径向环形编织机机电一体化系统建模及控制策略研究

Research on modeling and control strategy of mechatronics system for radial ring braiding machine

针对径向环形编织机电气特性与机械特性的差异导致的编织机电机易超载甚至被烧毁的问题,建立了编织机机电一体化系统模型。该模型包括编织环模型和牵引滑台模型,其中编织环模型由88个齿轮的闭合传动与4个永磁同步电机的同步驱动耦合而成,牵引滑台模型由永磁同步电机的驱动与滚珠丝杠的运动耦合而成。为了解决编织环上4个电机因齿侧间隙等的存在造成的负载不均,提出了转矩均衡控制方法,即:主电机受速度环和电流环双环闭合控制,从电机只受电流环控制;主电机速度环的输出量作为从电机电流环的给定量。为了较快地使编织环电机组的转速与滑台电机的转速满足协同关系,提出了跟踪性能与同步性能解耦控制方法即交叉耦合解耦控制方法,将跟踪误差补偿量按一定比例关系缩小至幅值以下,以凸显协调误差补偿的效果。进行了现场实验,结果表明,采取所提出的控制策略能够使编织环4个电机的输出转矩相差较小,而且在电机启动与加减速阶段可以使编织环主电机与滑台电机的转速达到协同要求的时间大幅缩短。根据控制策略设计了编织机伺服控制系统。研究结果对织物编织质量的提高起到了重要的指导作用。

In order to solve the problem that the electric motor of the radial ring braiding machine was easy to overload or even burn out due to the difference between the electrical characteristics and mechanical characteristics of radial ring braiding machine,the mechatronics system model of the braiding machine was established.The model included a braided ring model and a traction sliding table model.The braided ring model was coupled by the closed transmission of 88 gears and the synchronous drive of 4 permanent magnet synchronous motors,while the traction sliding table model was coupled by drive of permanent magnet synchronous motor and motion of ball screw.In order to solve the uneven load of 4 motors on the braided ring caused by the tooth side clearance,a torque balance control method was proposed,that was,the main motor was controlled by the speed loop and the current loop,and the slave motor was only controlled by current loop;the output of the speed loop of the main motor was taken as the given quantity of the current loop of the slave motor.In order to quickly make the speed of braided ring motor and the speed of sliding table motor meet the cooperative relationship,a decoupling control method for tracking performance and synchronous performance,i.e.cross coupling decoupling control method,was proposed.The tracking error compensation was reduced to less than the amplitude according to a certain proportion,so as to highlight the effect of coordinated error compensation.The field experiment results showed that,the proposed control strategy could make the output torque difference of the 4 motors of the braided ring smaller,and could greatly shorten the time for the speed of the braided ring main motor and the sliding table motor to meet the cooperative requirements in the motor start-up and acceleration and deceleration stages.According to control strategy,the servo control system of the braiding machine was designed.The research results play an important role in improving the weaving quality of fabrics.