Velocity Control using torque input to the motors of a textile cross-lapper machine.

Abstract

Abstract - The main purpose of our research is to present modeling and control of a nonwoven textile cross lapper machine. The cross lapper machine is primarily based on pulley block structure mechanism order to make consistent web having suitable width and thickness. This is achieved mainly by pulleys’ reciprocating motion for moveable rack system. The mechanism is based on attaining stable speed for carriages while moving back and forth. In this way the machine has ability of stopping at precise re-entry position during reciprocating process. Traditionally, system inherits large attenuation of the input, thus systems tends to be sluggish however the system possesses stability. The significance of this study is to present realizable controller and to discuss corresponding properties of dynamic system for controlling horizontal type cross lapper machine. This not only deals with achievement of meaningful design objectives but also makes the closed-loop system efficient for good tracking properties. This study is primarily focused on theoretical analysis aiming to dynamically reach a model, which can mathematically express functioning of cross lapper machine. Non linear dynamic equation for system is driven by applying the Lagrange’s equation. During controller design phase, firstly the high order transfer function of linearization system is obtained. Then, corresponding system having a transfer function of lower order is reached by application of approximation criterion with the primary goal to have the analysis; and thus effort of design is minimized. The control system design involves the application of pole-placement design, in addition to realizable proportional and integral control through state feedback. Application of this model is initial step towards designing of a controller working on closed loop principle, a moveable rack determining speed and position simultaneously. This would in turn, decrease vibrations of the movable racks, hence, improve the web lapping consistency. The importance of such work is that with help of vigilant input system, steady state errors will come to an end and outclass oriented tracking property will be obtained. The speed profiles of mobile racks can be smooth, create some similarity of the web produced and maintain the machine life. Final result of our research is to achieve the dynamic mathematical model through which overall stability of the system is ensured. Moreover, cross lapper machine can be controlled by using microprocessors. Computer simulation is used for verifying performances of designed controllers. This control scheme would also be meeting the necessities for engineering process of the card web, would reduce the vibration of cross lapper machine, and in turn the dynamic overloading is also reduced.