需要一種結構緊湊、高速、高精度的驅動器保證實時控制激光束與輔助氣體焦點的位置。針對上述驅動器的要求,利用磁力驅動技術的特點,本文在第一代實驗樣機的基礎上,提出一種基于魯棒控制的激光切割機光路磁力控制平臺。在針對第一代實驗樣機的驅動實驗研究中,發(fā)現(xiàn)3組永磁彈簧的位置精度對驅動器的軌跡控制影響有較大的影響,因此,提出了優(yōu)化的改進方案,設計并制造了第二代實驗樣機。在結構上,采用3組差動式電磁鐵提供3自由度的驅動力,采用軸向放置軸向磁化的環(huán)形永磁體提供回復力。該微動平臺在平動平面內(nèi),可以實現(xiàn)X、Y方向的平動和C軸的轉動。根據(jù)驅動器的結構,用虛位移法建立了磁環(huán)永磁體的徑向磁力數(shù)學模型和差動電磁鐵的數(shù)學模型,并分別進行了永磁彈簧的有限元分析和實驗研究以及電磁鐵的理論計算和實驗驗證,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)的關系。建立了激光光路控制驅動器的動力學模型。由于在動力學模型的建立中,進行了差動電磁鐵和永磁彈簧在工作點附近的線性化,因此模型并不能準確的表達系統(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,選擇合適的參數(shù),利用MATLAB魯棒控制工具箱,設計了混合靈敏度魯棒控制器,用 MATLAB/Simulink 進行仿真分析�；� dSPACE1104/controldesk和 MATLAB/Simulink的無縫連接,進行了響應特性、位置特性、轉角特性的實驗研究。
[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.
【學位授予單位】：沈陽工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TG485

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本文編號：2211034