The smoothness of the winding process of the winding machine

How to ensure the stability of the winding process of the single-reel winder?
　　 It is necessary to ensure the stability of the winding process of the single-reel winder, regardless of whether it is large winding, small winding, acceleration, deceleration, stop, and start, it can ensure the constant tension. Need to perform torque compensation. To start the whole system, the torque produced by static friction must be overcome, which is called static friction torque for short. Static friction torque only works at the moment of starting.
　　 During normal operation, it is necessary to overcome the sliding friction torque generated by the sliding friction force. The sliding friction torque always exists during operation, and the size is different at low speed and high speed. Compensation of different sizes is required. To overcome the inertia of the system when the system is accelerating, decelerating, and stopping, corresponding torque compensation must be performed. The amount of compensation is also proportional to the running speed. At different vehicle speeds, the compensation coefficient is different.