High Speed · High Precision Tracking Control for Electronically Controlled Winding Machines

Abstract

In this paper, we propose a new algorithm for on-line adaptive identification of dynamics of general motor servo systems including winding machines. This algorithm is then incorporated into a feedforward controller to realize the high speed tracking control for a prototype of winding machines. The parameter convergence as well as the stability of the closed-loop tracking system is proved theoretically, and simulations and experiments are conducted to study the feasibility of the adaptive indentification algorithm and the control performance of the feedback loop. It is found that the algorithm not only guarantees the parameter convergence, but also yields satisfactory transient responses of the identified parameters. This enables us to use the simple feedforward controller to realize high speed tracking control of servo systems.