Tension Active Disturbance Rejection Control of Automatic Yarn Splicing Robots for Ring Spinning

Abstract

Automatic splicing of interrupted yarns in ring spinning has always been a problem in the industry. Factors such as low yarn strengths and environmental influence on yarn tensions make it difficult to control the yarn tension during the robotic splicing process. The purpose of this research is to design active disturbance rejection control(ADRC) for a third-order nonlinear tension system subject to external disturbances. Firstly, a third-order extended state observer(ESO) is designed to achieve the suppression and the compensation of the internal modeling error and the external disturbances of the system. Secondly, the adaptive gain error feedback control and the filtering process are designed to reduce the influence of sensor noise on the disturbance observation. Finally, the tension control during the splicing process is simulated and experimented, and the experiments show that the method has good robustness in the tension tracking task under a dynamic environment, which verifies the effectiveness of the method.

Keywords

yarn splicing robot / tension control / active disturbance rejection control (ADRC) / extended state observer(ESO)

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Funding

National Natural Science Foundation of China(52275478)

Fundamental Research Funds for the Central Universities, China(2232024Y-01)

DHU Distinguished Young Professor Program, China(LZB2023001)