Observer-based LQR control of shaping process of automobile belt

To maintain stable tension and uniform distribution for winding string during the winding shaping process of automobile belt, a computer control system is proposed. In this system, the string tension can be measured by a tension sensor and regulated by a magnetic powder brake. Simultaneously, the velocity of the shaping model shaft that is driven by a DC motor can be measured by an opto-coder. For realizing optimal performance, the observer-based LQR controller is applied to this system. The feedback is determined by minimizing the cost function on the LQR rule, while a full-order or a reduced-order observer is used to estimate system states besides the measurable states: shaft velocity and the string tension. Simulation results are given for these control strategies, and the disturbance rejection ability is examined.