中文摘要：

针对机械式折边装置存在灵活性差、更换成本高等问题,对电气驱动的剪刀、握持装置、折入装置等折边执行部件进行了研究,对纯电子式的折边装置的工作和步进电机跟随运动进行了归纳,提出了一种基于飞思卡尔ARM Cortex-M0Plus内核单片机以及步进电机跟随算法和自抗扰控制技术相结合的控制策略,结合控制策略设计了电子式折边装置的嵌入式硬件电路以及软件程序,并利用Matlab下的Simulink进行了仿真实验。研究结果表明,电子式的折边装置在使用步进电机跟随算法和自抗扰控制技术相结合的控制方法后,有效地提高了抗扰能力,解决了时滞问题,提高了电子式折边装置的控制精度。

英文摘要：

Aiming at the problem of poor flexibility and high replacement cost,the actuators such as the electrically driven scissors,the gripping device and the folding device were studied,and the work of the pure electronic hemming device and the follow-up movement of the stepping motor were carried on. A control strategy based on Freescale＇s ARM Cortex-M0 Plus core MCU and follower algorithm and auto-disturbance-rejection-control technology was proposed,the embedded hardware circuit and the software program of the electronic hemming device were designed with the control strategy,and the simulation experiment was carried out using simulink in Matlab. The research results show that the electronic hemming device can improve the anti-disturbance ability,solve the time-delay problem and improve the control precision of the electronic hemming device after using the motor follow-up algorithm and the auto-disturbance-rejection control technology.