自动网面插接机拍打力建模及控制方法研究

Modeling and Control Methods for Tapping Forces of Automatic Forming Fabrics Seam Equipment

中文关键词:  自动插接机  网面拍打力控制  造纸滤网  PID控制

Key Words:automatic fabric seam equipment  control of tapping force  forming fabrics  PID control

中文摘要:

      自动插接机是造纸滤网制造的核心装备。目前，该装备技术被国外公司垄断，国内在该特种装备的研发上尚处于起步阶段。网面的插接过程工艺繁杂，其中最主要的挑战之一在于如何稳定控制插接过程中对纬线的拍打力，这直接决定了插接网面的质量。本课题首先针对影响拍打力的主要机构——抽线机构、拍打机构及行走机构分别进行分析，对抽线机构进行了运动学建模，并且建立了网面拍打力的几何受力模型，进而得出影响拍打力的两个主要因素——插接机行进距离dx和抽线角γ。然后，在受力模型的基础上，建立了插接机的简化动力学模型并基于PID控制器系统设计了拍打力控制框架。最后，在样机现场采样数据的基础上，通过仿真对比实验验证了所设计的控制框架对拍打力的控制效果。从实验结果上看，通过对插接机dx和γ的解耦独立控制，能够有效实现对拍打力的稳定控制。本文为提升国产插接机装备的插接网面质量提供了重要参考依据。

Abstract:

      Automatic forming fabric seam equipment is the core equipment of forming fabrics manufacturing. Currently， this equipment is mainly monopolized by foreign companies， and the domestic research and development on this special equipment is still in its infancy. One of the main challenges in the process of seaming is how to control the tapping force on the weft during the process， which directly determines the quality of the forming fabrics. This paper first analyses the main mechanisms that influence the tapping force—the tapping force， the wire extraction and the tapping travel mechanism—the kinematic modeling of the wire extraction mechanism is carried out， and establishes a geometric force model for the tapping force of the forming fabric， which in turn leads to two main factors that influence the force—the travel distance of the equipment and the wire extraction angle. Based on the force model， a simplified kinetic model of the equipment is then developed and a PID controller is used to design the system’s tapping force control framework. Finally， the proposed control framework is validated by comparative simulations based on field sampling data from the prototype. The experimental results show that the decoupled independent control of the moving distance and the extraction angle can effectively achieve stable control of the tapping force. This paper provides an important methodological reference for improving the quality of the forming fabrics of the domestic automatic forming fabrics seam equipment.