As fluctuating tension force has greatly effects on coiling quality , tension mechanism is very important in the coiling robot . so a tension closed loop system that applied optimum robust control method is proposed , simulation results show that dynamic characteristic of tension system is greatly improved 本文針對張力系統(tǒng)在線圈繞制過程中的重要性,以及張力波動影響繞線質(zhì)量的問題,提出了一種閉環(huán)張力系統(tǒng),并用最優(yōu)魯棒理論對其進(jìn)行控制。