| The rubber compound extrusion line in the tire industry is a production line specially used for producing tire tread,which mainly contains two parts: compound extrusion and extrusion linkage line.Among them,the tread winding system is located at the end of the extrusion linkage line,and the winding process generally refers to the pulling out and conveying to the winding process.The precision of the winding tension control directly affects the precision of post-forming process and the quality of the vulcanised products.In order to ensure the quality of the finished tread products,this paper takes the tension control of the extrusion linkage line during winding as the research object,aiming at the tension fluctuation problem caused by the winding speed and time-varying winding diameter of tread products,mainly from these aspects of the Systematic modelling of tensions,observation algorithm design,control algorithm design optimization and control system design,etc.The basic structure of the tire and the process flow of the extrusion linkage line are introduced.It analyses the system tension generation’s mechanism and modeling methods,and the dynamic of the pulling out and winding units in the winding process is analyzed,and the change law of the speed,rotational inertia and the rolling diameter of these products are studied.On this basis,the mathematical model of the tension system of the pull out and winding units in the extrusion linkage line is established.In order to meet the control requirements in the winding process,taper control and vector control of asynchronous motor are introduced and their respective mathematical models are established.The tension detection method is introduced and the tension observation algorithm is designed for the system start-up,operation and pause stages respectively.Through the analysis of the tread winding tension system model,the tension system is a nonlinear time-varying system with strong coupling and multiple disturbances,for the PID control depends on the mathematical model and it is difficult to control the nonlinear control system effectively,this paper adopts the active disturbance rejection control(ADRC)to improve,and designs a coiling tension control system based on ADRC.In order to improve the performance of the tension control system,a seeker optimization algorithm(SOA)is used to find the optimal combination of parameters for the complex and excessive parameters to be adjusted by the ADRC.In the simulation experiment of the control algorithm,firstly,compares the dynamic and static performance of line speed and tension at different winding diameters under double switching tension observation and single tension observation by PID control in the system start-up-running phase,and verifies that the two phase switching methods based on velocity difference and indefinite integration are more effective than using approximate indefinite integration alone.At the same time,during the pausing phase,the tension observation was carried out by simulating the torque signal,which verified that the winding tension is well maintained near to the tension value before parking.Secondly,by comparing the ADRC and PID control performance in the start-up-running phase of the system,which verified that the ADRC responds quickly,capable of stable tension control,and has excellent anti-disturbance performance and anti-internal parameter disturbance capability.Finally,the SOA is used to filter the optimal values of the controller parameters,and the controller is substituted into the tension system model to simulate and verify the effectiveness and accuracy of the designed SOA-ADRC strategy.The results show that the SOA optimization performance is better and the control method combined with ADRC has better control effect.The control algorithm is designed on the process method and performance index system of Guilin Rubber Design Institute,which has certain reference value to the practical production. |
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