In the wrapping process of magnet wire, as the haulage speed of master motor varies periodically, it is difficult for slave wrapping motor to track master motor due to the mechanical resonance, which destabilizes the wrapping pitch. In the proposed system, the synchronization speed control scheme of master-slave motor based on repetitive control compensation is employed. In the process of control, real-time spectrum analysis of the haulage speed is given, which can be used to adjust the parameters of wrapping speed controller adaptively with the acquired characteristic information of the mechanical resonant. Simulation shows that wrapping speed can track haulage speed well in the proposed system, and the maximum tracking synchronous deviation can be reduced to 56% of that in the system without repetitive control.
