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TECHNICAL PAPERS

Robust Control of Nonlinear Tape Transport Systems With and Without Tension Sensors

[+] Author and Article Information
Matthew D. Baumgart

Electrical and Computer Engineering Department, University of Colorado, Boulder, CO 80309-0425baumgarm@colorado.edu

Lucy Y. Pao

Electrical and Computer Engineering Department, University of Colorado, Boulder, CO 80309-0425pao@colorado.edu

J. Dyn. Sys., Meas., Control 129(1), 41-55 (Jun 01, 2006) (15 pages) doi:10.1115/1.2397151 History: Received October 21, 2003; Revised June 01, 2006

Web-winding systems, such as tape drives, are often modeled as linear and time-invariant, but at least two nonlinearities are common in these systems. First, the reel radii and moments of inertia change as web media spools from one reel to another. Second, friction can draw a thin layer of air between the layers of web media wrapped on the take-up reel, making the system’s spring and damping characteristics nonlinear by allowing a greater length of media to vibrate freely. In addition to these nonlinearities, there is often uncertainty in the motor parameters. In the first part of this paper, feedback linearization ideas motivate state feedback and changes of variables that transform the system into decoupled and intuitively meaningful tension and velocity loops. For the case where tension measurements are available, Lyapunov redesign techniques are then used to develop control laws that are robust with respect to these nonlinearities and uncertainties. The second part of this paper then develops an observer-based controller for the case where no tension measurements are available. Performance is established analytically for both the measurement-based and observer-based schemes. Simulations illustrate this performance.

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Copyright © 2007 by American Society of Mechanical Engineers
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Figures

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Figure 1

Lumped-parameter model for web-winding system

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Figure 2

Phase plane for tension loop

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Figure 3

Velocity ramp-up maneuver

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Figure 4

Velocity ramp-up maneuver—nonlinear controller

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Figure 5

Velocity ramp-down maneuver—nonlinear controller

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Figure 6

Velocity ramp-down maneuver for the case where both reels initially have equal radii and moments of inertia—nonlinear controller

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Figure 7

Observer-based controller performance for velocity ramp-up maneuver. Dashed lines represent the deviation of the observed tension from the desired tension, T̂(t)−Td, and the estimated damping D̂(t).

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Figure 8

Observer-based controller performance for velocity ramp-up maneuver with no motor parameter errors. Dashed lines represent the deviation of the observed tension from the desired tension, T̂(t)−Td, and the estimated damping D̂(t).

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Figure 9

Observer-based controller performance for velocity ramp-down maneuver. Dashed lines represent the deviation of the observed tension from the desired tension, T̂(t)−Td, and the estimated damping D̂(t).

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