Research On Position Control Of Traction Mechanism Containing Wire Rope

In reality,traction mechanisms are widely used and diverse,and many traction mechanisms use wire ropes to haul loads.The steel wire rope is a flexible space spiral steel structure product,which has the characteristics of softness,damping absorption and high strength,and is a complex elastic component.Using wire rope to haul the load will reduce the positioning accuracy of the traction mechanism.The traction mechanism can be classified into fully closed-loop control mechanism and semi-closed-loop control mechanism.This paper studies how to improve the positioning accuracy of the traction mechanism with wire rope.This article first discusses some of the existing achievements in the research of permanent magnet synchronous servo systems,including the mathematical model of permanent magnet synchronous motor,vector control,SVPWM inverter control method,etc.,and analyzes the uncertain factors of permanent magnet synchronous motor.The wire rope was mathematically modeled,and its practical approximate mathematical model was given.The connection method of steel wire rope and permanent magnet synchronous motor is discussed,the difference between full closed loop and semi closed loop system is analyzed,and simulation parameters and control indexes are given.For the traction mechanism with wire rope,the traditional PID control can not meet its positioning accuracy requirements.The improvement measure is to add the feedforward control to the PID control to form the feedforward PID control.This paper designs and tunes according to the active damping method.Controller structure and corresponding parameters of PID control method with feedforward.However,the simulation results show that the feedforward PID control cannot meet the positioning requirements of the traction mechanism with wire rope in a fully closed loop system.Next,this paper designs a robust adaptive control to solve the problem of declining positioning accuracy of the traction mechanism with wire rope.First,the overall system structure of the robust adaptive servo control system is designed,and then the robust adaptive control laws of the reference model,speed loop,q-axis current loop,and d-axis current loop are designed according to the overall structure,and the designed design is verified.With reference to the rationality of the model,the parameters of the speed loop,q-axis current loop,and d-axis current loop are discussed,and their simulation models are established respectively.Then the second method of Lyapunov is introduced,the principle of Lyapunov's second method is discussed,and the Lyapunov function is defined according to the principle and the stability of the robust adaptive control system designed in this paper is proved.Finally,the designed robust adaptive control law is simulated and verified,and the semi-closed loop and full closed loop simulation models are built respectively,which verifies that the designed robust adaptive control law meets the positioning accuracy requirements in the fully closed loop and semi closed loop system.