基于LADRC的高速龙门式包带机TS-FNN同步控制  

TS-FNN Synchronous Control of RESO-Based High-Speed Gantry Belt Wrapping Machine

作　　者：伍泊錞 孙晓[1] 雷张文 解玉成 WU Bochun;SUN Xiao;LEI Zhangwen;XIE Yucheng(School of Mechanical Engineering,Hunan University of Technology,Zhuzhou 412007,China;Zhuzhou Guochuang Track Technology Co.,Ltd.,Zhuzhou 412005,China)

机构地区：[1]湖南工业大学机械工程学院,株洲412007 [2]株洲国创轨道科技有限公司,株洲412005

出　　处：《组合机床与自动化加工技术》2023年第6期168-172,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：湖南省自然科学研究基金资助项目(2021JJ50053);湖南省自然科学研究基金资助项目(2020JJ6078);湖南省研究生科研创新基金资助项目(CX20201030)。

摘　　要：针对高速龙门式包带机的驱动过程平行轴产生噪声、振动和卡滞等问题,造成其驱动过程不同步的影响,提出一种降阶扩张状态观测器(reduced-order extended state observer,RESO)的线性自抗扰控制(linear active disturbance rejection contro,LADRC)控制器和TS型模糊神经网络(TS fuzzy neural network,TS-FNN)同步补偿器相结合的控制方法。首先,针对高速龙门式包带机单轴的噪声、摩擦力和振动对伺服系统控制精度的影响,采用RESO的LADRC算法,以抑制控制系统的外部扰动和减少参数调节数量,从而提高位置跟踪精度;同时,针对平行轴中双直线电机因参数摄动和机械耦合等不确定扰动对位置同步精度的影响,采用交叉耦合的控制方法并结合TS-FNN同步补偿器来提高两平行轴的同步精度。通过实验对比验证,所采用的控制策略能有效减少高速龙门式包带机的单轴的跟踪误差,并提高平行轴的同步误差和抗扰性。Aiming at the problems of noise,vibration and jamming caused by noise,vibration and jamming in the parallel axis of the drive process of the high-speed gantry wrapping machine,a linear active disturbance rejection control of the reduced-order extended state observer is proposed.A control method that combines a LADRC controller and a TS-type fuzzy neural network synchronous compensator.First of all,in view of the influence of noise,friction and vibration of the single axis of the high-speed gantry wrapping machine on the control accuracy of the servo system,RASEO′s LADRC algorithm is used to suppress the external disturbance of the control system and reduce the number of parameter adjustments,thereby improving the position tracking accuracy.At the same time,in view of the influence of the double linear motor in the parallel axis on the position synchronization accuracy due to uncertain disturbances such as parameter perturbation and mechanical coupling,the cross-coupling control method is adopted and the TS-FNN synchronous compensator is combined to improve the synchronization accuracy of the two parallel axes.Finally,through simulation and experimental comparison,the control strategy adopted can effectively reduce the tracking error of the single axis of the high-speed gantry wrapping machine,and improve the synchronization error and disturbance immunity of the parallel axis.

关 键 词：高速龙门式包带机 降阶扩张状态观测器 自抗扰控制 TS型模糊神经网络 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]