基于自抗扰控制的圆纬机恒张力输纱控制系统设计  

Design of constant yarn feeding tension control system for circular knitting machines based on active disturbance rejection control

作　　者：彭来湖[1] 谢国旺 戴宁 PENG Laihu;XIE Guowang;DAI Ning(Key Laboratory of Modern Textile Machinery&Technology of Zhejiang Province,Zhejiang Sci-Tech University,Hangzhou,Zhejiang 310018,China;College of Textile Science and Engineering(Intemational Institute of Silk),Zhejiang Sci-Tech University,Hangzhou,Zhejiang 310018,China)

机构地区：[1]浙江理工大学浙江省现代纺织装备技术重点实验室,浙江杭州310018 [2]浙江理工大学纺织科学与工程学院(国际丝绸学院),浙江杭州310018

出　　处：《纺织学报》2024年第1期211-219,共9页Journal of Textile Research

基　　金：浙江省科技尖兵计划项目(2022C01065)。

摘　　要：针对当前圆纬机积极式送纱方式中存在的纱线张力及输送速度不可任意调节、纱线张力波动大等问题,提出了一种可为圆纬机输送恒定张力纱线的输纱控制系统。构建了以无刷直流电动机速度环为内环、以纱线张力为外环的纱线恒张力双闭环反馈控制系统,通过自抗扰控制技术获取纱线实时动态指标,并对无刷直流电动机目标转速进行调整,最后通过磁场定向控制技术驱动无刷直流电动机。详细阐述了纱线张力的形成机制、纱线恒张力输送控制方案、系统硬件设计及控制算法。输纱测试表明,该控制系统可实现多种类型纱线的恒定张力输送。其中,棉纱张力波动标准差为1.5 cN(300 m/min测试条件),氨纶包芯纱的张力波动标准差为0.33 cN(240 m/min测试条件)。输纱速度的调节范围为0~600 m/min,纱线张力的控制范围为2.0~50.0 cN。Objective Yarn tension is a critical parameter in the textile process,and itsfluctuation directly affectsthe fabric quality.Aiming at the problems existing in the yarn feeding mode of circular knitting machines,such as large fluctuation of yarn tension,unadjustable yarn tension and feeding speed,a new yarn feeding control system based on active disturbance rejection control is proposed.Method Through the mathematical modeling of yarn tension,itsformation mechanism and influencing factors were clarified.Based on this,a series of design schemes were proposed,such as the control strategy of feeding with constant tension,the main hardware structure of the system,and the closed-loop control algorithm of yarn tension.The system used PID controller to control the speed loop of the brushless direct-current(DC)motor in the inner closed loop and and active disturbance rejection controller to control the tension loop of yarn in the outer closed loop.Both of them constituted the inner and outer double closed loop control system of constant tension yarn feeding on circular knitting machine.Among them,active disturbance rejection control technology was adopted to obtain real-time yarn dynamic index,and to combine each yarn dynamic index through a nonlinear combination method to obtain the corrected reference speed of the brushless DC motor.The reference speed was finally applied to the brushless DC motor through the field oriented control technology.It was adopted to adjust the yarn feeding speed and ensure that the yarn tension is maintained near the set value.Results The yarn feeding test showed that the system achieved better resultsin controlling yarn tension fluctuation and overshoot.Taking the first group of experimentsas an example,the yarn tension overshoot decreased by 50%and 54%,respectively,and the standard deviation of tension fluctuation decreased by 15%and 25%,respectively.The second group of experimentsalso reflected this rule,and it also showed that the fluctuation of yarn tension increased significantly with t

关 键 词：恒张力 输纱器 无刷直流电动机 磁场定向控制 自抗扰控制 圆纬机 

分 类 号：TS181.8[轻工技术与工程—纺织材料与纺织品设计] TS103.7[轻工技术与工程—纺织科学与工程]