Precise tension and speed control of axially moving material systems enables high speed processing of paper, plastics, fibers, and films. A single span model is developed that includes distributed longitudinal vibration, a torque-controlled roller at the left boundary, and a speed-controlled roller at the right boundary. The speed trajectory of the right roller is assumed periodic but unknown. A proportional and derivative (PD) feedback and iterative learning control (ILC) feedforward control law is developed for the left roller torque based on the measured tension and speed at the left boundary. PD tension/speed control is proven to ensure boundedness of distributed displacement and tension. ILC is proven to provide the same theoretical result but greatly improved simulated response to an aggressive stop/start right roller speed trajectory.
Issue Section:
Research Papers
Keywords:
feedforward,
PD control,
rollers (machinery),
torque control,
velocity control,
vibrations
1.
Ebler
, N.
, Arnason
, R.
, Michaelis
, G.
, and D’Sa
, N.
, 1993, “Tension Control: Dancer Rolls or Load Cells
,” IEEE Trans. Ind. Appl.
0093-9994, 29
(4
), pp. 727
–739
.2.
Boulter
, B.
, and Guo
, Z.
, 1995, “A Novel Approach for On-Line Self-Tuning Web Tension Regulation
,” Proceedings of the Fourth IEEE Conference on Control Applications
, Albany, NY
, pp. 91
–98
.3.
Koc
, H.
, Knittel
, D.
, de Mathelin
, M.
, and Abba
, G.
, 2002, “Modeling and Robust Control of Winding Systems for Elastic Webs
,” IEEE Trans. Control Syst. Technol.
1063-6536, 10
(2
), pp. 197
–208
.4.
Lu
, Y.
, and Messner
, W. C.
, 2001, “Robust Servo Design for Tape Transport
,” Proceedings of the 2001 IEEE International Conference on Control Applications
, Sept. 5–7, pp. 1014
–1019
.5.
Pagilla
, P. R.
, Singh
, I.
, and Dwivedula
, R. V.
, 2004, “A Study on Control of Accumulators in Web Processing Lines
,” ASME J. Dyn. Syst., Meas., Control
0022-0434, 126
(3
), pp. 453
–461
.6.
Baumgart
, M. D.
, and Pao
, L. Y.
, 2004, “Robust Control of Tape Transport Systems With No Tension Sensor
,” Proceedings of the IEEE Conference on Decision and Control
, Vol. 4
, pp. 4342
–4349
.7.
Brandenburg
, G.
, Geissenberger
, S.
, Kink
, C.
, Schall
, N.
, and Schramm
, M.
, 1999, “Multimotor Electronic Line Shafts for Rotary Offset Printing Presses: A Revolution in Printing Machine Techniques
,” IEEE/ASME Trans. Mechatron.
1083-4435, 4
(1
), pp. 25
–31
.8.
Patri
, T.
, Wolfermann
, W.
, and Schroder
, D.
, 2001, “The Usage of Decentralized Observers in Continuous Moving Webs
,” IEEE Conference Record of Annual Pulp and Paper Industry Technical Conference
, pp. 147
–154
.9.
Shin
, K.
, Kwon
, S.
, Kim
, S.
, and Song
, S.
, 2004, “Feedforward Control of the Lateral Position of a Moving Web Using System Identification
,” IEEE Trans. Ind. Appl.
0093-9994, 40
(6
), pp. 1637
–1643
.10.
Knittel
, D.
, Laroche
, E.
, Gigan
, D.
, and Koc
, H.
, 2004, “Tension Control for Winding Systems With Two-Degrees-Of-Freedom H Infinity Controllers
,” IEEE Trans. Ind. Appl.
0093-9994, 39
(1
), pp. 113
–120
.11.
Pagilla
, P.
, King
, E.
, Dreinhoefer
, L.
, and Garimella
, S.
, 2000, “Robust Observer-Based Control of an Aluminum Strip Processing Line
,” IEEE Trans. Ind. Appl.
0093-9994, 36
(3
), pp. 865
–870
.12.
Balas
, M. J.
, 1978, “Modal Control of Certain Flexible Dynamic Systems
,” SIAM J. Control Optim.
0363-0129, 16
, pp. 450
–462
.13.
Rahn
, C. D.
, 2001, Mechatronic Control of Distributed Vibration and Noise
, Springer
, New York
.14.
Nagarkatti
, S.
, Zhang
, F.
, Rahn
, C.
, and Dawson
, D.
, 2000, “Tension and Speed Regulation for Axially Moving Materials
,” ASME J. Dyn. Syst., Meas., Control
0022-0434, 122
, pp. 445
–453
.15.
Zhao
, H.
, and Rahn
, C.
, 2006, “On the Boundedness of Damped Strings and Beams With Boundary and Distributed Inputs
,” J. Vib. Control
1077-5463, 12
(6
), pp. 619
–633
.16.
Al-Towaim
, T.
, Barton
, A. D.
, Lewin
, P. L.
, Rogers
, E.
, and Owens
, D. H.
, 2004, “Iterative Learning Control-2D Control Systems From Theory to Application
,” Int. J. Control
0020-7179, 77
(9
), pp. 877
–893
.17.
Qu
, Z.
, 2002, “An Iterative Learning Algorithm for Boundary Control of a Stretched Moving String
,” Automatica
0005-1098, 38
, pp. 821
–827
.18.
Qu
, Z.
, 1998, Robust Control of Nonlinear Uncertain Systems
, Wiley Interscience
, New York
.19.
Meirovitech
, L.
, 2000, Principles and Techniques of Vibrations
, Prentice-Hall
, Englewood Cliffs, NJ.
20.
Zhao
, H.
, 2005, “Passive, Iterative, and Repetitive Control for Flexible Distributed Parameter Systems
,” Ph.D. thesis, The Pennsylvania State University, State College, PA.Copyright © 2008
by American Society of Mechanical Engineers
You do not currently have access to this content.
