Thread tension control of permanent magnet synchronous motor based on load torque observer

Thread tension control is a highly challenging issue that has not been well resolved so far in embroidery industry. In this paper, a novel closed-loop controller was proposed for control of thread tension for embroider systems. First, the mathematical model was constructed by load observers was designed to estimate the thread tension in real-time. Secondly, a classical PI controller was developed to implement speed tracking control, where load torque provided by a torque-observer was employed as a feed-forward disturbance compensation to improve the robustness of the controller. Finally, the closed-loop controller for control of thread tension was derived. Simulation results demonstrated the effectiveness of the proposed observers and the control scheme.

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