| The servo system has played an important role in industrial production,it has been widely used in various fields such as high-grade CNC(Computer numerical control)processing equipment,industrial robots,laser processing equipment,PCB drilling machine and garment pattern sewing machine.With the rapid development of modern industrial technology,and the proposal of Chinese manufacturing 2025,industrial 4.0 and other strategies,there are increasingly high requirements for servo system.Accordingly,in the context of national policy in intelligent manufacturing,there is great pratical significance to study the control strategy of the servo system for achieving fast,accurate and stable control.In this paper,response speed,positioning accuracy and operation smoothness of position servo control system of garment pattern sewing machine are studied,and servo control system are integratedly controled from different angles.Specific research contents are as follows:(1)According to the requirements of high precision,fast response and stable operation of the position servo system in the actual production process,the motion trajectory planning of the position servo system under high-speed sewing is analyzed.Through the improved sinusoidal acceleration and deceleration soft curve to suppress the position servo acceleration caused by sudden changes in the impact of too much,multi-axis servo system coordinated movement is obtained,and the smooth fast electromechanical integration positioning requirements is achieved.(2)Through analyzing the application of traditional PI control in position servo system,and the effect on the dynamic performance of the servo parameter mismatch or the change of load inertia,to evaluate the factors that affect the high-speed sewing quality.By analyzing the shortcomings of traditional PI control,a new feedforward control system based on the system model is proposed.(3)In order to overcome the adverse effect of response delay and parameter mismatch on the dynamic response of traditional servo control,a novel feedforward control structure based on the system model is proposed,which is compatible with the high speed trajectory planning,To achieve a smooth position servo system high-speed tracking and positioning functions in the servo system.(4)The adaptiveness of the new feedforward control is analyzed.The state of the servo system is analyzed by the feedback of the closed-loop position without extra sensor.According to this analysis,the change of load inertia of the servo system,which is common but difficult to predict,could be determined.Thus the model parameters of the feedforward control could be modified adaptively to improve the robustness of the servo system.In this paper,the validity and availability of the above research are theoretically verified by Matlab/Simulink simulation,and the concrete implementation scheme is also given.The results show that the proposed model-based integrated feedforward correction control can make the position servo system quick and unbiased tracking the trajectory of a scheduled motion.And it has significance project application value in high-speed motion control of mechatronics intelligent manufacturing equipment. |
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