无轴传动系统多电机同步控制方法研究
|
摘要
为解决印刷设备可靠性差、印刷精度低、废品率高等问题,将多电机同步控制技术引入到了无轴传动系统中。对卷筒纸印刷机的结构和传动特点进行了分析,建立了永磁电机数学模型,设计了一种多电机速度同步控制系统;采用相邻交叉耦合控制策略,建立了跟踪误差和同步误差模型;设计了一种自适应滑模控制器,通过引入自适应变速趋近规律以及抖动消除方法,提高了系统的动态性能;利用Matlab仿真软件进行了实验分析。研究结果表明:电机之间同步误差可以控制在±0.01%以内,仅需0.05 s就能够进入稳定状态;多电机同步控制方法具有精度高、抗干扰性能好、收敛速度快等特点。
In order to solve the problems of poor reliability, low precision and high rejection rate of printing equipment, multi-motor synchronous control technology was introduced into shaft-less transmission system. The structure and transmission characteristics of web press were studied, the mathematical model of permanent magnet motor was established, and a multi-motor speed synchronization control system was designed. The tracking error and synchronization error models ware established by using the adjacent cross-coupling control strategy. An adaptive sliding mode controller was designed, in which the law of adaptive variable speed approach was adopted, and the anti-shake treatment was carried out to improve the dynamic performance of the system. Matlab software was used for simulation analysis. The results show that the synchronization error between motors can be controlled within ±0.01%, and only 0.05 s is required to enter a stable state. Multi-motor synchronous control method has the characteristics of high precision, good anti-interference performance and fast convergence speed.
In order to solve the problems of poor reliability, low precision and high rejection rate of printing equipment, multi-motor synchronous control technology was introduced into shaft-less transmission system. The structure and transmission characteristics of web press were studied, the mathematical model of permanent magnet motor was established, and a multi-motor speed synchronization control system was designed. The tracking error and synchronization error models ware established by using the adjacent cross-coupling control strategy. An adaptive sliding mode controller was designed, in which the law of adaptive variable speed approach was adopted, and the anti-shake treatment was carried out to improve the dynamic performance of the system. Matlab software was used for simulation analysis. The results show that the synchronization error between motors can be controlled within ±0.01%, and only 0.05 s is required to enter a stable state. Multi-motor synchronous control method has the characteristics of high precision, good anti-interference performance and fast convergence speed.
引文
[1] 曾超,杨喜军,唐厚君,等.高速轮转式印刷设备无轴传动的应用[J].电气自动化,2015,37(3):33-36.
[2] 马膺峻.无轴套印控制系统综合控制策略的研究[D].沈阳:东北大学机械工程学院,2010.
[3] 刘星桥,徐迎辉.一种新型多电机同步控制平台研制[J].电机与控制应用,2016,43(9):8-13.
[4] 李文春,赵德宗,任军.基于全滑模面的多感应电机速度同步控制[J].系统工程理论与实践,2009,29(9):110-117.
[5] 马文华,张冬梅,刘昕彤,等.多电机速度同步自适应积分滑模控制[J].包装工程,2017,38(15):121-125.
[6] 袁雷,沈建清,肖飞,等.插入式永磁低速同步电机非奇异终端滑模观测器设计[J].物理学报,2013,62(3):37-45.
[7] 薛建峰,王景芹,杨昭.多感应电机相邻交叉耦合快速终端滑模同步控制[J].包装工程,2017,38(7):173-177.
[8] 曹玲芝,王宏,谢晓磊.基于非线性滑模面的多PMSM变结构同步控制[J].微特电机,2015,43(6):62-65.
[9] 程斯一,纪文刚,王志俊.基于模糊PID的多伺服电机交叉耦合同步控制[J].北京石油化工学院学报,2014,22(4):54-57.
[10] 张海燕,王伟,赵庆海.无轴传动控制策略及仿真分析[J].自动化技术与应用,2007(3):105-108.
[11] 张婧.无轴传动印刷机同步控制系统的研究[D].武汉:华中科技大学机械学院,2012.
[12] LIU R, SUN J Z, LUO Y Q, et al. Research on multi-motor synchronization control based on the ring coupling strategy for cutter-head driving system of shield machines [J]. Applied Mechanics and Materials, 2011, 52(53): 65-72.
[13] 曹玲芝,李春文,牛超,等.基于相邻交叉耦合的多感应电机滑模同步控制[J].电机与控制学报,2008,12(5):586-592.
[14] KOREN Y. Cross-coupled biaxial computer for manufacturing systems [J]. ASME Journal of Dynamic Systems Measurement and Control, 1980, 102(4): 265-272.
[15] PERE-PINAL F J, CALDERON G. Relative coupling strategy[C].IEEE, IMDC 03.Madison Wisconsin, New York: IEEE, 2003.
[16] 马志刚,赵志强,王保云.改进型相邻交叉耦合结构的多电机同步控制[J].包装工程,2017,38(3):114-118.
[2] 马膺峻.无轴套印控制系统综合控制策略的研究[D].沈阳:东北大学机械工程学院,2010.
[3] 刘星桥,徐迎辉.一种新型多电机同步控制平台研制[J].电机与控制应用,2016,43(9):8-13.
[4] 李文春,赵德宗,任军.基于全滑模面的多感应电机速度同步控制[J].系统工程理论与实践,2009,29(9):110-117.
[5] 马文华,张冬梅,刘昕彤,等.多电机速度同步自适应积分滑模控制[J].包装工程,2017,38(15):121-125.
[6] 袁雷,沈建清,肖飞,等.插入式永磁低速同步电机非奇异终端滑模观测器设计[J].物理学报,2013,62(3):37-45.
[7] 薛建峰,王景芹,杨昭.多感应电机相邻交叉耦合快速终端滑模同步控制[J].包装工程,2017,38(7):173-177.
[8] 曹玲芝,王宏,谢晓磊.基于非线性滑模面的多PMSM变结构同步控制[J].微特电机,2015,43(6):62-65.
[9] 程斯一,纪文刚,王志俊.基于模糊PID的多伺服电机交叉耦合同步控制[J].北京石油化工学院学报,2014,22(4):54-57.
[10] 张海燕,王伟,赵庆海.无轴传动控制策略及仿真分析[J].自动化技术与应用,2007(3):105-108.
[11] 张婧.无轴传动印刷机同步控制系统的研究[D].武汉:华中科技大学机械学院,2012.
[12] LIU R, SUN J Z, LUO Y Q, et al. Research on multi-motor synchronization control based on the ring coupling strategy for cutter-head driving system of shield machines [J]. Applied Mechanics and Materials, 2011, 52(53): 65-72.
[13] 曹玲芝,李春文,牛超,等.基于相邻交叉耦合的多感应电机滑模同步控制[J].电机与控制学报,2008,12(5):586-592.
[14] KOREN Y. Cross-coupled biaxial computer for manufacturing systems [J]. ASME Journal of Dynamic Systems Measurement and Control, 1980, 102(4): 265-272.
[15] PERE-PINAL F J, CALDERON G. Relative coupling strategy[C].IEEE, IMDC 03.Madison Wisconsin, New York: IEEE, 2003.
[16] 马志刚,赵志强,王保云.改进型相邻交叉耦合结构的多电机同步控制[J].包装工程,2017,38(3):114-118.