自适应滑模摩擦补偿在隔膜张力控制中的应用

为稳定放卷张力,提出了自适应滑模摩擦补偿控制算法,对放卷机构中的负载惯量与摩擦进行在线辨识。以放卷电机的转速和角位移误差为变量设计了线性滑模面;以惯量及摩擦估计误差变量及滑模面的偏移变量为基础设计了Lyapunov函数;以该函数的梯度下降为原则设计了在线辨识的自适应律。当系统在自适应滑模控制器的作用下稳定在滑模面上时,负载惯量及摩擦便趋近于其实际值。通过该摩擦补偿方法实现了张力控制目标。对所提方法进行单轴仿真及试验验证,表明该算法能有效提高张力的控制精度。

Application of Adaptive Sliding Mode Friction Compensation in Tension Control

In order to stabilize the unwinding tension,an adaptive sliding mode friction compensation control algorithm is proposed,and the load inertia and friction in the unwinding mechanism are identified online. A linear sliding mode surface was designed for the velocity and angular displacement errors of the unwinding motor as variables. The Lyapunov function was designed based on the inertia and friction estimation errors and the displacement of the sliding mode surface. The adaptive law was designed based on the gradient descent of the function. When the system is stabilized on the sliding surface under the effect of the controller,the load inertia and friction will approach their actual values. Through this friction compensation method,the goal of tension control is achieved. The proposed method is verified by uniaxial simulation and experiment,which shows that the algorithm can effectively improve the control accuracy of tension.