Adaptive transition disturbance observer for winding machine

In this paper, we propose an adaptive transition disturbance observer for winding machine control. In winding machine control, keeping constant tension on the winding material is one of the most important control objectives. So the reduction of the internal and external disturbance that can cause tension error is important. The disturbance observer is then proposed to solve these problems. But the conventional disturbance observer cannot predict the tension error accurately, because the winder inertia changes according to the radius of the rewinding roll. By taking the change of the winder inertia into account, we develop an adaptive transition disturbance observer that makes the system robust against the disturbance. The validity of the scheme is tested through simulation.