Figure 1.
Schematic Diagram of the Mechanism
Figure 2.
Deviation Coupling Control Structure Diagram
Figure 3.
Improved Deviation Coupling Structure Diagram
Figure 4.
Fuzzy Adaptive PID Controller Structure Diagram
Figure 5.
E, EC, ΔKp, ΔKi, ΔKd Membership Functions
TABLE I.
Fuzzy Control Table for kP, kI and kD
| E/EC | NB | NM | NS | Z | PS | PM | PB |
|---|---|---|---|---|---|---|---|
| NB | PB/NB/PS | PB/NB/PS | PM/NB/PS | PM/NM/NB | PM/NS/NM | Z/NS/Z | Z/Z/Z |
| NM | PB/NB/NS | PM/NB/NS | PM/NM/NS | PM/NS/Z | Z/NS/Z | Z/Z/Z | Z/Z/Z |
| NS | PM/NM/Z | PM/NM/Z | PM/NM/NS | Z/NS/Z | Z/Z/Z | NM/PM/Z | NM/PB/PS |
| Z | PM/NM/Z | PM/NS/Z | Z/Z/Z | Z/Z/Z | Z/Z/Z | NM/PM/Z | NM/PB/Z |
| PS | PS/Z/Z | PS/Z/Z | Z/Z/Z | Z/Z/Z | NM/PM/Z | NB/PB/PS | NB/PB/Z |
| PM | Z/Z/PB | Z/Z/PB | NM/PS/Z | NM/PS/Z | NB/PB/Z | NB/PB/PB | NB/PB/PB |
| PB | PB/NB/PS | PB/NB/PS | PM/NB/PS | PM/NM/NB | PM/NS/NM | Z/NS/Z | Z/Z/Z |
Figure 6.
Two-Motor Synchronization Control Simulation Model
Figure 7.
Two-Motor Speed Tracking Curve
Figure 8.
Conventional PID Coupling Control
Figure 9.
Fuzzy Adaptive PID Control
Figure 10.
Motor Tracking Curves under Different Compensators
Figure 11.
Constant Tension Fiber Collection System
Figure 12.
Working Process
Figure 13.
Real-Time Speed Curve
Figure 14.
Pendulum Angle Variation