Abstract
A winding system is a time-varying system that considers complex nonlinear characteristics,and how to control the stability of the winding tension during the winding process is the primary problem that has hindered develop-ment in this field in recent years.Many nonlinear factors affect the tension in the winding process,such as friction,structured uncertainties,unstructured uncertainties,and external interference.These terms severely restrict the ten-sion tracking performance.Existing tension control strategies are mainly based on the composite control of the ten-sion and speed loops,and previous studies involve complex decoupling operations.Owing to the large number of calculations required for this method,it is inconvenient for practical engineering applications.To simplify the ten-sion generation mechanism and the influence of the nonlinear characteristics of the winding system,a simpler non-linear dynamic model of the winding tension was established.An adaptive method was applied to update the feed-back gain of the continuous robust integral of the sign of the error(RISE).Furthermore,an extended state observer was used to estimate modeling errors and external disturbances.The model disturbance term can be compensated for in the designed RISE controller.The asymptotic stability of the system was proven according to the Lyapunov sta-bility theory.Finally,a comparative analysis of the proposed nonlinear controller and several other controllers was per-formed.The results indicated that the control of the winding tension was significantly enhanced.
基金项目
National Key R&D Program of China(2018YFB2000702)
National Natural Science Foundation of China(52075262)
Fok Ying-Tong Education Foundation of China(171044)
维普
万方数据