卷绕张力控制系统的建模及张力观测器的设计

Modeling and Design of Tension Observer for Winding Tension Control Systems

在物料传送系统中,如何对物料张力和线速度进行独立的控制.一直是关注的焦点问题;以典型的卷绕张力系统为研究对象,建立了其动态数学模型;详细地分析了基于传感器张力反馈的常规控制方案,并在此基础上提出了一种基于张力观测器的新型控制方案;它根据辊的动态转矩平衡方程式,利用系统原有的电机控制和速度检测信号,将观测的张力值作为反馈,构成张力闭环,从而实现无传感器反馈控制;最后,对两种方案进行了仿真比较,结果表明,提出的方案完全可以达到常规方案的动态性能,而且具有更高的稳态精度,这充分说明了该算法是可行的。

In web transport systems, the main concern is how to control web tension and line velocity independently. A typical winding tension system is taken as researching object and its dynamic mathematical model is built. After detailed analysis of conventional feedback control scheme with tension sensor, an observer-based new scheme is proposed. Based on the dynamic torque balance equations of rollers, this scheme uses former motor control and velocity signals to estimate on-line tension as feedback, then achieves sensor-less feedback control. Finally, simulation results are compared between the two schemes, they indicate that the proposed scheme not only performs equivalently dynamic response as classical feedback control does, but also owns higher steady precision. It fully validates the proposed algorithm is feasible.