High-speed high-precision tracking control for electronically controlled winding machines

In this paper, a new type of electronically controlled winding machine is proposed, and a design of a high-precision tracking control system for the winding machine is presented. To estimate a plants unknown parameters, a new on-line identification scheme for a general servomechanism is proposed. A disturbance observer is also designed to reject possible disturbances in order to improve the tracking performance of the system. Experimental results show that the identification algorithm guarantees the parameter convergence and also yields satisfactory transient responses of the identified parameters. It is also observed that the disturbance observer attenuates the tracking error caused by any disturbances. (C) 2001 Elsevier Science Ltd. All rights reserved.