服装吊挂提升臂系统的模糊滑模控制方法研究

Research on the gain adaptive fuzzy sliding mode control in clothing hanging pipeline ascension arm device

针对服装吊挂流水线提升臂系统中工件负载变化和外界干扰引起速度输出不稳定最终导致吊架进出站故障的问题,在提升臂控制系统中引入模糊滑模控制方法。首先,对提升臂系统进行数学建模。其次,设计模糊滑模控制器,利用隶属函数将切换增益模糊化,依据稳定性理论确定的模糊规则对切换增益进行调节,并运用处理后的滑模控制律控制具有随机干扰的提升臂系统。最后,在Matlab环境下,通过系统实际参数进行仿真,实验结果表明,该控制方法相对于传统滑模控制响应时间更短,抗干扰能力更好,同时解决了传统滑模控制存在的抖振问题,验证了设计的控制器能够高精度的对提升臂系统进行速度跟踪,具有实际应用价值。

Aiming at the problem that the input signal of the lifting clothing hanging pipeline ascension arm device system could be easily interfered by external disturbance, which will cause instability in the motor step angle output and a fault when hanging frames are out of station,gain adaptive fuzzy sliding mode control algorithm was proposed to control the lifting arm drive motor system. Firstly theoretical model of the three-phase stepping motor in the lifting arm was conducted. Secondly,based on the model,designed gain adaptive fuzzy sliding mode control algorithm. The fuzzy control device used the membership function to fuzz the switching function of sliding surface and then made an estimation and adjustment of the switching gain according to the fuzzy reaching condition. Lastly,by means of simulated analysis to which actual parameters in the production applies,the result indicates that compared with the traditional the sliding mode control algorithm, this control strategy can suppress the environmental interference and realize a high precise and fast position tracking. Meanwhile,the strategy overcomes the jitter of input control signal which exists in the traditional algorithm and will cause instability of the system,improving the accuracy of clothing hanging pipeline hanging frames out of station,this method has practical application value.