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针对高精度复杂截面形状的柔性辊弯成形伺服控制问题,提出可变时域的离散插补控制,应用板材轮廓曲线曲率变化快慢来实时修改插补周期.在板材前进过程中,利用当期插补节点处板材轮廓曲率变化率计算下一插补节点插补时域.当曲率变化率等于0时,则为最大值;当不等于0时,若为极值则下一插补时域为最小值,若不为极值则等比例增加时域值.通过实时调整加工过程中的插补时域,最终实现曲率快速变化时插补点密集,曲率缓慢变化时插补点稀疏,建立兼顾精确点位与高效拟合伺服控制模型.实验结果表明:可变时域的离散插补控制对复杂截面形状的板材成型提供了一种较好的运动控制方法.
In order to solve the problem of flexible roll forming servo control with high precision and complex cross-section shape, a discrete time-varying discrete interpolation control is proposed and the interpolation cycle is modified in real time with the change of the curve curvature of plate profile.In the process of plate advance, The rate of change of sheet profile curvature at node calculates the interpolation time domain of the next interpolation node, which is the maximum when the rate of change of curvature equals 0. When the value is not equal to 0, the next interpolation time domain is the minimum If the value is not the extreme value, the time-domain value will be increased proportionally etc. By adjusting the interpolation time domain in the process of real-time, the interpolation point will be dense when the curvature changes rapidly and the interpolation point will be sparse when the curvature changes slowly. Point and highly efficient fitting servo control model.The experimental results show that the discrete time interpolation control of variable time domain provides a better method of motion control for the sheet forming of complex cross-section shape.