Modeling and H∞ control simulation of servo coil winding tensioner

ZHAO Pengfei, HU Guoqing, SUN Qiwei, JIAO Liang

(School of Mechanical and Automotive Engineering, South China University of technology, Guangzhou 510641, China)

Abstract: Aiming at the tension fluctuation caused by the speed fluctuation when winding the specialshaped coil and in order to reduce the tension fluctuation，a servo control tensioner was designed and the control method was studied.Based on the analysis of the wire length of the upstream and downstream of the dancer and the winding speed on the dancer，the mathematical model was established and the influence magnitude of each disturbance to the tension was analyzed. The control application and design method of the H∞ controller in the specialshaped coil winding process were studied and the selection method of weight function was researched. In order to minimize the H∞ norm of the transfer function from the disturbance to the tension，the H∞ controller was designed using the Matlab toolbox，and the PI controller was designed for compare，also the amplitudefrequency characteristic of the disturbance to tension in the closed loop control system was analyzed and the control system was simulated use sinusoidal signal at different frequency and speed. The results indicate that the servo tensioner can effectively control the amplitude of tension fluctuation and compared with PI the H∞ control method can adapt to disturbance of different frequency and tension fluctuation range is only 1/3 of the PI.

Key words: specialshaped coil; tension model; tension control;H∞ control