| 引用本文: | 蒋近,戴瑜兴,郜克存,彭思齐.多线切割机的速度同步控制[J].控制理论与应用,2011,28(2):279~283.[点击复制] |
| JIANG Jin,DAI Yu-xing,GAO Ke-cun,PENG Si-qi.Speed synchronization control of multi-wire saw[J].Control Theory and Technology,2011,28(2):279~283.[点击复制] |
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| 多线切割机的速度同步控制 |
| Speed synchronization control of multi-wire saw |
| 摘要点击 1809 全文点击 1388 投稿时间：2010-03-02 修订日期：2010-09-01 |
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| DOI编号 |
| 2011,28(2):279-283 |
| 中文关键词 多线切割机 多轴 速度同步控制 李雅普诺夫函数 |
| 英文关键词 multi-wire saw multi-axis speed synchronization control Lyapunov function |
| 基金项目 国家发改委资助项目([2009]1168); 国家科技重大专项资助项目(2009ZX02011-002); 湖南省重点科技计划资助项目(2009CK2005). |
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| 中文摘要 |
| 介绍了多线切割机的总体结构, 说明了它的工作原理, 针对钢丝线张力波动的问题, 提出了一种基于相邻轴速度误差的多轴同步控制策略. 以收放线电机和主电机为控制对象, 定义了多轴系统的跟踪误差和同步误差, 引入了相邻轴速度误差的概念, 设计控制转矩满足电机的运动方程, 使得相邻轴速度误差及其微分趋于零, 实现多轴的同步控制. 采用李雅普诺夫函数证明了算法的收敛性和稳定性. 仿真和实验表明该控制策略不仅同步性高、稳定性好、收敛速度快, 而且张力控制精度高、波动范围小. |
| 英文摘要 |
| The overall structure of the multi-wire saw is introduced and its working principle is explained. To deal with the fluctuation problem of wire tension, a multi-axis synchronization control strategy is put forward based on the speed error on the adjacent axis. In this strategy, the supply/collect spool motor and main motor are considered the control objects. By defining the tracking error and the synchronization error for the multi-axis system, and introducing the speed error on the adjacent axis, we design a torque control scheme based on the dynamic equations of the motor to make the speed error and its derivative tend to zero, thus realizing the multi-axis synchronization. The convergence and the stability of the algorithm are proved by using the Lyapunov function. Simulations and experiments show that this strategy provides not only the high synchronization precision, good stability and high convergence rate, but also the high control precision and small fluctuation range of tension. |
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