Research On Shaftless Chronmatography Control System Based On Slinding Mode Variable Structure

Shaftless driven printing machine have already taken place of traditional mechanical master driven printing machine due to its excellent performance in high precision, simplified structure, wide gear ratio, convenient adjustment, etc. During the last few years, many scholars had introduced some new control theories into synchronization control, however, research on the synchronization control system of shaftless driven printing machine is still a puzzle until now. How to compose a good algorithm that can make multi axes run synchronously still remains to be resolved facing kinds of factors that make the system asynchronous. One type shaftless chronmatography controller based on slinding mode variable structure is designed in order to solve confliction of phase and velocity in this thesis.Research is focused on the synchronization control system of shaftless driven printing machine in this thesis. After making analysis of process of overprint and the causes of chromatic aberration of shaftless driven printing machine, the dynamic process of the elimination of chromatic aberration is analysed, the influence of the synchronization chromatic aberration of the system is eliminated.Based on the maths model of PMSM, studing vector control of PMSM, and the vector control of id=0 is be choiced. Based on common multi-motor synchronous control method, the main reference synchronization control structure is designed, for printing shaftless drive control system.On the study of sliding mode variable structure control algorithm system,in order to improve the rapidness and robustness, one type of global sliding mode controller based on trajectory planning is designed. And single axis simulation system is designed. The result of simulation shows the single axis system achieve the balance of phase and velocity in the most rapid response trajectory which is designed, after chromatic aberration is detected.in the adjusting process, the system has strong restraint effection in disturbance. The type of global sliding mode controller based on trajectory planning could improve the rapidness and robustness of shaftless system.