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Backstepping Based Control Algorithm of Roll-to-Roll Web System for Printed Electronics

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Abstract
There have been many applications which employed roll-to-roll (R2R) web technology for mass production such as web printing, papers machine, film processing, and textiles fabrics. Especially, radio frequency identification (RFID) and printed electronics are using the principles of R2R manufacturing to create devices at high speeds and lower cost. Due to the increasing demand of high accuracy in printed electronics industry at a micrometer-level in which linear control system based algorithms are not able to meet the requirement of performance specifications. Also, it is proven due to linearization, some nonlinearity is neglected and the actual system performance is different from the simulated results. Thus, it is necessary to have a precise control scheme for the nonlinear R2R web system in the presence of varying parameters and disturbances.
In the first section of this dissertation, some concepts and applications of R2R web manufacturing technology are introduced and a theoretical background is provided for analyzing and designing nonlinear control systems. And then state space exact linearization method for SISO and MIMO nonlinear control system which utilizes the sequence of coordinate transformation and state feedback in order to transform the original system into a linear and controllable system is presented. Using the classical design methods for linear control system and return the original coordinates, a state feedback law is proven to meet the demands of the performance specifications and stability. However, such an approach often leads us to the complex expressions and sometimes fails to obtain the final state feedback law. The question arises if the resultant nonlinear feedback law is able to be obtained by dividing the whole system into several subsystems and coordinate transformations and state feedbacks are able to implement alternately for each subsystem. The idea of backstepping based design approach comes up to get over this obstacle. In this proposal, the whole system is divided into several subsystems in a principle such that the nth subsystem consists of the (n-1)th subsystem and the nth subsystem is the original system via coordinate transformations and state feedbacks. By applying consecutively the coordinate transformation and choosing feedback law via Control Lyapunov Function (CLF) to each subsystem from the lowest to highest order and rewrite the feedback law in the original coordinates, the resulted controllers called backstepping controller make original system a well-tracking command and asymptotically global stable. After that a generalized mathematical model of a class of nonlinear control system encountered in practical problems is proposed and a systematic procedure is presented for formulating the backstepping controller (BSC) for this MIMO nonlinear control system using the above proposed approach.
In the next section, some recent works of R2R web system control technology are reviewed and analyzed. By using several assumptions on R2R web system, a mathematical model of R2R web control system is derived from the Newton's Second law and the principle of mass conservation and then a design scheme for formulating the BSC and precise control algorithm are implemented for a nonlinear single-span, two-span and three-span R2R web control system based on the backstepping based design approach. By the numerical simulation and experimental implementation, it is also proven that the performances of R2R Web system are able to be improved by optimal gains. Thus, an introduction of genetic algorithm (GA) is briefly mentioned and a modified genetic algorithm (MGA) is proposed to determine optimally the design parameters of the BSC and an algorithm using the MGA is for updating online the gains is presented in the presence of changing radii and viscous friction.
Finally, simulation and experimental results that confirm the reliability and robust stability of the proposed algorithm are presented and discussed and then some conclusions are made by summarizing the main contributions in the dissertation and some discussions such as applicability and limitations of the proposed control algorithm in reality. Also, future works also are addressed further to improve the precision and applicability of control algorithms.
Author(s)
탄충단
Issued Date
2012
Awarded Date
2012. 8
Type
Dissertation
URI
http://dcoll.jejunu.ac.kr/jsp/common/DcLoOrgPer.jsp?sItemId=000000005985
Alternative Author(s)
Tran Trung Thanh
Affiliation
제주대학교
Department
대학원 에너지응용시스템학부
Advisor
최경현
Table Of Contents
List of Figures i
List of Tables iv
Abstract v

1. Introduction 1
1.1 Overview 1
1.2 Background and Motivation 3
1.3 Objectives of Research 6
1.4 Dissertation Outline 7

2. Theoretical Background 9
2.1 Geometric View of Linear Control Systems 9
2.2 Notations and Concepts for Nonlinear Control Systems 12
2.3 Local Decomposition of Control Systems 18
2.4 SISO Nonlinear Feedback Theory 20
2.4.1 Normal Form of Equations of SISO 20
2.4.2 Exact Linearization via Nonlinear Feedback 21
2.5 MIMO Nonlinear Feedback Theory 23
2.5.1 Normal Form of Equations of MIMO 23
2.5.2 Exact Linearization via Nonlinear feedback 26
2.6 Theory of Lyapunov Stability 28
2.6.1 Some Definitions 28
2.6.2 Second Method of Lyapunov 30
2.7 Backstepping Based Design Theory 31
2.7.1 Concepts of Basic Backstepping Design 32
2.7.2 Backstepping Design of Modified Strict-feedback Form 34
2.8 Some Comments 38

3. Modified Genetic Algorithm 39
3.1 Introduction 39
3.2 Classical Approach of Genetic Algorithm 40
3.3 Modified Genetic Algorithm and Application 42
3.4 Control System Design of Automatically Tuning Controller 45

4. R2R Web Control System for Printed Electronics 48
4.1 Literature Survey 48
4.1.1 Concepts of R2R Web Control System 48
4.1.2 Perspective of Web Tension and Velocity Control 50
4.2 Mathematical Model Development 52
4.2.1 Assumptions 52
4.2.2 Development of Dynamic Equations 52
4.3 R2R Web Control System Design 55
4.3.1 Hardware Design 56
4.3.2 Software Design 58
5. Single-span R2R Web Velocity and Tension Control 60
5.1 Mathematical Model Single-span R2R Web System 60
5.2 Feedback Linearization Based Approach 62
5.2.1 State Space Feedback Controller Design 62
5.2.2 Numerical Simulation 64
5.3 Backstepping Approach of Single-span R2R Web Control System 65
5.3.1 Backstepping Controller Design 65
5.3.2 Backstepping Based Control Algorithm 68
5.4 Numerical Simulation 69
5.4.1 Simulation Conditions and Parameters 69
5.4.2 Simulation Results 70
5.5 Experimental Implementation 74
5.6 Analysis and Discussions 78

6. Two-span R2R Web Velocity and Tension Control 79
6.1 Mathematical Model Two-span R2R Web System 79
6.2 Backstepping Controller Design 81
6.3 Backstepping Based Control Algorithm 88
6.4 Numerical Simulation 89
6.4.1 Simulation Conditions and Parameters 89
6.4.2 Simulation Results 90
6.5 Experimental Implementation 92
6.5.1 Experimental Setup 92
6.5.2 Experimental Results 93
6.6 Analysis and Discussions 95

7. Three-span R2R Web Velocity and Tension Control 96
7.1 Mathematical Model Three-span R2R Web System 96
7.2 Backstepping Controller Design 99
7.3 Backstepping Based Control Algorithm 109
7.4 Numerical Simulation 109
7.4.1 Simulation Conditions and Parameters 109
7.4.2 Simulation Results 110
7.5 Experimental Implementation 111
7.6 Analysis and Discussions 115

8. Conclusions and Future Works 117
8.1 Conclusions 117
8.2 Future Works 118
References 120
Curriculum Vitae 127
Degree
Doctor
Publisher
제주대학교 대학원
Citation
탄충단. (2012). Backstepping Based Control Algorithm of Roll-to-Roll Web System for Printed Electronics
Appears in Collections:
Faculty of Applied Energy System > Mechanical Enginering
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