多线切割机的速度同步控制

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...

Speed synchronization control of multi-wire saw

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.