This article proposes a kind of feedforward cascade speed tracking control method in order to solve the problem of excessive fluctuations of tension caused by the speed mismatching between the received line and the released line when winding at high speed. The conclusion that the essence of the tension control is speed tracking control is drawn according to analyzing the mechanical structure of the layer winder and the relationship between the speed of floating roller and fluctuations of tension. This kind of feedforward cascade speed tracking control method has indirect tension control method by controlling the position of the floating roller as its base, make the rotate speed of the electric motor which releases line closed-loop controlled, and tune the parameters of PID controller to realize that the speed of the released line tracks the speed of the received line. Use M method measurement based on the estimated speed to measure speed. As the experimental results indicate, the speed of the released line can track fast and the tracking time is less than 0. 32 s when the speed of received line has step changes at high speed. Thus, this method has a good control effect on tension control.%针对焊丝高速层绕时放线线速度失配收线线速度,导致张力波动过大的问题,提出一种前馈-串级的速度跟踪PID控制方法.通过分析层绕机的机械结构,得到浮动辊的速度与张力波动的关系,进而总结出张力控制的实质是速度跟踪控制问题的结论.这种前馈-串级的速度跟踪控制方法,是通过控制浮动辊的位置间接地对张力进行控制,同时闭环控制放线电机的转速,实现放线线速度快速跟踪收线线速度.线速度测量采用了基于速度预估的M法.实验表明在放线电机高速转动,收线线速度有较大阶跃变化时,放线线速度能够快速跟踪收线线速度,调节时间不超过0.32 s,对张力有很好的控制效果.
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