基于NDO与IWOA-FOPID的送标器张力控制

Tension Control of Label Feeder Based on NDO and IWOA-FOPID

为改善贴标机工作时,其核心部件送标器张力控制的精度不高、抗干扰能力差的问题,设计了基于改进鲸鱼优化算法(IWOA)的分数阶PID(FOPID)控制器,以保证能够充分发挥FOPID控制器性能。考虑到送标器卷绕时存在诸的多干扰,以送标器状态空间模型为基础,设计了非线性干扰观测器(NDO)用以抵消系统干扰。在MATLAB软件上,对控制器各个部分性能做了对比验证。仿真结果表明,改进后的IWOA改善了原算法过早收敛的缺点,在与FOPID控制器结合后有效抑制了系统超调、加快了响应速度;且加入NDO后,系统因干扰产生的震荡能够减少82.94%,提升了系统的鲁棒性,有一定的实用价值。

In order to improve the low accuracy and poor anti-interference ability of the tension control of the core component of the labeling machine, a Fractional Order PID (FOPID) con-troller based on the improved whale optimization algorithm (IWOA) is designed to ensure that the performance of the FOPID controller can be fully exerted. Taking into account the multi disturbance in the winding of the marker, a nonlinear disturbance observer (NDO) is designed to cancel the sys-tem disturbance based on the state space model of the marker. On the MATLAB software, the per-formance of each part of the controller is compared and verified. The simulation results show that the improved IWOA improves the premature convergence of the original algorithm, effectively suppresses the system overshoot and accelerates the response speed when combined with the FOPID controller;Moreover, after adding NDO, the oscillation caused by interference can be reduced by 82.94%, which improves the robustness of the system and has certain practical value.