纬纱张力系统是一个非线性、时变的系统，针对这一特点，采用模糊pid算法进行伺服控制。
Tension of warp system is time-variant and nonlinear system. According to characteristic of tension of warp system, Fuzzy-PID algorithm is adopted.
收放卷单元：采用伺服马达，自动控制张力，同时采用无芯式气胀轴加料。
Accept rewind unit:using the servo motor, automatic control tension, adopted without rui chirise shaft clip material.
基于系统的非线性静平衡方程 ，通过最小二乘运算和优化策略 ，获得了适于伺服电机控制的索系平衡张力和索长。
Based on the nonlinear static equivalent equations of the cable-cabin system, forces and lengths suitable for servo motor control are obtained by least square method and an optimum strategy.
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