带摆动机构的多线切割机的线性H_∞张力控制

摘要

针对常规张力控制在带摆动机构的多线切割机系统中精度不高,非线性干扰不稳定的问题,本文分析了系统结构和控制难点,采用干扰观测的线性H∞张力控制建立子系统模型,充分考虑系统中具有子系统模型的动态干扰和未建模动态干扰以及参数和结构的不确定性引起的误差,并给出解决方案.研究了线性H∞控制系统的稳定性,并在系统稳定的条件下,利用Chelosky分解方法,得到动态方程的解,大幅提高系统响应速度.样机的实验结果表明该系统具有系统张力波动小,稳定性能好,断线率低的特点.%To deal with the low control precision and the nonlinear interference in the normal control of a multi-wire saw with rocking mechanism,a linear H-infinity control algorithm with disturbance observer is proposed.The algorithm gives a solving project in considering both errors caused by dynamic disturbances of the subsystem model and unmodeled dynamic disturbances,along with the uncertainties in parameters and the structure of the multi-wire saw with rocking mechanism.The stability of linear H-infinity control systems is studied;and under the conditions of the system stability,the analytical solution of dynamic equation is obtained by using the method of Chelosky decomposition.The speed of system response is improved significantly.Experimental results on a model machine show a small tension variation,a desirable stability performance and a low value of the break line ratio.