中文摘要：

针对无轴传动凹印机对多色套准控制系统高精度和高稳定性的要求,提出了一种基于自抗扰控制（Active disturbance rejection control,ADRC）技术设计前馈控制器的方法。根据套准系统的工作机理,建立了多色套准系统的非线性耦合数学模型,并利用一阶泰勒公式对其进行了线性化。为了满足高速、高精度套准控制的要求,以建立的四色套准系统线性模型为基础,利用前馈和ADRC控制技术设计了套准系统前馈ADRC控制器,一方面采用前馈控制对各套准误差的已知干扰进行前馈补偿,另一方面采用ADRC对套准系统输入进行调节并对未知干扰进行主动估计和补偿。仿真结果表明,所设计的多色套准系统控制器有效地抑制了各种干扰对套准误差的影响,实现了高精度套准控制,具有比PID控制器更好的控制性能。

英文摘要：

A feedforword controller based on an active disturbance rejection control（ADRC） strategy is presented to strengthen accuracy and stability of the register system in multi-color shaftless gravure printing machines. First, a nonlinear and coupling model is established according to the register system working principle, and then, the linear model of the register system is constructed based on one order Taylor formula. Second, to improve the speed and accuracy of register control, a new feedforward ADRC controller is presented according to the linear model of multi-color register system. The controller is unique in that it uses feedforward control to compensate the known interference, and the ADRC to adjust the inputs of the register system and actively estimate and compensate the unknown disturbances in real time, which makes the accuracy of the register controller have been greatly improved. Finally, the simulation shows that the proposed register controller is able to realize a high precision control for the multi-color register system and endowed with better control performance than PID controller in register control.