摘要
为减小固体火箭发动机绝热层缠绕成型过程中各电机间的同步运动误差,提高缠绕成型质量,提出一种基于自适应反步滑模的偏差耦合控制策略。首先,分析缠绕过程中多个电机同步运动对缠绕成型质量的影响,确定缠绕成型伺服控制方案。然后,建立永磁同步电机数学模型,设计自适应反步滑模控制器,采用tanh函数代替sgn函数并设计非线性干扰观测器进行改进;设计偏差耦合控制器对多轴同步运动进行控制。最后,在MATLAB/Simulink中搭建仿真模型进行验证。结果表明,所提控制系统中各电机响应速度快,鲁棒性高,同步误差小,满足绝热层缠绕成型同步运动控制要求。
In order to reduce the synchronous motion error between motors in heat insulation winding process of solid rocket and improve the winding quality,a relative coupling control strategy based on adaptive backstepping sliding mode is put forward.Firstly,the impact of synchronous motion of multiple motors in the winding process on winding quality is analyzed so as to determine the servo control scheme for winding molding.Secondly,a mathematical model of permanent magnet synchronous motor is established to design an adaptive backstepping sliding mode controller.To improve the controller,the sgn function is replaced by the tanh function and a nonlinear disturbance observer is developed.Additionally,a relative coupling controller is designed for multi-axis synchronous motion control.Finally,the simulation model is built in MATLAB/Simulink for validation.The results show that the motors in the control system studied in this paper have rapid response speed,high robustness and small synchronization error,which meets the requirements of synchronous motion control of heat insulation winding molding.
作者
陈凯印
侯增选
张伟超
李宏利
CHEN Kaiyin;HOU Zengxuan;ZHANG Weichao;LI Hongli(State Key Laboratory of High performance Precision Manufacturing,Dalian University of Technology,Dalian 116024,China)
出处
《机械与电子》
2025年第7期41-47,53,共8页
Machinery & Electronics
关键词
绝热层
缠绕成型
同步运动
自适应反步滑模
偏差耦合
heat insulation
winding molding
synchronous motion
adaptive backstepping sliding mode
relative coupling
