Tension Active Disturbance Rejection Control of Automatic Yarn Splicing Robots for Ring Spinning  

环锭纺细纱自动接头机器人张力自抗扰控制

作　　者：WANG Lisu CAI Yun JI Cheng WANG Junliang 王立甦;蔡赟;季承;汪俊亮(东华大学人工智能研究院,上海201620;无锡一棉纺织集团,江苏无锡214101)

机构地区：[1]Institute of Artificial Intelligence,Donghua University,Shanghai 201620,China [2]Wuxi No.1 Cotton Mill Textile Group CO.LTD.,Wuxi 214101,China

出　　处：《Journal of Donghua University(English Edition)》2024年第5期505-512,共8页东华大学学报（英文版）

基　　金：National Natural Science Foundation of China(No.52275478);Fundamental Research Funds for the Central Universities,China(No.2232024Y-01);DHU Distinguished Young Professor Program,China(No.LZB2023001)。

摘　　要：Automatic splicing of interrupted yarns in ring spinning has always been a problem in the industry.Factors such as low yarn strengths and environmental influence on yarn tensions make it difficult to control the yarn tension during the robotic splicing process.The purpose of this research is to design active disturbance rejection control(ADRC)for a third-order nonlinear tension system subject to external disturbances.Firstly,a third-order extended state observer(ESO)is designed to achieve the suppression and the compensation of the internal modeling error and the external disturbances of the system.Secondly,the adaptive gain error feedback control and the filtering process are designed to reduce the influence of sensor noise on the disturbance observation.Finally,the tension control during the splicing process is simulated and experimented,and the experiments show that the method has good robustness in the tension tracking task under a dynamic environment,which verifies the effectiveness of the method.环锭纺工艺中断纱的自动接头一直是行业难题。纱线强度低、纱线张力受环境因素影响等因素使得机器人接头过程中的纱线张力难以控制。该文旨在解决受外部干扰的三阶非线性张力系统的自抗扰控制问题。首先,设计了三阶扩张状态观测器,以实现对系统内部建模误差和外部干扰的抑制和补偿;其次,设计了可变增益误差反馈控制率和滤波过程减少传感器噪声对扰动观测的影响;最后,对接头过程中的纱线张力进行模拟和试验验证。试验表明,该方法在动态环境下的张力跟踪任务中具有良好的鲁棒性,该方法的有效性得到验证。

关 键 词：yarn splicing robot tension control active disturbance rejection control(ADRC) extended state observer(ESO) 

分 类 号：TS11[轻工技术与工程—纺织材料与纺织品设计]