Journal of Textile Research ›› 2020, Vol. 41 ›› Issue (02): 143-148.doi: 10.13475/j.fzxb.20190408806

• Machinery & Accessories • Previous Articles     Next Articles

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. 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 E-mail:xiafl_622@163.com

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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

CLC Number: 

  • TS183.92

Fig.1

Working principle of electronic transverseshift system"

Fig.2

Physical model of AC servo motor"

Fig.3

Mechanical transmission model"

Fig.4

Sliding mode switching surface"

Tab.1

Main performance parameters of TBL-iⅡ type servo motor"

额定功率Pn/kW 0.75
额定转速Nn/(r·min-1) 3000
额定转矩Tn/(N·m) 2.39
永磁磁通ψf/Wb 0.125
转动惯量Jm/(kg·m2) 1.06×10-4
定子电阻Rs/Ω 1.3
定子电感Ls/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

Tab.2

Mechanical transmission mechanism parameters"

扭转刚度KL/(N·m·rad-1) 0.25
负载惯量JL/(km·m2) 2.42×10-4
黏滞阻尼系数fL/(a·N·m·rad-1) 0.25
丝杠导程Pb/mm 10

Fig.5

Simulation results of two systems. (a) Position response curve of two systems without interference; (b) Position response curve of optimal linear control system when interference is added; (c) Position response curve of optimal sliding mode control system when interference is added"

Fig.6

Unit step response curve of system"

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