机械手肋骨冷弯机数字控制系统的研究
|
摘要
本文综合分析了国内外关于肋骨冷弯数控加工技术的研究动态。在弦线测量法和机械手肋骨冷弯机的基础上,对弯曲角度的实时计算方法、肋骨回弹处理方法和自动划线参数的计算方法进行了研究,提出了检测机构、弯曲模具的改进方法,设计了自动划线装置和机械手肋骨冷弯机控制程序,并对其进行长期的反复试验与不断改进。论文要点如下：
通过研究弯曲角度的实时计算方法,实时计算出实际进料处的肋骨弯曲角度θi。与事先计算的理论角度θi的对比,进一步证明弯曲角度实时计算的必要性。弯曲角度的实时计算消除了肋骨进料误差对加工控制角度的影响,提高了数控机械手肋骨冷弯机的加工精度。
分析了肋骨加工中的弯曲回弹过程,详细记录弯曲回弹中各个阶段的角度,考虑机器控制中的过冲问题,采用偏移角代替回弹角应用到回弹处理过程,减少了型材弯曲中的反复逼近次数,提高了肋骨加工效率。
研究了机械手数控肋骨冷弯机自动划线的参数计算方法。根据型线坐标系统下的划线参数、机械手肋骨冷弯机的安装参数和加工过程中的进料参数,推导检测坐标系中划线参数的计算过程,并分析了采用该方法进行实际划线结果的误差影响因素。结合提出的自动划线装置,能在自动弯曲过程中,将传感器返回的坐标数据进行实时处理,计算出划线装置的工作参数,同时在肋骨的规定部位上,实时打印出肋骨零件号(任意字体)、起点、终点、水线、切口线、流水孔标记等符号标记,使弯曲加工和号料工艺过程一次完成,提高肋骨加工效率。
介绍了机械手肋骨冷弯机的机械、液压、电气等组成部分。在此基础上,对检测机构进行了研究,提出的检测机构,能为自动划线装置提供肋骨有关点的坐标数值,为在弯曲加工过程中同时完成号料工作提供数据基础；另外,也使长期以来存在的“钢丝测量影响操作”的问题获得了解决。分析了角钢和T型材在弯曲过程中发生波浪变形的原因,提出了一种弯曲模具设计方案,用于避免这种有害变形,提高了肋骨加工的成形质量。
根据数控机械手肋骨冷弯机的控制系统,软硬件组成和特点,开发一套完整的控制软件。介绍了该软件的控制功能,开发环境,软件的自动控制界面与手动控制界面及其操作方法,标定界面及标定的目的、方法和操作步骤,参数设置界面的设置内容和使用方法。分析了实际应用中出现摆动进料时,球扁钢球头跑出模具、球头刮伤,弯曲过程中的不良噪音和型材表面刮伤等现象,找出其原因,改进程序,消除了这些现象,提高了肋骨加工过程的安全性,提高了型材加工的表面加工质量,改善了肋骨冷弯机某些部件的受力情况,延长其使用寿命。
本文在理论和工程应用上都有研究进展。在理论上提出了弯曲角度的实时计算方法、自动划线的参数计算方法和弯曲回弹处理方法。在工程应用上,研究的检测机构、弯曲模具、自动划线装置和设计的控制软件已经投入到生产应用,而且控制软件在长期的试验和应用中得到不断的改进。
本文的研究结果已经随着数控机械手肋骨冷弯机的应用和推广,广泛应用到船厂肋骨自动加工的实际生产中,为数字造船技术的进步做出了自己的努力。
A review on recent advances and trends on CNC frame cold bending technology is presented at the beginning of this thesis. Based on chord-length measuring method and frame cold bending machine, study on the real-time calculating method of bending angle, handling method for the spring back of the frame, and calculating method of automatic marking parameters is carried out. Improving method of detecting unit and bending dies is presented. Automatic making unit and control software for the CNC frame bending machine are designed, and the control software has been repeatedly tested and constantly improved for a long term. The main contents of this thesis are as follow:
Study on the real time calculating of bending angle is carried out. With the real-time calculating method, the bending angle θi at the actual feeding position of the frame is worked out. Comparison of this angle with the angle calculated before processing shows that it is necessary to calculate the bending angle in real time. Processing frame with this angle, influence of feeding error is eliminated and the processing precision is improved.
The bending and spring back course of the frame while processed is analyzed and the angles at every stage of the course are recorded. Considering that there is a short time from bending stop command is send out to the frame bending machine stop bending action, handling of spring back is carried out with the deviated angle instead of spring back angle, which is used in gradually approaching method. With this new method, the approaching times are obviously decreased and the frame processing efficiency is improved.
Study on the calculating method for automatic marking parameters is carried out. According to marking parameters in offset value coordinate system, installing parameters of the frame bending machine and the detecting parameters in detecting coordinate system, the method to work out the marking parameters in detecting coordinate system are deduced. With the method, control software can work out the control parameters needed by the automatic marking apparatus presented according to the detected coordinates, and drive it to mark out the part name with arbitrary font, start line, end line, waterlines, cutting lines, flooding holes etc. at regulated position on frame surface. So, the bending process and marking of the frame is finished at one process course and the efficiency of the frame process is improved.
The mechanic, hydraulic and electrical components of frame bending machine are introduced. A new detecting unit is presented. It can provide data for automatic marking during bending process and solve the problem existed for a long time that the steel wire using for detecting impacts the operation. The reasons of the wave distortion happened at the flange plate of bulb and T bar are analyzed, and then a design plan of bending dies to avoid this distortion and improve the shaping equality of the frame process is presented.
According to the hardware components and control system of the frame cold bending machine, the control software is developed. And its functions, developing environment, automatic control interface, manual operation interface, calibrating interface and setting interface are introduced. The phenomenon occurred in feed-in process that bulb head runs out of bending dies and is heavily scraped and the phenomenon occurred in bending process that there is heavy noises and the surface of web plate is heavily scraped are analyzed. The reasons of them occurred are found out and the control software is made improvement to eliminate them. So, the safety of automatic process and surface equality of the processed frame are improved, and the radial force acted on the central clamp hydraulic cylinder is reduced.
Some reseach advancement about the CNC control of frame bending machine in theory and engineering application are achieved in this thesis. In theory, the real time calculating method of bending angle, the calculating method of automatic marking parameters and the handling method of spring back are presented. In engineering application, the detecting unit, bending dies, automatic marking apparatus and the control software has been put into practical use. And the software has been constantly improved in the long time test and application.
Accompanied with the application and popularizing of CNC frame bending machine, the results of this thesis has been widely used to practical production of frame automatic process in shipyards.
通过研究弯曲角度的实时计算方法,实时计算出实际进料处的肋骨弯曲角度θi。与事先计算的理论角度θi的对比,进一步证明弯曲角度实时计算的必要性。弯曲角度的实时计算消除了肋骨进料误差对加工控制角度的影响,提高了数控机械手肋骨冷弯机的加工精度。
分析了肋骨加工中的弯曲回弹过程,详细记录弯曲回弹中各个阶段的角度,考虑机器控制中的过冲问题,采用偏移角代替回弹角应用到回弹处理过程,减少了型材弯曲中的反复逼近次数,提高了肋骨加工效率。
研究了机械手数控肋骨冷弯机自动划线的参数计算方法。根据型线坐标系统下的划线参数、机械手肋骨冷弯机的安装参数和加工过程中的进料参数,推导检测坐标系中划线参数的计算过程,并分析了采用该方法进行实际划线结果的误差影响因素。结合提出的自动划线装置,能在自动弯曲过程中,将传感器返回的坐标数据进行实时处理,计算出划线装置的工作参数,同时在肋骨的规定部位上,实时打印出肋骨零件号(任意字体)、起点、终点、水线、切口线、流水孔标记等符号标记,使弯曲加工和号料工艺过程一次完成,提高肋骨加工效率。
介绍了机械手肋骨冷弯机的机械、液压、电气等组成部分。在此基础上,对检测机构进行了研究,提出的检测机构,能为自动划线装置提供肋骨有关点的坐标数值,为在弯曲加工过程中同时完成号料工作提供数据基础；另外,也使长期以来存在的“钢丝测量影响操作”的问题获得了解决。分析了角钢和T型材在弯曲过程中发生波浪变形的原因,提出了一种弯曲模具设计方案,用于避免这种有害变形,提高了肋骨加工的成形质量。
根据数控机械手肋骨冷弯机的控制系统,软硬件组成和特点,开发一套完整的控制软件。介绍了该软件的控制功能,开发环境,软件的自动控制界面与手动控制界面及其操作方法,标定界面及标定的目的、方法和操作步骤,参数设置界面的设置内容和使用方法。分析了实际应用中出现摆动进料时,球扁钢球头跑出模具、球头刮伤,弯曲过程中的不良噪音和型材表面刮伤等现象,找出其原因,改进程序,消除了这些现象,提高了肋骨加工过程的安全性,提高了型材加工的表面加工质量,改善了肋骨冷弯机某些部件的受力情况,延长其使用寿命。
本文在理论和工程应用上都有研究进展。在理论上提出了弯曲角度的实时计算方法、自动划线的参数计算方法和弯曲回弹处理方法。在工程应用上,研究的检测机构、弯曲模具、自动划线装置和设计的控制软件已经投入到生产应用,而且控制软件在长期的试验和应用中得到不断的改进。
本文的研究结果已经随着数控机械手肋骨冷弯机的应用和推广,广泛应用到船厂肋骨自动加工的实际生产中,为数字造船技术的进步做出了自己的努力。
A review on recent advances and trends on CNC frame cold bending technology is presented at the beginning of this thesis. Based on chord-length measuring method and frame cold bending machine, study on the real-time calculating method of bending angle, handling method for the spring back of the frame, and calculating method of automatic marking parameters is carried out. Improving method of detecting unit and bending dies is presented. Automatic making unit and control software for the CNC frame bending machine are designed, and the control software has been repeatedly tested and constantly improved for a long term. The main contents of this thesis are as follow:
Study on the real time calculating of bending angle is carried out. With the real-time calculating method, the bending angle θi at the actual feeding position of the frame is worked out. Comparison of this angle with the angle calculated before processing shows that it is necessary to calculate the bending angle in real time. Processing frame with this angle, influence of feeding error is eliminated and the processing precision is improved.
The bending and spring back course of the frame while processed is analyzed and the angles at every stage of the course are recorded. Considering that there is a short time from bending stop command is send out to the frame bending machine stop bending action, handling of spring back is carried out with the deviated angle instead of spring back angle, which is used in gradually approaching method. With this new method, the approaching times are obviously decreased and the frame processing efficiency is improved.
Study on the calculating method for automatic marking parameters is carried out. According to marking parameters in offset value coordinate system, installing parameters of the frame bending machine and the detecting parameters in detecting coordinate system, the method to work out the marking parameters in detecting coordinate system are deduced. With the method, control software can work out the control parameters needed by the automatic marking apparatus presented according to the detected coordinates, and drive it to mark out the part name with arbitrary font, start line, end line, waterlines, cutting lines, flooding holes etc. at regulated position on frame surface. So, the bending process and marking of the frame is finished at one process course and the efficiency of the frame process is improved.
The mechanic, hydraulic and electrical components of frame bending machine are introduced. A new detecting unit is presented. It can provide data for automatic marking during bending process and solve the problem existed for a long time that the steel wire using for detecting impacts the operation. The reasons of the wave distortion happened at the flange plate of bulb and T bar are analyzed, and then a design plan of bending dies to avoid this distortion and improve the shaping equality of the frame process is presented.
According to the hardware components and control system of the frame cold bending machine, the control software is developed. And its functions, developing environment, automatic control interface, manual operation interface, calibrating interface and setting interface are introduced. The phenomenon occurred in feed-in process that bulb head runs out of bending dies and is heavily scraped and the phenomenon occurred in bending process that there is heavy noises and the surface of web plate is heavily scraped are analyzed. The reasons of them occurred are found out and the control software is made improvement to eliminate them. So, the safety of automatic process and surface equality of the processed frame are improved, and the radial force acted on the central clamp hydraulic cylinder is reduced.
Some reseach advancement about the CNC control of frame bending machine in theory and engineering application are achieved in this thesis. In theory, the real time calculating method of bending angle, the calculating method of automatic marking parameters and the handling method of spring back are presented. In engineering application, the detecting unit, bending dies, automatic marking apparatus and the control software has been put into practical use. And the software has been constantly improved in the long time test and application.
Accompanied with the application and popularizing of CNC frame bending machine, the results of this thesis has been widely used to practical production of frame automatic process in shipyards.
引文
[1]王呈方,徐世清,张为民,沈志诚,李智明,三支点肋骨冷弯机的计算机控制,中国造船,1988-03-01：55-59
[2]纯弯曲原理肋骨冷弯机,造船技术,1978-01-31：29-32
[3]数控肋骨冷弯机的数学模型,应用数学学报,1977-08-03：01-11
[4]仿形数控肋骨冷弯机,造船技术,1980-04-30：51-55
[5]徐兆康,四点四位肋骨冷弯机的数字程序控制,武汉水运工程学院学报1984-09-30：25-30
[6]杨启,冷荣嘉,王呈方,250t肋骨冷弯机设计及机架结构强度计算,武汉交通科技大学学报,2000,08,25：393-396
[7]周冬生,机械手肋骨冷弯机PLC控制系统的研究,武汉理工大学硕士学位论文,2004-11-01
[8]杨启,王呈方,冷荣嘉,肋骨冷弯机进料机构研究与改进,武汉造船,2000-06-25：16-18
[9]朱琳琳,吴家鸣,肋骨冷弯机发展概述,广东造船,2007-09-05：43-47
[10]胡勇,茅云生,冷荣嘉,王呈方,新型程控机械手肋骨冷弯机,船舶工程,2004-02-24：65-67
[11]刘强,基于LabVIEW的数控肋骨冷弯机控制系统的研究,硕士学位论文,2004-12-01
[12]周冬生,王呈方,程控机械手肋骨冷弯机PLC控制系统的抗干扰设计,武汉理工大学学报(交通科学与工程版),2004-10-30：710-716
[13]王呈方,徐兆康,王勇毅,四点四位肋骨冷弯机的自动控制,造船技术,1983-06-30：32-38
[14]王呈方；冷荣嘉；冯汉初,三支点肋骨冷弯机自动控制方法的研究和实验,造船技术,1985-08-29：15-23
[15]胡勇,茅云生,冷荣嘉,王呈方,新型程控机械手肋骨冷弯机,船舶工程,2004-02-24：65-67
[16]天津电气传动设计研究所四室,SK-1型船体肋骨冷弯机数字程序控制装置,电气传动,1975-08-29
[17]胡勇,王呈方,机械手肋骨冷弯机控制系统,船海工程,2005-08-25：45-47
[18]冷荣嘉,杨启,王呈方,160t肋骨冷弯机及中机架结构强度计算,武汉造船,1998-02-25：13-16
[19]姚建春,WLW系列数控肋骨冷弯机的技术突破,造船技术,2004-06-16：21-24
[20]龙熙陵,试论数控肋骨冷弯机的检测控制方法,造船技术,1983-06-30：3843
[21]胡勇,茅云生,周冬生,冷荣嘉,王呈方,PLC在新型程控机械手肋骨冷弯机中的应用,造船技术,2004-02-16：24-33
[22]王呈方,杨启,茅云生,胡勇,冷荣嘉,新型250吨肋骨冷弯机机构特点,造船技术,2000-12-16：24-26
[23]金永昌,WLW系列微控肋骨冷弯机,造船技术,1998-05-30：22-23
[24]张建民,钟明辉,伍国炎,WLW-160t微控肋骨冷弯机,造船技术1998-07-30：
[25]郑锦江,一种新型智能微控肋骨冷弯机问世,船舶工程,1992-03-01：58
[26]王呈方,纯弯曲肋骨冷弯机自动控制数学模型,武汉水运工程学院学报,1980-07-01：1-14
[27]王呈方；王勇毅；吕新华；徐兆康；涂启超；王振府,纯弯曲肋骨冷弯机仿形自动控制数学模型,武汉造船,1980-08-28：8-12
[28]James B. Acton; Filippo Cali; Thomas P. Mackey; H. W. Mergler;徐兆康译,计算机控制的船舶肋骨冷弯机在自动化船厂中的研制及应用,武汉造船,1980-08-28：117-127
[29]杨启,王呈方,数控肋骨冷弯机自动控制检测方法的改进,船舶工程,2000-08-25：50-54
[30]龙熙陵,“折线法”数控肋骨冷弯机的数学模型研究,造船技术,1984-06-29：17-24
[31]郑绍春；徐兆康；冷荣加,肋骨冷弯机微机控制系统,武汉水运工程学院学报1989-07-02：88-94
[32]龚为帮,数控肋骨冷弯机里的几何问题,曲阜师院学报(自然科学版)1978-04-02：26-29
[33]黄元龙,王福荫,周丽芳,张长琳,肋骨冷弯机数控装置的一种改进方案,造船技术,1980-04-30：37-43
[34]伍国炎,论船体肋骨冷弯成形加工的自动化,造船技术,1993-03-02：24-30
[35]戴惠根,PLC在型材弯曲成形中的应用,2006-06-25：34-36
[36]茅云生,郑军林,王呈方,肋骨冷弯加工时克服“旁弯”的理论计算及应用2004-06-20：67-71
[37]对《关于自动化冷弯船体肋骨的计算》中几个问题的商榷,武汉造船1980-03-01：113-116
[38]胡勇,刘强,周冬生,建立船舶型材加工流水线的探索,造船技术,2004-10-16：31-33
[39]胡勇,刘强, 基于LabView平台数据采集卡配置参数的保存与加载方法研究交通与计算机,2004-12-30：44-46
[40]石强,计算机视觉检测在逆直线法肋骨冷弯加工中的应用研究,武汉理工大学硕士论文2004-02-01
[41]何跃,冷弯型材自动跟踪切断系统研究,北方工业大学硕士论文2009-05-20
[42]李培勇；王呈方；茅云生,肋骨冷弯自动化技术进展,江苏船舶2008-04-30：11-12,33
[43]叶国诚,舰船肋骨高精度成形技术的研究,造船技术2000-04-16：17-19
[44]戴毓芳,型材冷弯成形进料长度,武汉水运工程学院学报1994-02-15：111-116
[45]徐兆康,肋骨冷弯伸缩变形对成形的影响及对策,武汉交通科技大学学报1995-05-15：189-193
[46]Damonte R., Figari M., Poeari R., Ultimate bending moment of the ship hull girder, International Shipbuilding Progress.1997,44(440):299-319
[47]徐兆康,船舶建造工艺学,北京：人民交通出版社,
[48]王呈方,非对称型材弯曲加工消除旁弯的弯矩计算,武汉水运工程学院学报,1986年,第4期：47-52
[49]徐义,李落星,李光耀等,型材弯曲工艺的现状及发展前景,塑性工程学报,2008年6月,第15卷,第三期：61-70
[50]E.H.Brown, Plastic asymmetrical bending of beam, International Journal of Mechanical Science,1967, Vol.9:77-82
[51]Y.Xu, L.C.Zhang and T.X.Yu, The elastic-plastic Pure bending and springback of L-shaped beams, International Journal of Mechanical Science,1987, Vol.29:425-433
[52]N.S.Trahair, Biaxial bending of steel angle section beams, Journal of Structural Engineering,2003, V01.129, No.6:784-791
[53]K.A.Atelson and A. Kramer, Distortion of U-channel Section in Plastic bending, ASEM Journal of Manufacturing Science and Engineering,1999, Vol.121:208-213
[54]黄克智,程莉,大变形弹塑性本构理论的几个基本问题,力学学报,1989年10月,7-17
[55]祝洪川,李荣锋,严龙,拉弯试验参数对回弹的影响研究,物理测试,、vol.27, NO.4, 34-36
[56]National Instruments Corporation, LabV1EWTM User Manual April 2003 Edtion Part Number 320999E-01
[57]周求湛,钱志鸿,虚拟仪器与LabV1EW 7.0 Express程度设计,北京航空航天大学出版社,2004.6
[58]Stephen Boyd, Laurent El Ghaoui, Eric Feron, and Venkataramanan Balakrishnan, Linear Matrix Inequalities in System and Control Theory, Society for Industrial and Applied Mathematics,19947-27
[59]Kashima, Factory automation and robots in shipbuilding Hidehiko Robot, 1998(122).1316
[60]Kanai S, Sugawara M, et al. The Development of the Intelligent Machining Cell. Annals of the CIRP,1989 (1).493--496
[61]Lingarkar R, Liu L, et al. Knowledge-based Adaptive Computer Control in Manufacturing Systems:A case study IEEE Trans. SMC,1990,20(3).606-618
[62]吴向阳,自动肋骨冷弯机液压系统的设计与实践,造船技术,1997(7).12-14
[63]石强,胡勇,视觉检测在逆直线法肋骨冷弯加工中的应用,武汉理工大学学报(交通科学与工程版),2004-04-30：216-222
[64]刘玉君,董守富,卫国强,船体型材加工的逆直线方法,中国造船,1996-02-15：68-77
[65]刘玉君,董守富,王一兵,船体型材加工逆直线计算系统,造船技术,1995-01-30：40-42,17
[66]柏俊波,船体型材加工逆直线及划线机研究,武汉理工大学硕士论文,2003-03-01
[67]相超军,逆直线问题的几种求解方法,大连理工大学,2008-06-05
[68]董一兵,戴寅生,逆直线计算法在纵骨加工上的应用,造船技术,1984-01-31：16-20
[69]董一兵,戴寅生,逆直线计算法,大连工学院学报,1981-02-10：129-137
[70]董一兵,戴寅生,肋骨加工的逆直线计算法,造船技术,1981-04-01：1-7
[71]董守富,周一立,逆直线图形处理方法,造船技术,1989-03-15：37-39,22
[72]孙守林,刘欣,王占礼,魏国强,型钢逆直线划线机的设计,造船技术,1996-07-30：26-28,41
[73]董华富,刘集善,“逆直线”法加工船体型材,造船技术,1992-03-31：18-20,47
[74]董守富,李勇东,逆直线数据处理系统主控模块,造船技术,1993-05-01：34-36
[75]郑绍春,王呈方,胡勇,肋骨冷弯成形加工专家系统的研究,造船技术,2001-06-16：26-28,22
[76]王健,闫立梅,型材下料表的参数提取和管理,计算机辅助工程,2008-09-15：65-68
[77]胡勇,刘强,周冬生,建立船舶型材加工流水线的探索,造船技术,2004-10-16：31-33
[78]王庆丰,朱骏,王炬成,Tribon M1型材下料表的生成,华东船舶工业学院学报(自然科学版),2002-06-30：11-15
[79]曹凤.通用PC数控系统设计及其在机床数控化改造中的应用[J].电讯技术,2002,(4)：4244
[80]蔡立挺,嵌入式数控系统及前瞻控制器研究,浙江大学硕士论文,2008-05-01
[81]杜庆林.数控系统可靠性评价体系[D].吉林大学：吉林大学,2004
[82]徐宁,杨秀云,数控系统的现状及发展趋势[J].机械设计与制造,2006,(4)：132-134
[83]周延佑,国产数控系统的特点和机床数控化改造的迫切性[J].制造技术与机床,1999,(6)：06-09
[84]陈炳锟.数控系统可用性分析[D].吉林大学：吉林大学,2008
[85]汪木兰,陆红伟,严爱珍.人工智能技术在数控系统中的应用研究[J].组合机床与自动化加工技术,2001,(9)：16-17,40
[86]王涛.数控系统的可靠性设计理论和方法研究[D].天津大学：天津大学博士论文,2008.
[87]易红,倪中华.适用于网络化制造模式的数控系统的研究[J].东南大学学报(自然科学版),2002,(3)：387-391
[88]余永成,夏云铧,肖继学,龚浦泉.数控系统圆插补误差分析[J].四川工业学院学报,1999,(4)：22-25
[89]王芳,王琨琦,梅雪松.基于Windows全软件数控系统实时性的研究[J].西安工业大学学报,2009,(3)：228-233
[90]WANG Yongzhang LIU Tao FU Hongya HAN Zhenyu, OPEN ARCHITECTURE CNC SYSTEM HITCNC AND KEY TECHNOLOGY[J]. Chinese Journal of Mechanical Engineering,2007, (2)
[91]黄新燕,张承阳,基于Web的开放式数控系统远程检测及诊断系统研究[J].机床与液压,2007,(11)：166-168,67
[92]Wifi A.S., An incremental complete solution of the strech-forming and deep-drawing of a circular blank using a hemispherical punch. Int.J. Mech.Sci,1976(18)
[93]N.S.Trahair, Moment capacities of steel angle sections, Journal of Structural Enging, 2002Vol.128, NO.11:1387-1393
[94]P.Martineau, M.Silly, Scheduling in a hard real-time system with shared resources. IEEE Real-Time Systems, 1994.Proceedings, Sixth Euromicro Workshop on,15-17
[95]June 1994:234-239 Alan Burns. Scheduling hard real-time system:A review. Software engineering
[96]P. Martineau, M. Silly. Scheduling in a hard real-time system with shared resources.
[97]S. Sumathi, P. Surekha., LabVIEW based advanced instrumentation systems, Springer, c2007
[98]L. Abeni, A. Goel, C. Krasic. A measurement-based analysis of the real-time performance of the Linux kernel, in proc. IEEE Real Time Technology and Applications Symp.(RTAS), Sept.2002:133-142
[99]汪敏生等译著,LabVIEW基础教程,电子工业出版社,2002
[100]邹劲,刘旸主编,计算机辅助船舶制造,哈尔滨工程大学出版社,2003
[101]纪卓尚等编著,船舶制造工艺力学,国防工业出版社,2005.05
[102]李培勇,茅云生,冷荣嘉,王呈方,周永清,一种肋骨冷弯机的弯曲模具,中国专利,实用新型,ZL200720300478.1,2009
[103]王呈方,李培勇,郑绍春,胡勇,周永清,数控肋骨冷弯机自动号料装置,中国专利,实用新型,ZL200520097099.8,2006.8.9
[2]纯弯曲原理肋骨冷弯机,造船技术,1978-01-31：29-32
[3]数控肋骨冷弯机的数学模型,应用数学学报,1977-08-03：01-11
[4]仿形数控肋骨冷弯机,造船技术,1980-04-30：51-55
[5]徐兆康,四点四位肋骨冷弯机的数字程序控制,武汉水运工程学院学报1984-09-30：25-30
[6]杨启,冷荣嘉,王呈方,250t肋骨冷弯机设计及机架结构强度计算,武汉交通科技大学学报,2000,08,25：393-396
[7]周冬生,机械手肋骨冷弯机PLC控制系统的研究,武汉理工大学硕士学位论文,2004-11-01
[8]杨启,王呈方,冷荣嘉,肋骨冷弯机进料机构研究与改进,武汉造船,2000-06-25：16-18
[9]朱琳琳,吴家鸣,肋骨冷弯机发展概述,广东造船,2007-09-05：43-47
[10]胡勇,茅云生,冷荣嘉,王呈方,新型程控机械手肋骨冷弯机,船舶工程,2004-02-24：65-67
[11]刘强,基于LabVIEW的数控肋骨冷弯机控制系统的研究,硕士学位论文,2004-12-01
[12]周冬生,王呈方,程控机械手肋骨冷弯机PLC控制系统的抗干扰设计,武汉理工大学学报(交通科学与工程版),2004-10-30：710-716
[13]王呈方,徐兆康,王勇毅,四点四位肋骨冷弯机的自动控制,造船技术,1983-06-30：32-38
[14]王呈方；冷荣嘉；冯汉初,三支点肋骨冷弯机自动控制方法的研究和实验,造船技术,1985-08-29：15-23
[15]胡勇,茅云生,冷荣嘉,王呈方,新型程控机械手肋骨冷弯机,船舶工程,2004-02-24：65-67
[16]天津电气传动设计研究所四室,SK-1型船体肋骨冷弯机数字程序控制装置,电气传动,1975-08-29
[17]胡勇,王呈方,机械手肋骨冷弯机控制系统,船海工程,2005-08-25：45-47
[18]冷荣嘉,杨启,王呈方,160t肋骨冷弯机及中机架结构强度计算,武汉造船,1998-02-25：13-16
[19]姚建春,WLW系列数控肋骨冷弯机的技术突破,造船技术,2004-06-16：21-24
[20]龙熙陵,试论数控肋骨冷弯机的检测控制方法,造船技术,1983-06-30：3843
[21]胡勇,茅云生,周冬生,冷荣嘉,王呈方,PLC在新型程控机械手肋骨冷弯机中的应用,造船技术,2004-02-16：24-33
[22]王呈方,杨启,茅云生,胡勇,冷荣嘉,新型250吨肋骨冷弯机机构特点,造船技术,2000-12-16：24-26
[23]金永昌,WLW系列微控肋骨冷弯机,造船技术,1998-05-30：22-23
[24]张建民,钟明辉,伍国炎,WLW-160t微控肋骨冷弯机,造船技术1998-07-30：
[25]郑锦江,一种新型智能微控肋骨冷弯机问世,船舶工程,1992-03-01：58
[26]王呈方,纯弯曲肋骨冷弯机自动控制数学模型,武汉水运工程学院学报,1980-07-01：1-14
[27]王呈方；王勇毅；吕新华；徐兆康；涂启超；王振府,纯弯曲肋骨冷弯机仿形自动控制数学模型,武汉造船,1980-08-28：8-12
[28]James B. Acton; Filippo Cali; Thomas P. Mackey; H. W. Mergler;徐兆康译,计算机控制的船舶肋骨冷弯机在自动化船厂中的研制及应用,武汉造船,1980-08-28：117-127
[29]杨启,王呈方,数控肋骨冷弯机自动控制检测方法的改进,船舶工程,2000-08-25：50-54
[30]龙熙陵,“折线法”数控肋骨冷弯机的数学模型研究,造船技术,1984-06-29：17-24
[31]郑绍春；徐兆康；冷荣加,肋骨冷弯机微机控制系统,武汉水运工程学院学报1989-07-02：88-94
[32]龚为帮,数控肋骨冷弯机里的几何问题,曲阜师院学报(自然科学版)1978-04-02：26-29
[33]黄元龙,王福荫,周丽芳,张长琳,肋骨冷弯机数控装置的一种改进方案,造船技术,1980-04-30：37-43
[34]伍国炎,论船体肋骨冷弯成形加工的自动化,造船技术,1993-03-02：24-30
[35]戴惠根,PLC在型材弯曲成形中的应用,2006-06-25：34-36
[36]茅云生,郑军林,王呈方,肋骨冷弯加工时克服“旁弯”的理论计算及应用2004-06-20：67-71
[37]对《关于自动化冷弯船体肋骨的计算》中几个问题的商榷,武汉造船1980-03-01：113-116
[38]胡勇,刘强,周冬生,建立船舶型材加工流水线的探索,造船技术,2004-10-16：31-33
[39]胡勇,刘强, 基于LabView平台数据采集卡配置参数的保存与加载方法研究交通与计算机,2004-12-30：44-46
[40]石强,计算机视觉检测在逆直线法肋骨冷弯加工中的应用研究,武汉理工大学硕士论文2004-02-01
[41]何跃,冷弯型材自动跟踪切断系统研究,北方工业大学硕士论文2009-05-20
[42]李培勇；王呈方；茅云生,肋骨冷弯自动化技术进展,江苏船舶2008-04-30：11-12,33
[43]叶国诚,舰船肋骨高精度成形技术的研究,造船技术2000-04-16：17-19
[44]戴毓芳,型材冷弯成形进料长度,武汉水运工程学院学报1994-02-15：111-116
[45]徐兆康,肋骨冷弯伸缩变形对成形的影响及对策,武汉交通科技大学学报1995-05-15：189-193
[46]Damonte R., Figari M., Poeari R., Ultimate bending moment of the ship hull girder, International Shipbuilding Progress.1997,44(440):299-319
[47]徐兆康,船舶建造工艺学,北京：人民交通出版社,
[48]王呈方,非对称型材弯曲加工消除旁弯的弯矩计算,武汉水运工程学院学报,1986年,第4期：47-52
[49]徐义,李落星,李光耀等,型材弯曲工艺的现状及发展前景,塑性工程学报,2008年6月,第15卷,第三期：61-70
[50]E.H.Brown, Plastic asymmetrical bending of beam, International Journal of Mechanical Science,1967, Vol.9:77-82
[51]Y.Xu, L.C.Zhang and T.X.Yu, The elastic-plastic Pure bending and springback of L-shaped beams, International Journal of Mechanical Science,1987, Vol.29:425-433
[52]N.S.Trahair, Biaxial bending of steel angle section beams, Journal of Structural Engineering,2003, V01.129, No.6:784-791
[53]K.A.Atelson and A. Kramer, Distortion of U-channel Section in Plastic bending, ASEM Journal of Manufacturing Science and Engineering,1999, Vol.121:208-213
[54]黄克智,程莉,大变形弹塑性本构理论的几个基本问题,力学学报,1989年10月,7-17
[55]祝洪川,李荣锋,严龙,拉弯试验参数对回弹的影响研究,物理测试,、vol.27, NO.4, 34-36
[56]National Instruments Corporation, LabV1EWTM User Manual April 2003 Edtion Part Number 320999E-01
[57]周求湛,钱志鸿,虚拟仪器与LabV1EW 7.0 Express程度设计,北京航空航天大学出版社,2004.6
[58]Stephen Boyd, Laurent El Ghaoui, Eric Feron, and Venkataramanan Balakrishnan, Linear Matrix Inequalities in System and Control Theory, Society for Industrial and Applied Mathematics,19947-27
[59]Kashima, Factory automation and robots in shipbuilding Hidehiko Robot, 1998(122).1316
[60]Kanai S, Sugawara M, et al. The Development of the Intelligent Machining Cell. Annals of the CIRP,1989 (1).493--496
[61]Lingarkar R, Liu L, et al. Knowledge-based Adaptive Computer Control in Manufacturing Systems:A case study IEEE Trans. SMC,1990,20(3).606-618
[62]吴向阳,自动肋骨冷弯机液压系统的设计与实践,造船技术,1997(7).12-14
[63]石强,胡勇,视觉检测在逆直线法肋骨冷弯加工中的应用,武汉理工大学学报(交通科学与工程版),2004-04-30：216-222
[64]刘玉君,董守富,卫国强,船体型材加工的逆直线方法,中国造船,1996-02-15：68-77
[65]刘玉君,董守富,王一兵,船体型材加工逆直线计算系统,造船技术,1995-01-30：40-42,17
[66]柏俊波,船体型材加工逆直线及划线机研究,武汉理工大学硕士论文,2003-03-01
[67]相超军,逆直线问题的几种求解方法,大连理工大学,2008-06-05
[68]董一兵,戴寅生,逆直线计算法在纵骨加工上的应用,造船技术,1984-01-31：16-20
[69]董一兵,戴寅生,逆直线计算法,大连工学院学报,1981-02-10：129-137
[70]董一兵,戴寅生,肋骨加工的逆直线计算法,造船技术,1981-04-01：1-7
[71]董守富,周一立,逆直线图形处理方法,造船技术,1989-03-15：37-39,22
[72]孙守林,刘欣,王占礼,魏国强,型钢逆直线划线机的设计,造船技术,1996-07-30：26-28,41
[73]董华富,刘集善,“逆直线”法加工船体型材,造船技术,1992-03-31：18-20,47
[74]董守富,李勇东,逆直线数据处理系统主控模块,造船技术,1993-05-01：34-36
[75]郑绍春,王呈方,胡勇,肋骨冷弯成形加工专家系统的研究,造船技术,2001-06-16：26-28,22
[76]王健,闫立梅,型材下料表的参数提取和管理,计算机辅助工程,2008-09-15：65-68
[77]胡勇,刘强,周冬生,建立船舶型材加工流水线的探索,造船技术,2004-10-16：31-33
[78]王庆丰,朱骏,王炬成,Tribon M1型材下料表的生成,华东船舶工业学院学报(自然科学版),2002-06-30：11-15
[79]曹凤.通用PC数控系统设计及其在机床数控化改造中的应用[J].电讯技术,2002,(4)：4244
[80]蔡立挺,嵌入式数控系统及前瞻控制器研究,浙江大学硕士论文,2008-05-01
[81]杜庆林.数控系统可靠性评价体系[D].吉林大学：吉林大学,2004
[82]徐宁,杨秀云,数控系统的现状及发展趋势[J].机械设计与制造,2006,(4)：132-134
[83]周延佑,国产数控系统的特点和机床数控化改造的迫切性[J].制造技术与机床,1999,(6)：06-09
[84]陈炳锟.数控系统可用性分析[D].吉林大学：吉林大学,2008
[85]汪木兰,陆红伟,严爱珍.人工智能技术在数控系统中的应用研究[J].组合机床与自动化加工技术,2001,(9)：16-17,40
[86]王涛.数控系统的可靠性设计理论和方法研究[D].天津大学：天津大学博士论文,2008.
[87]易红,倪中华.适用于网络化制造模式的数控系统的研究[J].东南大学学报(自然科学版),2002,(3)：387-391
[88]余永成,夏云铧,肖继学,龚浦泉.数控系统圆插补误差分析[J].四川工业学院学报,1999,(4)：22-25
[89]王芳,王琨琦,梅雪松.基于Windows全软件数控系统实时性的研究[J].西安工业大学学报,2009,(3)：228-233
[90]WANG Yongzhang LIU Tao FU Hongya HAN Zhenyu, OPEN ARCHITECTURE CNC SYSTEM HITCNC AND KEY TECHNOLOGY[J]. Chinese Journal of Mechanical Engineering,2007, (2)
[91]黄新燕,张承阳,基于Web的开放式数控系统远程检测及诊断系统研究[J].机床与液压,2007,(11)：166-168,67
[92]Wifi A.S., An incremental complete solution of the strech-forming and deep-drawing of a circular blank using a hemispherical punch. Int.J. Mech.Sci,1976(18)
[93]N.S.Trahair, Moment capacities of steel angle sections, Journal of Structural Enging, 2002Vol.128, NO.11:1387-1393
[94]P.Martineau, M.Silly, Scheduling in a hard real-time system with shared resources. IEEE Real-Time Systems, 1994.Proceedings, Sixth Euromicro Workshop on,15-17
[95]June 1994:234-239 Alan Burns. Scheduling hard real-time system:A review. Software engineering
[96]P. Martineau, M. Silly. Scheduling in a hard real-time system with shared resources.
[97]S. Sumathi, P. Surekha., LabVIEW based advanced instrumentation systems, Springer, c2007
[98]L. Abeni, A. Goel, C. Krasic. A measurement-based analysis of the real-time performance of the Linux kernel, in proc. IEEE Real Time Technology and Applications Symp.(RTAS), Sept.2002:133-142
[99]汪敏生等译著,LabVIEW基础教程,电子工业出版社,2002
[100]邹劲,刘旸主编,计算机辅助船舶制造,哈尔滨工程大学出版社,2003
[101]纪卓尚等编著,船舶制造工艺力学,国防工业出版社,2005.05
[102]李培勇,茅云生,冷荣嘉,王呈方,周永清,一种肋骨冷弯机的弯曲模具,中国专利,实用新型,ZL200720300478.1,2009
[103]王呈方,李培勇,郑绍春,胡勇,周永清,数控肋骨冷弯机自动号料装置,中国专利,实用新型,ZL200520097099.8,2006.8.9
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |