凹印机套色系统的自抗扰解耦控制

Active disturbance rejection and decoupling control of gravure press register system

无轴凹印机套色系统的运行过程中存在各种形式的扰动,且各色组的套色误差通过张力传递相互耦合,严重影响系统的套准精度,必须进行解耦和抗扰控制.本文在建立了凹印机套色系统的近似数学模型的基础上,将扩张状态观测器与前馈相结合,提出了一种新的自抗扰控制策略.把一个强耦合、大扰动、模型不确定的复杂非线性系统动态补偿为近似的二阶线性系统,降低了系统的控制难度,改善了系统的动态性能,并使系统具有自抗扰的能力.仿真结果表明,与传统的前馈控制和非线性控制相比,该算法使系统控制误差的收敛速度加快,动态响应性能更优越,实现了色组间的解耦并使系统具有良好的抗扰性能.

In the running process of non-shaft gravure press, there exist various forms of disturbances;the register error of each unit couples with that of other units through tension propagates which seriously affects the system registration accuracy. Therefore, decoupling and disturbance rejection control is required. The approximate mathematical model for printing press is established, and a new decoupling and disturbance rejection control strategy which combines extended state observer with feedforward is proposed. It turns the complicated nonlinear system with strong coupling, large disturbance and model uncertainty into an approximate second-order linear system through dynamic compensation, thus, reducing the control difficulty of the system and improving the system dynamic performance and active disturbance rejection ability. Simulation results show that compared with traditional feedforward control and nonlinear control, the proposed method brings higher convergence speed for the control error and improves the dynamic response performance, decouples between units and provides good disturbance rejection performance.