Académique Documents
Professionnel Documents
Culture Documents
To cite this Article Huang, Chang-Chiun , Peng, Chi-Chung and Tang, Tsann-Tay(2008) 'On-Line Tension Control for
Polyester Film Processing', Polymer-Plastics Technology and Engineering, 47: 2, 157 — 163
To link to this Article: DOI: 10.1080/03602550701816035
URL: http://dx.doi.org/10.1080/03602550701816035
This article may be used for research, teaching and private study purposes. Any substantial or
systematic reproduction, re-distribution, re-selling, loan or sub-licensing, systematic supply or
distribution in any form to anyone is expressly forbidden.
The publisher does not give any warranty express or implied or make any representation that the contents
will be complete or accurate or up to date. The accuracy of any instructions, formulae and drug doses
should be independently verified with primary sources. The publisher shall not be liable for any loss,
actions, claims, proceedings, demand or costs or damages whatsoever or howsoever caused arising directly
or indirectly in connection with or arising out of the use of this material.
Polymer-Plastics Technology and Engineering, 47: 157–163, 2008
Copyright # Taylor & Francis Group, LLC
ISSN: 0360-2559 print/1525-6111 online
DOI: 10.1080/03602550701816035
157
158 CHANG-CHIUN HUANG ET AL.
diameter. Knittel, et al.[7] presented a multivariable H1 respectively. For simplicity in modeling, we assumed the
robust control of tension and velocity with two degrees following: that the film is perfectly elastic, that there is
of freedom (2DOF) and gain scheduling to web winding no slippage phenomenon between the roller and the film,
systems. The 2DOF significantly improved disturbance that both the wound-out tension and coulomb friction of
rejection while reducing the coupling between tension and the unwinding roll are zero, and that the sensor roller
velocity. Lin[8] proposed a PI-type observer to estimate and idle rollers do not affect tension. According to the
web tension precisely regardless of the effects of friction mass conservation law for a control volume and very small
and inertia and designed an observer-based tension feed- strain with the film, the dynamic of tension is given by[1]
back controller against the variation of system parameters.
In our simplified PET film processing system, we focus Vr ðtÞTðtÞ
T_ ðtÞ ¼ þ K½Vr ðtÞ Ru ðtÞxu ðtÞ ð1Þ
on the uniform control of PET film tension at a targeted L
level in combination with uniform transport speed at the
where TðtÞ is the tension of the films, Vr ðtÞ is the tangential
rewinding section. The tension behavior modeling is based
velocity of the rewinding roll, K ¼ EA=L; L is the film length
on some assumptions and exhibits nonlinear characteris-
of a span, E is Young’s modulus of the film, A is the cross
tics. Both the conventional sliding-mode controller and
Downloaded By: [2007-2008-2009 Konkuk University - Seoul Campus] At: 06:29 21 July 2010
System Modeling where Rr(t) and xr(t) are the radius and angular velocity of
the rewinding roll, respectively, and th is the thickness of
A simplified version of PET film processing systems,
the film. Because the speed-controlled motor drives the
shown in Figure 1, is considered in this study and consists
rewinding roll, the tangential velocity of the rewinding roll
of an unwinding roll, a rewinding roll, a sensor roller, and a
can be written as[8]
pair of idle rollers. The film is unwound from the unwind-
ing roll and moved through the idle rollers, which guide the Vr ¼ Rr xr ¼ Rr Kr Ur ð4Þ
film around the sensor roller at a fixed angle. Finally, the
film is wound onto the rewinding roll. The unwinding roll where Kr and Ur denote the speed constant and input volt-
and rewinding roll are driven by two AC servo motors in age of the motor, respectively. The unwinding roll is driven
torque-controlled mode and speed-controlled mode, by the torque-controlled motor. Hence, the torque equilib-
rium at the unwinding roll gives the equation[5]:
d
½Ju ðtÞxu ðtÞ ¼ su Bu xu ðtÞ þ TðtÞRu ðtÞ ð5Þ
dt
where Ju(t) is the total moment of inertia of the unwinding
roll and motor, Bu is the viscous friction coefficient, and xu
is the torque generated by the motor. Substituting
(LN or LP for S) and has a pronounced tendency to move input Ut appears in the second derivate of T in the first
away from the sliding surface (LN or LP for S_ ), a large instance. Thus, the relative degree is two and the sliding
switching gain (LP) for g that pulls the output toward
R for tension control is S ¼ e€ þ C1e_ þ C0 e, where
surface
the sliding surface is required. Finally, the max–min com- e ¼ ðT Td Þdt and Td is the target tension. Differentiat-
position and center of gravity are adopted for decision- ing S with respect to t and substituting S_ ¼ g sgnðSÞ
making and defuzzification, respectively. yields the following sliding-mode control law:
1 _ Vr T
SIMULATION AND EXPERIMENTAL RESULTS Ut ¼ V r T þ Vr þ KðV_ r Ru xu Þ
L L
An experimental setup as schematically shown in "
2
Figure 1 was built. Two of S-shaped load cells are located th x u R
þ K V_ r þ u Bu xu
at both sides of the sensor roller, around which the film 2p
Jum þ KJ R4u R4u0
wrapped at an angle of 120. Thus, the total force measured
by the load cells minus the weight of the roller is film’s ten- !#
sion. The values of system parameters are listed in Table 2. 4th KJ R3u x2u
þ TRu þ þ C1e€ þ C0e_
In practice, the tension response usually fluctuates. This 2p
paper deals with maintaining a target level of tension KKu Ru
with less fluctuation; furthermore, maintaining the þ g sgnðSÞ ð15Þ
Jum þ KJ ðR4u R4u0 Þ
uniform transport speed at the rewinding section can
enhance tension control performance. The voltage signal In conventional sliding-mode control, there are two coeffi-
to the torque-controlled motor, generated by conventional cients—C0 and C1—of the sliding surface and the switching
gain g to be chosen. In fuzzy sliding-mode control, how-
ever, the gain g is self tuned by the fuzzy logic theorem
TABLE 2 based on S and S_ . The scaling factors fS , fS_ , and fg for
System parameters membership functions S, S_ , and g are chosen by the design-
Symbol Value er. Three gains, KP, KI, and KD of the external PID control-
ler to the speed-controlled motor also need to be selected.
q 680 kg=m3
These choices can be justified by simulation results. As a
th 1.9 10 4 m
consequence, the choice of C0 ¼ 130, C1 ¼ 1, g ¼ 1.5,
tw 0.4 m
fS ¼ 0.0025, fS_ ¼ 2.510 6, fg ¼ 0.2, KP ¼ 1.11210 2,
L 0.8 m
KI ¼ 43.29, and KD ¼ 2.79310 3 gives good simulation
Rr0 2.25 10 2 m
performance in tension and speed responses. The simulation
Ru0 2.25 10 2 m
Rr ð0Þ 2.25 10 2 m
Ru ð0Þ 6.25 10 2 m
E 6.52379 107 N=m2
Jum 8.85 10 4 kg m2
Bu 2.0 10 3 N m sec=rad
Kr 27.932 rad=sec Volt
Ku 0.2391 N m=volt FIG. 4. An external PID control for the speed-controlled motor.
TENSION CONTROL FOR POLYESTER FILM PROCESSING 161
TABLE 3
Mean and standard deviations of tension and speed
responses
Tension Transport speed
Controller m r m r
SMC 29.549 0.960 0.998 0.024
FSMC 30.158 0.367 1.005 0.017
SMC 29.772 0.828 1.007 0.013
FSMC 30.139 0.348 1.007 0.013
Cooperated with an external PID controller for the speed-con-
trolled motor
Downloaded By: [2007-2008-2009 Konkuk University - Seoul Campus] At: 06:29 21 July 2010
REFERENCES
1. Young, G.E.; Reid, K.N. Lateral and longitudinal dynamic behavior
and control of moving webs. ASME J. Dyn. Sys. Meas. Ctrl. 1993,
115, 309–317.
2. Ludwicki, J.E.; Unnikrishnan, R. Automatic control of unwind
tension in film finishing applications. IEEE International Conference
on Industrial Electronics, Control, and Instrumentation, pp 774–779,
1995.
3. Choi, S.B.; Cheong, C.C.; Kim, G.W. Feedback control of tension in
a moving tape using an ER brake actuator. Mechatronics 1997, 7,
53–66.
4. Sakamoto, T.; Fujino, Y. Modelling and analysis of a web tension
control system. IEEE International Symposium on Industrial Electro-
FIG. 7. Experimental results by FSMC in terms of (a) tension and (b) nics, pp 358–362, 1995.
transport speed. 5. Mathur, P.D.; Messner, W.C. Controller development for a prototype
high-speed low-tension tape transport. IEEE Transactions Ctrl. Sys.
Tech. 1998, 6, 534–542.
sliding-mode control, for tension, and the external PID 6. Luo, F.L.; Wen, C. Multiple-page mapping artificial neural network
control and speed-controlled motor, for speed, yield the algorithm used for constant tension control. Exp. Sys. Apps. 1997,
13, 307–315.
most uniform tension and speed.
7. Knittel, D.; Laroche, E.; Gigan, D.; Koc, H. Tension control for wind-
ing systems with two-degrees-of-freedom H1 ontrollers. IEEE Trans-
actions Indus. Apps. 2003, 39, 113–120.
CONCLUSIONS 8. Lin, K.C. Observer-based tension feedback control with friction and
In our experimental setup, the radius of the rewinding inertia compensation. IEEE Transactions Ctrl. Sys. Tech. 2003, 11,
roll increases as more and more films wrap around the roll. 109–118.
The speed-controlled motor regulates the angular velocity 9. Sastry, S.S.; Isidori, A. Adaptive control of linearizable systems. IEEE
Transactions Automatic Ctrl. 1989, 34, 1123–1131.
of the rewinding roll, maintaining the tangential speed of
10. Slotine, J.J.; Li, W. Applied Nonlinear Control, Prentice Hall: New
the roll at a preferred value; consequently, the speed fluctu- Jersey, pp. 276–309, 1991.
ation occurs and detracts from the tension’s uniformity. An 11. Huang, Y.J.; Way, H.K. Output-sliding control for a class of
external PID controller for the speed-controlled motor is nonlinear systems. ISA Transactions 2001, 40, 123–131.
TENSION CONTROL FOR POLYESTER FILM PROCESSING 163
12. Huang, Y.J.; Kuo, T.C. Robust control for nonlinear time-varying 15. Antic, D.; Dimitrijevic, S. Non-minimum phase plant control using
systems with application to a robotic manipulator. Intl. Jrn. Sys. fuzzy sliding mode. Elec. Lett. 1998, 34, 1156–1158.
Sci. 2002, 33, 831–837. 16. Lee, C.C. Fuzzy logic in control systems: Fuzzy logic controller—
13. Yoo, B.; Ham, W. Adaptive fuzzy sliding mode control of nonlinear Part I. IEEE Transactions Sys. Man Cybernetics 1990, 20,
system. IEEE Transactions Fuzzy Sys. 1998, 6, 315–321. 404–418.
14. Lin, F.J.; Chiu, S.L. Adaptive fuzzy sliding-mode control for PM 17. Lee, C.C. Fuzzy logic in control systems: Fuzzy logic controller—
synchronous servo motor drives. IEE Proc.—Ctrl. Theory App. Part II. IEEE Transactions Sys. Man Cybernetics 1990, 20,
1998, 145, 63–72. 419–435.
Downloaded By: [2007-2008-2009 Konkuk University - Seoul Campus] At: 06:29 21 July 2010