Abstract: In the printing and dyeing industry, maintaining stable tension in fabrics during the printing and dyeing process is the key to ensuring their dyeing quality. Excessive tension will lead to weft contraction, warp stretching, and in extreme cases, the fabric can break; on the contrary, it will cause the fabric to wrinkle and slip, which will seriously damage the dyeing effect and reduce the production efficiency. In this series of processes, the pad dyeing process is particularly critical, and the tension control is directly related to fabric quality. So it is extremely important to keep the fabric's tension during the operation of the whole equipment. This article, with focus on the back-end process of continuous pad dyeing equipment, conducted in-depth research on the composite force and various interferences that the tension of fabrics is susceptible to in the printing and dyeing process, mainly from the aspects of establishing the tension system model, designing the controller and conducting experimental verification.
Firstly, the back-end of the continuous pad dyeing equipment was described, and the dynamic model of the pad dyeing system was constructed according to the discussion of the variation pattern of the rotational inertia of the fabric roll, combined with principles such as the conservation of mass and Hooke's law.
Secondly, through the analysis of the established mathematical model, it can be found that there is a coupling relationship about the tension between the adjacent two rollers, so this paper proposed a method to decouple the tension. Moreover, the tension control system exhibits not only strong coupling but also characteristics such as nonlinearity, time-varying nature, and susceptibility to interference, and traditional PID controllers are frequently hard to achieve the desired control effect on this system. The active disturbance rejection control (ADRC) was chosen as a solution. Considering the complexity of parameter tuning in ADRC, this study addressed the issue of premature optimization stagnation in the gray wolf algorithm, combined the optimized gray wolf algorithm (IGWO) with the ADRC, and utilized the IGWO to optimize and fine-tune the critical parameters of the ADRC in real-time, designing improved gray wolf active disturbance rejection control (IGO-ADRC).
Finally, MATLAB/Simulink was used to build a mathematical model, and the simulation experiments of three controllers were carried out. The results show that the designed IGO-ADRC performs well in suppressing tension fluctuations caused by internal and external disturbances, with the response speed and control accuracy better than those of traditional PID controllers. It also demonstrates excellent performance in reducing tension fluctuations caused by the coupling between rollers, ensuring constant tension and stable operation of the rolling mill, improving the quality of fabric production, and significantly reducing the production of defective products..

Key words: tension control, active disturbance rejection control, decoupling control, disturbance resistance, improved Gray Wolf Optimization (GWO) algorithm

摘要： 在连续轧染过程中，受张力耦合、内外扰动、参数变化等不确定因素影响，轧染机系统张力会产生波动。针对该问题，文章在自抗扰控制器中引入了改进灰狼优化算法来控制轧染张力。通过构建轧染张力系统的数学模型，并对灰狼算法存在的初始种群分布不均匀、易陷入局部最优解、后期收敛速度慢等问题进行优化，再借助优化后的灰狼算法对自抗扰控制器的关键参数进行实时整定，设计出一种改进灰狼自抗扰控制器。经过与其他控制器进行实验对比，发现改进灰狼自抗扰控制器在实现轧染系统张力解耦控制的同时，也提高了系统的抗干扰能力和鲁棒性，在保证轧染系统稳定运行的同时，也提高了织物的轧染质量。

关键词: 张力控制, 自抗扰控制, 解耦控制, 抗扰动性, 改进灰狼优化算法