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Modelling and control of the lower hook mechanism for fishing net weaving machine based on active disturbance rejection controller
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Modelling and control of the lower hook mechanism for fishing net weaving machine based on active disturbance rejection controller
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Journal Article
Modelling and control of the lower hook mechanism for fishing net weaving machine based on active disturbance rejection controller
2024
Overview
The lower hook mechanism of the fishing net weaving machine has significant impact on its weaving velocity and net quality. This study incorporated a multi-motor based lower hook mechanism, which is driven by multi-motors instead of mechanical cams. Compared with the traditional lower hook mechanism, the multi-motor based lower hook mechanism has the advantages of fewer mechanical wear and faster running speed. However, the working condition of the lower hook mechanism places a very high demand on its following accuracy and resistance to disturbance, so the servo motor should be highly accurate and highly robust. The commonly used controller of the servo motor is three closed loop proportion-integral (PI) controller. In this paper, we modelled and experimentally verified the multi-motor based lower hook mechanism, and rebuilt the servo motor controller by replacing the position loop PI and speed loop PI of the three closed loop PI controller with position-velocity joint active disturbance rejection controller. Simulations suggest that the active disturbance rejection controller performs better on both following accuracy and resistance to disturbance compared with the traditional PI controller in the application of lower hook mechanism.
Publisher
IOP Publishing
Subject
