经编机梳栉电子横移伺服的最优滑模控制

doi:10.13475/j.fzxb.20190408806

纺织学报 ›› 2020, Vol. 41 ›› Issue (02): 143-148.doi: 10.13475/j.fzxb.20190408806

经编机梳栉电子横移伺服的最优滑模控制

汪健东¹, 夏风林¹^,²(), 李亚林¹, 赵钰宁¹

1.江南大学教育部针织技术工程研究中心, 江苏无锡 214122
2.生态纺织教育部重点实验室(江南大学), 江苏无锡 214122

收稿日期:2019-04-30 修回日期:2019-08-10 出版日期:2020-02-15 发布日期:2020-02-21
通讯作者: 夏风林
作者简介:汪健东(1993—),男,硕士生。研究方向为针织产品开发与装备数控技术。
基金资助:
中央高校基本科研业务费专项资金项目(JUSRP51727A);湖北省纺织新材料及其应用国家重点实验室项目(DTL2017009)

Optimal sliding mode control of electronic transverse servo for comb bar of warp knitting machine

WANG Jiandong¹, XIA Fenglin¹^,²(), LI Yalin¹, ZHAO Yuning¹

1. Engineering Research Center for Knitting Technology, Ministry of Education, Jiangnan University,Wuxi, Jiangsu 214122, China
2. Key Laboratory of Eco-Textiles (Jiangnan University),Ministry of Education, Wuxi, Jiangsu 214122, China

Received:2019-04-30 Revised:2019-08-10 Online:2020-02-15 Published:2020-02-21
Contact: XIA Fenglin

摘要/Abstract

摘要：

为解决经编电子横移系统易受外部机械振动等因素干扰的问题,根据经编机横移控制原理,通过对电气传动机构与机械传动结构进行建模,依据二者之间的输入输出关系构建经编电子横移系统的空间数学模型。再根据线性最优控理论下的性能指标为基础,结合滑模控制理论,设计出经编电子横移系统最优滑模控制方法。通过MatLab仿真结果表明:当外界不存在干扰时,最优滑模控制具有良好的动静态性能;当伺服系统外界存在干扰时,最优滑模控制能在有限的时间内克服干扰影响。通过对比参考模型,在单位阶跃响应的仿真中进一步验证了最优滑模控制具有良好的准确性及稳定性。

关键词: 经编机, 电子横移系统, 最优滑模控制, MatLab仿真

Abstract:

In order to solve the problem that the warp knitting electronic traverse system is easy to be interfered by external mechanical vibration and other factors, the electric drive mechanism and mechanical drive structure are modeled, according to the warp knitting machine transverse control principle, and the spatial mathematical model of the warp knitting electronic transverse system was constructed based on the input-output relationship. Using the performance index of linear optimal control theory and sliding mode control theory, the optimal sliding mode control method for warp knitting electronic transversal motion system was designed. Through MatLab simulation, the results show that when there is no external interference, the optimal sliding mode control has good dynamic and static performance. When there is disturbance outside the servo system, the optimal sliding mode control can overcome the disturbance within a limited time. By comparing the reference model, the accuracy and stability of the optimal sliding mode control are verified in the simulation of unit step response.

Key words: warp knitting machine, electronic transverse shift system, optimal sliding mode control, MatLab simulation

中图分类号:

TS183.92

汪健东, 夏风林, 李亚林, 赵钰宁. 经编机梳栉电子横移伺服的最优滑模控制[J]. 纺织学报, 2020, 41(02): 143-148.

WANG Jiandong, XIA Fenglin, LI Yalin, ZHAO Yuning. Optimal sliding mode control of electronic transverse servo for comb bar of warp knitting machine[J]. Journal of Textile Research, 2020, 41(02): 143-148.

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额定功率P_n/kW	0.75
额定转速N_n/(r·min^-1)	3000
额定转矩T_n/(N·m)	2.39
永磁磁通ψ_f/Wb	0.125
转动惯量J_m/(kg·m²)	1.06×10^-4
定子电阻R_s/Ω	1.3
定子电感L_s/mH	7.8
阻尼系数B/(kg·m²·s^-1)	0.8
电动机转矩常数Kτ/(N·M·A^-1)	0.5

扭转刚度K_L/(N·m·rad^-1)	0.25
负载惯量J_L/(km·m²)	2.42×10^-4
黏滞阻尼系数f_L/(a·N·m·rad^-1)	0.25
丝杠导程P_b/mm	10

经编机梳栉电子横移伺服的最优滑模控制

Optimal sliding mode control of electronic transverse servo for comb bar of warp knitting machine

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