Trajectory Optimization Algorithm Of Shaftless Drive Printing Machine And Its Hardware Implementation

While designing and controlling the servo system of shaftless drive printing machines,in order to eliminate the influences of chromatic deviations,tension changes,and other interference factors,additional real-time adjustment signal is needed to be applied to the printing roller.If the running trajectory of the motor is not smooth,it may cause overrun of velocity difference of adjacent printing rollers,which leads to that the printing material may be broken.Therefore,it is of practical significance to study on trajectory optimization of chromatic deviations of shaftless drive printing machines through reasonable configuration the given value of the controller in the servo system.With the shaftless drive printing machine as the project background and the servo system of the shaftless drive printing machine as the study object,this work focus on trajectory optimization of chromatic deviations of printing machine based on sliding mode variable,aiming at ensuring printing quality via trajectory optimization of printing machines.The main contributions are as follows:Based on a thorough study on the state-of-art of trajectory optimization of shaftless drive printing machines,different optimization strategies are compared and analyzed.A new control strategy of shaftless drive printing machine trajectory optimization is proposed,based on sliding mode variable,which poses high robustness.Aiming at the trajectory optimization during the starting and stopping procedure of printing machines,a printing machine trajectory optimization controller based on sliding mode variable is designed to decrease steady-state error.In this method,it reduces the system steady-state error in conventional proportion switching controller by adding continuous control unit,to ensure that the printing machine is started and stopped steadily.A trajectory optimization controller base on multi-segment sliding mode variable is proposed for robust trajectory optimization during the whole running process of the printing machine.Three different slidingmode surfaces and corresponding sliding mode controllers are designed in the controller,which lays the theoretical foundation for subsequent design of hardware circuits.For the hardware implementation of the proposed trajectory optimization algorithms,operational amplifier-oriented hardware circuits are designed for tests for the two methods,i.e.the sliding mode control and the multi-segment sliding mode control.In the design of hardware circuits,the focus is on the analog differential circuit and the analog multiplication circuit.Experimental results have demonstrated the effectiveness of the control strategy proposed in this work.