基于模型参考自适应算法的张力控制系统研究
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摘要
在印刷行业的生产中,张力的作用尤为重要,采用先进的控制算法控制张力可以取的更好的控制效果。本文以印刷机械的张力控制系统为研究对象,详细分析了印刷机械在印刷过程中各部件的数学模型,采用模型参考自适应控制系统理论,实现卷绕类恒张力控制,其中各单元的主传动为磁粉制动器以及直流电机。主要研究了模型参考自适应控制器的设计问题,设计了具有自适应的张力控制系统,解决了系统参数变化对系统性能的影响问题,与经典的方法相比较,取得了较好的效果。
首先对模型参考自适应控制进行了理论分析,给出了模型参考自适应控制算法推导过程;然后介绍了印刷机械张力控制系统的组成,提出了经典控制的详细设计方案,建立了磁粉制动器、直流电机、张力传感器的数学模型,给出了控制系统的放卷段和印刷段的常规实现;最后运用模型参考自适应控制控制算法来替代经典控制策略,设计出基于模型参考自适应算法的张力控制调节器,并对整个模型参考自适应控制系统进行仿真实验,并与经典控制策略进行了比较分析。仿真研究表明了模型参考自适应控制系统能有效抑制系统参数变化对系统性能的影响,具有更优越的控制性能。
根据控制系统对硬件的要求,选用GE公司90系列PLC实现现场控制要求,上位机采用研华工业控制计算机,不仅满足了大计算量的算法运行要求,同时也满足了使用WinCC组态的监控程序的运行。
将模型参考自适应算法在实际的系统中实现,实际运行结果表明,模型参考自适应控制系统较经典设计方案的动态性能有明显改善,对改善系统的性能具有较明显的效果。
The tension is an important to the production of printing machine industry.The advanced control algorithm be used in tention control and obtain the better control results.This article regards printing mechanical tension control system as the research object, analysis the machinery mathematical model of every part in printing of printing machine, adopt model reference adaptive control system, realize the coiling type control of permanent tension, among them the main drive of every unit is brake of the magnetic powder and direct current motor.The design problem of the model reference adaptive controller is researched, the adaptive tension control system is designed, the problem of impact on systematic function as the change of systematic parameter is solved, better result is made compared with classical method.
Algorithm deriving course of the model reference adaptive control is gotten though theory analysis firstly.Then the composition of the mechanical tension control system is introduced, detailed design plan of the classics control is put forward, Artificial models and mathematical models of brake of the magnetic powder, direct current motor and tension transducer are build, the routine ways of putting and printing course of control system are given. At last, control algorithms of model consult self-adaptation control is used to Substitute classical control strategy, Tension control regulator based on model consult self-adaptation control is designed, the artificial experiment of the whole model reference adaptive control system is carried on, and the comparison between model reference adaptive control system and classical control strategy is analyzed. Artificial research indicate model reference adaptive control system can inhibit the impact on systematic function effectively as the changeof systematic parameter , and have more superior control performance.
According to the requirements for hardware of the control system, selecting GE Company 90 serial PLC to realize the on-the-spot control request and using Yanhua industry control computer as host computer, not only has met the algorithm operation requirement for greatly calculating quantity but also met operation of the control procedure which uses WinCC configuration at the same time.
The model reference adaptive algorithm is realized in the actual system, and the actual operation result shows, model dynamic performance of consulting more classical design plan of the adaptive control system obviously improved, have more obvious results in improving systematic performance.
首先对模型参考自适应控制进行了理论分析,给出了模型参考自适应控制算法推导过程;然后介绍了印刷机械张力控制系统的组成,提出了经典控制的详细设计方案,建立了磁粉制动器、直流电机、张力传感器的数学模型,给出了控制系统的放卷段和印刷段的常规实现;最后运用模型参考自适应控制控制算法来替代经典控制策略,设计出基于模型参考自适应算法的张力控制调节器,并对整个模型参考自适应控制系统进行仿真实验,并与经典控制策略进行了比较分析。仿真研究表明了模型参考自适应控制系统能有效抑制系统参数变化对系统性能的影响,具有更优越的控制性能。
根据控制系统对硬件的要求,选用GE公司90系列PLC实现现场控制要求,上位机采用研华工业控制计算机,不仅满足了大计算量的算法运行要求,同时也满足了使用WinCC组态的监控程序的运行。
将模型参考自适应算法在实际的系统中实现,实际运行结果表明,模型参考自适应控制系统较经典设计方案的动态性能有明显改善,对改善系统的性能具有较明显的效果。
The tension is an important to the production of printing machine industry.The advanced control algorithm be used in tention control and obtain the better control results.This article regards printing mechanical tension control system as the research object, analysis the machinery mathematical model of every part in printing of printing machine, adopt model reference adaptive control system, realize the coiling type control of permanent tension, among them the main drive of every unit is brake of the magnetic powder and direct current motor.The design problem of the model reference adaptive controller is researched, the adaptive tension control system is designed, the problem of impact on systematic function as the change of systematic parameter is solved, better result is made compared with classical method.
Algorithm deriving course of the model reference adaptive control is gotten though theory analysis firstly.Then the composition of the mechanical tension control system is introduced, detailed design plan of the classics control is put forward, Artificial models and mathematical models of brake of the magnetic powder, direct current motor and tension transducer are build, the routine ways of putting and printing course of control system are given. At last, control algorithms of model consult self-adaptation control is used to Substitute classical control strategy, Tension control regulator based on model consult self-adaptation control is designed, the artificial experiment of the whole model reference adaptive control system is carried on, and the comparison between model reference adaptive control system and classical control strategy is analyzed. Artificial research indicate model reference adaptive control system can inhibit the impact on systematic function effectively as the changeof systematic parameter , and have more superior control performance.
According to the requirements for hardware of the control system, selecting GE Company 90 serial PLC to realize the on-the-spot control request and using Yanhua industry control computer as host computer, not only has met the algorithm operation requirement for greatly calculating quantity but also met operation of the control procedure which uses WinCC configuration at the same time.
The model reference adaptive algorithm is realized in the actual system, and the actual operation result shows, model dynamic performance of consulting more classical design plan of the adaptive control system obviously improved, have more obvious results in improving systematic performance.
引文
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[16]Knittel D,Laroche E,Gigan D,Koc H.Tension Control for Winding System with Two-Degrees-of-Freedom H_∞ Controllers.IEEE Transactions on Industry Applications,2003.39(1):113-119
[17]F.Claveau,P.Chevrel,M.Yagoubi,D.Knittel.Decentralized Control for Winding Systems:Which Incidence on Reachable Performance? 11th IEEE Mediterranean Conference on Control and Automation,2003,1-6
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[20]贺建军,喻寿益,钟掘.板带钢平整机张力-速度解耦控制.控制与决策.2003.18(5):522-526
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[22]王春香,付云中,王永章,路华.基于神经网络的张力控制系统.中国机械工程.1999.12(8):873-875
[23]朱松青,史金飞,伍斌.基于单神经元的张力控制系统的设计与仿真.自动化仪表.2006.27(6):33-35
[24]F.Janabi-Sharifi.A Neuro-Fuzzy System for Looper Tension Control in Rolling Mills.Control Engineering Practice.2005.13(1):1-13
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[27]尹征琦,朱劲.自适应张力控制.电气传动.2001.(6):35-37
[28]慈春令,郑颖楠,李强.自校正控制器在冷连轧机张力控制系统中的应用.电气传动.1993.(4):35-38
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