基于负载观测器的服装吊挂运输系统滑模控制  

Sliding mode control in clothing hanging transportation system based on load observer

作　　者：刘艾琳[1] 林志豪[1] 孙以泽[1] 

机构地区：[1]东华大学机械工程学院,上海201620

出　　处：《毛纺科技》2017年第6期56-61,共6页Wool Textile Journal

摘　　要：针对服装吊挂流水线中工件不断进出站导致主导轨运行负载转矩发生突变,引起系统速度输出不稳定最终导致工件进出站故障的问题,在导轨运输控制系统中引入基于负载转矩观测器的滑模控制方法。首先,对基于步进电动机驱动的运输系统进行数学建模。其次,将负载转矩观测器与滑模控制相结合,以负载转矩和转速作为观测对象,以转子实际角度位置与观测角度位置之差作为滑模面,将观测到的负载转矩进行前馈补偿,以克服负载突变对控制性能的影响。最后,通过实际参数对该算法进行仿真,并与传统滑模控制算法进行对比。结果表明:该控制方法能对负载转矩的突变进行有效观测,采用前馈补偿方案使系统对负载扰动有较强的鲁棒性,能高精度的对提升臂系统进行速度跟踪,具有实际应用价值。Aiming at the problem that workpieces are constantly in and out of the station leading to the load of main rail change, which will cause instability in the motor step angle output and a fault when hanging frames are out of station, sliding mode control based on load observer algorithm was proposed to control the clothing hanging transportation system. Firstly theoretical model of the three-phase stepping motor in the transportation system was conducted. Secondly, based on the model, combined sliding mode control algorithm with load observer. Then it regarded the load torque and speed as the observation object, took the difference between the actual motor angle position and the observation angle position as the sliding surface, and feedforwarded compensation of observed load torque to overcome the influence of load time variation on control performance. Lastly, by means of simulated analysis to which actual parameters in the production applies, the result indicated that compared with the traditional the sliding mode control algorithm, this control strategyt can effectively observe the abrupt change of load torque and has stronger anti-interference ability, improving the accuracy of clothing hanging pipeline hanging frames out of station. This method has practical application value.

关 键 词：服装吊挂 步进电动机 滑模控制 负载观测 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TS941.5[自动化与计算机技术—控制科学与工程]