智慧型動態非織物電腦整合製造系統之開發與研製(I)

(1)

行政院國家科學委員會專題研究計畫期中進度報告

智慧型動態非織物電腦整合製造系統之開發與研製(1/3)

計畫類別：個別型計畫

計畫編號： NSC94-2212-E-011-036-

執行期間： 94 年 08 月 01 日至 95 年 07 月 31 日執行單位：國立臺灣科技大學高分子工程系

計畫主持人：郭中豐

計畫參與人員：蔡政志,邱錦勳,林世偉

報告類型：精簡報告

處理方式：本計畫可公開查詢

中華民國 95 年 5 月 25 日

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(1/3)

Theoretical development and experimental verification of an on-line nonwoven computer integrated manufacturing system

NSC-94-2212-E-011-036 94/08/01 ~ 95/07/31

(nonwoven)

Non-woven textiles are textile fabrics formed by fiber web, and its manufacturing comprises making, bonding and reinforcing of card web respectively. Within the textile industry, spinning is a primary process, and carding is its most important step, affecting not only the quality of the yarn, but also the secondary processes of weaving (whether there are occurrences of breaking or pilling) and dyeing (whether dyeing uniformity is achieved or if dyeing specks occur). Since carding has a

key influence on product uniformity the

process must have both high speed and

continuous high quality production. In this

project, based on demand and reality, the

system modeling, the rational transfer function,

control system design and analysis, and a

realizable controller will be designed. The

system dynamics, stability, nonminimum phase

property, controllability, and observability,

tracking property by application to feedback

control of whole worker-stripper group will be

considered. The root-locus design and neural

network technique will be employed for the

controller design. The main purpose of the

folding machine is to fold the card web in

thickness and width to meet the product

requirement during manufacturing of

non-woven textiles to send to the next process

of card web reinforcing.

(3)

3.1 1

2 2

t 31

η w

) 1 ( − η _w

η w

) t t ( ₁₂ + ₂₃

3 1 a a

a _cw ∗ _ws ∗ _cs = a _cw a ws

a cs

31 12 23 st t

w

w , t t t

e ) 1

s (

U

^t

= + +

η

= − ₋ (1)

) s (

Y U ( s )

3.2.

3.1

1 t ts

t 31

) t t ( ₁₂ + ₂₃

t ws

t wd

G w

U tc Y _cd 4

G w G _w

) t t t 3 ( d s w4 st 4 4w st 3 3w st 2 2w w st

) t t 3 ( s w4 tc

w cd _t _t _t _t ₃₁ _r _dt

r 31

e ) 1 ( ) 1 ( e e 4 e 6 e 4 1

e ) 1 ( )

s ( U

) s (

G Y

₋ ₋ ₋ ⁻₋ ⁺ ₋ ₊₊

η

− η

−

− η + η

−

η

= −

=

(2)

) s ( U _tc

) s ( Y _cd

t ts

t ws

t wd

ws wd ts

r t t 3 t

t = + +

(4)

3.3

1

5

) t t t 4 ( d s w4 st 4 4 st w 3 3 st w 2 2 st w w

) t t t 4 t t ( d s w 4 cd tc

p _t ft_t _t _t ₃₁ _r _dt

cd r 31 tc ft

e ) 1 ( ) 1 ( e e 4 e 6 e 4 1

e ) 1 ( a a ) a

s (

G

₋ ₋ ₋ ⁻₋ ⁺ ⁺ ⁺⁺ ₋ ₊₊

η

− η

−

− η + η

−

η η

= −

(3)

t ft

t tc

t cd

t dt

a ft

a tc

a cd

1 (3)

77.84 2727s 23915s 84695s 106116s s 50125 10000s

4.042 90s 27.71s 59.04s 400.3s s 266 . 3 s 12 . ) 0 s (

G

_p ₆ ⁵ ₅ ⁴ ₄³ ₃² ₂

+ + + + +

+

+ + + + +

= +

(4)

4.1 (4)

2 2

6-8

4.2 s k s + + k k

= ) s (

G _c _p ⁱ _d (5)

k p k _i k _d

) s ( C

(s) (s)G G + 1

(s)R(s) (s)G

= G C(s)

p c

p

c

(6)

C(s) - R(s)

E(s) = (7)

s

= 1 ) s ( R

sE(s) lim

= e(t) lim

=

e ss t s 0 (8)

(5)(6)(7) (8)

=

_→

+

(s) (s)G G 1 lim 1 e

c 0 p

ss s

(9) 4.3

5 0 6 5 6

4 0 5 4 p 5

a s

a s a

c s

c s (s) c

G + + +

+ +

= + (10)

) s (

G _c P G _c ( s ) = k _p

type zero

P

( )

( ) ⁺

= + + +

+ + + +

= →

0 p 0 5 0

6 5 6

4 0 5 4 p 5 0 ss s

a k c 1

1 a

s a s a

c s

c s k c 1 lim 1 e

(11) )

s (

G _c I

s

= k ) s (

G _c ⁱ

type zero type one

I

(5)

( )

1 0 1 a

s a s a

c s

c s c s 1 k lim 1 e

5 0 6 5 6

4 0 5 4 i 5 0

ss s =

∞

= + + + +

+ + + +

= →

(12) P

(integral control)

(steady

state error) I

[9,10]

4.4 type zero 6

P type zero 7 P

I

8 9

k _i =0.1 k _i =0.3 k i

(polyester)

1 3

4

5

5.2 10 88°

96mm 50mm

1)

5.3 (filter)

A/D D/A

(6)

I

11 0 I

88 0

1. Rust, J. P., and Gutierrez, H. Z.,

"Mathematical Modeling and Simulation for Carding", Textile Research Journal, Vol. 64, No.10, pp 573-578 (1994)

2. Grosber, P. G., and Iype, C., "Automatic Control of Card-web Linear Density-Part I The Theoretical Possibility of Short-term Control", Journal of Industrial Textile Vol. 83, No.3, pp 375-379 (1992) 3. Grosberg, P., and Iype, C., "Automatic

Control of Card-web Linear Density-Part II Experimental Verification of Short-term Control", Journal of Industrial Textile, Vol.

83, No.3, pp 380-385 (1992)

4. Grosberg, I. C., "The Effect of Dynamic Changes in Doffer Speed on Cylinder Loading", Journal of Industrial Textile, Vol. 82, No. 4, pp 457-464 (1991)

5. Rust, J. P., and Gutierrez, H. M.,

"Mathematical Modeling and Simulation for Carding", Textile Research Journal, Vol. 64, No. 10, pp 573-578 (1994)

6. Ogata, K., "Modern Control Engineering", Mcgraw-Hill International Editions, New York. (1997)

7. Houpis, C. H., and D’azzo, J. J., "Linear Control System Analysis and Design Conventional and Modern", Mcgraw-Hill, International Editions, New York. (1998) 8. Kuo, B.C., "Automatic Control Systems",

John Wiley & Sons, Inc, New York.

(1995)

9. Rocco, P., "Stability of PID Control for Industrial Robot Arms", IEEE Transactions on Robotics and Automation, Vol. 12, No. 4, August, pp 606-614, (1996) 10. Hwang, C. and Hwang, J. H.,

"Stabilisation of First-Order Plus

Dead-Time Unstable Processes Using PID

Controllers", IEE Proceedings Dynamic,

Control Theory and Applications, Vol. 151,

No. 1, January, pp 89-94 (2004)

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(Stripper Roller) (Worker Roller)

(Take-in)

(Doffer) t

ws

t

ws

t

wd

t

dt

t

ts

t

₂₃

t

12

t

31

t

tc

t

ft

t

_cd

t

do

(Feed Roller)

U(s) Y(s)

(Output Roller)

w w

(Cylinder) G

w

t

ws

1 (Stripper Roller)

(Worker Roller)

c 31 23

12

s

w

1 2 3

2 4 G _w

5

3 Y(s)

− η

w

( a a a

cw w s cs

)

w

e

⁽ ⁾

st st

η

⁻ ⁻

U(s)

e

⁻^st

⊗

G

w )

t t ( s tc ft

a e

^ft ^tc

a

⁻ ⁺

η

_d

a

_cd

e

⁻^st^cd

R(s) C(s)

stts

e

⁻

G

1

e

⁻^st^ws

G

2

e

⁻^st^wd

std t d

) e 1 ( − η

⁻

U

tc

Y

_cd

stws

e

⁻

G

4

⊗ ^G

³

^e

⁻^st^ws

(8)

6 7 P

8 k _i =0.1

9 k i =0.3

10

(9)

智慧型動態非織物電腦整合製造系統之開發與研製(I)

行政院國家科學委員會專題研究計畫 期中進度報告

(1/3)

Theoretical development and experimental verification of an on-line nonwoven computer integrated manufacturing system

NSC-94-2212-E-011-036 94/08/01 ~ 95/07/31

(nonwoven)

key influence on product uniformity the

process must have both high speed and

continuous high quality production. In this

project, based on demand and reality, the

system modeling, the rational transfer function,

control system design and analysis, and a

realizable controller will be designed. The

system dynamics, stability, nonminimum phase

property, controllability, and observability,

tracking property by application to feedback

control of whole worker-stripper group will be

considered. The root-locus design and neural

network technique will be employed for the

controller design. The main purpose of the

folding machine is to fold the card web in

thickness and width to meet the product

requirement during manufacturing of

non-woven textiles to send to the next process

of card web reinforcing.

3.1 1

2 2

t 31

η w

) 1 ( − η w

η w

) t t ( 12 + 23

3

1 a a

a cw ∗ ws ∗ cs = a cw a ws

a cs

31 12 23 st t

w

w , t t t

e ) 1

s (

U

= + +

η

= − − (1)

) s (

Y U ( s )

3.2.

3.1

1

t ts

t 31

) t t ( 12 + 23

t ws

t wd

G w

U tc Y cd 4

G w G w

e ) 1 ( ) 1 ( e e 4 e 6 e 4 1

e ) 1 ( )

s ( U

) s (

G Y

η

− η

−

− η + η

− η + η

−

η

= −

=

(2)

) s ( U tc

) s ( Y cd

t ts

t ws

t wd

ws wd ts

r t t 3 t

行政院國家科學委員會專題研究計畫期中進度報告

) 1 ( − η _w

) t t ( ₁₂ + ₂₃

a _cw ∗ _ws ∗ _cs = a _cw a ws

= − ₋ (1)

) t t ( ₁₂ + ₂₃

U tc Y _cd 4

G w G _w

) s ( U _tc

) s ( Y _cd

G _c _p ⁱ _d (5)

k p k _i k _d