基于滑动模态PID控制的连续平压机高速锯切系统动态精确跟踪算法研究  

Research on dynamic and accurate tracking algorithm of high-speed sawing system of continuous flat press control based on sliding mode PID

作　　者：安源[1,2] 郭慧 郑焕祺 侯晓鹏[1] 周玉成[1,3] AN Yuan;GUO Hui;ZHENG Huan-qi;HOU Xiao-peng;ZHOU Yu-cheng(Research Institute of Wood Industry,CAF Beijing 100091;Research Institute of Forestry New Technology,CAF Beijing 100091;Shandong Jianzhu University Jinan 250101)

机构地区：[1]中国林业科学研究院林业新技术研究所,北京100091 [2]中国林业科学研究院木材工业研究所,北京100091 [3]山东建筑大学,济南250101

出　　处：《木材加工机械》2018年第3期8-13,16,共7页Wood Processing Machinery

基　　金：中央级公益性科研院所基本科研业务费专项资金(项目编号:CAFINT2014C05)

摘　　要：高速人造板锯切系统是保证人造板连续平压机高效率的关键技术之一,提出了一种基于滑动模态的PID控制算法,实时监测连续平压机出板的速度V_1,当锯切点被触发时飞锯以精准计算的加速度a提速,当飞锯到达锯切点时飞锯的速度刚好为V_1的两倍(V_2=V_1/cosθ),确保飞锯的速度与出板速度同步。同时用PID控制V_2的速度,当V_1从0至1500mm/s时,找出PID的比例因子P的最大值与最小值,使之与V_1的速度对应。进一步求出滑动模态P的比例因子,基于V_1速度变化时,乘以滑动模态P的比率变化值,即可求出滑动模态P的实际值,使得出板速度V_1在一定的范围内变化时都有一个确定的滑动模态P与之对应,从而确保V_2动态精确跟踪V_1,使得锯切精度达到人造板材标准的精确要求。本文提出的算法应用在广西得力木业开发有限公司的连续压机生产线上,该算法解决了连续压机生产线速度实时变化而导致的锯切精度达不到要求的突出问题。同时也解决了连续压机出板速度变化对锯切产生影响和突然载荷时锯切发生变化的问题。实现了出板速度精确跟踪、锯切点精准定位,有效地保障了锯切精度。The high speed sawing is a follow-up technological process for continuous flat pressure production of woodbased panels. This paper presents a PID control algorithm based on sliding mode, which solves a series of problems, such as the plate speed is not fixed, the location of the cutting point is not fine, and the speed drop caused by the sudden load of the flying saw. This algorithm breaks through the difficult problem of sawing precision in wood-based panel manufacturing industry, and provides advanced guidance for the improvement of wood-based panel industry in China. The core of the sliding mode PID control algorithm is to monitor the output speed v1 of the continuous flat press in real time. When the cutting point is triggered, the flying saw speeds up with the acceleration a, so that when the flying saw reaches the cutting point of the saw, the speed is just two times of V1(V2=V1/cos θ), ensuring the speed of the flying saw is synchronized with the speed of the plate. At the same time, the speed of V2 is controlled by PID, when the range of V1 varies from 0 to 1500 mm/s, the maximum and minimum value of the proportional factor P of PID corresponding to V1 is found. Then, the scaling factor of the sliding mode P is further calculated. When the V1 changes, the actual value of the sliding mode P can be calculated by multiplying the change value of the V1 with the change of the ratio of the sliding mode P, so that a certain sliding mode parameter P is obtained when the plate speed V1 is changed in a certain range, which ensures that the V2 can dynamically and accurately track the V1, the cutting accuracy meets the requirements of wood-based panel standards. The algorithm proposed in this paper was applied to the production line of continuous flat press in Deli Wood Industry Limited Company in Guangxi Province. The sliding mode PID control algorithm presented in this pater solved problems that the cutting accuracy unable to reach the request. And the problems that the varies of the speed of the continuous flat p

关 键 词：连续平压机 高速锯切 滑动模态PID算法 

分 类 号：TS642[轻工技术与工程] TP391.7[自动化与计算机技术—计算机应用技术]