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Dynamic modeling and control of a bending combined roller system using Timoshenko beam theory and constrained model predictive control

The roller system is an essential and very important part of a lot of fabric processing machines in the textile industry. This study proposes a new bending roller control system (BRCS) to control bending deformation and vibration of the roller system. First, a new mathematical model of a combined roller is obtained by using an eigenfunction expansion method and Timoshenko beam theory. The combined roller consists of inner steel and outer nylon layers to take full advantage and eliminate drawbacks of materials. Second, a hydraulic multi-cylinder system is put inside the roller at the suitable position. This solution not only increases significantly the power of the bending actuation system but also reduces the transient time of dynamic response and avoids damaging outside surfaces of the rollers. Finally, in order to improve dynamic response performance and open wide operating range of system, model predictive control (MPC) and constrained control are applied to the BRCS. Simulation results proved that the proposed control system is completely effective and reliable.