Sliding mode tension control for the yarn winding process with extended state observer

In the textile industry, yarn tension control is directly related to product quality and production efficiency. Addressing the nonlinearities, uncertainties, and external disturbances encountered by tension control systems, this work initially establishes a mathematical model to describe the dynamic characteristics of yarn tension. Building upon this foundation, a yarn tension sliding mode control strategy based on an extended state observer (ESO) is proposed. This strategy employs the ESO to estimate and compensate for system uncertainties and disturbances. Subsequently, a sliding mode controller is designed for the compensated system, utilizing hyperbolic tangent functions for the reaching law, thereby enhancing the dynamic performance of the yarn tension control system. The stability of the controller is analyzed using Lyapunov theory. Recognizing the complexity of controller parameter tuning, an improved grey wolf optimizer (GWO) is introduced for further adjustment and optimization of the controller parameters. Finally, comparative simulations demonstrate that the designed controller maintains rapid response and high-precision dynamic characteristics even in the presence of external disturbances and noise. This underscores the promising application prospects of the proposed method in practical systems.