多股张力均衡的捻制装备自适应控制技术  

Multi-strand tension balance with self-adaptive control in twisting equipment

作　　者：孙毅[1] 俞越 单继宏[1] 包冠宁 印鑫龙 SUN Yi;YU Yue;SHAN Jihong;BAO Guanning;YIN Xinlong(College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China;Ningbo Kaite Machinery Co., Ltd., Ningbo 315600, China)

机构地区：[1]浙江工业大学机械工程学院,浙江杭州310014 [2]宁波凯特机械有限公司,浙江宁波315600

出　　处：《计算机集成制造系统》2021年第12期3559-3569,共11页Computer Integrated Manufacturing Systems

基　　金：国家自然科学基金资助项目(51675484);宁波市重大科技资助项目(201701ZD-A01175);浙江省重大科技资助项目(2022C01209)。

摘　　要：为解决钢缆捻制中多丝股的张力不均衡问题,针对丝股行进运动与捻制运动的干扰因素,研究了基于自抗扰技术的张力自适应控制方法。基于Hamilton力学系统建立了等效丝股旋转运动下的轴向行进索模型,获得了丝股行进索动力学方程。为实现多丝股捻制张力均衡协调,抑制不同路径对丝股张力的影响,根据丝股捻制运动机理分析丝股运动过程中受到的摩擦干扰,设计了基于自抗扰控制器的多丝股张力协调控制策略;为解决丝股张力稳态误差及其导致的张力波动问题,设计了基于相邻耦合误差的双电机转速同步系统。建立了单跨度丝股张力响应MATLAB/Simulink仿真模块,构建了模块化的多丝股捻制运动张力控制仿真系统模型;分析了多丝股捻制过程中的运动特性,验证了张力自适应控制系统在丝股捻制过程中协调张力均衡、抑制张力波动的有效性。To solve the problem of unbalanced tension of multiple strands in cable twisting,an adaptive tension control method based on active disturbance rejection control was researched for the interference factors of wire strand travelling and twisting.Based on the Hamilton mechanical system,an axial travelling cable model under equivalent strand rotational motion was established,and the dynamic equation of the travelling strand was obtained.To suppress the influence of different paths on the tension of the strands,the friction of the strands were analyzed according to the mechanism of the twisting motion.To achieve the coordination of twisting tension of multiple strands,a coordinated tension control system of the strands was designed based on active disturbance rejection control.The steady state error and the fluctuations of the tension caused by dual-motor speed synchronization system based on adjacent coupling errors were solved.A MATLAB/Simulink simulation module for single-span strand tension response was established,and the modular multi-strand twisting motion tension control simulation system model was constructed.The motion characteristics of multi-strand were analyzed to verify the effectiveness of the tension adaptive control system to coordinate tension and suppress fluctuations.

关 键 词：捻制装备 多股张力均衡 张力自适应 自抗扰控制 多电机同步 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TH113.1[自动化与计算机技术—控制科学与工程]