刘薇,张黎,李想

• 1:天津工业大学机械工程学院
• 2:天津工业大学天津市现代机电装备技术重点实验室

摘要(Abstract)：

针对碳纤维角联织机经纱张力控制问题，考虑开口等不确定因素对经纱张力的影响，建立了离散非线性送经系统张力控制模型，提出了策略迭代自适应动态规划（ADP），并对ADP中评价网络设计了自适应权值更新率；证明了策略迭代ADP在离散系统的收敛性，削减了非线性及不确定因素对经纱张力的影响，实现了对经纱张力的稳定控制，提高了系统鲁棒性。仿真结果表明：相比传统ADP，策略迭代ADP可以使经纱张力在2 s内快速无波动的到达稳定状态，使系统性能指标函数收敛更优。

关键词(KeyWords)： 碳纤维角联织机;送经系统;策略迭代ADP;自适应权值更新率

Abstract:

Keywords:

基金项目(Foundation): 天津市自然科学基金资助项目（18JCYBJC88300）

作者(Author): 刘薇,张黎,李想

参考文献(References)：

• [1]郑宁来.第八届国际碳纤维产业发展大会在吴江召开[J].合成纤维工业，2019,42(4):14.ZHENG N L.The 8th international carbon fiber industry development conference was held in Wujiang[J].China Synthet ic Fiber Industry,2019,42(4):14(in Chinese）.
• [2]杨建成，弭俊波，路阳阳，等.碳纤维立体织机平行打纬机构设计与优化[J].天津工业大学学报，2019,38(6):63-68.YANG J C,MI J B,LU Y Y,et al.Design and optimization of parallel beating-up mechanism of carbon fiber three-dimensional loom[J].Journal of Tiangong University,2019,38(6):63-68(in Chinese）.
• [3]邢丽英，冯志海，包建文，等.碳纤维及树脂基复合材料产业发展面临的机遇与挑战[J].复合材料学报，2020,37(11):2700-2706.XING L Y,FENG Z H,BAO J W,et al.Facing opportunity and challenge of carbon fiber and polymer matrix composites in-dustry development[J].Acta Materiae Compositae Sinica,2020,37(11):2700-2706(in Chinese）.
• [4]LIU W,WU X,DU X,et al.Tension networked control strategy for carbon fiber multilayer diagonal loom[J].IEEE Access,2020,8:32280-32289.
• [5]弭俊波.织造碳纤维的三维织机平行打纬机构设计及动态特性研究[D].天津：天津工业大学，2019.MI J B.Design and dynamic characteristics of parallel beatingup mechanism of three-dimensional loom weaving carbon fiber[D].Tianjin:Tiangong University,2019(in Chinese）.
• [6]王硕.碳纤维角联织机网络化控制策略研究[D].天津：天津工业大学，2021.WANG S.Research on networked control strategy of carbon fiber corner loom[D].Tianjin:Tiangong University,2021(in Chinese）.
• [7]廖黎莉，芮晓光，王传洋，等.基于智能算法的高速喷气织机恒张力控制技术的研究[J].工业控制计算机，2020,33(5):115-118.LIAO L L,RUI X G,WANG C Y,et al.Research on constant ten-sion control technology of high-speed air-jet loom based on intelligent algorithm[J].Industrial Control Computer,2020,33(5):115-118(in Chinese）.
• [8]XU G W,ZHOU R X,LIU W,et al.The equivalent sliding mode tension control of carbon fiber multilayer diagonal loom[J].International Journal of Control,Automation and Systems,2019,17(7):1762-1769.
• [9]XIAO Y J,ZHANG Z P,LIU Z H,et al.Research on integral separation control of warp tension based on fuzzy parameter optimization[J].Journal of Intelligent&Fuzzy Systems,2021,41(2):3031-3044.
• [10]XU X M,ZHANG W X,DING X L,et al.Design and analysis of a novel tension control method for winding machine[J].Chinese Journal of Mechanical Engineering,2018,31(6):79-94.
• [11]MARTIN R.A survey of nonparametric mixing density es-timation via the predictive recursion algorithm[J].Sankhya B,2021,83(1):97-121.
• [12]唐志国，张富尧，马彦.基于自适应动态规划的移动装弹机械臂轨迹控制[J].控制理论与应用，2021,38(9):1442-1451.TANG Z G,ZHANG F Y,MA Y.Adaptive dynamic programming based trajectory tracking control of mobile missile-loading manipulator[J].Control Theory&Applications,2021,38(9):1442-1451(in Chinese）.
• [13]HA M M,WANG D,LIU D R.Event-triggered adaptive critic control design for discrete-time constrained nonlinear systems[J].IEEE Transactions on Systems,Man,and Cyber-Netics:Systems,2020,50(9):3158-3168.
• [14]ZHANG Q,ZHAO D,WANG D.Event-based robust control for uncertain nonlinear systems using adaptive dynamic programming[J].IEEE Transactions on Neural Networks and Learning Systems,2018,29(1):37-50.
• [15]LIANG M M,WEI Q L.A partial policy iteration ADP algorithm for nonlinear neuro-optimal control with discounted total reward[J].Neurocomputing,2021,424:23-34.
• [16]WEI Q L,LIAO Z H,YANG Z Y,et al.Continuous-time time-varying policy iteration[J].IEEE Transactions on Cybernetics,2020,50(12):4958-4971.
• [17]HAN X,ZHENG Z Z,LIU L,et al.Online policy iteration ADP-based attitude-tracking control for hypersonic vehicles[J].Aerospace Science and Technology,2020,106:106233.
• [18]ABU-KHALAF M,LEWIS F L.Nearly optimal control laws for nonlinear systems with saturating actuators using a neural network HJB approach[J].Automatica,2005,41(5):779-791.
• [19]HU J P,YANG G,HOU Z C,et al.A nearer optimal and faster trained value iteration ADP for discrete-time nonlinear systems[J].IEEE Access,2021,9:14933-14944.
• [20]ZHANG H G,WEI Q L,LIU D R.An iterative adaptive dynamic programming method for solving a class of nonlinear zerosum differential games[J].Automatica,2011,47(1):207-214.