无传感参数自适应纱线卷绕张力控制方法

Sensorless parameter adaptive tension control method of winding yarns

为有效保持纱线卷绕系统中张力稳定,针对系统中存在的非线性和时变性参数,提出了一种基于张力观测器和参数自适应的无传感张力控制方法。首先,基于力矩平衡原理建立纱线卷绕系统数学模型,并设计了降阶张力观测器,将观测值作为系统输入前置反馈补偿值,避免了使用张力传感器带来的测量延迟;然后,采用Landau离散时间递推算法辨识卷绕系统的转动惯量,同时将辨识得到的转动惯量用于修改速度控制器的PI参数,提高了卷绕系统的动态性能;并以纱线卷绕系统为控制对象,对采用传统张力传感器和PI参数控制方法与本文提出的方法进行对比实验。结果表明,本文提出的无传感控制方法可明显减小转动惯量变化对张力的影响,具有良好的鲁棒性、动态响应性能和较高稳态精度。

In order to keep the tension stable in yarn winding system,in view of the nonlinear and time-dependent parameters in the system,this paper proposed a sensorless tension control method based on tension monitoring and parameter self-adaptation.According to the principle of torque balance,a mathematical model of the yarn winding system was established,a reduced-order tension monitoring device was designed,and the data obtained were used as the system pre-feedback compensation value to avoid measurement delay caused by the tension sensor.The Landau discrete-time recursive algorithm was then used to identify the moment of inertia of the winding system,and the identified moment of inertia was used to modify the PI parameters of the speed controller,which was used to improve the dynamic performance of the winding system.Comparison between the general PI parameter control and proposed sensorless parameter adaptive control shows that the proposed control method significantly reduces the influence of the change in the moment of inertia on the tension,and has good robustness,dynamic response performance and high steady-state accuracy.