Ultra-thin Diamond Wire Tension Control System Based on Adaptive Backstepping

doi:10.3969/j.issn.1004-132X.2021.24.013

Abstract

Abstract: An adaptive backstepping control method was proposed based on the facts that the tension control systems of the multi-wire saw had the control characteristics of strong nonlinearity of Coulomb friction and the swing angle coupling, parametric uncertainties susceptible to diameter changes of the winding reel. The controllers combined with experimental identification method and the adaptive controller design method to simplified analyse multi-axis motor synchronization control system and estimate unknown parameters online, the globally asymptotic stability and boundedness of the control systems was guaranteed by using Lyapunov stability theory. The experimental results indicate that the proposed adaptive controller may achieve multi-axis synchronous control with small swing angle and better tension control accuracy.

Key words: , multi-wire saw, nonlinearity, adaptive control, multi-axis synchronization, tension control

摘要： 针对多线切割机张力控制系统存在库仑摩擦和摆角耦合等较强非线性特征，以及收放卷轮直径变化引起的参数不确定问题，提出了一种基于自适应反演的非线性补偿控制方法。该方法结合实验辨识和自适应参数控制器设计方法分别对多线切割机的多轴电机同步运动控制系统和不确定系统参数进行简化分析和在线估计，使用李雅普诺夫稳定性理论保证了系统全局渐近稳定性以及系统状态的有界性。仿真和实验结果表明，所设计的自适应控制器可以实现多轴同步运动，并将张力摆角控制在较小的范围内，获得更高的张力控制精度。

关键词: 多线切割机, 非线性, 自适应控制, 多轴同步, 张力控制

CLC Number:

TP273

ZHOU Feng, ZHENG Lixia, SHEN Yechao, JIN Bo. Ultra-thin Diamond Wire Tension Control System Based on Adaptive Backstepping[J]. China Mechanical Engineering, 2021, 32(24): 2995-3000，3007.

周锋, 郑丽霞, 沈烨超, 金波. 基于自适应反演的超细金刚线张力控制系统[J]. 中国机械工程, 2021, 32(24): 2995-3000，3007.

References

［1］MOLLER H J. Basic Mechanisms and Models of Multi-wire Sawing［J］. Advanced Meterials, 2004, 6(7):501-513.
［2］蒋近, 戴瑜兴, 郜克存,等. 多线切割机走线系统的张力控制［J］. 机械工程学报, 2011, 47(5):183-187.
JIANG Jin, DAI Yuxin, GAO Kecun. et al.Tension Control of Wire-traveling System for Multi-wire Saw［J］. Journal of Mechanical Engineering, 2011, 47(5):183-187.
［3］LI H , GAO Y, GE P, et al. Study on Process Parameters of Fabrication Fine Diameter Electroplated Diamond Wire for Slicing Crystalline Silicon Solar Cell［J］. The International Journal of Advanced Manufacturing Technology, 2020, 106(7):3153-3175.
［4］葛雷新. 金刚线的前世今生［EB/OL］.［2020-08-28］. http:∥guangfu.bjx.com.cn/news/20200828/1100327.shtml.
GE Leixin. The History of the Diamond Wire［EB/OL］. ［2020-08-28］. http:∥guangfu.bjx.com.cn/news/20200828/1100327.shtml.
［5］RYNINGEN B, TETLIE P , JOHNSEN S G , et al. Capillary Forces as a Limiting Factor for Sawing of Ultrathin Silicon Wafers by Diamond Multi-wire Saw［J］. Engineering Science and Technology an International Journal, 2020, 23(5):1100-1108.
［6］QIU J, LI X , GE R , et al. Formation Mechanism of Wire Bow and Its Influence on Diamond Wire Saw Process and Wire Cutting Capability［J］. International Journal of Mechanical Sciences, 2020, 185:105851.
［7］MEIBNER D, SCHOENFELDER S, HURKA B ,et al. Loss of Wire Tension in the Wire Web during the Slurry Based Multi Wire Sawing Process［J］. Solar Energy Materials and Solar Cells, 2014,120:346-355.
［8］张义兵. 高精度多线切割机数控系统关键技术及其应用研究［D］.长沙：湖南大学,2008.
ZHANG Yibing. Key Technologies and Its Applications Study on CNC System of High-precise Multi-wire Saw［D］. Changsha:Hunan University,2008.
［9］彭思齐, 李立根. 大型太阳能硅片多线切割机的张力控制［J］. 太阳能学报, 2013, 34(9):1633-1637.
PENG Siqi, LI Ligen. Tension Control of Large-scale Solar Wafer Multi Wire Cutting Machine［J］. Acta Energiae Solaris Sinica, 2013, 34(9):1633-1637.
［10］KANG H, SHIN K H . Precise Tension Control of a Dancer with a Reduced-order Observer for Roll-to-roll Manufacturing Systems［J］. Mechanism and Machine Theory, 2018, 122:75-85.
［11］CHEN Zongyu, SHENG Buyun, YANG Heyue, et al. Tile Cut Synchronization Control and Compensation Design and Implement for Multi-wire Saw［J］. The International Journal of Advanced Manufacturing Technology, 2018, 97(9/12):3493-3503.［12］蒋近, 戴瑜兴, 郜克存,等. 多线切割机的速度同步控制［J］. 控制理论与应用, 2011, 28(2):279-283.
JIANG Jin, DAI Yuxing, GAO Kecun. et al. Speed Synchronization Control of Multi-wire Saw［J］. Control Theory & Applications, 2011, 28(2):279-283.
［13］FANG Z , XU D , TAN M , et al. Constant Wire Tension Control Using Fuzzy Method in Multi-wire Saw Machine［C］∥ 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO).New York:IEEE, 2016:1736-1741.
［14］王梦然. 多线切割机张力控制系统研究及应用［D］.杭州：浙江大学,2018.
WANG Mengran. Research and Application on Tension Control System of Multi-wire Saw［D］. Hangzhou:Zhejiang University,2018.
［15］张义兵, 戴瑜兴, 汤睿. 多线切割机速度同步系统的自适应逆控制［J］. 控制理论与应用, 2008, 25(6):1007-1010.
ZHANG Yibing, DAI Yuxing, TANG Rui. Adaptive Inverse Control of Speed Synchronization System for a Multi-wire Saw［J］. Control Theory & Applications, 2008, 25(6):1007-1010.
［16］KRISTIC M，KANELLAKOPOULOS I, KOKOTOVIC P. Nonlinear and Adaptive Control Design［M］. New York:John Wiley and Sons, 2005:21-55.
［17］SLOTINE J J, LI Weiping. Applied Nonlinear Control［M］. Eagle Wood Cliffs:Prentice Hall,1991:49-65.
［18］YAO Bin. Adaptive Robust Control of Nonlinear Systems with Application to Control of Mechanical Systems［D］. Berkeley:University of California at Berkeley,1996.

[1]	LI Xiao-Li, CHEN Wei, YAN Rong. Adaptive Compensation of Contour Errors Based on BP Neural Networks [J]. J4, 201016, 21(16): 1902-1906.
[2]	LI Yingchun, NIE Aonan, YANG Mingxuan, ZHU Dingkang, QIU Ming, YANG Gengsheng. Research on Thermal Characteristics of Auxiliary Bearing in AMBs and Friction Reduction Design [J]. China Mechanical Engineering, 2024, 35(04): 646-655.
[3]	LIANG Yongbin, FU Guang, LIN Zhigui, HE Zhicheng, ZHANG Jialuo, CHEN Tao. Design of Lane Keeping Assist Systems Based on Improved Preview Control Model [J]. China Mechanical Engineering, 2024, 35(03): 548-558.
[4]	HUANG Wei, CHI Cheng. Analysis for Aero -elastic Characteristics of Prop-Rotor in Hover with a Swept Tip [J]. China Mechanical Engineering, 2024, 35(02): 191-200.
[5]	XU Zuolin, HUANG Chuanzhen, LIU Huanlian, LIU Dun. Coating Technology and Mechanism of Modified Diamond Powder by Surface Coating of WC Powders [J]. China Mechanical Engineering, 2024, 35(02): 208-214.
[6]	YUE Jianfeng, LONG Xinyu, HUANG Yunlong, GUO Jialong, LIU Wenji. On-line Identification of Narrow Gap P-GMAW Sidewall Fusion States Based on Arc Acoustic Signals [J]. China Mechanical Engineering, 2024, 35(02): 244-250，259.
[7]	DU Xu, CHANG Zexin, ZHENG Junqiang, REN Pengfei. A Real-time Tool Path Smoothing Algorithm Considering Joint Jerk Constraints [J]. China Mechanical Engineering, 2024, 35(02): 280-286.
[8]	SUN Yuxiang, CHEN Li, LONG Bo, WANG Yanping, LIU Shihua, JIA Kun. Intelligent Layout for Pipeline Supports of Nuclear Power Plant under Complex Load [J]. China Mechanical Engineering, 2024, 35(02): 317-323，336.
[9]	LI Mozhi, ZHU Wenfeng, WANG Shunchao. Roller Pose Compensation in Automotive Body Roll-hemming Forming Process with Adhesive for Dimensional Deviation [J]. China Mechanical Engineering, 2024, 35(02): 364-370.
[10]	WANG Weijun, YANG Guilin, DU Qinghao, CHEN Qingying, . Design of 3K Planetary Gear Reducers with No Backlash [J]. China Mechanical Engineering, 2024, 35(01): 36-44,55.
[11]	GAO Jin, CUI Haibing, FAN Tao, LI Ang, DU Zunfeng. A Structural Reliability Calculation Method Based on Adaptive Kriging Ensemble Model [J]. China Mechanical Engineering, 2024, 35(01): 83-92.
[12]	SUN Haitao, ZHAN Mei, FAN Xiaoguang, GUO Jing, HAN Chao, ZHANG Jun. Research Progresses and Prospects of Compression Molding of High-performance PBX [J]. China Mechanical Engineering, 2024, 35(01): 160-180.
[13]	ZHU Fuxian, QIU Gang, ZHU Xingmin, XU Xianyi, ZHOU Jinyu. Failure Mode and Progressive Damage Analyses of Carbon-glass Hybrid Composite Single Nail and Single Shear Bolted Joints [J]. China Mechanical Engineering, 2023, 34(23): 2781-2793.
[14]	HAO Zhuangzhuang, ZHANG Qingchun, HU Yunbo, GUO Yibin, WANG Donghua, LI Wanyou. Research on Influences of Tooth Friction and Geometric Eccentricity Errors on Mesh Stiffness of Profile Shifted Spur Gear Pairs [J]. China Mechanical Engineering, 2023, 34(23): 2812-2823.
[15]	YU Shubo, LIU Zhansheng, ZHAO Chen. Dynamics Simulation Data Driven Domain Adaptive Intelligent Fault Diagnosis [J]. China Mechanical Engineering, 2023, 34(23): 2832-2841.