摘要
针对多线切割机张力控制系统存在库仑摩擦和摆角耦合等较强非线性特征,以及收放卷轮直径变化引起的参数不确定问题,提出了一种基于自适应反演的非线性补偿控制方法。该方法结合实验辨识和自适应参数控制器设计方法分别对多线切割机的多轴电机同步运动控制系统和不确定系统参数进行简化分析和在线估计,使用李雅普诺夫稳定性理论保证了系统全局渐近稳定性以及系统状态的有界性。仿真和实验结果表明,所设计的自适应控制器可以实现多轴同步运动,并将张力摆角控制在较小的范围内,获得更高的张力控制精度。
An adaptive backstepping control method was proposed based on the facts that the tension control systems of the multi-wire saw had the control characteristics of strong nonlinearity of Coulomb friction and the swing angle coupling,parametric uncertainties susceptible to diameter changes of the winding reel.The controllers combined with experimental identification method and the adaptive controller design method to simplified analyse multi-axis motor synchronization control system and estimate unknown parameters online,the globally asymptotic stability and boundedness of the control systems was guaranteed by using Lyapunov stability theory.The experimental results indicate that the proposed adaptive controller may achieve multi-axis synchronous control with small swing angle and better tension control accuracy.
作者
周锋
郑丽霞
沈烨超
金波
ZHOU Feng;ZHENG Lixia;SHEN Yechao;JIN Bo(State Key Laboratory of Fluid Power Transmission and Control,Zhejiang University,Hangzhou,310027;Zhejiang Jingsheng Mechanical & Electrical Engineering Co., Ltd.,Shaoxing,Zhejiang,312300)
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2021年第24期2995-3000,3007,共7页
China Mechanical Engineering
基金
国家自然科学基金(51821093)
浙江省博士后择优资助项目。
关键词
多线切割机
非线性
自适应控制
多轴同步
张力控制
multi-wire saw
nonlinearity
adaptive control
multi-axis synchronization
tension control
