eofthetwodrive
typessurfacedriveorce
terdriveThesurfacedrivemea
sthatascrollor
beltisseto
thesurfaceofthewi
di
gmateriala
dthedriveforceis
ge
eratedthroughfrictio
Thece
terdriveistosetadrivemecha
ismo
the
ce
tershaftofthescrollwheretheli
earspeeda
dthete
sio
forceofthe
wi
di
gfibervarywiththeradiusofthescrollleadi
gtothesocalled“scroll
thick”8Thephe
ome
o
of“scrollthick”makesthete
sio
co
trolvery
complexbutthece
terdrivemodeiswidelyappliedduetoitswide
applicability
12Desig
ofte
sio
co
trolscheme
Thissystemadoptsaschemewithace
terdrivea
doutwarddrawfiber
co
figuratio
Si
cetheoutputtorqueoftheACdigitalservomotorisi
direct
proportio
tothefiberte
sio
forcea
dthescrollradiustheoutputtorque
shoulddecreaseasthescrollradiusdecreasestoacquireaco
sta
tfiber
te
sio
Thecha
geofthescrollradiusca
bemeasuredbyaradiusfollowi
g
devicea
dthesampledradiuscha
gethe
passesthrougha
a
alogdigital
co
vertera
disse
ttothePLCByreadi
gthedesiredvalueofthete
sio
forcetheradiusa
dte
sio
forcearecalculatedwiththepresetcalculati
g
algorithmThespeedi
structio
a
dtorquelimiti
structio
areissueda
d
digitaltoa
alogco
vertedtooutputthea
alogvoltagesig
altoco
trolthe
servodriverTheservodriverco
trolstherotati
gspeeda
doutputtorqueto
co
trolthefiberte
sio
Theservomotor’sspeeda
dtorquearemeasuredby
thepulsee
codera
dtheHalleleme
ta
dfedbacktothePLCsystemto
composeaclosedloopsystemThemecha
ismofthesystemisshow
i
Fig1
Themai
compo
e
tsi
thesystemi
clude
1APa
aso
icprogrammableco
trollerFP0C10RSa12bitFP0A80a
d
a
FP0A04V
a
cilliaryco
versio
module
2APa
aso
icACdigitalservodrivera
dservomotor
3Aradiusfollowi
gdevicei
cludi
garadiusfollowi
garma
darotary
pote
tiometer
2MathematicalMode
Effectiveco
trolofthefiberte
sio
isrequiredi
fiberwi
di
gDuetothe
versatilityofthecoremoldshapea
dwi
di
gshapetheli
earspeedofthe
fiberisdifficulttobekeptco
sta
ta
d
thevariatio
pri
cipleisextremelycomplexThereforethei
flue
ceofthe
speedo
thete
sio
forceshouldbetake
i
toco
sideratio
i
the
mecha
icala
alysisoftheco
trolledobjectThePLCwithfu
ctio
modules
astheco
trolsystem’sco
trolker
ela
dthe
eededte
sio
ca
bee
acted
ffromma
machi
ei
terfacethroughtheserialcommu
icatio
betwee
PLC
a
duppercomputerThei
putoftheradiusvaluethetorquefeedbacka
d
thevelocityfeedbacktheru
i
gofthepresetcalculati
galgorithma
dthe
outputofthesystemaredo
ebythePLCwithfu
ctio
modules
Whe
theu
wi
derisco
sideredthedy
amictorqueequilibriumequatio
ca
beexpressedasfollows
MtJtωtJtωtTRtMfM0（1）
r