基于前馈控制的经编机横移系统高速定位

摘要

经编机电子梳栉横移系统通常采用普通PID控制,难以满足梳栉横移高速、高响应和精准定位的要求.针对这一问题,在分析伺服电动机物理模型的基础上设计了由普通位置环、速度环和电流环组成的三闭环PID交流伺服控制系统,并在系统中引入电流环和速度环的前馈控制来提高梳栉的高速定位控制性能.通过MatLab软件的仿真测试和RSE4-1型高速经编机的上机实测表明,采用前馈PID控制可有效提高控制系统的指令跟踪性能,与普通PID控制的电子横移系统相比,梳栉定位时间缩短2 ms,取得了更高速的响应性和精准的定位效果.%In response to the difficulty of meeting the requirements of high speed, high response and accurate positioning of the electronic shogging system usually controlled by the conventional PID on warp-knitting machine, a three-closed-loop PID control system consisting of conventional position loop, speed loop and current loop was designed based on the analysis of physical model of servo motor. Introduction of the feedforward control of current loop and speed loop into the system improves the high-speed positioning control performance of the guide bar. Mat Lab simulation and practical operation on RSE4-1 high-speed warp knitting machine show that the signal tracking performance of the control system can be improved effectively by using the feedward PID control. Compared with the electronic shogging system controlled by the conventional PID control, its positioning time is shortened by 2 ms, with faster response and more accurate positioning.