Carbon fiber winding tension control method and device based on interference observation compensation

Abstract

The invention belongs to the field of control of carbon fiber winding equipment, and aims to solve the problems that various interference signals exist in the winding forming process of a composite material, and the interference signals can greatly influence winding tension. The invention provides a carbon fiber winding tension control method and device based on interference observation compensation. The method comprises the following steps that a position deviation signal of a swing rod in a tension control system and tension information at a yarn position are obtained; the unwinding speed of the servo motor is controlled based on the output of the fuzzy fractional order PID controller so that the swing rod can be balanced again, and meanwhile the tension adjusting rod is controlled based on the output of the interference observer so that unknown interference signals can be compensated; and tension control in the tension control system is completed based on cooperation of the fuzzy fractional order PID controller and the disturbance observer. According to the invention, the robustness and adaptability of the system facing parameter change and external interference are obviously enhanced, so that the system can maintain a high-precision control effect in a complex and changeable environment.

Description

Technical Field

[0001] The present invention belongs to the field of carbon fiber winding equipment control, and particularly relates to a carbon fiber winding tension control method and device based on disturbance observation compensation. Background Art

[0002] Fiber winding technology, as an advanced composite material forming process, forms composite material products with high strength, high stiffness and excellent structural properties by tightly winding continuous fiber materials around a mandrel or preform according to a predetermined path and angle. This technology optimizes the configuration of material properties by precisely controlling the fiber tension, winding angle and interlayer structure, and is widely used in fields such as aerospace, pressure vessels, pipeline engineering, and sports equipment. It is an important means to improve product performance and achieve lightweight design.

[0003] However, during the composite material winding forming process, there are often various interference signals. The existence of these disturbance signals will have a greater impact on the winding tension, and in severe cases, it will even damage the stability of the tension control system, leading the system to an uncontrollable direction. During the winding forming process, the winding tension is one of the important process parameters, and its control accuracy directly affects the fiber orientation, resin infiltration effect during the forming process of the composite material, as well as the strength and durability of the final product. Summary of the Invention

[0004] In order to solve at least one of the above technical problems existing in the prior art, the present invention provides a carbon fiber winding tension control method and device based on disturbance observation compensation.

[0005] The present invention is implemented by adopting the following technical solutions: A carbon fiber winding tension control method based on disturbance observation compensation includes the following steps: Obtain the position deviation signal of the pendulum rod in the tension control system and the tension information at the yarn; Based on the position deviation signal of the pendulum rod, control the output of the fuzzy fractional-order PID controller, and at the same time, based on the tension information at the yarn, control the output of the disturbance observer; Based on the output of the fuzzy fractional-order PID controller, control the unwinding speed of the servo motor to rebalance the pendulum rod, and at the same time, based on the output of the disturbance observer, control the tension adjustment rod to compensate for the unknown disturbance signal; Based on the cooperation of the fuzzy fractional-order PID controller and the disturbance observer, complete the tension control in the tension control system.

[0006] Preferably, before obtaining the position deviation signal of the pendulum rod in the tension control system and the tension information at the yarn, the following steps are also required: Based on the physical characteristics of the controlled system, establish a fractional-order mathematical model of the tension control system; A fuzzy fractional-order PID controller is established to adjust the unwinding speed; An interference observer is established to observe and compensate for unknown disturbances. The interference observer includes an inverse filter, a second-order auxiliary filter, and an interference compensator.

[0007] Preferably, the transfer function of the fractional-order mathematical model of the tension control system is expressed as: In the formula, is the fractional-order mathematical model of the permanent magnet synchronous motor, , where is the torque constant, is the electrical time constant, is the mechanical time constant, is the order of the electromagnetic link, and , is the order of the mechanical link, and ; is the controller gain parameter; is the motor reducer parameter; is the control system gain parameter; is the sensor gain parameter; is the radius of the yarn bobbin; is the complex frequency in the Laplace transform domain.

[0008] Preferably, the transfer function of the fuzzy fractional-order PID controller is: In the formula, is the proportional coefficient of the fractional-order PID controller; is the integral coefficient of the fractional-order PID controller; is the differential coefficient of the fractional-order PID controller; is the integral order of the fractional-order PID controller, and ; is the differential order of the fractional-order PID controller, and .

[0009] Preferably, the steps to construct the interference observer are as follows: Design an inverse filter to stimulate the interference characteristics of the excitation error signal and convert it into a measurable signal; Construct an auxiliary filter to establish the relationship between the interference frequency and the input interference, represent the input interference in the form of parameters regarding the virtual disturbance, and then gradually reduce the order to back-calculate the input interference; The interference compensator reconstructs the interference signal and performs feed-forward compensation on the interference signal.

[0010] Preferably, the expression of the inverse filter is: where is the coefficient matrix corresponding numerator and denominator polynomials; The orders of are represented by consists of a series connection of first-order inertia links, are undetermined parameters.

[0011] Preferably, the expression of the auxiliary filter is: where, , , is the internal signal of the auxiliary filter, , are undetermined parameters, is the measurable signal.

[0012] The present invention also provides a carbon fiber winding tension control device based on disturbance observation compensation, including a unwinding roller, a motor reducer, a cylinder, an angle sensor, a swing rod, an impregnating tank, a tension adjusting rod, a pressure sensor, a winding mandrel, an A / D conversion module, a host computer, a PLC controller, a servo driver, an electro-hydraulic proportional valve, a servo motor and a disturbance observer; Among them, the unwinding roller is used for unwinding the fiber yarn, and the unwinding speed of the unwinding roller is controlled by the servo motor and the motor reducer; the cylinder, the angle sensor and the swing rod constitute the detection mechanism of the tension control system. When the winding tension is set, the PLC controller controls the electro-hydraulic proportional valve to make the cylinder apply a constant force to the swing rod. When the tension on the yarn is equal to the constant force applied by the cylinder, the swing rod is in the equilibrium position. When the tension on the yarn is not equal to the constant force applied by the cylinder, the swing rod deviates from the equilibrium position. The angle sensor detects the position deviation signal and transmits it to the PLC controller. The PLC controller outputs through PID control and controls the yarn tension by changing the unwinding speed to make the swing rod rebalance; The impregnating tank is used for impregnating the yarn. The pressure sensor real-time collects the tension information. After passing through the A / D conversion module, the real-time tension is transmitted to the host computer. The disturbance observer reconstructs the disturbance signal in Matlab, and after reconstruction, transmits the disturbance variable to the DB data block of TIA Portal through the TCP / IP protocol. The PLC controller controls the tension adjusting rod based on the disturbance variable to compensate for the unknown disturbance signal.

[0013] Compared with the prior art, the beneficial effects of the present invention are: The present invention has successfully applied the tension fluctuation suppression strategy based on feedforward compensation to the field of carbon fiber winding tension control. Meanwhile, an interference observer composed of an inverse filter, a second-order auxiliary filter, and an interference compensator is designed. This observer can estimate and compensate interference signals of specific frequencies, and its design method is independent of the controller structure. By establishing the relationship between the interference frequency and the virtual interference, the input interference is deduced inversely using the estimated value of the virtual interference, without estimating the equivalent interference state, significantly reducing the computational complexity. In addition, the present invention combines the conventional PID controller with the fuzzy control principle and the fractional-order theory, and proposes a fuzzy fractional-order PID controller, which not only enhances the robustness and adaptability of the system in the face of parameter changes and external interferences, but also improves the control accuracy through the intelligent adjustment mechanism of fuzzy logic, optimizes the dynamic response and static stability of the system, reduces the overshoot, and shortens the adjustment time. At the same time, this controller exhibits strong anti-interference ability, ensuring the stable operation of the system. Finally, the present invention constructs a carbon fiber winding tension control system with Siemens PLC as the core, and uses TIA Portal V18 software for software and hardware configuration and PLC program writing. Through establishing communication among TIA Portal, MATLAB, and S7-1200PLC, the data interaction function is realized, and the tension control of the entire winding process is completed. Description of the Drawings

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0015] Figure 1 It is the flowchart for implementing tension control of the present invention; Figure 2 It is the composition diagram of the tension control system of the present invention; Figure 3 It is the transfer function block diagram of the entire tension control system of the present invention; Figure 4 It is the schematic diagram of the principle of the fuzzy adaptive fractional-order PID controller of the present invention; Figure 5 It is the schematic diagram of the principle of the interference observer of the present invention; Figure 6 It is the schematic diagram of the structure principle of the inverse filter of the present invention; Figure 7 It is the schematic diagram of the structure principle of the auxiliary filter of the present invention; Figure 8 It is the output curve diagram of the tension control system of the present invention; Figure 9Effect diagram of interference compensation of the present invention; Figure 10 Error diagram of interference compensation of the present invention.

[0016] In the figure: 1-unwinding roller; 2-motor reducer; 3-cylinder; 4-angle sensor; 5-swing rod; 6-impregnating tank; 7-tension adjusting rod; 8-pressure sensor; 9-winding mandrel; 10-A / D conversion module; 11-host computer; 12-PLC controller; 13-servo driver; 14-electro-hydraulic proportional valve; 15-servo motor; 16-interference observer. Specific embodiments

[0017] Combined with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation manners obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by the present invention.

[0018] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those who are familiar with this technology to understand and read, and are not used to limit the limited conditions under which the present invention can be implemented. Therefore, they do not have a substantial technical meaning. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should fall within the scope covered by the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0019] The present invention provides an embodiment: As Figures 1 to 10 shown, a carbon fiber winding tension control method based on interference observation compensation includes the following steps: Obtain the position deviation signal of the swing rod and the tension information at the yarn in the tension control system; Based on the position deviation signal of the swing rod, control the output of the fuzzy fractional-order PID controller, and at the same time, based on the tension information at the yarn, control the output of the interference observer; Based on the output of the fuzzy fractional-order PID controller, control the unwinding speed of the servo motor to rebalance the swing rod, and at the same time, based on the output of the interference observer, control the tension adjusting rod to compensate for the unknown interference signal; based on the cooperation of the fuzzy fractional-order PID controller and the interference observer, complete the tension control in the tension control system.

[0020] Before obtaining the position deviation signal of the swing rod and the tension information of the yarn in the tension control system, the following steps are also required: Based on the physical characteristics of the controlled system, establish a fractional-order mathematical model of the tension control system; Establish a fuzzy fractional-order PID controller (FZFOPID controller) for adjusting the unwinding speed; Establish an interference observer for observing and compensating unknown disturbances. The interference observer includes an inverse filter, a second-order auxiliary filter, and an interference compensator.

[0021] In this embodiment, dynamic analysis is performed on the core components of the tension control system such as the unwinding roller 1, the motor reducer 2, the cylinder 3, the angle sensor 4, the swing rod 5, and the servo motor 15, and the fractional-order characteristics of the permanent magnet synchronous servo motor are studied. On this basis, the fractional-order mathematical model of the tension control system is established.

[0022] Specifically, the motion model of the actuator unwinding roller is expressed as: (1) In the formula, is the yarn tension, is the real-time radius of the yarn bobbin, is the motor braking torque, is the motor moment of inertia, is the core shaft moment of inertia, is the angular velocity of the yarn bobbin, is the core shaft radius, the yarn density is , the yarn width is , the yarn thickness is , is the acceleration due to gravity.

[0023] The simplified motion model of the actuator swing rod is expressed as: (2) In the formula, is the moment of inertia of the swing rod, is the first derivative of the angular velocity of the swing rod, is the output force of the cylinder, is the acting arm of the cylinder force, is the angle between the cylinder force and the swing rod, is the acting arm of the fiber tension, is the yarn tension, is the angle between the fiber elongation direction and the swing rod, is the angle between the swing rod and the horizontal direction.

[0024] The mathematical model of a permanent magnet synchronous motor is basically the same as that of an ordinary motor. The fractional-order mathematical model of the permanent magnet synchronous motor can be expressed as: (3) is the order of the electromagnetic link, is the order of the mechanical link. are the torque constant, mechanical time constant, and electrical time constant respectively, which can be obtained from the nameplate parameters of the permanent magnet synchronous motor. The model of the permanent magnet synchronous motor used in this embodiment is: 1FL6034-2AF21-1AA1, and the model of the motor reducer is: PRF60-L2-20.

[0025] Through the above analysis of the dynamic relationship of the tension control system during the fiber winding process and the establishment of the fractional-order mathematical model of the servo motor, the transfer function block of the entire tension control system can be obtained Figure 3 , based on the transfer function of the fractional-order mathematical model of the tension control system The expression is: (4) In the formula, is the controller gain parameter; is the motor reducer parameter; is the control system gain parameter; is the sensor gain parameter; is the bobbin radius; In this embodiment, Siemens S7-1200PLC and V90 servo driver are used, and the parameter values are as follows in the table.

[0026] Table 1 Parameter values Finally, the expression of the transfer function of the fractional-order mathematical model of the tension control system is: (5) The state space expression of the tension control system with interference is: Among them: , , , , are the system state, control input, output signal, equivalent bounded interference, and unknown interference respectively, R is the set of real numbers, R n is n dimensional real vector; is the coefficient matrix, which is obtained by directly decomposing the transfer function into dynamic equations.

[0027] A fuzzy fractional-order PID controller is established. By combining the fuzzy control principle and the fractional-order theory, a new fuzzy adaptive fractional-order PID controller is designed. Its basic structure is as Figure 4 shown. The controller consists of two parts. One is the fuzzy controller, which adopts a control structure with two inputs and five outputs. The deviation and the deviation rate are used as inputs, the controller parameters are used as outputs, and their values are adjusted in real time according to the changes of and . is the initial setting value of the controller parameters. The actual fractional-order controller parameters can be calculated as: (6) The fuzzy subsets of the input variables , and the output variable are all set to [NB NM NSZE PS PM PB]. The input universe of discourse , is [-3, 3], the output universe of discourse is [-3, 3], is [0, 1]. The membership functions of the input variables , adopt Gaussian membership functions, and the membership function of the output variable adopts a triangular membership function.

[0028] The transfer function of the fuzzy fractional-order PID controller is: In the formula, is the proportional coefficient of the fractional-order PID controller; is the integral coefficient of the fractional-order PID controller; is the differential coefficient of the fractional-order PID controller; is the integral order of the fractional-order PID controller, and ; is the differential order of the fractional-order PID controller, and .

[0029] The steps to construct the disturbance observer are as follows: Design an inverse filter to excite the disturbance characteristics of the error signal and convert it into a measurable signal; Construct an auxiliary filter, establish the relationship between the interference frequency and the input interference, represent the input interference in the form of parameters with respect to the virtual disturbance, and then successively reduce the order to back-calculate the input interference; The interference compensator reconstructs the interference signal and performs feedforward compensation on the interference signal.

[0030] In this embodiment, the interference observer consists of three parts: an inverse filter, an auxiliary filter, and an interference compensator. The control input is defined as , is the output of the fractional-order PID controller; is the interference estimation signal; the error signal is , where is the output signal of the system reference model, is the output signal of the controlled object.

[0031] The closed-loop system from to The error transfer function is expressed as: (7) where, is the integer-order open-loop transfer function of the controlled system; is the gain matrix of the system reference model; design to satisfy is a Hurwitz matrix; is the coefficient matrix The corresponding numerator and denominator polynomials; The orders of are denoted by respectively; The design of the inverse filter aims to stimulate the interference characteristics of the error signal and convert it into a measurable signal. The inverse filter consists of The inverse dynamics of in series with a first-order inertial link, which can be expressed as Figure 6 The inverse filter is described as: (8) In the formula Consists of a first-order inertial link in series, Is a parameter to be determined.

[0032] Combined with Figure 6 , Can be defined as: (9) In the formula Is a measurable signal; The following relationship can be obtained: (10) In the formula is the time-domain form after Laplace transform.

[0033] Furthermore, is described as:[[]] (11) Wherein:[[]] is the virtual signal of unknown interference,[[]] is the attenuation term,[[]] is the equivalent bounded interference signal,[[]] It is assumed that:[[]] (12) is the first derivative of, combined with formula (11) and Figure 6 it can be obtained that and satisfy the following relationship:[[]] (13) are respectively the complex frequency-domain forms after Laplace transform.

[0034] From the above analysis, it can be seen that the inverse filter can excite the interference characteristics of the error signal Under the virtual interference environment of multi-source perturbations, can be decomposed into the virtual signal of unknown interference, equivalent bounded interference and attenuation term.

[0035] As Figure 7 shown: Using the output signal of the inverse filter, is deduced backwards

[0036] times, and the estimated value of the unknown interference can be obtained. Figure 7 In is defined as the virtual interference estimated value for easy analysis,[[]] , is the parameter to be determined,[[]] , , is a function of the parameters to be determined , ​ , , is the internal signal of the auxiliary filter and can be described as: (14) In the formula, , , is the internal signal of the auxiliary filter, , are undetermined parameters.

[0037] Taking the Laplace transform of this formula and combining it with formula we get: (15) In the formula, is the second derivative of, is the first derivative of; further, we can obtain: (16) The theorem is given: If there exists a vector function satisfying the above formula, then the unknown virtual interference signal can be described as: (17) where: is the transpose; is the attenuation term; satisfies: (18) (19) (20) Proof: There exists a vector in satisfying: (21) where: can be described as: (22) where: ; is the attenuation term and satisfies: (23) Therefore It can be further expressed as (24) Then, combining equations (11), (15) and (21) gives (25) According to equation (25), let , and substituting it into (24), it can be simplified to the form of (17).

[0038] Combining equation (17) and Figure 7 , the interference estimation signal can be described as (26) where satisfies (27) When takes , combining (26) and (27) shows that there exists such that is described as (28) Convergence analysis of the unknown interference estimation error : Combining equations (17) and (26) gives (29) For the unknown interference estimation error a Lyapunov function is established (30) Combining equations (12) and (18) gives (31) where (32) where is a real symmetric matrix. Since is a Hurwitz matrix, and , from the properties of the Hurwitz matrix, we can obtain , and it is not difficult to get ( is the first derivative of). Therefore is asymptotically convergent. Also, because is bounded, so is asymptotically convergent; similarly, when takes , we can obtain is asymptotically convergent.

[0039] On the MATLAB platform, use SIMULINK and the S-function editor to simulate and verify the designed FZFOPID controller and disturbance observer. Take the unit step signal as the reference tension input, considering that the system is disturbed by multi-source disturbances. Add a standard sine disturbance signal to the system input channel. The undetermined parameters of the disturbance observer are selected as: ; , , , , , , , . The initial parameters of the fuzzy fractional-order PID controller , , , , . The output curve of the tension control system is as shown in Figure 8 .

[0040] When there is an unknown disturbance in the system, as shown by the Figure 9 , 10 dashed line, when the set target tension is 20N, the PID controller can, to a certain extent, suppress the disturbance and make the tension output stable within the 3N range. However, after adding the designed disturbance observer compensation, the unknown disturbance can be greatly reduced, and the tension output can be stabilized within the 0.2N range, almost canceling the effect of the unknown disturbance.

[0041] The present invention also provides a carbon fiber winding tension control device based on disturbance observation compensation, including an unwinding roller 1, a motor reducer 2, a cylinder 3, an angle sensor 4, a swing rod 5, an impregnating tank 6, a tension adjusting rod 7, a pressure sensor 8, a winding mandrel 9, an A / D conversion module 10, a host computer 11, a PLC controller 12, a servo driver 13, an electro-hydraulic proportional valve 14, a servo motor 15, and a disturbance observer 16; The unwinding roller 1 is used for unwinding fiber yarns, and the unwinding speed of the unwinding roller 1 is controlled by the servo motor 15 and the motor reducer 2; the cylinder 3, the angle sensor 4 and the swing rod 5 constitute the detection mechanism of the tension control system. After setting the winding tension, the PLC controller 12 controls the electro-hydraulic proportional valve 14 to make the cylinder 3 apply a constant force to the swing rod 5. When the tension on the yarn is equal to the constant force applied by the cylinder 3, the swing rod 5 is in the equilibrium position. When the tension on the yarn is not equal to the constant force applied by the cylinder 3, the swing rod 5 deviates from the equilibrium position. The angle sensor 4 detects the position deviation signal and transmits it to the PLC controller 12. The controller outputs through PID control and controls the yarn tension by changing the unwinding speed to make the swing rod 5 re-balance; The dipping tank 6 is used for dipping the yarn. The pressure sensor 8 collects the tension information in real time. After passing through the A / D conversion module 10, the real-time tension is transmitted to the host computer 11. The disturbance observer 16 reconstructs the disturbance signal in MATLAB, and after reconstruction, the disturbance variable is transmitted to the DB data block of the TIA Portal through the TCP / IP protocol. The PLC controller 12 controls the tension adjusting rod 7 based on the disturbance variable to compensate for the unknown disturbance signal.

[0042] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A carbon fiber winding tension control method based on disturbance observation compensation, characterized in that: The steps include: Obtain the position deviation signal of the swing rod in the tension control system and the tension information at the yarn; Based on the position deviation signal of the swing rod, control the output of the fuzzy fractional-order PID controller, and at the same time, based on the tension information at the yarn, control the output of the disturbance observer; Based on the output of the fuzzy fractional-order PID controller, control the unwinding speed of the servo motor to rebalance the swing rod, and at the same time, based on the output of the disturbance observer, control the tension adjustment rod to compensate for the unknown disturbance signal; Based on the cooperation of the fuzzy fractional-order PID controller and the disturbance observer, complete the tension control in the tension control system.

2. The carbon fiber winding tension control method based on disturbance observation compensation according to claim 1, characterized in that: Before obtaining the position deviation signal of the swing rod in the tension control system and the tension information at the yarn, the following steps need to be carried out: Based on the physical characteristics of the controlled system, establish a fractional-order mathematical model of the tension control system; Establish a fuzzy fractional-order PID controller for realizing the adjustment of the unwinding speed; Establish a disturbance observer for realizing the observation and compensation of unknown disturbances. The disturbance observer includes an inverse filter, a second-order auxiliary filter, and a disturbance compensator.

3. The carbon fiber winding tension control method based on disturbance observation compensation according to claim 2, characterized in that: Transfer function of the fractional-order mathematical model of the tension control system The expression is as follows: In the formula, is the fractional-order mathematical model of the permanent magnet synchronous motor, , where is the torque constant, is the electrical time constant, is the mechanical time constant, is the order of the electromagnetic link, and , is the order of the mechanical link, and ; is the controller gain parameter; is the motor reducer parameter; is the control system gain parameter; is the sensor gain parameter; is the radius of the yarn package; is the complex frequency in the Laplace transform domain.

4. The carbon fiber winding tension control method based on disturbance observation compensation according to claim 2, characterized in that: Transfer function of the fuzzy fractional-order PID controller is as follows: Wherein, is the proportional coefficient of the fractional-order PID controller; is the integral coefficient of the fractional-order PID controller; is the derivative coefficient of the fractional-order PID controller; is the integral order of the fractional-order PID controller, and ; is the derivative order of the fractional-order PID controller, and .

5. The carbon fiber winding tension control method based on disturbance observation compensation according to claim 2, characterized in that: The steps for constructing the disturbance observer are as follows: Design an inverse filter to stimulate the disturbance characteristics of the excitation error signal and convert the error signal into a measurable signal; Construct an auxiliary filter to establish the relationship between the disturbance frequency and the input disturbance, represent the input disturbance in the form of parameters about the virtual disturbance, and then successively reduce the order to reverse-infer the input disturbance; Construct a disturbance compensator to reconstruct the disturbance signal and perform feedforward compensation on the disturbance signal.

6. The carbon fiber winding tension control method based on disturbance observation compensation according to claim 5, characterized in that: The expression of the inverse filter is: where is the coefficient matrix corresponding numerator and denominator polynomials; The orders of are respectively represented by ; is composed of a series connection of first-order inertia links, are parameters to be determined.

7. The carbon fiber winding tension control method based on disturbance observation compensation according to claim 5, characterized in that: The expression of the auxiliary filter is: In the formula, , , are the internal signals of the auxiliary filter, , are the parameters to be determined, is the measurable signal.

8. A carbon fiber winding tension control device based on disturbance observation compensation, used to implement the carbon fiber winding tension control method based on disturbance observation compensation according to any one of claims 1 to 7, characterized in that: It includes an unwinding roller (1), a motor reducer (2), a cylinder (3), an angle sensor (4), a swing rod (5), an impregnation tank (6), a tension adjustment rod (7), a pressure sensor (8), a winding core mold (9), an A / D conversion module (10), a host computer (11), a PLC controller (12), a servo driver (13), an electro-hydraulic proportional valve (14), a servo motor (15), and a disturbance observer (16); Among them, the unwinding roller (1) is used for unwinding the fiber yarn, and the unwinding speed of the unwinding roller (1) is controlled by the servo motor (15) and the motor reducer (2); The cylinder (3), the angle sensor (4), and the swing rod (5) constitute the detection mechanism of the tension control system. After setting the winding tension, the PLC controller (12) controls the electro-hydraulic proportional valve (14) to make the cylinder (3) apply a constant force to the swing rod (5). When the tension on the yarn is equal to the constant force applied by the cylinder (3), the swing rod (5) is in the balanced position. When the tension on the yarn is not equal to the constant force applied by the cylinder (3), the swing rod (5) deviates from the balanced position. The angle sensor (4) detects the position deviation signal and transmits it to the PLC controller (12). The PLC controller (12) outputs through PID control and controls the yarn tension by changing the unwinding speed to rebalance the swing rod (5); The dipping tank (6) is used for dipping the yarn. The pressure sensor (8) collects the tension information in real time. After passing through the A / D conversion module (10), the real-time tension is transmitted to the host computer (11). The disturbance observer (16) reconstructs the disturbance signal in MATLAB. After reconstruction, the disturbance variable is transmitted to the DB data block of the TIA Portal through the TCP / IP protocol. The PLC controller (12) controls the tension adjusting rod (7) based on the disturbance variable to compensate for the unknown disturbance signal.

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