纤维缠绕张力控制系统的设计
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摘要
针对纤维缠绕时保持恒张力的要求和传统张力控制中存在张力波动大的特点,在分析摆杆式张力控制器基础上,建立其数学模型;并验证了以模糊控制结合变速积分PID为控制方式的可行性。分别进行了以传统PID与模糊变速PID为控制方式的缠绕实验,实验表明,将模糊控制与变速积分PID相结合的控制方式应用于张力控制系统,性能优于传统PID控制,对参数的变化具有较高的适应性。能解决纤维缠绕时的张力波动大,断纱,回纱速度慢等问题。
Aiming at the requirement of maintaining constant tension in filament winding and the great tension fluctuation in the traditional tension control, the mathematic model is established on the basis of analyzing the tension controller of the pendulum pole. The fuzzy control combined with variable integral PID is taken as the control mode and its feasibility is analyzed. The experiment results show that the control method combining fuzzy control and variable integral PID is applied to the tension control system, the performance is better than the traditional PID control, and the change of the parameter has higher adaptability. It can solve the problems such as large fluctuation of tension in filament winding, low speed of yarn breaking and yarn return.
Aiming at the requirement of maintaining constant tension in filament winding and the great tension fluctuation in the traditional tension control, the mathematic model is established on the basis of analyzing the tension controller of the pendulum pole. The fuzzy control combined with variable integral PID is taken as the control mode and its feasibility is analyzed. The experiment results show that the control method combining fuzzy control and variable integral PID is applied to the tension control system, the performance is better than the traditional PID control, and the change of the parameter has higher adaptability. It can solve the problems such as large fluctuation of tension in filament winding, low speed of yarn breaking and yarn return.
引文
[1]任国瑞,史耀耀,余强,等.基于变张力缠绕制度的复合材料布带张力模糊控制技术研究[J].机床与液压,2008,36(7):37-38.Ren G R,Shi Y Y,Yu Q,et al.The Fuzzy Control Technology Study of the Tension for Composite Material Tape Based on the Winding Rule of Variable Tension[J].Machine Tool&Hydraulics,2008,36(7):37-38.
[2]吴飞青,马修水,关宏伟,等.基于模糊专家控制的织机经纱恒张力控制研究[J].中国机械工程,2008,19(14):384-387.Wu F Q,Ma X S,Guan H W,et al.Research on Steady Tension Control System on a Loom Based on Fuzzy Expert Control[J].China Mechanical Engineering,2008,19(4):384-387.
[3]陈德传,程志林.力矩伺服式卷绕张力与速度协调控制系统[J].纺织学报,2009,30(6):118-121.Cheng D C,Cheng Z L.Winding Tension and Velocity Coordinated System with Torque Servo Control Mode[J].Journal of Textile Research,2009,30(6):118-121.
[4]Akkus N,Genc G,GirginC.Control of the pretension in filament winding process[J].Acts Mechanics et Automatica,2008,2(3):5-10.
[5]任胜乐,韩振宇,路华,等.新型气-电控制张力系统的研究[J].机械设计与制造,2007,45(6):4-4.Ren S L,Han Z Y,Lu H,et al.The research of new tension system controlled by pneumatic-electricity[J].Machinery Design&Manufacture,2007,45(6):4-4.
[6]韩帅.纱线张力精密控制器的研究[D].哈尔滨:哈尔滨工业大学,2015:6-7.Han S.Research on Precision Yarn Tension Controller[D].Harbin:Harbin Institute of Technology,2015:6-7.
[7]李明华.纤维缠绕张力控制系统研究[D].南京:南京航空航天大学,2008:14-15.Li M H.Study on Tension Control System for Filament-winding[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2008:14-15.
[8]高健,黄心汉,彭刚,等.基于Fuzzy-PID的移动机器人运动控制[J].控制工程,2004,20(6):525-528.Gao J,Huang X H,Peng G,et al.Motion Control of Mobile Robots Based on Fuzzy-PID[J].Control Engineering of China,2004,20(6):525-528.
[9]Cheng G.Brushless DC Motor Speed Control System Based on Fuzzy PID Controller[M].//Network Computing and Information Security.Springer Berlin Heidelberg,2012:287-294.
[10]Fereidouni A,Masoum M A S,Moghbel M.A New Adaptive Configuration of PID Type Fuzzy Logic Controller[J].ISATransactions,2015,56(3):222-240.
[11]周云瑞.专用缠绕机的开发与张力控制系统研究[D].西安:西北工业大学,2006:43-44.Zhou Y R.Development of Special Winding Machine and Tension Control System[D].Xian:Northwestern Polytechnical University,2006:43-44.
[12]Sant A V,Rajagopal K R.PM Synchronous Motor Speed Control Using Hybrid Fuzzy-PI With Novel Switching Functions[J].IEEETransactions on Magnetics,2009,45(10):4672-4675.
[13]Blance,J.S..Hybrid Self-Learning Fuzzy PD+I Control of Unknown Linear and Nonlinear Systems[D]Fifth Mexican International Conference in Computer Science(ENC’04),Colima,México,2004:233-240.
[14]Li,W.Design of a Hybrid Fuzzy Logic Proportional Plus Conventional Integral-derivative Controller[J].IEEE Transactions on Fuzzy System,1998,4(6):449-463.
[15]范谦,李国伟.微机控制纤维缠绕机张力控制的研究[J].哈尔滨工业大学学报,1988,35(2):89-95.Fan Q,Li G W.The Research of Tension Control of Filament Winding Machine Controlled by Microcomputer[J].Journal of Harbin Institute of Technology,1988,35(2):89-95.
[16]任胜乐.纤维缠绕运动中精密张力控制系统的研究[D].哈尔滨:哈尔滨工业大学,2007:93-94.Ren S L.Research on Precesion Tension Control System in Fiber Winding[D].Harbin:Harbin Institute of Technology,2007:93-94.
[2]吴飞青,马修水,关宏伟,等.基于模糊专家控制的织机经纱恒张力控制研究[J].中国机械工程,2008,19(14):384-387.Wu F Q,Ma X S,Guan H W,et al.Research on Steady Tension Control System on a Loom Based on Fuzzy Expert Control[J].China Mechanical Engineering,2008,19(4):384-387.
[3]陈德传,程志林.力矩伺服式卷绕张力与速度协调控制系统[J].纺织学报,2009,30(6):118-121.Cheng D C,Cheng Z L.Winding Tension and Velocity Coordinated System with Torque Servo Control Mode[J].Journal of Textile Research,2009,30(6):118-121.
[4]Akkus N,Genc G,GirginC.Control of the pretension in filament winding process[J].Acts Mechanics et Automatica,2008,2(3):5-10.
[5]任胜乐,韩振宇,路华,等.新型气-电控制张力系统的研究[J].机械设计与制造,2007,45(6):4-4.Ren S L,Han Z Y,Lu H,et al.The research of new tension system controlled by pneumatic-electricity[J].Machinery Design&Manufacture,2007,45(6):4-4.
[6]韩帅.纱线张力精密控制器的研究[D].哈尔滨:哈尔滨工业大学,2015:6-7.Han S.Research on Precision Yarn Tension Controller[D].Harbin:Harbin Institute of Technology,2015:6-7.
[7]李明华.纤维缠绕张力控制系统研究[D].南京:南京航空航天大学,2008:14-15.Li M H.Study on Tension Control System for Filament-winding[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2008:14-15.
[8]高健,黄心汉,彭刚,等.基于Fuzzy-PID的移动机器人运动控制[J].控制工程,2004,20(6):525-528.Gao J,Huang X H,Peng G,et al.Motion Control of Mobile Robots Based on Fuzzy-PID[J].Control Engineering of China,2004,20(6):525-528.
[9]Cheng G.Brushless DC Motor Speed Control System Based on Fuzzy PID Controller[M].//Network Computing and Information Security.Springer Berlin Heidelberg,2012:287-294.
[10]Fereidouni A,Masoum M A S,Moghbel M.A New Adaptive Configuration of PID Type Fuzzy Logic Controller[J].ISATransactions,2015,56(3):222-240.
[11]周云瑞.专用缠绕机的开发与张力控制系统研究[D].西安:西北工业大学,2006:43-44.Zhou Y R.Development of Special Winding Machine and Tension Control System[D].Xian:Northwestern Polytechnical University,2006:43-44.
[12]Sant A V,Rajagopal K R.PM Synchronous Motor Speed Control Using Hybrid Fuzzy-PI With Novel Switching Functions[J].IEEETransactions on Magnetics,2009,45(10):4672-4675.
[13]Blance,J.S..Hybrid Self-Learning Fuzzy PD+I Control of Unknown Linear and Nonlinear Systems[D]Fifth Mexican International Conference in Computer Science(ENC’04),Colima,México,2004:233-240.
[14]Li,W.Design of a Hybrid Fuzzy Logic Proportional Plus Conventional Integral-derivative Controller[J].IEEE Transactions on Fuzzy System,1998,4(6):449-463.
[15]范谦,李国伟.微机控制纤维缠绕机张力控制的研究[J].哈尔滨工业大学学报,1988,35(2):89-95.Fan Q,Li G W.The Research of Tension Control of Filament Winding Machine Controlled by Microcomputer[J].Journal of Harbin Institute of Technology,1988,35(2):89-95.
[16]任胜乐.纤维缠绕运动中精密张力控制系统的研究[D].哈尔滨:哈尔滨工业大学,2007:93-94.Ren S L.Research on Precesion Tension Control System in Fiber Winding[D].Harbin:Harbin Institute of Technology,2007:93-94.