基于串级自抗扰的三维编织机同步控制

Multi-motor synchronization control of three-dimensional braider based on cascade active disturbance rejection

为提高旋转式三维编织机的编织效率,研究三维编织机同步控制方法,设计基于速度环的偏差耦合同步控制结构和串级自抗扰位置同步控制器;利用Simulink建立双电动机的同步控制模型并仿真分析,对比并行同步控制结构和引入速度补偿器的偏差耦合同步控制结构的跟随性能和抗干扰能力,并在偏差耦合结构基础上引入串级自抗扰控制器。仿真结果表明:基于串级自抗扰的耦合同步控制结构能实现三维编织机稳定的运行、良好的速度跟随性能以及较强的抗干扰能力,显著提高三维编织机的位置同步精度,提高旋转式三维编织机编织效率。

A multi-motor synchronous control strategy of 3D braider was applied to improve the braiding efficiency of the rotary three-dimensional braider.The deviation-coupled synchronous control structure based on the speed loop and the cascaded ADRC position synchronization controller were designed.Simulink was used to establish the synchronization control model of two motors and make the simulation analysis.The follow-up performance and anti-interference ability of the parallel synchronous control structure and the deviation-coupled synchronous control structure with the speed compensator were compared,and the cascade ADRC was introduced in the deviation-coupled synchronization structure.The simulation results show that the coupled synchronous control structure based on cascade ADRC can achieve stable operation,good speed following performance and strong anti-interference ability,which will significantly improve the position synchronization accuracy of 3D braider and increase the braiding efficiency.