In mechanical shaft driven roll-to-roll (R2R) printing systems, tension propagation caused by the regulation of dancer rolls increase the control difficulty of the whole system. In this paper, a cooperative compensate control (CoComC) method is proposed for the R2R printing systems to attenuate tension fluctuation and reduce the register errors. Specifically, a mechanical model is established to quantify the relationship among the web tension, linear velocity of dancer roll and register error. Based on the model, a well-tuned feedback control law is designed for each dancer roll, and a cooperative matrix is proposed to coordinate the feedback control to attenuate the tension fluctuation and reduce the register error in the corresponding printing unit. Further, the stability and convergence condition of the proposed control system are provided and proved via Lyapunov stability theory. The effectiveness of the proposed control method is demonstrated by experiments. Comparisons of the existing control method are carried out to show the superior performance of CoComC, i.e., higher register accuracy, superior fluctuation attenuation performance and less waste of printing material.

中文翻译：

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带有调节辊的机械轴驱动卷对卷印刷系统的协同补偿套准控制

在机械轴驱动的卷对卷（R2R）印刷系统中，调节辊调节引起的张力传播增加了整个系统的控制难度。本文提出了一种用于R2R印刷系统的协同补偿控制（CoComC）方法，以衰减张力波动并减少套准误差。具体来说，建立机械模型来量化卷筒纸张力、调节辊线速度和套准误差之间的关系。基于该模型，为每个调节辊设计了一个经过调整的反馈控制律，并提出了一个协调矩阵来协调反馈控制，以衰减相应印刷单元的张力波动并减少套准误差。此外，通过Lyapunov稳定性理论给出并证明了所提出的控制系统的稳定性和收敛条件。通过实验证明了所提出的控制方法的有效性。与现有的控制方法进行比较，显示了CoComC的优越性能，即更高的套准精度、优越的波动衰减性能和更少的印刷材料浪费。