基于自抗扰控制的放卷系统张力控制器设计

Design of Tension Controller of Unwinding System Based on Active Disturbance Reje ction Control

目的在印刷机放卷系统中,利用自抗扰控制(ADRC)技术,提出一种张力控制的新方法。方法根据放卷系统的工作机理,首先建立放卷张力系统的非线性数学模型,推导了系统阶数和输入系数。然后针对所建立的放卷张力系统数学模型,利用ADRC技术设计放卷系统的张力观测器和张力控制器。最后通过仿真和实验验证所设计的张力控制器的内部鲁棒性和抗干扰性能。结果在ADRC控制下,张力T2不受辊筒1半径R1和辊筒2角速度ω2变化的影响,能够快速无超调地达到稳定值60 N;随着R1的减小和ω2的增大,ADRC控制下产生的误差无论从数值上还是持续时间上都比PID控制下产生的误差小得多。结论仿真和实验的结果表明,所设计的ADRC控制器较传统PID控制器具有更好的鲁棒性和抗干扰性。

It aims to put forward a new method of tension control for unwinding process of printing machine based on active disturbance rejection control（ADRC） strategy. Firstly, according to the working mechanism of unwinding system, a nonlinear mathematical model was established for the unwinding system to derive system orders and input coefficients. Then tension controller and tension observer were designed based on the model and the ADRC technology. Finally the internal robustness and disturbance rejection of the tension controller were demonstrated by simulating and experimental study. Under the control of ADRC, the tension T2 was not affected by the change of R1 and ω2, and the stability of the 60 N was achieved quickly without overshoot; with the decrease of R1 and the increase of ω2, the error generated by ADRC control was much smaller than that of PID. According to the results of simulation and experiments, the proposed ADRC controller has better internal robustness and disturbance rejection than traditional proportional-integral-derivative（PID） controller.