织机经纱张力自适应滑模控制器的设计与仿真

Design and simulation of an adaptive sliding mode controller for loom warp tension control

针对织机送经卷取系统中的经纱张力控制问题,对被控对象的动力学模型和经纱张力的控制算法进行了研究,分析了织机开口机构的周期性运动对经纱张力的影响,采用了正弦信号模拟控制系统的外界干扰,提出并设计了一种自适应滑模控制器以用于经纱张力控制,利用其滑模控制算法应对被控对象模型中的参数不确定性和其自适应控制算法对外界干扰进行了学习,并与一个PID控制器和一个传统滑模控制器进行了对比。研究结果表明,该自适应滑模控制器可以应对被控对象模型中的参数不确定性,能够实现对外界干扰的有效学习和精确补偿,具有鲁棒性强、控制精度高等优点。

Aiming at warp tension control of a let-off and take-up system of a loom, dynamical plant models and effective control techniques for warp tension control were investigated. The influence of periodic shedding motions was analyzed and a sinusoidal signal was utilized to simulate the external disturbance of the system. An adaptive sliding mode controller was designed for warp tension control, of which the slid- ing mode control method was utilized to handle parametric uncertainties and the adaptation method was utilized to estimate the external disturbance. A PID controller and a conventional sliding mode controller were proposed for comparison. The results indicate that the proposed adaptive sliding mode controller possesses strong robustness and excellent control performance due to its capability of handling the parametric uncertainties existing in the plant model and compensating for the external disturbance of the system effectively.