CN100440080C - Control system for multiple gate drawing device - Google Patents

Abstract

A kind of control system of multiple gate drawing device is known since classical feedforward+PID control can not meet the rapidity and stability requirement of system simultaneously for this purpose, least square method is used to debate to improve the runnability and quick Stopping Ability of each passage. Least square method is the common method of System Discrimination. Under conditions of error in equation is zero-mean white noise, with the parameter of Least Square Method equation, it can statistically guarantee to obtain unbiased, effective and consistent estimation, its recursive form is commonly used for real-time parameter Estimation, from recurrence estimation formula (5) it is found that the estimates of parameters obtained after the N+1 times sampling

Equal to the estimates of parameters found out

Use ratio

Value amendment; Every time estimation after, only need to save fi, fi-1, Ii, Ii-1, N number of amount and new fi, fi-1, Ii, Ii-1,

, it is not necessarily to too many memory capacity. The runnability, quick Stopping Ability, drawing equipment that the present invention can improve each passage are not easy fracture of wire.

Description

The control system of multiple gate drawing device

(1) technical field

The present invention relates to the electronic opertaing device that a kind of metallic article is produced, especially a kind of control system 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).During work, the roller/tube of each passage 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 roller/tube is actually and is decided by the velocity setting value of giving frequency converter.The single pass control often of drawing equipment control algolithm in the past, entire combination, be that the movement velocity of each passage causes after according to preceding a time mechanism kinematic back a time mechanism position sensor to change carrying out PID after the feedback regulating so-called PID control that Here it is.In recent years, by comparative studies and practical application repeatedly, the someone has proposed " feedforward+PID control ", and this method has played better action to the raising of drawing equipment runnability.

Roller/tube (reel) in the drawing equipment on each passage is motor-driven by the frequency converter drive by mechanical mechanism, exists certain speed proportional relation between the adjacent passage, in order to realize continuous drawing, between adjacent passage roller/tube 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, and 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.The velocity setting of adjacent two passages is closed:

G _i-1＝K _i-1·G _i+ΔG _i-1 (1)

G in the formula (1) _I-1, G _iBe respectively the velocity setting of i-1 passage and i passage, K _I-1Be the velocity ratio coefficient of i-1 passage and i passage, Δ G _I-1Be the output of i-1 controller.Formula (1) has shown that the control mode of drawing equipment is a feedforward+deviation control (PID), and wherein the velocity setting of i passage multiply by corresponding speed than coefficient and this passage PID output valve Δ G _I-1Addition just obtains the velocity setting of i-1 (integer of N＞i＞1) passage.

Fig. 2 represents N passes of drawing equipment feedforward+PID control structure figure.U among the figure _N-1, U _I-1Be respectively the position set-point of N-1 passage, i-1 passage tuner, U _{(N-1) f}, U _{(i-1) f}Then be respectively the actual feedback of N-1 passage, i-1 passage position transducer, K _N-1, K _I-1Be respectively corresponding transmission speed and compare coefficient.

But also there are following 2 shortcomings in this method: the one, and when drawing equipment starts moment, the position of tuner is arbitrarily, when tuner can produce excessive overshoot during near extreme position, fracture of wire or running phenomenon takes place easily; The 2nd, in each passage feedforward control, when steel wire slides and mould diameter variation greatly the time, the PID range of adjustment is also big, can't satisfy the rapidity requirement of system.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

In order to overcome the deficiency that existing multiple gate drawing device fracture of wire or running takes place easily, can't satisfy rapidity requirement, the invention provides a kind of runnability that improves each passage, fast stop performance, be not easy the control system of the multiple gate drawing device of fracture of wire.

The technical solution adopted for the present invention to solve the technical problems is:

A kind of control system of multiple gate drawing device, comprise each passage mechanism, winder mechanism, controller, each passage mechanism is by frequency converter, motor and travelling mechanism are formed, the output of frequency converter connects motor, motor connects travelling mechanism by gear train, installation site sensor in described each passage mechanism, the tuner of the operating rate relation be used to coordinate adjacent passage is installed between the roller/tube of adjacent passage, described controller comprises passage deviation control module, be used for the actual feedback calculation deviation controlled quentity controlled variable according to the position transducer of the position set-point of the tuner between i-1 passage and the i passage and i-1 passage, its formula is as (2):

$\mathrm{\Δ}{G}_{i-1}=(K_{(i-1)p}+\frac{1}{T_{(i-1)i}S}+T_{(i-1)D}S)(U_{i-1}-U_{(i-1)f})---\left(2\right)$

In the following formula, Δ G _I-1Be the output bias amount of i-1 passage deviation control module, (K _{(i-1) p}, T _{(i-1) i}, T _{(i-1) D}Represent ratio, integration, differential coefficient respectively, U _I-1Be the position set-point of the tuner between i-1 passage and the i passage, U _{(i-1) f}Be the actual feedback of i-1 passage position transducer, multi-pass is the N passage, and i is for satisfying: the integer of N＞i＞1;

The given module of pass speed is used for the arithmetic speed between given each passage, and its formula is as (3):

G _i-1＝K _(i-1)b·G _i+ΔG _i-1(3)

In the following formula, G _I-1, G _iBe respectively the velocity setting of i-1 passage and i passage, K _{(i-1) b}Be the velocity ratio coefficient of i-1 passage and i passage, Δ G _I-1Be the output of i-1 passage deviation control module;

The output of the given module of described pass speed connects described frequency converter; Described controller also comprises the velocity ratio adjustment module, is used for according to the least square method optimal speed than coefficient, and its formula is as (4):

$K_{(i-1)b}=\frac{f_{i-1}-m_{i-1}{I}_{i-1}}{f_i-m_i{I}_i}---\left(4\right)$

In the following formula, f _I-1, f _iRepresent i-1, i passage frequency converter output frequency respectively, I _I-1, I _iRepresent i-1, i passage current of electric respectively, m _I-1, m _iRepresent i-1, i passage motor slip coefficient respectively;

Its recursion formula is as (5):

${\hat{K}}_{(i-1)b(N+1)}={\hat{K}}_{(i-1)\mathrm{bN}}+A_{N+1}(Z_{N+1}-W_{N+1}^T{\hat{K}}_{(i-1)\mathrm{bN}})---\left(5\right)$

In the following formula, A _N+1Be 1X (N+1) rank gain matrix, Z _N+1Be N+1 the f that measures _I-1(N+1) X1 rank matrix of data sequence, W _N+1 ^TBe N+1 the f that measures _i(N+1) X1 matrix of data sequence.

Further, described 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 position transducer of setting each passage 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: the single pass control often of former drawing equipment control algolithm, entire combination, be that the movement velocity of each passage causes after according to preceding a time mechanism kinematic back a time mechanism position sensor to change carrying out PID after the feedback regulating, this method can't satisfy drawing equipment both had very high requirement to control stiffness, again the control rapidity was had strict index request.From controlling the control stiffness that angle at first will guarantee equipment, its rapidity realizes by advanced algorithm.For the feasibility of the method is described, at first suppose the ratio of the adjacent two passage length velocity relations of known drawing equipment, the datum velocity of back a time mechanism is given so is that the velocity setting of preceding a time multiply by this ratio, the actual speed of back a time mechanism 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, so the parameter tuning of controller can mainly be considered stability.And the rapidity of equipment is decided by the ratio of adjacent two passage length velocity relations.

In existing P ID control method, rapidity and stability are contradiction, during design, generally at first guarantee stability, solve rapidity then.The key that solves rapidity is the actual speed ratio of the adjacent passage of quick identification, and by further discovering, least square method is more favourable to the raising of system performance aspect rapid identified parameters and disturbance rejection.

Least square method is the common method of System Discrimination.In error in equation is under the condition of zero-mean white noise, with the parameter of least square method estimate equation, can guarantee to obtain not having inclined to one side, effective with consistent estimation on statistics.Its recursive form often is used to real-time parameter estimation.Below just carry out K with the memory least square method of recursion that fades _{(i-1) b}Identification.

$K_{(i-1)b}=\frac{n_{i-1}}{n_i}=\frac{n_{0(i-1)}-\mathrm{\Δ}{n}_{0(i-1)}}{n_{0i}-\mathrm{\Δ}{n}_{0i}}---\left(6\right)$

In the formula (6), n _{0 (i-1)}, n _0iThe ideal no-load speed of representing i-1, i passage motor respectively, Δ n _{0 (i-1)}, Δ n _0iRepresent the slip that i-1, i passage motor load influence rotating speed respectively, it is directly proportional substantially with load.If motor is closed-loop control, rotating speed can directly obtain-read from frequency converter from speed pickup, if motor is open loop control, because ideal no-load speed is proportional to frequency, slip is proportional to electric current approximately, and frequency, electric current can be read from frequency converter, formula (6) can change into formula (4), for least square method, formula (4) is quite simple, concrete recursion formula such as formula (5).

From recursion estimator (5) as can be known, the estimates of parameters that obtains after the N+1 time sampling

The estimates of parameters that equals to have obtained

Use ratio The value correction.After each estimation, only need to preserve f _i, f _I-1, I _i, I _I-1, N the amount and new f _i, f _I-1, I _i, I _I-1,

Get final product, need not too many memory capacity. Be the K in the formula (4) _{(i-1) b}

Beneficial effect of the present invention mainly shows: (1), employing least square method are debated to know and have been improved the runnability of each passage and stopped performance fast; (2), the complete machine performance is improved, and especially when stand-by time is 6 seconds fast, still can guarantee not fracture of wire of drawing equipment; (3), proposed boundary error control and made the equipment smooth starting, improve the device start performance; (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 N passes of drawing equipment feedforward+PID control structure figure.

Fig. 3 is the theory diagram of controller.

(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, a kind of control system of multiple gate drawing device, comprise each passage mechanism, winder mechanism, controller, each passage mechanism is by frequency converter, motor and travelling mechanism are formed, the output of frequency converter connects motor, motor connects travelling mechanism by gear train, installation site sensor in described each passage mechanism, the tuner of the operating rate relation be used to coordinate adjacent passage is installed between the roller/tube of adjacent passage, described controller 1 comprises passage deviation control module 2, be used for the actual feedback calculation deviation controlled quentity controlled variable according to the position transducer of the position set-point of the tuner between i-1 passage and the i passage and i-1 passage, its formula is suc as formula (2):

$\mathrm{\Δ}{G}_{i-1}=(K_{(i-1)p}+\frac{1}{T_{(i-1)i}S}+T_{(i-1)D}S)(U_{i-1}-U_{(i-1)f})$

In the following formula, Δ G _I-1Be the output bias amount of i-1 passage deviation control module, (K _{(i-1) p}, T _(i-1), Y _{(i-1) D}Represent ratio, integration, differential coefficient respectively, U _I-1Be the position set-point of the tuner between i-1 passage and the i passage, U _{(i-1) f}Be the actual feedback of i-1 passage position transducer, multi-pass is the N passage, and i is for satisfying: the integer of N＞i＞1;

The given module 3 of pass speed is used for the arithmetic speed between given each passage, and its formula is suc as formula (3):

G _i-1＝K _(i-1)b·G _i+ΔG _i-1

In the following formula, G _I-1, G _iBe respectively the velocity setting of i-1 passage and i passage, K _{(i-1) b}Be the velocity ratio coefficient of i-1 passage and i passage, Δ G _I-1Be the output of i-1 passage deviation control module;

The output of the given module 3 of described pass speed connects described frequency converter; Described controller 4 also comprises the velocity ratio adjustment module, is used for according to the least square method optimal speed than coefficient, and its formula is as (4):

$K_{(i-1)b}=\frac{f_{i-1}-m_{i-1}{I}_{i-1}}{f_i-m_i{I}_i}$

In the following formula, f _I-1, f _iRepresent i-1, i passage frequency converter output frequency respectively, I _I-1, I _iRepresent i-1, i passage current of electric respectively, m _I-1, m _iRepresent i-1, i passage motor slip coefficient respectively;

Its recursion formula is suc as formula (5):

${\hat{K}}_{(i-1)b(N+1)}={\hat{K}}_{(i-1)\mathrm{bN}}+A_{N+1}(Z_{N+1}-W_{N+1}^T{\hat{K}}_{(i-1)\mathrm{bN}})$

In the following formula, A _N+1Be 1X (N+1) rank gain matrix, Z _N+1Be N+1 the f that measures _I-1(N+1) X1 rank matrix of data sequence, W _N+1 ^TBe N+1 the f that measures _i(N+1) X1 matrix of data sequence.

Roller/tube (reel) in the drawing equipment on each passage is motor-driven by the frequency converter drive by mechanical mechanism, exists certain speed proportional relation between the adjacent passage, in order to realize continuous drawing, between adjacent passage roller/tube 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, and 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.It is formula (1) that the velocity setting of adjacent two passages is closed.

Formula (1) has shown that the control mode of drawing equipment is a feedforward+deviation control (PID), and wherein the velocity setting of i passage multiply by corresponding speed than coefficient and this passage PID output valve Δ G _I-1Addition just obtains the velocity setting of i-1 (integer of N＞i＞1) passage.

Fig. 2 represents N passes of drawing equipment feedforward+PID control structure figure.U among the figure _N-1, U _I-1Be respectively the position set-point of N-1 passage, i-1 passage tuner, U _{(N-1) f}, U _{(i-1) f}Then be respectively the actual feedback of N-1 passage, i-1 passage position transducer, K _N-1, K _I-1Be respectively corresponding transmission speed and compare coefficient.

Least square method is the common method of System Discrimination.In error in equation is under the condition of zero-mean white noise, with the parameter of least square method estimate equation, can guarantee to obtain not having inclined to one side, effective with consistent estimation on statistics, and its recursive form often is used to real-time parameter estimation.The memory least square method of recursion carries out K with fading _{(i-1) b}Identification, its formula is by formula (6) expression, and is converted into formula (4), for least square method, formula (4) is that quite simple, concrete recursion formula is suc as formula (5).

From recursion estimator (5) as can be known, the estimates of parameters that obtains after the N+1 time sampling

The estimates of parameters that equals to have obtained

Use ratio

The value correction.After each estimation, only need to preserve f _i, f _I-1, I _i, I _I-1,

N the amount and new f _i, f _I-1, I _i, I _I-1,

Get final product, need not too many memory capacity.

Be the K in the formula (1) _{(i-1) b}

Embodiment 2

With reference to Fig. 1, Fig. 2, Fig. 3, the described controller 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 position transducer of setting each passage 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 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.

Before drawing equipment starts, the position of tuner is arbitrarily, general way is: the position of detecting tuner, set extreme position, when the position of tuner during in the inside of board and near extreme position, the velocity setting of a time frequency converter before then improving fast, before improving fast the travelling speed of the speed of a time motor and roller/tube with quick tracking after the speed of a time roller/tube; When the position of tuner during in the outside of board and near extreme position, the velocity setting of a time frequency converter before then reducing fast, the travelling speed of the speed of reduction motor and roller/tube is (to annotate: mechanically said back a time with the speed coordination of back a time roller/tube fast, the preceding a time that in control should be, for unification, all be as the criterion) with saying mechanically.This detection tuner extreme position is prominent to exist defective to compensation rate, the required compensation rate difference of promptly different equipment and different passage, and every equipment all needs careful debugging, and workload is very big.When compensation rate is excessive, is easy to generate overshoot and makes the tinsel material disconnected; Only rely on feedforward+PID to regulate same existing problems, when tuner during near extreme position, can produce overshoot problems of too-fracture of wire occurs equally, a phenomenon falls, therefore, drawing equipment is after solution stops fast, also to address the startup problem, realize the drawing equipment smooth start at this soft start algorithm that has proposed boundary error control.

In conjunction with formula (1), (2), the G among Fig. 2 _I-1Can be expressed as:

$G_{i-1}=K_{i-1}{G}_i+(K_{(i-1)p}+\frac{1}{T_{(i-1)i}S}+T_{(i-1)D}S)(U_{i-1}-U_{(i-1)f})---\left(7\right)$

In the formula (7), (K _{(i-1) p}, T _{(i-1) i}, T _{(i-1) D}Ratio, integration, the differential coefficient of representing i-1 PID are respectively wherein got T _{(i-1) D}=0, (U _I-1-U _{(i-1) f}) the given and feedback error of position transducer.Start moment, as (U _I-1-U _{(i-1) f}) when big, G _I-1Variation also bigger, for smooth starting when starting, control | U _I-1-U _{(i-1) f}|≤| Δ U _I-1|, As time goes on, increase | Δ U _I-1| restriction, eliminate this restriction (after the about 5 seconds kinds) at last, the control of Here it is boundary error.

In sum, the least square method in the drawing equipment can be improved the runnability of each passage and stop the control of performance, boundary error fast and can improve the device start performance.

Embodiment 3

The structure of present embodiment, the course of work are identical with embodiment 2.

6 passage LZ6-560 wire drawing machinees with inlet wire 5.5mm, outlet 3.0mm are example, select the 37KW motor for use, design register ratio, allot the mould footpath, calculate compressibility, and be under the 390m/min situation at final pass, other passage linear velocity such as following table 1.Electric machine frequency and current of electric can be read from frequency converter automatically by bus.

No.	0	1	2	3	4	5	6
								Ratio of gear		28.1	22.1	17.7	14.2	11.4	9.51
Mould footpath (mm)	5.50	5.17	4.61	4.12	3.69	3.31	3.00
								Compressibility (%)		11.65	20.50	20.13	19.80	19.50	17.85
Linear velocity (m/min)		131	165	207	258	320	390
								Current of electric (A)		50.0	55.5	55.7	55.7	55.9	55.9
Electric machine frequency (Hz)		71.5	71	71.5	71.5	72.5	72.5

Table 1

When mould directly disposes by last table, choose each speed ratio factor K ₁=K ₂=K ₃=K ₄=K ₅=1, no matter adopt classical feedforward+PID control still to adopt the improved feedforward of least square method+PID control, the quick stand-by time of equipment is set at 6 seconds, and fast each passage of stopping time can fracture of wire; Yet; when the mould of the 5th passage directly becomes 3.10mm; other apotype footpath, road is constant; this moment, the frequency converter frequency of the 5th passage motor correspondence was 82.6Hz; the quick stand-by time of equipment is set at 10 seconds respectively, 9 seconds, 8 seconds, 7 seconds, 6 seconds; stop soon or reduction of speed one half; adopt classical feedforward+PID control; fracture of wire all appears in test each time between the 4th passage and the 5th passage place, if adopt the improved feedforward of least square method+PID control, other parameter constant; the fracture of wire phenomenon does not all appear in test each time; at this moment, the desirable 5--9 of N in the formula (5), A _N+1 Be 1 1X (N+1) rank gain matrix entirely for element.

After selecting sensor for use, the scope of location feedback value can be determined, U in formula (7) _{(i-1) f}When the scope of location feedback value is 0-10V, U in the formula (7) _I-1The position set-point generally is chosen to be 5V, so | U _I-1U _{(i-1) f}|≤5V, when drawing equipment starts, if | U _I-1-U _{(i-1) f}|≤2.5V, promptly | Δ U _I-1|=2.5V, then realized boundary error control, As time goes on, every 100ms makes | Δ U _I-1| increase 50mV, then can eliminate after the kind in 5 seconds so | Δ U _I-1| restriction.After adopting boundary error control, fracture of wire can not appear in device start, a phenomenon falls.

Claims (3)

1, a kind of control system of multiple gate drawing device, comprise each passage mechanism, winder mechanism, controller, each passage mechanism is by frequency converter, motor and travelling mechanism are formed, the output of frequency converter connects motor, motor connects travelling mechanism by gear train, installation site sensor in described each passage mechanism, the tuner of the operating rate relation be used to coordinate adjacent passage is installed between the roller/tube of adjacent passage, described controller comprises passage deviation control module, be used for the actual feedback calculation deviation controlled quentity controlled variable according to the position transducer of the position set-point of the tuner between i-1 passage and the i passage and i-1 passage, its formula is as (2):

$\mathrm{\Δ}{G}_{i-1}=(K_{(i-1)p}+\frac{1}{T_{(i-1)i}S}+T_{(i-1)D}S)(U_{i-1}-U_{(i-1)f})---\left(2\right)$

In the following formula, Δ G _I-1Be the output bias amount of i-1 passage deviation control module, K _{(i-1) p}, T _{(i-1) i}, T _{(i-1) D}Represent ratio, integration, differential coefficient respectively, U _I-1Be the position set-point of the tuner between i-1 passage and the i passage, U _{(i-1) f}Be the actual feedback of i-1 passage position transducer, multi-pass is the N passage, and i is for satisfying: the integer of N＞i＞1;

The given module of pass speed is used for the arithmetic speed between given each passage, and its formula is as (3):

G _i-1＝K _(i-1)b·G _i+ΔG _i-1 (3)

In the following formula, G _I-1, G _iBe respectively the velocity setting of i-1 passage and i passage, K _{(i-1) b}Be the velocity ratio coefficient of i-1 passage and i passage, Δ G _I-1It is the output bias amount of i-1 passage deviation control module;

The output of the given module of described pass speed connects described frequency converter;

It is characterized in that: described controller also comprises the velocity ratio adjustment module, is used for according to the least square method optimal speed than coefficient, and its formula is as (4):

$K_{(i-1)b}=\frac{f_{i-1}-m_{i-1}{I}_{i-1}}{f_i-m_i{I}_i}---\left(4\right)$

In the following formula, f _I-1, f _iRepresent i-1, i passage frequency converter output frequency respectively, I _I-1, I _iRepresent i-1, i passage current of electric respectively, m _I-1, m _iRepresent i-1, i passage motor slip coefficient respectively;

Speed than the recursion formula of coefficient as (5):

${\hat{K}}_{(i-1)b(N+1)}={\hat{K}}_{(i-1)\mathrm{bN}}+A_{N+1}(Z_{N+1}-W_{N+1}^T{\hat{K}}_{(i-1)\mathrm{bN}})---\left(5\right)$

In the following formula, A _N+1Be 1X (N+1) rank gain matrix, Z _N+1Be N+1 the f that measures _I-1(N+1) X1 rank matrix of data sequence, W _N+1 ^TBe N+1 the f that measures _i(N+1) X1 matrix of data sequence.

2, the control system of multiple gate drawing device as claimed in claim 1 is characterized in that: described 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 position transducer of setting each passage 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 control system 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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