Abstract
The article describes design and experimental verification of a new control structure with reference model for a multi-motor drive of a continuous technological line in which the motors are mutually mechanically coupled through processed material. Its principle consists in creating an additional information by introducing a new suitable state variable into the system. This helps to achieve a zero steady-state control deviation of the tension in the strip. Afterwards, the tension controller is designed to ensure asymptotic stability of the extended system by applying the second Lyapunov method. The realized experimental measurements performed on a continuous line laboratory model confirm the advantages and correctness of the proposed control structure: it is simple, stable, robust against changes of parameters, invariant to operating disturbances and ensures a high-quality dynamics of the controlled system prescribed by the reference model. To demonstrate effectiveness of the design, the performance of the controller was compared with properties of a standard Proportional Integral Derivative/Proportional Integral (PID/PI) controller designed in frequency domain.
Highlights
Multi-motor motor drive of a continuous technological line for production and processing of strips of various materials in various profilespresents a complex and coupled multi-input multi-output (MIMO) nonlinear system
The standard control structure with a PID tension controller and PI speed controllers showed a significant oscillation at occurrence of external disturbances—tensions in the previous and sections of the considered part of continuous line (CL)
The main disadvantage of the MIMO control structure is that stability cannot be guaranteed when changing some of the important parameters of the controlled system at simultaneous acting external disturbances
Summary
Multi-motor motor drive of a continuous technological line for production and processing of strips of various materials (metal, paper, plastic, etc.) in various profiles (strips, tubes, foils, etc.)presents a complex and coupled multi-input multi-output (MIMO) nonlinear system. The drives are mutually mechanically coupled by the processed material which influences behaviour of the drives (torque, speed), esp. The quality of the strip exiting from the line depends on quality of the tension control system which should keep the constant tension in the strip regardless variations of the strip speed, external disturbances and variations of the system parameters. The system control should ensure constant and nonoscillating tensions in the strip in sections among processing machines during all operation states and regardless of any change of parameters of the system (e.g., moment of inertia). The basic requirement consists in control of the strip tension during all line operating states—starting, running-up, stopping, regardless of disturbances in the strip tension and change of Electronics 2019, 8, 60; doi:10.3390/electronics8010060 www.mdpi.com/journal/electronics
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