CN100430844C - Winder controller for multiple gate drawing device - Google Patents
Winder controller for multiple gate drawing device Download PDFInfo
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- CN100430844C CN100430844C CNB2005100612333A CN200510061233A CN100430844C CN 100430844 C CN100430844 C CN 100430844C CN B2005100612333 A CNB2005100612333 A CN B2005100612333A CN 200510061233 A CN200510061233 A CN 200510061233A CN 100430844 C CN100430844 C CN 100430844C
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- winding machine
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
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Abstract
The present invention relates to a winding machine controller with a multiple-track drawing apparatus, which comprises a frequency converter, a motor, a winding machine and a winding machine control unit. The output end of the frequency converter is connected with the motor which is connected with the winding machine by a transmission mechanism a position sensor is arranged on the winding machine, a tuner used for coordinating the working-speed relationship of contiguous tracks is arranged between a finished product track and the winding machine, the winding machine control unit comprises a deviation control module of the winding machine which is used for calculating the deviation control quantity according to the position specified value of the tuner between the finished product track and the winding machine and the actual feedback value of the position sensor of the winding machine, and the winding machine control unit adopts a control mode of 'feedforward +PID' and carries out iterative algorithm optimization for a speed ratio parameter. The present invention can improve the operation and rapid-stop performance of the winding machine.
Description
(1) technical field
The present invention relates to the electronic opertaing device that a kind of metallic article is produced, especially a kind of winder control device of multiple gate drawing device.
(2) background technology
Drawing equipment (or claiming the interlock wire-drawing equipment) is a kind of typical electromechanical integrated product, in the production of metallic article, its function is the less metal material in cross section that the bigger metal material in cross section is processed into various different sizes by multiple tracks extruding (or mould is directly by the tiny mould of passage), winder be the finished silk rolling on I-beam wheel, it is the drawing equipment important component part.During work, winder is driven by gear train by alternating current generator, and the operation of alternating current generator is controlled by frequency converter, and therefore, the travelling speed of winder is actually and is decided by the velocity setting value of giving frequency converter.Drawing equipment winder control algolithm in the past is " feedforward+PID control " often, and this method has played better action to the raising of drawing equipment winder runnability.
Fig. 1 has represented N passes of drawing equipment transmission synoptic diagram.Wherein the travelling speed of N passage is by the direct given G in outside
N, the velocity setting of other passage is by calculating.
The performance quality of multiple gate drawing device depends on the performance in each stage of the course of work: the performance during operation, the performance of stopped process and the performance when starting.Performance during operation refers to the stability and the rapidity of system; The performance of stopped process refers to when stopping fast each passage also can keep the speed coordination relation; Performance during startup refers to smooth starting.From control mode, the velocity setting of winder is that the velocity setting by the N passage multiply by corresponding speed and obtains than coefficient and this PID output valve addition, the speed of winder is the speed of following finished product roller/tube N, when metal material is not strained, tuner relies on the counter-force of self to move downward (Fig. 1), the operating rate that winder is described is too slow, and should improve the operating rate of winder this moment; Otherwise when metal material was strained, tuner was then pulled to motion (Fig. 1) by metal material, illustrated that the operating rate of winder is too fast, and should reduce the operating rate of winder this moment.The velocity setting of winder and final pass is closed:
G
s＝K
s·G
N+ΔG
s (1)
G in the formula (1)
S, G
NBe respectively the velocity setting of winder and final pass, K
SBe the velocity ratio coefficient of winder and final pass, because the coil diameter of winder changes K
SAverage Δ G
SOutput for the winder controller.
Fig. 2 represents the feedforward+PID control structure figure of winder.U among the figure
sBe the position set-point of winder s tuner, U
SfIt then is the actual feedback of winder s position transducer.
But also there are following 2 shortcomings in this method: the one, and when drawing equipment starts moment, the position of winder tuner is arbitrarily, when tuner can produce excessive overshoot during near extreme position, fracture of wire or running phenomenon takes place easily; The 2nd, the rolling part is in operational process, and the take-up diameter folk prescription is big to variation and variation range, and its PID range of adjustment is very big, and classical feedforward+PID control can't be satisfied the rapidity and the stability requirement of system simultaneously.Therefore, address the above problem the needs, the user's that are equipment demand, also be Developing Trend in Technology.
(3) summary of the invention
For fracture of wire or running take place, can't satisfy the deficiency of rapidity requirement in the winder control device of the multiple gate drawing device that overcomes prior art easily, the invention provides and a kind ofly improve the runnability of winder and stop performance fast, drawing equipment is not easy the winder control device of multiple gate drawing device that can fracture of wire.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of winder control device of multiple gate drawing device, comprise frequency converter, motor, winder, the winder controller, the output of frequency converter connects motor, motor connects winder by gear train, installation site sensor on the described winder, the tuner of the operating rate relation be used to coordinate adjacent passage is installed between final pass and the winder, described winder controller comprises winder deviation control module, be used for position set-point and actual feedback calculation deviation controlled quentity controlled variable according to the tuner between final pass and the winder, its formula is as (2):
In the following formula, Δ G
SBe the deviation control amount of winder, K
Sp, T
Si, T
SDRatio, integration, the differential coefficient of representing S PID respectively, U
sBe the position set-point of winder tuner, U
SfIt is the actual feedback of winder position transducer;
Winder velocity setting module is used for the arithmetic speed between given each passage, and its formula is as (3):
G
s＝K
sb·G
N+ΔG
s (3)
In the following formula, G
S, G
NBe respectively the velocity setting of winder and final pass, K
SbBe the velocity ratio coefficient of winder and final pass, K
SAverage;
The output of described winder velocity setting module connects described frequency converter; Described winder controller also comprises the velocity ratio adjustment module, is used for according to the iterative algorithm optimal speed than coefficient, and its formula is as (4):
K
sb＝K
sj(t)＝K
s(j-1)(t)+C*ΔG
s(j-1) (4)
In the formula (4), C represents the filtering learning gain, gets 0.9, and j is an iterations.
Further, described winder controller also comprises the soft start control module, and described soft start control module comprises: start setup unit, be used for when starting, the given and feedback deviation amount of the position transducer of setting winder is less than the actual deviation amount; The departure reduction unit is used for increasing given and feedback deviation amount in the time limit setting, and makes given and the feedback deviation amount equals the actual deviation amount.
Further again, described departure reduction unit is that equal difference increases progressively the unit, is used in setting-up time, and equivalent increases given and feedback deviation amount.
Principle of work of the present invention is: existing " feedforward+PID control ", at first to guarantee the control stiffness of equipment, its rapidity realizes by advanced algorithm.Suppose the ratio of known drawing equipment winder and final pass length velocity relation, the datum velocity of winder is given so is that the velocity setting of final pass multiply by this ratio, the actual speed of winder is given to be exactly the given regulating and controlling amount that adds position sensor feedback of datum velocity, because the regulating and controlling amount has been the effect of a fine setting, and determined the stability of equipment, therefore the parameter tuning of winder controller can mainly be considered stability, can't satisfy the requirement of rapidity.And the rapidity of equipment is decided by the ratio of winder and final pass length velocity relation.Specifically, in Fig. 2, though PID control has determined the stability of controlling object, the parameter tuning of winder controller can mainly be considered stability.But it has been the effect of a fine setting that designed controlling schemes should make PID regulating and controlling amount, and the rapidity of equipment should be decided by winder and final pass velocity ratio.Therefore, can the velocity ratio that try to achieve actual winder and final pass be the key that can this control method realize stability, rapidity.In real system, the length velocity relation of winder and final pass changes, thereby has adopted advanced iterative algorithm control in the winder controller.Control system can constantly be adjusted this velocity ratio in the process of operation, make it approach actual value step by step, thereby improves the runnability of winder.
Beneficial effect of the present invention mainly shows: (1), the iterative algorithm that adopts have improved the runnability of winder and have stopped performance fast; (2), the winder runnability is improved, and especially when stand-by time is 6 seconds fast, still can guarantee not fracture of wire of winder; (3), winder controller top amplitude limit makes the winder smooth starting of equipment, improves the startability of equipment winder; (4), the method that adopted is very practical, calculated amount is little, is easy to realize, has embodied the through engineering approaches and the practicability of new theory well.
(4) description of drawings
Fig. 1 is a N passes of drawing equipment transmission synoptic diagram.
Fig. 2 is the feedforward+PID control structure figure of winder.
Fig. 3 is the iterative algorithm structural drawing of winder.
Fig. 4 is the theory diagram of the winder controller of winder.
(5) embodiment
Below in conjunction with accompanying drawing the present invention is further described.
Embodiment 1
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, a kind of winder control device of multiple gate drawing device, comprise frequency converter, motor, winder, the winder controller, the output of frequency converter connects motor, motor connects winder by gear train, installation site sensor on the described winder, the tuner of the operating rate relation be used to coordinate adjacent passage is installed between final pass and the winder, described winder controller 1 comprises winder deviation control module 2, be used for position set-point and actual feedback calculation deviation controlled quentity controlled variable according to the tuner between final pass and the winder, its formula is as (2):
In the following formula, Δ G
SBe the deviation control amount of winder, K
Sp, T
Si, T
SDRatio, integration, the differential coefficient of representing S PID respectively, U
sBe the position set-point of winder tuner, U
SfIt is the actual feedback of winder position transducer;
Winder velocity setting module 3 is used for the arithmetic speed between given each passage, and its formula is as (3):
G
s＝K
sb·G
N+ΔG
s
In the following formula, G
S, G
NBe respectively the velocity setting of winder and final pass, K
SbBe the velocity ratio coefficient of winder and final pass, K
SAverage;
The output of described winder velocity setting module 3 connects described frequency converter; Described winder controller 1 also comprises speed than adjustment module 4, is used for according to the iterative algorithm optimal speed than coefficient, and its formula is as (4):
K
sb＝K
sj(t)＝K
s(j-1)(t)+C*ΔG
s(j-1)
In the formula (4), C represents the filtering learning gain, gets 0.9, and j is an iterations.
Roller/tube (reel) in the drawing equipment on each passage is to drive motor-driven by mechanical mechanism by frequency converter, exist certain speed proportional relation between the adjacent passage and between final pass and the winder, in order to realize continuous drawing, between adjacent passage roller/tube and between final pass and the winder tuner is installed.Transducing signal on the tuner is provided with for the detection position, and it has coordinated the operating rate relation of adjacent two passages.Introduce iterative algorithm in the control device of drawing equipment winder, must do necessary innovation to theoretical application conditions, in general, iterative algorithm requires controlling object that the obvious periodic operating characteristic is arranged, and the drawing equipment winder is oversize to the full cycle from sky, if with winder from sky to completely being the cycle, its control effect is undesirable.By deep analysis, no matter propose is in theory or the innovative point used of engineering: the speed ratio factor of considering rolling-finished product mechanism is a folk prescription to changing and variation range is big, the cycle is long, speed ratio factor substantially constant at short notice, if the iteration cycle of getting in the iterative algorithm is less (for example in 5 seconds, get 200 milliseconds in the real system), just meet the feature of iteration cycle in traditional iterative algorithm fully.Newly measures on this engineering have also been opened up new approach for theoretical research: the iterative algorithm of the iterative algorithm of the linear system under the long period, the nonlinear system under the long period, the robust iterative algorithm under the long period or the like.
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, the described winder controller 1 of present embodiment also comprises soft start control module 5, described soft start control module 5 comprises: start setup unit 6, be used for when starting, the given and feedback deviation amount of the position transducer of setting winder is less than the actual deviation amount; Departure reduction unit 7 is used for increasing given and feedback deviation amount in the time limit setting, and makes given and the feedback deviation amount equals the actual deviation amount.Described departure reduction unit 7 is that equal difference increases progressively the unit, is used in setting-up time, and equivalent increases given and feedback deviation amount.
All the other structures of present embodiment, speed are more identical with embodiment 1 than the course of work of adjustment module.
The position of tuner was arbitrarily before the drawing equipment winder started, general way is: detect the position of tuner, set extreme position, when the position of tuner during in the above and near extreme position, then improve the velocity setting of winder fast, with the speed of quick tracking final pass; When the position of tuner during below and near extreme position, then reduce the velocity setting of winder fast.This detection tuner extreme position is prominent to exist defective to compensation rate, when compensation rate is excessive, is easy to generate that fracture of wire may take place in overshoot, silk falls; Only rely on feedforward+PID to regulate same existing problems, therefore, the drawing equipment winder also will address the startup problem after solution stops fast, has proposed winder controller top amplitude limit algorithm at this and has realized the smooth start of drawing equipment winder.
In conjunction with formula (1), (2), the G among Fig. 2
SCan be expressed as:
In the formula (5), K
Sp, T
Si, T
SDRatio, integration, the differential coefficient of representing S PID are respectively wherein got T
SD=0, (U
S-U
Sj) the given and feedback error of position transducer, U
PIDOutput for winder controller PID.Start moment, as (U
S-U
Sf) when big, G
SVariation also bigger, for smooth starting when starting, control:
U
PID≤G
B (7)
In the formula (7), G
BBe final pass actual speed corresponding voltage value, the drawing equipment start-up course also is G
BFrom 0 to G
NSo the process that changes is G when starting
BBe very little, limited U
PIDOutput valve, also limited G
SValue makes the winder smooth start, Here it is winder controller top amplitude limit.After starting a period of time, G
BBe worth greatlyyer, eliminated U automatically
PIDRestriction.
In sum, the iterative algorithm in the drawing equipment can improve the runnability of winder and stop performance fast, winder controller top amplitude limit can improve the winder startability.On electrical system and control angle thereof, the above several control technologys of utilization can make the drawing equipment winder all improve in the performance of moving, stopping, starting aspect several.
The structure of present embodiment, the course of work are identical with embodiment 2.
12 passage LZ12-560+SG800 wire drawing machinees with inlet wire 5.5mm, outlet 1.42mm are example.
The final pass ratio of gear is 2.38, and the winder ratio of gear is 2.04, chooses speed ratio factor Ks=0.8, adopt classical feedforward+PID control, the quick stand-by time of equipment is set at 6 seconds, and when the I-beam wheel on the winder was blank panel (internal diameter is 400mm), the fracture of wire phenomenon appearred in winder; When the I-beam wheel on the winder was dishful (external diameter is 800mm), a Song Sihou phenomenon that falls then appearred.If adopt the improved feedforward of iterative algorithm+PID control, the I-beam wheel on the winder still is that dishful can the fracture of wire or the silk that falls for blank panel, and the position of tuner is constant substantially.
Before adopting top amplitude limit algorithm, when I-beam wheel was dishful, device start, winder had the concussion and a phenomenon that falls.If adopt top amplitude limit algorithm, no matter the I-beam wheel on the drawing equipment winder is blank panel or dishful, and during startup, tuner is shifted to the centre position very reposefully, and this has illustrated the validity of top amplitude limit algorithm.
Claims (3)
1, a kind of winder control device of multiple gate drawing device, comprise frequency converter, motor, winder, the winder controller, the output of frequency converter connects motor, motor connects winder by gear train, installation site sensor on the described winder, the tuner of the operating rate relation be used to coordinate adjacent passage is installed between final pass and the winder, described winder controller comprises winder deviation control module, be used for position set-point and actual feedback calculation deviation controlled quentity controlled variable according to the tuner between final pass and the winder, its formula is as (2):
In the following formula, Δ G
SBe the deviation control amount of winder, K
Sp, T
Si, T
SDRatio, integration, the differential coefficient of representing S PID respectively, U
sBe the position set-point of winder tuner, U
SfIt is the actual feedback of winder position transducer;
Winder velocity setting module is used for the arithmetic speed between given each passage, and its formula is as (3):
G
s＝K
sb·G
N+ΔG
s (3)
In the following formula, G
S, G
NBe respectively the velocity setting of winder and final pass, K
SbBe the velocity ratio coefficient of winder and final pass, K
SAverage;
The output of described winder velocity setting module connects described frequency converter;
It is characterized in that: described winder controller also comprises the velocity ratio adjustment module, is used for according to the iterative algorithm optimal speed than coefficient, and its formula is as (4):
K
sb＝K
sj(t)＝K
s(j-1)(t)+C*ΔG
s(j-1) (4)
In the formula (4), C represents the filtering learning gain, gets 0.9, and j is an iterations.
2, the winder control device of multiple gate drawing device as claimed in claim 1 is characterized in that: described winder controller also comprises the soft start control module, and described soft start control module comprises:
Start setup unit, be used for when starting, the given and feedback deviation amount of the position transducer of setting winder is less than the actual deviation amount;
The departure reduction unit is used for increasing given and feedback deviation amount in the time limit setting, and makes given and the feedback deviation amount equals the actual deviation amount.
3, the winder control device of multiple gate drawing device as claimed in claim 2 is characterized in that: described departure reduction unit is that equal difference increases progressively the unit, is used in setting-up time, and equivalent increases given and feedback deviation amount.
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|---|---|---|---|
| CNB2005100612333A CN100430844C (en) | 2005-10-21 | 2005-10-21 | Winder controller for multiple gate drawing device |
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|---|---|---|---|
| CNB2005100612333A CN100430844C (en) | 2005-10-21 | 2005-10-21 | Winder controller for multiple gate drawing device |
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| CN100430844C true CN100430844C (en) | 2008-11-05 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102179417B (en) * | 2011-03-17 | 2013-04-17 | 浙江工业大学 | Superspeed wire rod extension processing equipment control system |
| CN106391738B (en) * | 2016-11-22 | 2018-03-02 | 郑州宇通客车股份有限公司 | The transmission speed adaptive regulation method and system of multi-pass metal working system |
| JP6748135B2 (en) | 2018-03-19 | 2020-08-26 | ファナック株式会社 | Machine learning device, servo control device, servo control system, and machine learning method |
| CN110355222A (en) * | 2019-07-31 | 2019-10-22 | 东莞科力线材技术有限公司 | A kind of control device for wire drawing machine and method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5730005A (en) * | 1996-09-05 | 1998-03-24 | Pai Lung Machinery Mill Co., Ltd. | Fabric rolling-up device and control circuit assembly |
| JPH10174489A (en) * | 1996-12-04 | 1998-06-26 | Toshiba Corp | Controller for winder |
| CN2688666Y (en) * | 2004-01-03 | 2005-03-30 | 洪培冬 | Rolling shaft replacing apparatus of roller |
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2005
- 2005-10-21 CN CNB2005100612333A patent/CN100430844C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5730005A (en) * | 1996-09-05 | 1998-03-24 | Pai Lung Machinery Mill Co., Ltd. | Fabric rolling-up device and control circuit assembly |
| JPH10174489A (en) * | 1996-12-04 | 1998-06-26 | Toshiba Corp | Controller for winder |
| CN2688666Y (en) * | 2004-01-03 | 2005-03-30 | 洪培冬 | Rolling shaft replacing apparatus of roller |
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Assignee: Guangzhou Jiabo Bongding Wires Technology Co., Ltd. Assignor: Zhejiang University of Technology Contract record no.: 2010440001026 Denomination of invention: Winder controller for multiple gate drawing device Granted publication date: 20081105 License type: Exclusive License Open date: 20060322 Record date: 20100727 |
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