The media-transport system (MTS) is a key component in many daily appliances for example copiers, printers and ATMs. The slippage between the medium and the feeding rollers in the MTS results in the irregular feeding speed of the medium and deteriorates the performance of the whole system. This paper focuses on the regulation of the paper feeding velocity by applying the adequate command profile to the driving roller. To learn the required command profile for the driving rollers, a repetitive learning controller is introduced. For the development and the evaluation of the control system two-dimensional simulation model for the MTS where a paper sheet medium is modeled as a multi-body dynamic system. The simulation was performed in a co-simulation environment where two analysis tools are used in a symbiotic manner. Simulations results show improved feeding performance by using the learned driving velocity profile.

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