No-Tension Sensor Closed-Loop Control Method with Adaptive PI Parameters for Two-Motor Winding System

Table 1

Mechanical parameters of experimental prototype.

PMSM (rewind motor and unwind motor)
Rated power	kW	2.3
Rated speed	r/min	1500
Inertia	kg·m^2	0.00272
Resistance	Ω	0.635
Inductance	mH	4.025
Coulomb friction torque	N⋅m	0.06/0.06
Viscous friction coefficient	N⋅m/(rad/s)	0.0004/0.0004
Number of poles		4
Winding rolls and winding material
Radii (empty volumes/full volumes)	m	0.05/0.1
Inertia (empty volumes/full volumes)	kg⋅m^2	0.00138/0.00348
Width	m	0.18
Thickness	mm	0.15
Specification (kraft paper)	g	120
Tension sensor (LX-015-TD) and signal amplifier (KTC820)
Rated capacity	N	150
Output voltage	V	3
Filter time	ms	100