本文選題：三維編織復(fù)合材料　切入點(diǎn)：CAN總線　出處：《天津工業(yè)大學(xué)》2017年碩士論文

【摘要】：三維編織復(fù)合材料具有很高的強(qiáng)度、剛度、耐腐蝕、耐高溫、抗沖擊等優(yōu)良特性,在工業(yè)領(lǐng)域得到廣泛關(guān)注。工業(yè)上對(duì)于三維編織復(fù)合材料的高效率、自動(dòng)化生產(chǎn)也提出了更高的要求。目前,國內(nèi)外對(duì)于三維編織復(fù)合材料的研究多集中在編織工藝,材料參數(shù)以及性能提高等方面,而對(duì)于復(fù)合材料編織自動(dòng)控制系統(tǒng)的研究較少。三維復(fù)合材料的編織多使用三維編織機(jī),一臺(tái)三維編織機(jī)有很多編織站,每個(gè)編織站上有個(gè)圓形滑道,根據(jù)編織物的不同,滑道上裝有數(shù)量不等的攜紗器,所有攜紗器帶動(dòng)紗線按照編織工藝要求的軌跡在滑道上旋轉(zhuǎn)就完成了編織過程。本項(xiàng)目設(shè)計(jì)了一款復(fù)合材料編織機(jī)械手控制系統(tǒng),可以應(yīng)用在大型三維編織機(jī)上,通過機(jī)械手的伸縮夾住或放開攜紗器,當(dāng)夾住攜紗器的時(shí)候,機(jī)械手按照程序設(shè)定的軌跡帶動(dòng)攜紗器的旋轉(zhuǎn)。在該控制系統(tǒng)中,編織機(jī)的每一個(gè)編織站都有一個(gè)85步進(jìn)電機(jī)和兩個(gè)42步進(jìn)電機(jī),由一臺(tái)STC12C5A60S2單片機(jī)控制,構(gòu)成下位機(jī)控制系統(tǒng),分別用作控制機(jī)械手的伸縮和旋轉(zhuǎn)運(yùn)動(dòng)。所有的下位機(jī)通過S3C2410進(jìn)行控制,構(gòu)成上位機(jī)控制系統(tǒng),上位機(jī)含有數(shù)字輸入和屏幕顯示。其功能為收集下位機(jī)的執(zhí)行狀況,給每一個(gè)下位機(jī)發(fā)出指令,根據(jù)下位機(jī)狀態(tài)決定執(zhí)行與否,若不能執(zhí)行,或等待,或收集錯(cuò)誤信息。上位機(jī)控制器和下位機(jī)控制器之間通過CAN總線通訊。本文在對(duì)四步法編織原理做了深入闡述的基礎(chǔ)上首先對(duì)系統(tǒng)的硬件電路進(jìn)行設(shè)計(jì),主要有電機(jī)驅(qū)動(dòng)電路,CAN總線通信電路,電源管理電路;然后根據(jù)四步法工藝,編寫宏指令,將宏指令下載到下位機(jī)控制器中,并編寫電機(jī)控制程序,通信程序以及錯(cuò)誤信號(hào)采集程序;最后為了便于監(jiān)控和調(diào)試,還開發(fā)了編織機(jī)監(jiān)控界面,監(jiān)控界面可以反饋下位機(jī)的運(yùn)行狀態(tài),錯(cuò)誤信息以及CAN總線的收發(fā)信息。
[Abstract]:Three-dimensional braided composites have been widely concerned in industrial field for their excellent properties such as high strength, rigidity, corrosion resistance, high temperature resistance, impact resistance and so on.In industry, high efficiency and automatic production of three-dimensional braided composites are required.At present, the research on 3D braided composites is mainly focused on braiding technology, material parameters and performance improvement, but less on braiding automatic control system.A three-dimensional braiding machine has many braiding stations, each of which has a circular chute, which, depending on the braid, is equipped with a variety of yarn carriers.All the yarns are rotated on the slideway according to the path required by the knitting process.This project designed a composite braiding manipulator control system, which can be used in a large three-dimensional knitting machine, through the manipulator's telescopic clamping or releasing the yarn carrier, when clamping the yarn carrying device,The manipulator rotates the yarn carrying device according to the track set by the program.In this control system, each knitting station of the knitting machine has an 85 step motor and two 42 step motors, which are controlled by a single STC12C5A60S2 single chip computer. The control system of the lower machine is used to control the extension and rotation of the manipulator respectively.All the lower computers are controlled by S3C2410 to form the upper computer control system. The upper computer contains digital input and screen display.Its function is to collect the execution status of the lower computer, issue instructions to each lower machine, decide whether to execute or not according to the state of the lower machine, if it cannot, wait, or collect error information.The upper computer controller and the lower computer controller communicate through CAN bus.On the basis of the deep exposition of the four-step braiding principle, this paper first designs the hardware circuit of the system, mainly includes the motor drive circuit and the can bus communication circuit, the power management circuit, and then, according to the four-step method technology, compiles the macro instruction.The macro command is downloaded to the lower computer controller, and the motor control program, communication program and error signal acquisition program are written. Finally, in order to facilitate monitoring and debugging, the monitoring interface of the knitting machine is also developed.The monitor interface can feedback the running state of the lower computer, error message and CAN bus receiving and sending information.
【學(xué)位授予單位】：天津工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TB33;TP241

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