包装机械多轴相邻交叉耦合同步控制

Multi-axis Synchronous Control for Packaging Machinery Based on Adjacent Cross-coupling

目的为提高包装机械的同步控制性能,以实现高速、高精度的包装过程。方法以三伺服全自动枕式包装机械的速度同步控制为研究对象,分析了三伺服枕式包装机的工作过程。针对主从同步控制的精度不高等问题,提出一种基于相邻交叉耦合控制算法的包装机械三轴同步控制方法。详细论述三轴同步控制的基本原理,并给出具体的控制模型。结果该控制方法不仅考虑各轴自身的跟踪误差,而且还包括与相邻两轴之间的同步误差,可以弥补主从控制方式的不足。结论仿真和实验结果表明该控制策略不仅同步性高、稳定性好,而且收敛速度较快。

In order to promote the speed and precision of packaging process, the synchronous control performance of packaging machinery should be improved firstly. In this paper, the speed synchronization control of three-servo automatic pillow packing machine was considered as the research object and its working process was analyzed. Considering the imprecision of master-slave synchronization control method, a three-axis synchronous control method for packaging machinery was put forward based on adjacent cross coupling control algorithm. The basic principle of three-axis synchronous control was discussed in detail. Meanwhile, the specific control model was also given. The control method did not only consider the tracking error of each axis itself, but also considered the synchronization error between the two adjacent axes. It could make up the deficiency of the master-slave control mode. Simulation and experimental results showed that the proposed control strategy had high synchronicity, good stability and fast convergence speed.