机械与电子2025，Vol.43Issue(7)：41-47,53,8.
绝热层缠绕成型多轴控制方法研究
Research on Multi-axis Control Method in Winding Molding of Heat Insulation
陈凯印 1侯增选 1张伟超 1李宏利1
作者信息
- 1. 大连理工大学高性能精密制造全国重点实验室,辽宁大连 116024
- 折叠
摘要
Abstract
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 adap-tive backstepping sliding mode is put forward.Firstly,the impact of synchronous motion of multiple mo-tors 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.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Key words
heat insulation/winding molding/synchronous motion/adaptive backstepping sliding mode/relative coupling分类
信息技术与安全科学引用本文复制引用
陈凯印,侯增选,张伟超,李宏利..绝热层缠绕成型多轴控制方法研究[J].机械与电子,2025,43(7):41-47,53,8.
