摘要
针对纤维带缠绕中的恒张力要求,在分析缠绕结构和控制难点条件下,对其建立系统模型,充分考虑收放带辊的半径变化、传动摩擦、系统建模中的不确定非线性以及未知扰动引起的误差,设计非线性H∞控制器并给出求解方法,解决了收放辊的速度同步控制。该设计与传统控制应用相比,更好地抑制了系统中的不确定非线性扰动、未知外界干扰和电机的高频振颤现象。实验结果表明设计的控制器提高了系统在缠绕带过程中的抗复杂干扰能力,缠绕带速度平稳抖动性小且张力误差约0.3N。
To wind constant tension requirement of fiber belt,this paper establishes winding system model under the analysis of winding mechanical structure and control difficulties.The system model is fully considered the error which due to roller radius changing,belt driving friction,uncertain nonlinear and unknown disturbances.A nonlinear H-infinity controller is designed and given out the solving method,achieved the rollers winding synchronization control.Compared with the traditional control method,this design can better attenuate the system’s uncertainty interference and the motor high frequency vibration.The experimental results show that the designed controller improves the anti-disturbance ability,the belt tension jitter is small and winding speed stability,tension error is about 0.3 N in the winding.
出处
《工业控制计算机》
2020年第5期133-135,共3页
Industrial Control Computer
基金
青年科学基金项目(51205008)
国家科技支撑计划项目(2016BAF05B04)部分支持。
关键词
纤维带缠绕装置
恒张力
非线性扰动
H∞控制
fiber belt winding device
constant tension
nonlinear disturbance
H∞control
