纺织学报 ›› 2022, Vol. 43 ›› Issue (04): 167-173.doi: 10.13475/j.fzxb.20210404007

• 机械与器材 • 上一篇    下一篇

无传感参数自适应纱线卷绕张力控制方法

蒋林军1,2, 张华1,2()   

  1. 1.浙江理工大学 机械与自动控制学院, 浙江 杭州 310018
    2.浙江理工大学 浙江省现代纺织装备技术重点实验室, 浙江 杭州 310018
  • 收稿日期:2021-04-14 修回日期:2021-08-25 出版日期:2022-04-15 发布日期:2022-04-20
  • 通讯作者: 张华
  • 作者简介:蒋林军(1995—),男,硕士生。主要研究方向为纱线卷绕装置张力控制。
  • 基金资助:
    国家自然科学基金项目(51675488);国家自然科学基金项目(51307151)

Sensorless parameter adaptive tension control method of winding yarns

JIANG Linjun1,2, ZHANG Hua1,2()   

  1. 1. School of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, Zhejiang 310018, China
    2. Key Laboratory of Modern Textile Machinery & Technology of Zhejiang Province, Zhejiang Sci-Tech University, Hangzhou, Zhejiang 310018, China
  • Received:2021-04-14 Revised:2021-08-25 Published:2022-04-15 Online:2022-04-20
  • Contact: ZHANG Hua

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摘要：

为有效保持纱线卷绕系统中张力稳定,针对系统中存在的非线性和时变性参数,提出了一种基于张力观测器和参数自适应的无传感张力控制方法。首先,基于力矩平衡原理建立纱线卷绕系统数学模型,并设计了降阶张力观测器,将观测值作为系统输入前置反馈补偿值,避免了使用张力传感器带来的测量延迟;然后,采用Landau离散时间递推算法辨识卷绕系统的转动惯量,同时将辨识得到的转动惯量用于修改速度控制器的PI参数,提高了卷绕系统的动态性能;并以纱线卷绕系统为控制对象,对采用传统张力传感器和PI参数控制方法与本文提出的方法进行对比实验。结果表明,本文提出的无传感控制方法可明显减小转动惯量变化对张力的影响,具有良好的鲁棒性、动态响应性能和较高稳态精度。

关键词: 张力观测器, 自适应控制, 张力控制, 纱线卷绕系统, Landau离散时间递推算法

Abstract:

In order to keep the tension stable in yarn winding system, in view of the nonlinear and time-dependent parameters in the system, this paper proposed a sensorless tension control method based on tension monitoring and parameter self-adaptation. According to the principle of torque balance, a mathematical model of the yarn winding system was established, a reduced-order tension monitoring device was designed, and the data obtained were used as the system pre-feedback compensation value to avoid measurement delay caused by the tension sensor. The Landau discrete-time recursive algorithm was then used to identify the moment of inertia of the winding system, and the identified moment of inertia was used to modify the PI parameters of the speed controller, which was used to improve the dynamic performance of the winding system. Comparison between the general PI parameter control and proposed sensorless parameter adaptive control shows that the proposed control method significantly reduces the influence of the change in the moment of inertia on the tension, and has good robustness, dynamic response performance and high steady-state accuracy.

Key words: tension monitoring device, adaptive control, tension control, yarn winding system, Landau discrete-time recursive algorithm

中图分类号: 

  • TP273

图1

纱线卷绕系统示意图"

图2

卷绕和超喂系统结构简图"

图3

基于张力传感器的闭环张力控制系统"

表1

系统仿真参数"

参数 单位 仿真参考值
E MPa 17.927
η MPa·s 15.295
S mm2 0.023 1
R1 m 0.05
J1 kg·m2 0.027 2
B1 N·m·s/rad 0.000 4
Tc1 s 0.1
Tc2 s 0.1
R2 m 0.2
J2 kg·m2 0.003 3/0.005 2
B2 N·m·s/rad 0.000 4
l0 m 0.2

图4

不同输入信号跟随仿真曲线"

图5

基于朗道离散时间递推算法的转动惯量辨识仿真框图"

图6

不同卷径下收卷系统转动惯量辨识结果"

图7

纱线卷绕系统实验平台"

图8

实验测试波形"

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