A Decoupling Control Algorithm for Unwinding Tension System Based on Active Disturbance Rejection Control

Table 2

Controller parameters in simulation.

Controller	Controller parameters
ADRC1	𝛽11 = 100, 𝛽12 = 5560, 𝛽13 = 81200, 𝑘1𝑝 = 920, 𝑘1𝑑 = 760, 𝑟1 = 60
ADRC2	𝛽21 = 100, 𝛽22 = 2870, 𝛽23 = 51600, 𝑘2𝑝 = 3460, 𝑘2𝑑 = 750, 𝑟2 = 60
PID1	𝐾1𝑝 = 30, 𝐾1𝑖 = 2.5, 𝐾1𝑑 = 12
PID2	𝐾2𝑝 = 65, 𝐾2𝑖 = 32, 𝐾2𝑑 = 5