化纤长丝自动落卷系统仿真平台开发

doi:10.13475/j.fzxb.20180707807

纺织学报 ›› 2019, Vol. 40 ›› Issue (07): 151-157.doi: 10.13475/j.fzxb.20180707807

化纤长丝自动落卷系统仿真平台开发

任荟颖¹, 邹鲲¹^,²(), 胡小荣¹

^1. 东华大学机械工程学院, 上海 201620
^2. 东华大学纺织装备教育部工程研究中心, 上海 201620

收稿日期:2018-07-26 修回日期:2018-11-02 出版日期:2019-07-15 发布日期:2019-07-25
通讯作者: 邹鲲
作者简介:任荟颖(1994-),女,硕士生。主要研究方向为机电一体化。
基金资助:
国家重点研发计划项目(2017YFB1304000)

Simulation platform for chemical filament automatic doff system

REN Huiying¹, ZOU Kun¹^,²(), HU Xiaorong¹

^1. College of Mechanical Engineering, Donghua University, Shanghai 201620, China
^2. Engineering Research Center of Advanced Textile Machinery, Ministry of Education, Donghua University, Shanghai 201620, China

Received:2018-07-26 Revised:2018-11-02 Online:2019-07-15 Published:2019-07-25
Contact: ZOU Kun

摘要/Abstract

摘要：

针对典型化纤长丝自动落卷系统在工艺要素整定过程中,因素复杂且难以通过理论方法进行研究的问题,基于Unity3D引擎开发了用于确定工艺要素的化纤长丝自动落卷系统仿真平台。平台在软件开发中采用将系统节拍控制与任务执行分离的方法,通过对各功能模块进行封装,使得软件层次清晰;同时为对比验证仿真结果的有效性,在MatLab环境下对生产线工况进行了简化建模;基于仿真平台量化对比了3种机器人避让策略,并在多品种化纤长丝混合生产的工况下整定了落卷机器人运行速度。结果表明:仿真平台的仿真结果有效;落卷优先的避让策略更适合化纤长丝自动落卷生产线;在所述工况下,当落卷机器人运行速度为2.3 m/s时,系统能够实现完全自动落卷。

关键词: 化纤长丝, 自动落卷工艺, 生产线仿真, 仿真平台, 机器人避让策略

Abstract: Aim

ing at the problem that the chemical filament automatic doff system has many process parameters and is difficult to be systematically studied by theoretical methods, a virtual reality simulation platform based on Unity3D was developed to select process parameters. The platform adopted the method of separating the beat control and the execution in the system operation. The software hierarchy was clear by encapsulating each functional module. Then, in order to verify the effectiveness of the simulation results, the production line conditions were simplified and modeled in the MatLab environment. Then the three robot avoidance strategies were contrasted based on the simulation platform, and the running speed of the doff robot was set under the conditions of mixed production of multi-species chemical filaments. The conclusions are as follows. The simulation result of the simulation platform is effective, and the avoidance strategy of doff priority is more suitable for the automatic doff production line of chemical filament. When the speed of the doff robot is 2.3 m/s, the system can realize complete automatic doff.

Key words: chemical filament, automatic doff process, production line simulation, simulation platform, robots avoidance strategy

中图分类号:

TP391.9

任荟颖, 邹鲲, 胡小荣. 化纤长丝自动落卷系统仿真平台开发[J]. 纺织学报, 2019, 40(07): 151-157.

REN Huiying, ZOU Kun, HU Xiaorong. Simulation platform for chemical filament automatic doff system[J]. Journal of Textile Research, 2019, 40(07): 151-157.

图/表 8

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落卷机器人平均移动速度/(m·s^-1)	人工落卷次数
落卷机器人平均移动速度/(m·s^-1)	落卷优先策略	投掷优先策略	先到先得策略
0.1	37	38	37
0.2	26	27	26
0.3	20	21	20
0.4	16	17	16
0.5	12	14	13
0.6	9	11	10
0.7	7	10	8
0.8	5	8	6
0.9	4	6	4
1.0	2	4	3
1.1	1	2	2
1.2	1	2	1
1.3	0	1	0
1.4	0	0	0
1.5	0	0	0

落卷机器人平均移动速度/(m·s^-1)	人工落卷次数	落卷机器人平均移动速度/(m·s^-1)	人工落卷次数
1.1	35	1.8	12
1.2	32	1.9	8
1.3	31	2.0	6
1.4	26	2.1	4
1.5	22	2.2	2
1.6	18	2.3	0
1.7	14	2.4	0

化纤长丝自动落卷系统仿真平台开发

Simulation platform for chemical filament automatic doff system

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参考文献 12

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满卷信号	时间/ s	满卷信号	时间/ s	满卷信号	时间/ s	满卷信号	时间/ s
0	60	45	60	25	180	14	300
3	60	36	60	46	180	17	300
6	60	39	60	28	180	20	300
9	60	42	60	31	180	23	300
12	60	1	180	24	180	26	300
15	60	4	180	37	180	29	300
18	60	7	180	40	180	32	300
21	60	10	180	43	180	25	300
24	60	13	180	2	300	38	300
27	60	16	180	5	300	41	300
30	60	19	180	8	300	44	300
33	60	22	180	11	300	47	300

仿真平台	对比验证	仿真平台	对比验证	仿真平台	对比验证	仿真平台	对比验证
3	3	36	36	28	28	17	17
6	6	39	39	31	31	20	20
9	9	42	42	34	34	23	23
12	12	45	45	37	37	26	26
15	15	7	7	40	40	29	29
18	18	10	10	43	43	32	32
21	21	13	13	46	46	35	35
24	24	16	16	5	5	38	38
27	27	19	19	8	8	41	41
30	30	22	22	11	11	44	44
33	33	25	25	14	14	47	47

落卷机器人平均移动速度/(m·s^-1)	人工落卷次数	落卷机器人平均移动速度/(m·s^-1)	人工落卷次数
1.1	35	1.8	12
1.2	32	1.9	8
1.3	31	2.0	6
1.4	26	2.1	4
1.5	22	2.2	2
1.6	18	2.3	0
1.7	14	2.4	0

满卷信号	时间/ s	满卷信号	时间/ s	满卷信号	时间/ s	满卷信号	时间/ s
0	60	45	60	25	180	14	300
3	60	36	60	46	180	17	300
6	60	39	60	28	180	20	300
9	60	42	60	31	180	23	300
12	60	1	180	24	180	26	300
15	60	4	180	37	180	29	300
18	60	7	180	40	180	32	300
21	60	10	180	43	180	25	300
24	60	13	180	2	300	38	300
27	60	16	180	5	300	41	300
30	60	19	180	8	300	44	300
33	60	22	180	11	300	47	300

仿真平台	对比验证	仿真平台	对比验证	仿真平台	对比验证	仿真平台	对比验证
3	3	36	36	28	28	17	17
6	6	39	39	31	31	20	20
9	9	42	42	34	34	23	23
12	12	45	45	37	37	26	26
15	15	7	7	40	40	29	29
18	18	10	10	43	43	32	32
21	21	13	13	46	46	35	35
24	24	16	16	5	5	38	38
27	27	19	19	8	8	41	41
30	30	22	22	11	11	44	44
33	33	25	25	14	14	47	47

落卷机器人平均移动速度/(m·s^-1)	人工落卷次数	落卷机器人平均移动速度/(m·s^-1)	人工落卷次数
1.1	35	1.8	12
1.2	32	1.9	8
1.3	31	2.0	6
1.4	26	2.1	4
1.5	22	2.2	2
1.6	18	2.3	0
1.7	14	2.4	0

满卷信号	时间/ s	满卷信号	时间/ s	满卷信号	时间/ s	满卷信号	时间/ s
0	60	45	60	25	180	14	300
3	60	36	60	46	180	17	300
6	60	39	60	28	180	20	300
9	60	42	60	31	180	23	300
12	60	1	180	24	180	26	300
15	60	4	180	37	180	29	300
18	60	7	180	40	180	32	300
21	60	10	180	43	180	25	300
24	60	13	180	2	300	38	300
27	60	16	180	5	300	41	300
30	60	19	180	8	300	44	300
33	60	22	180	11	300	47	300

仿真平台	对比验证	仿真平台	对比验证	仿真平台	对比验证	仿真平台	对比验证
3	3	36	36	28	28	17	17
6	6	39	39	31	31	20	20
9	9	42	42	34	34	23	23
12	12	45	45	37	37	26	26
15	15	7	7	40	40	29	29
18	18	10	10	43	43	32	32
21	21	13	13	46	46	35	35
24	24	16	16	5	5	38	38
27	27	19	19	8	8	41	41
30	30	22	22	11	11	44	44
33	33	25	25	14	14	47	47

落卷机器人平均移动速度/(m·s^-1)	人工落卷次数	落卷机器人平均移动速度/(m·s^-1)	人工落卷次数
1.1	35	1.8	12
1.2	32	1.9	8
1.3	31	2.0	6
1.4	26	2.1	4
1.5	22	2.2	2
1.6	18	2.3	0
1.7	14	2.4	0