飛剪機運動控制器開發

Developing of Motion Controller for Flying Shear Machines

王昱人(Yu-Ren Wang)

指導教授 ： 陳雙源

國立臺北科技大學/機電學院/機電整合研究所/碩士(2012年)

摘要

飛剪機廣泛用於大量生產，相似的機構也應用在連續動作的製程，如連續裝填設備。本研究是針對此種機構，進行分析、運動規劃與控制器研發，以作為製造商之參考。
研究之內容是先在飛剪輪之同步區域找出刀刃旋轉角與進料位移之間的關係式，並以此關係式之邊界值及目標切長，推導出一個5階多項式，作為在非同步區域之運動規劃，特點是其與同步區域之位置、速度與加速度是連續的，故可得最圓滑的運動，二者再利用MATLAB進行分析與數值驗證。實現方面是利用運動型可程式邏輯控制器(PLC)當主控制器，做法是先在PC上以MATLAB計算飛剪機運動一個循環期間，主軸與從軸的關係，利用電子凸輪技術，經編譯後與PLC階梯圖程式，下載於PLC內。實際操作時，PLC即可處理同步區域的裁切與非同步區域迴轉等所規劃的運動，即時將運算結果輸入至伺服驅動器。
本研究，經測試後對不同切長、刀具半徑、轉速及工作角皆可獲得預期效果，也驗證所設計的運動規劃及控制器確實具可行性。本研究也可推廣至多軸同步與主軸進行控制，若應用於生產線，可大幅降低成本。

關鍵字

飛追剪 ； PLC ； 伺服馬達 ； 電子凸輪

並列摘要

The flying shear machines are commonly used in manufacturing automation. Similarity mechanisms are also used in continuous processes, such as automatic filling machines. The purpose of this research is focused on this kind of mechanism, to analyze and plan its motion, and then to develop a motion controller for industries.
At beginning, the relationship between rotary angle and feeding of cutting zone is established. Using the boundary conditions and desired cutting length, a 5th order polynomial is formulated to fit the non-cutting zone. Thus, its position, speed and acceleration are continuous with cutting zone.
In the implementation, motion type PLC is selected as the controller. First we write a MATLAB program to calculate the relationship between feed and cutting wheel’s position, and then the calculated results of the program is downloaded to PLC and electronic CAM.
To prove the method, various cutting lengths, radius of flying wheel and work angles, the controller are capable to finish the settings and thus have reached the goal that we hope as proposed. In addition, our research can make many rollers to work with feed at the same time. Thus, it would reduce the expenditure of the industries.

並列關鍵字

Flying Shear ； PLC ； Servo motor ； E-CAM

參考文獻

[5] 中申機械股份有限公司資料「rotary shearing 設計圖」，2001。

[10] 台達電子股份有限公司上課資料「伺服馬達介紹」，2012

[20] Humphries, James T. and Leslie P. Sheets, Industrial Electroronics, Wadsworth, INC., 3rd., 1988.

[21] O’Neil, P. V., Advanced Engineering Mathematics, Brooks/Cole Publishing Company, 4th ed., 1995.

[1] Peric, N. and I. Petrovic, “Flying Shear Control system”, IEEE Transactions on Industrial Applications, Vol. 26, No. 6, November/December 1990, PP 1049-1056.