||Study on Active Tension Control of Automatic Motor Winding System
||Department of Electrical Engineering
iterative learning control
iterative learning sliding control
An important issue of motor winding process is how to improve the winding quality of the motor stator. In particular, one of the crucial factors that affect the winding quality is the tension regulation of the unwind roll. Most commercial motor winding machines use passive devices to adjust the wire tension of the winding system. However, accurate wire tension control is hard to achieve in this way. In order to cope with the aforementioned problem, this paper modifies the winding machine mechanism and develops an active tension control device. In particular, in the entire winding process, tension control of the unwind motor is performed so as to control wire tension, while the rewind motor is under position control. This thesis conducts an in-depth study on issues such as motion planning and position control of the rewind roll, tension control of the unwind roll and wire dynamics. In motion planning of the rewind roll, a rectangular trajectory is adopted and S-curve acceleration/deceleration is employed to suppress the vibration of the winding machine so as to extend its lifespan and furthermore improve the control performance. Due to high operating speed, position accuracy of the rewind roll has become very important; as such, this paper exploits the idea of feedforward control to enhance transient response of position control. In addition, whether the stator winding can be tidily arranged is a quality indicator of winding process, which closely depends on tension control performance of the unwind roll. Consequently, this thesis focuses on investigating the tension control problem of the automatic winding machine. An iterative learning sliding control scheme is proposed in this thesis to perform tension control of the unwind roll, while a disturbance observer is developed to estimate the wire tension in order to accomplish sensorless tension control. Moreover, since the motion of the unwind roll will be affected by motion of the enameled wire, the wire dynamics is also studied and analyzed. In particular, the estimated wire speed information is adopted in the tension control scheme to alleviate the lag phenomenon of the disturbance observer. Results of the winding experiments indicate that the proposed iterative learning sliding control scheme indeed can improve the tension control performance of the unwind roll.
EXTENDED ABSTRACT II
第一章 緒論 1
1.1 簡介 1
1.2 研究動機與目的 2
1.3 文獻回顧 3
1.4 論文架構 5
第二章 馬達自動化繞線系統簡介 6
2.1 自動化繞線機基本工作原理 6
2.2 繞線運動規劃 7
2.3 主動式張力控制之馬達繞線裝置 9
2.4 馬達繞線控制架構 11
2.5 線捲動態分析 13
第三章 主動式馬達繞線控制演算法 18
3.1 收線端位置控制器 18
3.2 放線端干擾量觀測器 22
3.3 放線端前饋控制器 27
第四章 反覆學習滑動控制器之應用 31
4.1 滑動控制簡介 31
4.2 反覆學習控制簡介與文獻回顧 35
4.3 反覆學習滑動控制器 42
4.3.1 基於干擾量補償之反覆學習滑動控制器 42
4.3.2 反覆學習滑動控制器應用於繞線機張力控制 49
第五章 實驗設備與結果 52
5.1 實驗系統架構 52
5.2 位置控制實驗 58
5.3 反覆學習滑動控制器張力控制實驗 63
5.3.1 反覆學習滑動控制器參數比較 63
5.3.2 無感測器式反覆學習滑動控制器應用於張力控制 75
第六章 結論與建議 82
6.1 結論 82
6.2 未來展望與建議 83
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