卷绕张力系统鲁棒控制策略的研究
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摘要
卷绕张力系统广泛应用于纺织、造纸、印刷、高速高精的线切割等制造行业中,由于高速卷绕张力系统中存在的张力与速度耦合、卷径参数时变以及外在干扰等问题,严重地影响到加工效率和产品质量。如何解决卷绕张力系统控制存在的问题,实现张力在线实时调节,保证系统的准确性、稳定性、快速性是当前张力系统研究的重要课题。
本论文以典型的高速精密卷绕张力系统——多线切割机切丝张力系统为主要研究对象,对多线切割机切割机理和切丝运动模型分析,建立了切丝张力系统模型。针对张力系统中存在的张力与速度耦合、系统卷径参数时变等问题,研究了张力鲁棒控制策略,并进行了仿真及实验。
针对多线切割机切丝张力系统的特点,分析了收放卷、张力检测等主要机构部件,建立了系统主要部件动力学模型。研究了切丝张力系统的建模方法,应用虎克(Hooke)定理、哥伦布(Coulomb)定理、质量守恒定理以及卷轴速度方程,建立了切丝张力系统数学模型。
分析了切丝张力系统卷径时变引起结构参数变化,以及切丝张力与速度之间的耦合关系。为了解决张力系统存在的内外在干扰、张力与速度耦合等问题,提出了基于超代遗传(HGGA)的张力自寻优鲁棒控制。研究了张力系统加权函数与鲁棒性能之间的联系,根据张力误差和误差变化率确定系统当前运行状态,进而在线搜索张力鲁棒控制器的最优参数。张力自寻优鲁棒控制算法抑制了卷径时变以及外在干扰的影响,实现了张力控制器的在线调节,保证了收放卷子系统张力稳定。
针对切丝张力系统的特点,构建了张力系统实验平台,对本论文所提出的张力控制策略进行了实验研究。通过对实验数据对比分析,应用张力自寻优鲁棒控制方法算法的张力控制系统,具有较小的张力静差率和张力波动率。表明张力自寻优鲁棒控制有效,达到了预期目标。
论文为卷绕张力系统控制提供了一种新的思路,研究成果为解决张力控制问题提供了理论依据和应用基础,尤其对卷绕类线型小张力系统的设计具有实际意义。
Tension system is widely used in the engineering industry such as textile, papermaking, printing equipment, and wire saw. Because there are coupling between tension and velocity, parameter uncertainties,outside disturbances in the tension system, the processing efficiency and product quality are infuenced severely. So it is vital issue that how to solve the above-mentioned problems to insure the stability,precision and online regulation of tension control,which is an important project to be developed.
The wire system of multi wire saw (MWS) is the typical high-velocity and high-precision winding tension system. This dissertation takes the wire subsystem of MWS as an example and studies winding tension control technology. The incising mechanism of multi wire saw and the movement of incising wire are analyzed, then the model of incising wire is set up. For the parameter uncertainties and outside disturbances,the tension robust control technologies are studied. The feasibility has been verified by simulations and experiments.
For the charastics of MWS, the key parts of wire tension system are analyzed such as winding subsystem (unwinding system), dancing arm and these models set up. The method on modeling of incising wire is studied. Using the principle of hooke, the principle of coulomb, the principle of mass conservation and speed equation, the model of tension system is set up.
The structural parameters of incising wire system are changed by rolling diameter and the coupling between between tension and velocity is strong, which relations are analyzed. Because there are parameter uncertainties, outside disturbances in the multi wire saw tension system, tension self-optimizing robust control strategy based on hyper generation genetic algorithm (HGGA) is proposed. The relation between robust performance and weighting function is studied. In terms of error and error change ratio of tension, the state of tension system is confirmed, and then the optimizing parameters of tension robust controller can be obtained using HGGA. The robust control method proposed can restrain interference, realize the online regulation of tension controller and keep the winding (unwinding) subsystem stable.
Finally, for the charestics of incising wire, the tension system platform is build up and the algorithms above are tested in tension platform. Through the comparison of experiments results, the better tension static difference ratio and tension fluctuation ratio can be obtained in tension system that the tension self-optimizing robust control strategy based on HGGA algorithm is adopted. The tension self-optimizing robust control strategy achieves the requirement for tension control and the expected goals.
This study lays a new method for the theories and application research of the complex winding tension control systems. The research achievements could be used as a theoretical foundation and applied to solve the problem of winding tension control system. It is especially valuable for the design and development of the small tension and wire winding system.
本论文以典型的高速精密卷绕张力系统——多线切割机切丝张力系统为主要研究对象,对多线切割机切割机理和切丝运动模型分析,建立了切丝张力系统模型。针对张力系统中存在的张力与速度耦合、系统卷径参数时变等问题,研究了张力鲁棒控制策略,并进行了仿真及实验。
针对多线切割机切丝张力系统的特点,分析了收放卷、张力检测等主要机构部件,建立了系统主要部件动力学模型。研究了切丝张力系统的建模方法,应用虎克(Hooke)定理、哥伦布(Coulomb)定理、质量守恒定理以及卷轴速度方程,建立了切丝张力系统数学模型。
分析了切丝张力系统卷径时变引起结构参数变化,以及切丝张力与速度之间的耦合关系。为了解决张力系统存在的内外在干扰、张力与速度耦合等问题,提出了基于超代遗传(HGGA)的张力自寻优鲁棒控制。研究了张力系统加权函数与鲁棒性能之间的联系,根据张力误差和误差变化率确定系统当前运行状态,进而在线搜索张力鲁棒控制器的最优参数。张力自寻优鲁棒控制算法抑制了卷径时变以及外在干扰的影响,实现了张力控制器的在线调节,保证了收放卷子系统张力稳定。
针对切丝张力系统的特点,构建了张力系统实验平台,对本论文所提出的张力控制策略进行了实验研究。通过对实验数据对比分析,应用张力自寻优鲁棒控制方法算法的张力控制系统,具有较小的张力静差率和张力波动率。表明张力自寻优鲁棒控制有效,达到了预期目标。
论文为卷绕张力系统控制提供了一种新的思路,研究成果为解决张力控制问题提供了理论依据和应用基础,尤其对卷绕类线型小张力系统的设计具有实际意义。
Tension system is widely used in the engineering industry such as textile, papermaking, printing equipment, and wire saw. Because there are coupling between tension and velocity, parameter uncertainties,outside disturbances in the tension system, the processing efficiency and product quality are infuenced severely. So it is vital issue that how to solve the above-mentioned problems to insure the stability,precision and online regulation of tension control,which is an important project to be developed.
The wire system of multi wire saw (MWS) is the typical high-velocity and high-precision winding tension system. This dissertation takes the wire subsystem of MWS as an example and studies winding tension control technology. The incising mechanism of multi wire saw and the movement of incising wire are analyzed, then the model of incising wire is set up. For the parameter uncertainties and outside disturbances,the tension robust control technologies are studied. The feasibility has been verified by simulations and experiments.
For the charastics of MWS, the key parts of wire tension system are analyzed such as winding subsystem (unwinding system), dancing arm and these models set up. The method on modeling of incising wire is studied. Using the principle of hooke, the principle of coulomb, the principle of mass conservation and speed equation, the model of tension system is set up.
The structural parameters of incising wire system are changed by rolling diameter and the coupling between between tension and velocity is strong, which relations are analyzed. Because there are parameter uncertainties, outside disturbances in the multi wire saw tension system, tension self-optimizing robust control strategy based on hyper generation genetic algorithm (HGGA) is proposed. The relation between robust performance and weighting function is studied. In terms of error and error change ratio of tension, the state of tension system is confirmed, and then the optimizing parameters of tension robust controller can be obtained using HGGA. The robust control method proposed can restrain interference, realize the online regulation of tension controller and keep the winding (unwinding) subsystem stable.
Finally, for the charestics of incising wire, the tension system platform is build up and the algorithms above are tested in tension platform. Through the comparison of experiments results, the better tension static difference ratio and tension fluctuation ratio can be obtained in tension system that the tension self-optimizing robust control strategy based on HGGA algorithm is adopted. The tension self-optimizing robust control strategy achieves the requirement for tension control and the expected goals.
This study lays a new method for the theories and application research of the complex winding tension control systems. The research achievements could be used as a theoretical foundation and applied to solve the problem of winding tension control system. It is especially valuable for the design and development of the small tension and wire winding system.
引文
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