Research On Comtrol Strategy Of Traction Device For Reciprocating Pultrusion Molding Line

Glass fiber materials have excellent performance and many excellent characteristics,such as high specific strength,stable size and good corrosion resistance.As non-metallic materials,glass fiber materials have broad application prospects and occupy an important position in inorganic non-metallic materials.It is precisely because of the excellent characteristics of glass fiber,it is widely used in aerospace,mechanical electronics,biochemistry and many other fields.Pultrusion molding machine is a commonly used molding machine for glass fiber composite materials.It can be pultruded to produce glass fiber materials or other composite materials with the same cross-section shape and arbitrary length and width.The traction device of the pultrusion molding machine is an important part of the pultrusion molding machine.The traction system used in this system is a reciprocating traction device,which is operated alternately by two traction equipment to complete the uninterrupted traction of the glass fiber pipe.The driving system of traction device mainly adopts servo direct drive hydraulic system,which is mainly composed of permanent magnet synchronous motor,quantitative pump and hydraulic cylinder.By controlling the speed of permanent magnet synchronous motor,the flow into the hydraulic cylinder is controlled,and the driving speed of the hydraulic cylinder is controlled.Due to the fluctuation of traction speed in the process of pultrusion molding machine,the surface quality of the pulled glass fiber pipe is seriously affected.In order to solve the problem of traction speed fluctuation of the reciprocating traction device,the causes of traction device speed fluctuation are analyzed and the solutions are put forward.On the basis of above,the servo direct drive hydraulic system of traction device is studied,the control principle of servo direct drive traction system is analyzed,and the control scheme is designed.The mathematical model of permanent magnet synchronous motor and hydraulic part is established,and the key components of traction system are selected.Based on the actual model,the AMESim simulation model is built,and the AMESim simulation parameters are set according to the actual system.After the simulation model is built,the control system is designed,so as to improve the control effect of traction device.An improved active disturbance rejection controller based on smooth fal function and feedforward disturbance compensation is proposed.The core fal function of traditional active disturbance rejection control algorithm is redesigned by interpolation fitting of sine function and arctangent function.The superiority of the designed smooth fal function is verified by MTALAB.After that,feed forward compensation is carried out for the active disturbance rejection control algorithm through various velocity error amount,and an active disturbance rejection controller containing feed forward disturbance compensation is built in simulink.The joint simulation research is carried out through the interface and AMESim,and four commonly used signals are taken as input signals respectively to observe the response curve of the simulation experiment of the system.It is verified that the control performance of the improved active disturbance rejection controller is better than that of the traditional active disturbance rejection controller in terms of response speed,steady-state accuracy and anti-interference ability.Finally,the experimental platform was built,and the active disturbance rejection controllers before and after the improvement were tested by the test platform respectively.The experiments were carried out under the set traction speed of 0.2 m/min and 0.1 m/min signals respectively.The experimental curves were consistent with the simulation curves,which verified the accuracy of the simulation model.The advantages of the improved ADRC compared with the traditional ADRC are verified.Finally,the pipes produced by the ADRC before and after the improvement are compared and analyzed.The results show that the improved ADRC can effectively improve the surface quality of pipe products and reduce the speed fluctuation of the reciprocating traction device.