阅读说明：本技术 一种无轴传动凹印机同步控制系统及其控制方法 (Shaftless transmission gravure press synchronous control system and control method thereof ) 是由 张永芳 吕延军 刘成 罗宏博 于 2021-01-07 设计创作，主要内容包括：一种无轴传动凹印机同步控制系统,包括有复用器,复用器的输出端与数组并联的分路器的输入端相连；每一路分路器的输出端均通过一个补偿器与比较器相连；电机输出转速的负反馈与分路器、补偿器比较后输入控制器；控制器的输出端与驱动单元的输入端相连；驱动单元的输出端端与伺服电机相连；伺服电机的输出转速反馈至复用器的输入端；控制方法的步骤为：步骤一,自抗扰控制器涉及的控制参数较多,通过优化算法对整定的参数寻优；步骤二,为消除耦合误差量,实现角速度的准确跟踪与协调同步；步骤三,多电机同步控制,通过控制器是的调整实现各电机之间很好的同步性；具有同步控制精度高,自抗扰能力强,优化算法寻优能力强的特点。(A shaftless transmission gravure press synchronous control system comprises a multiplexer, wherein the output end of the multiplexer is connected with the input ends of a plurality of groups of shunts connected in parallel; the output end of each path of shunt is connected with the comparator through a compensator; the negative feedback of the output rotating speed of the motor is compared with the shunt and the compensator and then input into the controller; the output end of the controller is connected with the input end of the driving unit; the output end of the driving unit is connected with the servo motor; the output rotating speed of the servo motor is fed back to the input end of the multiplexer; the control method comprises the following steps: firstly, the active disturbance rejection controller has more related control parameters, and the set parameters are optimized through an optimization algorithm; step two, in order to eliminate the coupling error quantity, realize the accurate tracking and coordination synchronization of the angular velocity; step three, synchronously controlling multiple motors, and realizing good synchronism among the motors through the adjustment of a controller; the method has the characteristics of high synchronous control precision, strong active disturbance rejection capability and strong optimization capability of the optimization algorithm.)

1. A shaftless transmission gravure press synchronous control system is characterized by comprising a multiplexer, wherein the output end of the multiplexer is connected with the input ends of a plurality of groups of shunts connected in parallel; the output end of each path of shunt is connected with the comparator through a compensator; the negative feedback of the output rotating speed of the motor is compared with the shunt and the compensator and then input into the controller; the output end of the controller is connected with the input end of the driving unit; the output end of the driving unit is connected with the servo motor; the output rotating speed of the servo motor is fed back to the input end of the multiplexer.

2. The synchronized control system of claim 1, wherein the controller is an active disturbance rejection controller, the active disturbance rejection controller includes a differential tracker, a nonlinear state error feedback control law, and an extended state observer, the differential tracker arranges the input of the angular velocity and extracts the differential signal; the nonlinear state error feedback control law is used for carrying out nonlinear configuration on an input signal and a differential signal of the differential tracker, tracking signals of angular speeds of a winding and unwinding unit and a traction unit and the differential signals of the tracking signals of the angular speeds of the winding and unwinding unit and the traction unit observed by an ESO system; the ESO is used for observing the state variable of the controlled object and the disturbance signal thereof.

3. The rotogravure press synchronization control system of claim 1, wherein the differential tracker uses a 2 nd order differential tracker.

4. The rotogravure press synchronous control system of claim 1, wherein the extended state observer is a 3-step extended state observer.

5. The method for controlling by using the shaftless transmission gravure press synchronous control system is characterized by comprising the following steps:

firstly, the number of control parameters related to the active disturbance rejection controller is large, the setting parameters are optimized through an optimization algorithm, the rest parameters can be configured into fixed values according to experience, and a parameter setting optimization algorithm of the 2-order active disturbance rejection controller adopts a multilayer variant clone selection algorithm to complete the compensation factor b, the damping factor c and the precision factor h of the setting parameters₁Optimizing and optimizing;

step two, in order to eliminate the coupling error amount and realize the accurate tracking and coordination synchronization of the angular speed, the 2-order active disturbance rejection controller utilizes a differential tracker to arrange the transition process of the angular speed input signal and extracts the differential signal thereof, wherein omega⁰For printing reference angular velocity input, ω_i ⁰For inputting the angular speeds of the winding and unwinding traction unit and the printing color set unit, a 3-step extended state observer is utilized to obtain tracking information z of the angular speed output of the winding and unwinding traction unit and the printing color set unit_i1And its differential signal z_i2And internal and external interference z_i3Estimating and compensating; in order to remove the coupling error, a fhan function is adopted to design a nonlinear error feedback rate so as to carry out nonlinear configuration on the tracking error, the synchronous error and derivatives thereof;

step three, performing multi-motor synchronous control, wherein each driving motor has a tracking error and synchronous errors of all other motors to achieve good synchronous control; the state information feedback of each motor in the system is firstly transmitted to a speed compensator, then compared, the difference value between the motors is calculated, the sum of the state errors among the motors is obtained, and the sum is used for compensating the motorsOf an input signal of, wherein x_iRepresents the output rotation speed of the motor i; k_inFor speed feedback coupling amplification gain, the input of each motor controller consists of three parts, wherein the first part is an instruction input signal, the second part is a feedback signal of the speed of the motor, and the third part is a difference value between the speed of the motor and the speeds of two adjacent motors.

6. The method for controlling by using the shaftless gravure printing synchronization control system according to claim 5, wherein the multi-layer variant clonal selection algorithm comprises the steps of:

step1, setting and initializing parameters, setting the search range, population scale and evolution iteration times of the individuals, and randomly initializing the individuals in the search space;

step2, calculating the adaptive value of each individual, wherein the individual i is the historical optimal antibody P of the individual_iThe globally optimal antibody of the antibody group P is the globally historically optimal antibody P_g；

Step3, updating the ith individual according to the primary variation, performing border crossing processing, calculating individual adaptive value, and if the adaptive value of the current i is less than or equal to the adaptive value P of the historical best antibody_iThen updating the corresponding historical optimal antibody P in real time_i(ii) a If the adaptive value of the current individual i is less than or equal to the global historical optimal antibody P_gThen updating the global historical optimal position P of the population in real time_g；

Step4, executing Step5 after all the individuals are updated, otherwise returning to Step 3;

step5, sequencing the antibodies in the antibody group P from small to large according to the affinity to obtain a temporary antibody group P';

step6, selecting the first 20% high quality antibodies of the temporary antibody group P', performing immune evolution operation according to cloning operation and secondary variation, and performing border crossing treatment to obtain mature antibody group P^*；

Step7, antibody group P^*The superior first 0.2m mature antibodies were used to replace 0.2m mature antibodies in the antibody population PThe least compatible antibody;

step8, performing further local one-dimensional variation learning and border crossing treatment on 60% antibodies sequenced to the middle of the temporary antibody group P' according to a greedy selection mechanism, and updating corresponding antibodies in the original antibody group P according to one-dimensional variation operation to realize real-time updating of the globally optimal antibodies;

and Step9, if the algorithm ending condition is met, ending the optimizing process and outputting the optimizing result, otherwise, returning to Step 3.

Technical Field

The invention belongs to the technical field of shaftless transmission printing and packaging machines, and particularly relates to a shaftless transmission gravure press synchronous control system and a control method thereof.

Background

With the continuous improvement of the quality of life and the continuous progress of the scientific and technical level of people, the demand of people for printing products with various forms and functions and rich colors is increased day by day, so that the important position of the packaging and printing industry in the economic and cultural construction of China is highlighted day by day, and the research on the synchronous control system of the shaftless transmission gravure press is more and more emphasized. However, the current domestic intaglio printing press has insufficient aftereffect in the process of the forward development of the packaging and printing industry in China, and the reason is mainly reflected in the following two aspects: firstly, the problems of small scale, low technological content, insufficient innovation and the like of most domestic printing and packaging enterprises seriously restrict the progress of the printing industry towards intellectualization; secondly, for a long time, due to the limitations of independent research and development capability and investment cost, the key technology of the domestic gravure press mainly simulates foreign technology or depends on import. In the field of printing and packaging, the lack of research on the shaftless transmission gravure press control system theory and method results in the relative lag of shaftless synchronous control design capability with independent intellectual property rights. Therefore, research and development of a control system with independent intellectual property rights are a key link for transformation and upgrading of the domestic shaftless transmission gravure press, and research on the shaftless transmission control technology is helpful for improving the technical level and international competitiveness of the manufacture of gravure printing equipment in China.

At present, each color group and a traction unit in the existing shaftless transmission system are driven by an independent motor, and a driving roller/printing roller of the existing shaftless transmission system is rigidly connected with a main shaft of the motor, so that the existing synchronous control system of the gravure press has the defects of nonlinearity, strong coupling and easy disturbance; because internal and external uncertain factors are uniformly regarded as the total disturbance of the system, the active disturbance rejection controller has many related parameters, lacks of selection basis and is difficult, time-consuming and labor-consuming in setting; due to tension fluctuation, tracking errors of all axes and synchronous errors among the axes are caused; due to the registration error, the gravure press synchronously controls the non-equal proportion coupling speed synchronous error and the speed tracking error; due to the complexity of the existing optimization algorithm, the optimal parameter searching capability and convergence quality are low.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide a synchronous control system of a shaftless transmission gravure press and a control method thereof, wherein an adjacent deviation coupling control structure, a control structure of a 2-order active disturbance rejection controller and a multilayer variation clone selection algorithm are adopted, so that the shaftless transmission gravure press system has the characteristics of high synchronous control precision, strong active disturbance rejection capability and strong optimization capability of an optimization algorithm.

In order to achieve the purpose, the invention adopts the technical scheme that: a shaftless transmission gravure press synchronous control system, the synchronous control strategy includes the multiplexer, the output end of the multiplexer couples to input end of the shunt of the array parallel; the output end of each path of shunt is connected with the comparator through the compensator; the negative feedback of the output rotating speed of the motor is compared with the shunt and the compensator and then input into the controller, and the output end of the controller is connected with the input end of the driving unit; the output end of the driving unit is connected with the servo motor; the output rotating speed of the servo motor is fed back to the input end of the multiplexer.

The controller is an active disturbance rejection controller which comprises a differential tracker, wherein the differential tracker arranges the input of the angular velocity and extracts a differential signal of the angular velocity; the nonlinear state error feedback control law is used for carrying out nonlinear configuration on an input signal and a differential signal of the differential tracker, tracking signals of angular speeds of a winding and unwinding unit and a traction unit and the differential signals of the tracking signals of the angular speeds of the winding and unwinding unit and the traction unit observed by an ESO system; the ESO is used for observing the state variable of the controlled object and the disturbance signal thereof.

The differential tracker adopts a 2-order differential tracker.

The extended state observer adopts a 3-order extended state observer.

The method for controlling by using the shaftless transmission gravure press synchronous control system comprises the following steps:

firstly, the number of control parameters related to the active disturbance rejection controller is large, the setting parameters are optimized through an optimization algorithm, the rest parameters can be configured into fixed values according to experience, and a parameter setting optimization algorithm of the 2-order active disturbance rejection controller adopts a multilayer variant clone selection algorithm to complete the compensation factor b, the damping factor c and the precision factor h of the setting parameters₁Optimizing and optimizing;

step twoIn order to eliminate the coupling error and realize the accurate tracking and coordination synchronization of the angular speed, the 2 nd order active disturbance rejection controller utilizes a differential tracker to arrange the transition process of the angular speed input signal and extract the differential signal thereof, wherein omega⁰For printing reference angular velocity input, ω_i ⁰For inputting the angular speeds of the winding and unwinding traction unit and the printing color set unit, a 3-step extended state observer is utilized to obtain tracking signals z output by the angular speeds of the winding and unwinding traction unit and the printing color set unit_i1And its differential signal z_i2And internal and external interference z_i3Estimating and compensating; in order to remove the coupling error, a fhan function is adopted to design a nonlinear error feedback rate so as to carry out nonlinear configuration on the tracking error, the synchronous error and derivatives thereof;

step three, performing multi-motor synchronous control, wherein in order to achieve good synchronous control performance, each driving motor needs to consider the tracking error of each driving motor and the synchronous errors of all other driving motors; the state information feedback of each driving motor in the system is firstly transmitted to a speed compensator, then compared, the difference value between the motors is calculated to obtain the sum of the state errors of each motor, and then the sum is used for compensating the input signal of the motor, wherein x_iRepresents the output rotation speed of the motor i; k_inFor speed feedback coupling amplification gain, the input of each motor controller consists of three parts, wherein the first part is an instruction input signal, the second part is a feedback signal of the speed of the motor, and the third part is a difference value between the speed of the motor and the speeds of two adjacent motors.

The multilayer variant clone selection algorithm comprises the following steps:

step1, setting and initializing parameters, setting the search range, population scale and evolution iteration times of the individuals, and randomly initializing the individuals in the search space;

step2, calculating the adaptive value of each individual, wherein the individual i is the historical optimal antibody P of the individual_iThe globally optimal antibody of the antibody group P is the globally historically optimal antibody P_g；

Step3, updating the ith individual according to the primary variation,and performing border crossing processing, calculating individual adaptive value, and if the adaptive value of the current i is less than or equal to the adaptive value P of the historical optimal antibody_iThen updating the corresponding historical optimal antibody P in real time_i(ii) a If the adaptive value of the current individual i is less than or equal to the global historical optimal antibody P_gThen updating the global historical optimal position P of the population in real time_g；

Step4, executing Step5 after all the individuals are updated, otherwise returning to Step 3;

step5, sequencing the antibodies in the antibody group P from small to large according to the affinity to obtain a temporary antibody group P';

step6, selecting the first 20% high quality antibodies of the temporary antibody group P', performing immune evolution operation according to cloning operation and secondary variation, and performing border crossing treatment to obtain mature antibody group P^*；

Step7, antibody group P^*The top 0.2m mature antibodies of good quality were used to replace the 0.2m least avidity antibodies in antibody population P;

step8, performing further local one-dimensional variation learning and border crossing treatment on 60% antibodies sequenced to the middle of the temporary antibody group P' according to a greedy selection mechanism, and updating corresponding antibodies in the original antibody group P according to one-dimensional variation operation to realize real-time updating of the globally optimal antibodies;

and Step9, if the algorithm ending condition is met, ending the optimizing process and outputting the optimizing result, otherwise, returning to Step 3.

The invention has the beneficial effects that:

the adjacent deviation coupling synchronous control structure is a control structure established based on the minimum related shaft number thought and the deviation coupling synchronous control structure, the control structure considers the states of two adjacent shafts, so the design of a compensator is simplified, the calculation amount and the complexity of the compensator cannot become huge when the number of the shafts is increased, and on the basis, a coupling coefficient factor is introduced, so the requirements of the gravure press on the synchronous control of the non-proportional coupling speed synchronous error and the speed tracking error are met; the radius ratio is introduced, so that the requirement of angular speed synchronization of the shaftless transmission gravure press is met; aiming at the influence of registration error and tension fluctuation on the input speed of a printing unit and a winding and unwinding traction unit, an input speed compensation mechanism is introduced into a synchronous control structure, and a synchronous control structure of a shaftless transmission gravure press is designed.

The invention comprises the synchronous control structure design of the shaftless transmission gravure press, a control system controller and a controller algorithm. The synchronous control structure of the shaftless transmission gravure press adopts a synchronous control mode of adjacent deviation coupling, not only has simple structure, but also has good synchronous performance, and the delay phenomenon basically disappears. The controller of the control system adopts a 2-order active disturbance rejection controller, and optimizes a controller algorithm aiming at the problems that relevant parameters of the active disturbance rejection controller lack of selection basis and are difficult to set. Aiming at the characteristics of nonlinearity, strong coupling and easy disturbance of a synchronous control system of a gravure press, an active disturbance rejection controller is designed, and aiming at the problems that the active disturbance rejection controller has many related parameters, lacks of selection basis and is difficult to set, the controller algorithm is an improved clonal selection algorithm based on multi-strategy mixed coevolution, namely a multilayer variant clonal selection algorithm.

The synchronous control mode of adjacent deviation coupling is to introduce a coupling coefficient factor on the basis of adopting the synchronous control of adjacent deviation coupling, thereby meeting the requirements of synchronous control of the gravure press on an unequal coupling speed synchronous error and a speed tracking error; the radius ratio is introduced, so that the requirement of angular speed synchronization of the shaftless transmission gravure press is met; aiming at the influence of registration error and tension fluctuation on the input speed of a printing unit and a winding and unwinding traction unit, an input speed compensation mechanism is introduced into a synchronous control structure, a synchronous control system structure of a shaftless transmission gravure press is added, the synchronous control system has higher synchronous precision, the synchronous error caused by speed and load disturbance can be effectively inhibited, the phenomenon of system overshoot caused by input speed step change due to overlarge registration error and tension fluctuation can be avoided, high-precision synchronous control is realized, and the shaftless transmission gravure press has good speed tracking and disturbance resistance.

The 2-order active disturbance rejection controller is composed of a differential Tracker (TD), a 3-order Extended State Observer (ESO) and a nonlinear error feedback control law (NLSEF). The active disturbance rejection controller takes the synchronous error, the registration error and the speed compensation input caused by tension among the unreeling traction unit, the printing unit and the reeling traction unit as external disturbance, takes unmodeled dynamic and unknown external disturbance of a synchronous control system as the total disturbance of the system, carries out dynamic tracking and online compensation in each synchronous shaft by using an extended state observer, and then realizes the elimination of the shaft tracking error and the synchronous error among the shafts by utilizing the nonlinear configuration of a nonlinear error feedback control law.

The active disturbance rejection controller algorithm is a clone selection algorithm based on multi-strategy hybrid coevolution, the damping coefficient, the precision factor and the compensation factor of the active disturbance rejection controller are optimized by introducing a multi-strategy hybrid coevolution mechanism, the problems of multiple parameters and difficult setting of the active disturbance rejection controller are solved, and the search capability and the convergence quality of a multilayer variant clone selection algorithm are greatly improved compared with the clone algorithm. By introducing a multi-strategy coevolution mechanism, the problem that a single evolutionary mechanism intelligent algorithm is difficult to consider global search and local development in an optimization process is well overcome, and set parameters are often local optimal solutions, so that the ADRC control precision is low. The controller algorithm effectively improves the precision and the robustness of the shaftless transmission synchronous control system.

Compared with the traditional shaftless transmission gravure press control system, the synchronous control structure based on the adjacent deviation coupling method has higher synchronous precision, the active disturbance rejection controller is designed, the external disturbance form of each shaft synchronous error is observed in real time and compensated on line, the nonlinear characteristic of the gravure press synchronous control system and the characteristic of strong coupling of each shaft state are adapted, the synchronous error caused by speed and load disturbance can be effectively inhibited, the input speed step change caused by overlarge registration error and tension fluctuation can be avoided, the overshoot phenomenon of the system is further caused, the parameters of the active disturbance rejection controller are optimized by adopting a multilayer variation clone selection algorithm, and the problems of more parameters, difficult setting, time consumption and labor consumption of the active disturbance rejection controller are effectively solved.

Drawings

Fig. 1 is a view illustrating a structure of a synchronous control of adjacent offset coupling of the gravure press according to the present invention.

Fig. 2 is a schematic structural view of an active disturbance rejection controller of the gravure press according to the present invention.

FIG. 3 is a schematic diagram of parameter optimization of the auto-disturbance-rejection controller of the gravure press based on a multi-layer variant clone algorithm.

FIG. 4 is a schematic diagram of the controller parameter optimization of the gravure press synchronous control system according to the present invention.

Detailed Description

The invention is further described by way of example with reference to the accompanying drawings.

As shown in fig. 1, the present invention provides a synchronous control structure for adjacent offset coupling of a gravure press, wherein the synchronous control structure for adjacent offset coupling is a control structure established based on the thought of the minimum number of relevant axes and the synchronous control structure for adjacent offset coupling, and the principle thereof is as follows: the feedback signal of a certain axis is subtracted from the feedback signals of two adjacent axes in sequence, and then the two feedback signals are multiplied by gain K respectively_ir(K_ir＝J_r/J_i(i is the number of the current axis, i-1 th axis when r is 1, and i +1 th axis when r is 2)) and the sum is used as the synchronization error compensation amount for this axis. This control structure takes into account the states of the two adjacent axes, thereby simplifying the design of the compensator so that the amount of calculation and complexity of the compensator do not become enormous when the number of axes increases. However, like the synchronous control structure of adjacent cross coupling, when the number of shafts is large, the synchronous control structure of adjacent deviation coupling has a certain time delay, but the time delay phenomenon basically disappears in the synchronous system of the shaftless transmission gravure press. The synchronous control of the shaftless transmission gravure press is the speed coordination synchronous control among a material belt unreeling traction unit, a material belt printing unit and a material belt reeling traction unit, the printing unit simultaneously considers the linear speed tracking performance of a color group driving roller and the synchronous performance among the rollers, and the unreeling traction unit and the reeling traction unit are emphasized to emphasize the speed synchronous performance between the driving roller and the printing unit, namely in a shaftless transmission gravure press synchronous control system, each component is singly controlledThe requirements of the elements on the system tracking performance and the synchronization performance are not equal in proportion, and the synchronization performance between the elements and the printing color set needs to be emphasized more for the winding and unwinding traction unit. Therefore, on the basis of a synchronous control structure of adjacent deviation coupling, a coupling coefficient factor is introduced, and the requirements of synchronous control of the gravure press on an unequal coupling speed synchronous error and a speed tracking error are met; the radius ratio is introduced, so that the requirement of angular speed synchronization of the shaftless transmission gravure press is met; aiming at the influence of registration error and tension fluctuation on the input speed of a printing unit and a winding and unwinding traction unit, an input speed compensation mechanism is introduced into a synchronous control structure, and a synchronous control structure of a shaftless transmission gravure press is designed.

As shown in fig. 2, the present invention provides an auto-disturbance-rejection controller, which is composed of a second-order Tracking Differentiator (TD), a nonlinear error feedback control law module (NLSEF) and a third-order Extended State Observer (ESO). Because the synchronous control system of the shaftless transmission gravure press is a typical nonlinear and uncertain system and is often influenced by disturbance, the synchronous control system is very suitable for synchronous control by using the active disturbance rejection controller control technology. When the active disturbance rejection controller is designed, the synchronous error among the unreeling traction unit, the printing unit and the reeling traction unit, the speed compensation input caused by the registration error and the tension fluctuation can be used as an external disturbance, the unmodeled disturbance and the unknown external disturbance of the synchronous control system are used as the total disturbance of the system to be processed, dynamic tracking and online compensation are carried out by using an extended state observer in each synchronous shaft, and then the elimination of the tracking error of each shaft and the synchronous error among the shafts is realized by utilizing the nonlinear configuration of a nonlinear state error feedback control law. The method is equivalent to the closed-loop control problem of decomposing the synchronous control system of the shaftless transmission gravure press into a single shaft unit, namely, the synchronous control problem of the whole system is decomposed into the design problem of the active disturbance rejection controller of the single shaft unit, and the design complexity of the controller is effectively reduced.

As shown in FIG. 3, the parameters of the auto-disturbance rejection controller of the shaftless transmission gravure press synchronous control system are optimized based on the modern intelligent optimization technology, and the shaftless transmission synchronous control system controller algorithm of the multi-layer variation clone selection algorithm is designed. When an algorithm is used for optimizing the controller, a proper fitness function is generally required to be selected to evaluate the performance of the controller, and the fitness function plays a key role in optimizing ADRC (active disturbance rejection controller) parameters. The invention takes the integral of the instantaneous error e (t) of the output rotating speed of the control system as the objective function of the multilayer variant clone selection algorithm, and the optimization objective function of the algorithm is as follows:

in the formula: w1 and w2 are weight coefficients, and generally satisfy w1> > w2, and sigma is the overshoot of the system.

A shaftless transmission gravure press synchronous control system, the synchronous control strategy includes the multiplexer, the output end of the multiplexer couples to input end of the shunt of the array parallel; the output end of each path of shunt is connected with the comparator through the compensator; the negative feedback of the output rotating speed of the motor is compared with the shunt and the compensator and then input into the controller, and the output end of the controller is connected with the input end of the driving unit; the output end of the driving unit is connected with the servo motor; the output rotating speed of the servo motor is fed back to the input end of the multiplexer.

Designing adjacent deviation coupling control is a control scheme based on the minimum number of relevant axes, and for each controlled motor, only the states of two adjacent motors are considered. In the multi-motor synchronous control shown in fig. 1, only the synchronous errors of the adjacent motors are considered in the synchronous errors, only the feedback values of the adjacent motors are subtracted, and the feedback values of the last motor and the first motor are subtracted, so that the annular coupling is realized.

The controller is an active disturbance rejection controller, which (fig. 2) comprises a differential Tracker (TD) that arranges the input of the angular velocity and extracts its differential signal. The nonlinear error feedback control law (NLSEF) is used for carrying out nonlinear configuration on an input signal and a differential signal of a differential Tracker (TD) and a tracking signal and a differential signal of angular speeds of a winding and unwinding unit and a traction unit observed by an ESO system; the ESO is used for observing the state variable of the controlled object and the disturbance signal thereof.

The differential tracker adopts a 2-order differential tracker.

The extended state observer adopts a 3-order extended state observer.

In order to eliminate the coupling error amount and realize accurate tracking and coordination synchronization of angular velocity, a 2-order ADRC (active disturbance rejection controller) is designed aiming at the characteristics of nonlinearity and strong coupling of a shaftless transmission system. In consideration of the overshoot of the system caused by the angular velocity input when the registration error or tension fluctuation is relatively time, the transition process of the velocity input signal is arranged by using the TD, and the differential signal of the velocity input signal is extracted. Then, a tracking signal z output by the winding and unwinding traction unit and the printing color set unit at the angular speed is obtained by using 3-order ESO_i1And its differential signal z_i2And internal and external interference z_i3Estimation and compensation are performed. To eliminate coupling errors, the NLSEF is designed with a steepest control function to non-linearly configure the tracking error, the synchronization error, and their derivatives.

The method for controlling by using the shaftless transmission gravure press synchronous control system comprises the following steps:

firstly, the number of control parameters related to the active disturbance rejection controller is large, the setting parameters are optimized through an optimization algorithm, the rest parameters can be configured into fixed values according to experience, and a parameter setting optimization algorithm of the 2-order active disturbance rejection controller adopts a multilayer variant clone selection algorithm to complete the compensation factor b, the damping factor c and the precision factor h of the setting parameters₁Optimizing and optimizing;

step two, in order to eliminate the coupling error amount and realize the accurate tracking and coordination synchronization of the angular speed, the 2-order active disturbance rejection controller (figure 2) utilizes a differential Tracker (TD) to arrange the transition process of the angular speed input signal and extracts the differential signal thereof, wherein omega⁰For printing reference angular velocity input, ω_i ⁰For inputting the angular speeds of the winding and unwinding traction unit and the printing color set unit, a 3-step extended state observer is utilized to obtain tracking signals z output by the angular speeds of the winding and unwinding traction unit and the printing color set unit_i1And its differential signal z_i2And is internally and externally driedDisturbance z_i3Estimating and compensating; in order to remove the coupling error, a fhan function is adopted to design a nonlinear error feedback rate so as to carry out nonlinear configuration on the tracking error, the synchronous error and derivatives thereof;

step three, performing multi-motor synchronous control, wherein each driving motor needs to consider the tracking error of the driving motor and the synchronous errors of all other motors to achieve good synchronous control performance; the state information feedback of each driving motor in the system is firstly transmitted to a speed compensator, then compared, the difference value between the motors is calculated to obtain the sum of the state errors of each motor, and then the sum is used for compensating the input signal of the motor, wherein x_iRepresents the output rotation speed of the motor i; k_inFor speed feedback coupling amplification gain (fig. 1), the input of each motor controller consists of three parts, the first part is an instruction input signal, the second part is a feedback signal of the speed of the motor, and the third part is a difference value between the speed of the motor and the speeds of two adjacent motors.

The specific steps of the multilayer variant cloning algorithm of the active disturbance rejection controller are as follows:

step1, setting and initializing parameters, setting the search range, population scale and evolution iteration times of the individuals, and randomly initializing the individuals in the search space;

step2, calculating the adaptive value of each individual, wherein the individual i is the historical optimal antibody P of the individual_iThe globally optimal antibody of the antibody group P is the globally historically optimal antibody P_g；

Step3, update the ith individual according to the primary variation and perform the border crossing process. Calculating individual adaptive value, if the adaptive value of the current i is less than or equal to the adaptive value P of the historical best antibody_iThen updating the corresponding historical optimal antibody P in real time_i(ii) a If the adaptive value of the current individual i is less than or equal to the global historical optimal antibody P_gThen updating the global historical optimal position P of the population in real time_g；

Step4, executing Step5 after all the individuals are updated, otherwise returning to Step 3;

step5, sequencing the antibodies in the antibody group P from small to large according to the affinity to obtain a temporary antibody group P';

step6 selecting the first 20% of high-quality antibodies of the temporary antibody group P', performing immune evolution operation according to cloning operation and secondary variation, and performing border crossing treatment to obtain mature antibody group P^*；

Step7 preparation of antibody group P^*The top 0.2m mature antibodies of good quality were used to replace the 0.2m least avidity antibodies in antibody population P;

step8, performing further local one-dimensional variation learning and border crossing treatment on 60% of the antibodies in the temporary antibody group P' sorted to the middle according to a greedy selection mechanism, and updating the corresponding antibodies in the original antibody group P according to one-dimensional variation operation to realize real-time updating of the globally optimal antibodies;

and Step9, if the algorithm ending condition is met, ending the optimizing process and outputting the optimizing result, otherwise, returning to Step 3.

Based on the synchronous control system of the intaglio printing press controlled by adjacent deviation coupling, as can be seen from the design process of the active disturbance rejection controller of the synchronous control system, the filter factor h of the 2 nd order tracking differentiator is included₀A velocity factor r₀And the compensation factor b of the 3-order expansion state observer and other more parameters of the active disturbance rejection controller optimize and set the parameters of the controller based on a multilayer variant clonal selection algorithm. The overshoot, the adjusting time, the steady-state error and the objective function value of the control system are reduced. The shaftless transmission intaglio press realizes the synchronous control of the speeds of the winding and unwinding unit driving roller and the printing unit printing roller through the adjacent deviation coupling control structure. And optimizing and setting the ADRC parameters by a multilayer variant clone control algorithm. The control structure, the controller and the algorithm of the invention show better robustness, and effectively improve the manufacturing precision of the printed electronic device.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.