摘  要：两电机张力伺服控制系统是一个多输入多输出非线性强耦合的复杂控制系统。文中对简化的张力控制系统模型进行分析，采用解析式的方式给出速度和张力的耦合关系。试验中速度环采用单神经元自适应PSD控制器获得了较好的控制效果，而张力环采用同样的方法几乎不能实现对系统的控制。通过大量实验及对PID机理的深入研究发现：启动阶段，在张力环积分分离单神经元PSD算法中不同时刻给出不同合适的积分项系数，可以改善张力启动超调现象，引入变速积分的控制策略。结合变速积分PID的思想和积分分离单神经元PSD，提出变速积分分离的单神经元PSD控制算法，并在试验中得到成功应用，有效解决了系统启动过程中的张力超调问题，最终实现了速度和张力的完全解耦。
关键词：伺服控制；张力超调；单神经元；自适应PSD；变速积分；积分分离

Abstract: Two-motor tension servo control system is a multi-input multi-output(MIMO), nonlinear, and high coupling complex control system. The tension control system model was analyzed and the coupling effect between the speed and tension was established in the way of analytical expression. Single neuron adaptive PSD controller was adopted in speed loop and achieved good control effect, while the same method used in the tension loop, the system control was hardly realized. Through many experiments and research on PID mechanism find that, at starting stage, in tension loop integral separation single neuron adaptive PSD algorithm, different integrable coefficient was added at different times, it can improve tension starting overshoot, variable speed integrating control theme was introduced. Thus, combining the single neuron adaptive PSD control algorithm and the variable speed integrating PID, the variable speed integrating single neuron adaptive PSD control algorithm was presented and successfully applied in the tension-controller, tension start-up overshoot was solved, and the complete decoupling between speed and tension was realized finally.
Key words: servo control; tension overshoot; single neuron; adaptive PSD; variable speed integral; integral separation