| With the rapid development of new energy vehicles,a class of automotive wiring harness winding equipment is becoming more and more important.The brushless DC motor in the equipment will be affected by load changes when it is working,which reduces the quality of wire harness tape winding and affects the yield of the product.Therefore,this is essentially a class of motor speed tracking problem under load variation.At the same time,the problem of speed control tracking under time-varying load is becoming a hot research problem.For the speed regulation tracking problem under time-varying load in this engineering application,the traditional method cannot deal with it well.In this paper,based on the results of a large number of previous scientific researches,an adaptive sliding mode control method based on special power reaching law and an adaptive sliding mode control method based on model parameter estimation are extracted,which are used for wire harness winding manipulator equipment.In order to verify the effectiveness of the methods,a variable-load experimental platform is designed and built for physical experiments.The content of this paper is summarized as the following points.Firstly,the law of time-varying load torque under the point-winding condition of the wire harness winding manipulator is analyzed and the corresponding mathematical model is established.In view of the time-varying characteristics of the load,an adaptive sliding mode control method based on a special power convergence law is proposed.The adaptive sliding mode control law and the regulation update law are derived and designed according to the mathematical model of the wire harness winding manipulator.The special power convergence law is designed to avoid the influence of jitter and vibration,and the adaptive law is designed to adapt to environmental changes,reducing the influence of load torque changes on the tracking accuracy.The simulation results show that it has higher tracking accuracy compared with PID control and traditional sliding mode control,but the adaptive quality of the update law is influenced by the sliding mode function.Second,to avoid the influence of the sliding mode function on the adaptive regulation,an adaptive fast non-singular terminal sliding mode control based on model parameter estimation is proposed.The method is based on a fast non-singular terminal sliding mode controller,and the system parameters obtained from the identification are used as the model parameters within the controller.The adaptive model parameter identification method is driven by parameter estimation error information.As a result,the controller contains information about the time-varying nature of the system and has the ability to sense changes in the environment.Simulation results show the effectiveness of the controller.Compared with PID and traditional sliding mode control,it has better adaptive adjustment ability.The parameter identification part is not affected by the sliding mode function and is more suitable for load fading situations.Third,in order to verify the effectiveness of the proposed method,a variable-load experimental platform is built for the harness winding manipulator,and the proposed two methods are verified by physical experiments.The two proposed methods are compared with the conventional sliding mode control and PID control.DSP is used as the control algorithm implementation platform,and magnetic powder brake is used as the source of load fading.The effectiveness of these two methods for controlling the harness winding manipulator under load fading is verified through repeated experiments.Compared with PID and traditional sliding mode control,the proposed method has adaptive adjustment capability and improved tracking accuracy under the load fading environment,which reflects the superiority of the proposed method. |
