不确定无卡旋切机变速进给滑模控制

Variable Speed Feed Sliding Mode Control of the Uncertain Log-core Veneer Lathe

为了实现无卡旋切机的木材均匀厚度旋切,针对其变速进给系统的精确速度匹配控制问题,首先分析一类恒线速无卡旋切机的工作机理,建立其带总体不确定项的旋切厚度控制运动学模型,进一步通过引入新的控制变量,获得不确定系统闭环误差控制模型。其次,基于滑模控制方法提出一种可补偿系统不确定性的鲁棒控制器,通过指数趋近律来降低滑模抖振现象。再次,基于Lyapunov理论进行控制器设计,保证闭环系统渐进收敛。最后,通过仿真实验验证了设计控制器的有效性。

In order to achieve uniform wood thickness for the log-core veneer lathe,in response to the problem of precise matching speed control of its variable speed feed system,firstly,the working mechanism of a type of constant linear speed log-core veneer lathe is analyzed,and a kinematic model of its rotary cutting thickness control with overall uncertainty is established.Secondly,by introducing new control variables,a closed-loop error control model of the uncertain system is obtained.Then,based on the sliding mode control method,a robust controller that can compensate for system uncertainty is proposed,which reduces sliding mode chattering phenomenon through an exponential reaching law.Thirdly,the controller design is based on Lyapunov theory to ensure the asymptotic convergence of the closed-loop system.Finally,the effectiveness of the controller in the paper was verified through simulation experiments.