[1]陈凯印,侯增选,张伟超,等.绝热层缠绕成型多轴控制方法研究[J].机械与电子,2025,(07):41-47.
　CHEN Kaiyin,HOU Zengxuan,ZHANG Weichao,et al.Research on Multi-axis Control Method in Winding Molding of Heat Insulation[J].Machinery & Electronics,2025,(07):41-47.
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绝热层缠绕成型多轴控制方法研究()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2025年07期
页码:
41-47
栏目:
自动控制与检测
出版日期:
2025-07-27

文章信息/Info

Title:
Research on Multi-axis Control Method in Winding Molding of Heat Insulation
文章编号:
1001-2257 ( 2025 ) 07-0041-07
作者:
陈凯印; 侯增选; 张伟超; 李宏利
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
Author(s):
CHEN Kaiyin ;  HOU Zengxuan ;  ZHANG Weichao ;  LI Hongli
( State Key Laboratory of High-performance Precision Manufacturing , Dalian University of Technology , Dalian 116024 , China )
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
Keywords:
heat insulation ;  winding molding ;  synchronous motion ;  adaptive backstepping sliding mode ;  relative coupling
分类号:
TP29 ;TB332
文献标志码:
A
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。
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 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.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2025-02-14
作者简介:陈凯印 ( 1999- ),男,山东泰安人,硕士研究生,研究方向为高性能精密制造;侯增选 ( 1964- ),男,陕西西安人,博士,教授,博士研究生导师,研究方向为自动化缠绕成型工艺与装备研制,通信作者, E-mail : hou@dlut.edu.cn 。
更新日期/Last Update: 2025-09-01