Iterative learning control-based ripple compensation in web handling systems

A long flexible material called the web is converted into final product through various processes such as printing, drying, coating, and laminating using a handling system. The transported from an unwind roller to rewind some guide drive rollers in servo motors control regulate their rotation velocity or torque system, where tension transportation controls play important role achieving high quality of product. However, unacceptable variations, motor pulsation, misalignment, eccentricity, cause tension/velocity performance deterioration. These act on system periodic ripple disturbances. This paper presents approach at constant values An iterative learning designed identify suppress disturbances because these are repeated periodically during transportation. controller introduces filter stabilize process. Furthermore, it implemented zero-phase lowpass improve phase delay. effectiveness proposed has been verified by conducting experiment laboratory prototype