LI C Y, CHEN F J, WANG G,et al.Tension control method of bond wire winding based on adaptive backstepping sliding mode[J].Journal of Henan Polytechnic University(Natural Science) ,2023,42(6):103-109.

doi:10.16186/j.cnki.1673-9787.2021120086

Received:2021/12/23

Revised:2022/05/10

Published:2023/11/25

Tension control method of bond wire winding based on adaptive backstepping sliding mode

LI Changyou1,2, CHEN Fangjing1,2, WANG Geng1,2, WEI Weining1,2, YAN Yonggang1,2

1.School of Mechanical and Power Engineering，Henan Polytechnic University，Jiaozuo  454000，Henan，China;2.Institute of Precision Engineering，Henan Polytechnic University，Jiaozuo  454000，Henan，China

Abstract:In order to solve the problems of strong coupling and tension fluctuation in the tension control motion of bond wire winding，an improved adaptive backstepping sliding mode control algorithm was applied to the winding control system.In this control algorithm，the complex system was decomposed into several simple subsystems.Then the virtual control quantity was introduced from the lowest order system equation.And in combination with sliding mode control definition，virtual control was gradually designed to meet the requirements.Finally，the actual control law of the system was designed.An adaptive algorithm was used to estimate the uncertain parameters，and fuzzy approximation was designed as the switching control item in the sliding mode controller.According to Lyapunov stability theory，the adaptive rate of parameters was designed to ensure the stability of the system.By analyzing the data of swing angle fluctuation and response time，adaptive backstepping sliding mode control can improve the stability of the system.Compared with the fuzzy PID control algorithm，with the pendulum angle fluctuation of tension swing rod was controlled inside±1.4°，the adaptive backstepping sliding mode control was better in controlling tension output more effectively.

Key words:bonding wire;tension controller;adaptive backstepping;sliding-mode;fuzzy approximation

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