目的 有效克服复卷机收线张力不稳定的问题，并有效抑制模型失配造成的误差。 方法 提出了基于内模控制算法优化的 PID 控制方法，将内模算法和传统 PID 控制方法相结合，用内模算法来调整PID 控制参数。 结论 仿真结果表明，该基于内模算法的 PID 控制方法具有优秀的控制品质，具有动态响应速度快、抗干扰能力强的优点。

Self-tuning internal model control can effectively overcome the problem that the take-up tension is not stable, and effectively restrain the error caused by model mismatch. PID control method based on internal model control algorithm was proposed, which combined the internal model control algorithm with the traditional PID control method, and the internal model algorithm was used to adjust the PID control parameters. The simulation results showed that the PID control method based on internal model algorithm has excellent control quality, with advantages such as fast dynamic response and strong anti-jamming capability.