关键词: 捻制装备, 多股张力均衡, 张力自适应, 自抗扰控制, 多电机同步

Abstract: To solve the problem of unbalanced tension of multiple strands in cable twisting,an adaptive tension control method based on active disturbance rejection control was researched for the interference factors of wire strand travelling and twisting.Based on the Hamilton mechanical system,an axial travelling cable model under equivalent strand rotational motion was established,and the dynamic equation of the travelling strand was obtained.To suppress the influence of different paths on the tension of the strands,the friction of the strands were analyzed according to the mechanism of the twisting motion.To achieve the coordination of twisting tension of multiple strands,a coordinated tension control system of the strands was designed based on active disturbance rejection control.The steady state error and the fluctuations of the tension caused by dual-motor speed synchronization system based on adjacent coupling errors were solved.A MATLAB/Simulink simulation module for single-span strand tension response was established,and the modular multi-strand twisting motion tension control simulation system model was constructed.The motion characteristics of multi-strand were analyzed to verify the effectiveness of the tension adaptive control system to coordinate tension and suppress fluctuations.

Key words: twisting equipment, multi-strand tension coordination, self-adaptive tension control, active disturbance rejection control, motors speed synchronization