CN100511963C - Computer control multiple motor variable frequency and speed regulating synchronous method and central and distributing control system thereof - Google Patents
Computer control multiple motor variable frequency and speed regulating synchronous method and central and distributing control system thereof Download PDFInfo
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- CN100511963C CN100511963C CNB2006100323234A CN200610032323A CN100511963C CN 100511963 C CN100511963 C CN 100511963C CN B2006100323234 A CNB2006100323234 A CN B2006100323234A CN 200610032323 A CN200610032323 A CN 200610032323A CN 100511963 C CN100511963 C CN 100511963C
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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
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- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses synchronization method for variable frequency speed control of multiple motors controlled by computer based on network, and relevant distributed control system (DCS). Through RS-232 / field control bus converter, and field control bus, PC carries out serial data communication to each frequency converter, as well as reading, calculating and rewriting operational characteristic parameters, and control parameters of each frequency converter. Thus, the method implements distributed control for synchronous operation of multiple motors, making linear speeds of multiple rollers equal or keep certain speed ratio so as to guarantee normal continuous processing. The invention simplifies system structure, reduces cost of equipment, raises reliability of system and level of control and management as well as saves energy etc.
Description
Technical field
The present invention relates to many motor synchronous and control automatically, promptly multiple motor variable frequency and speed regulating synchronous method and the Distributed Control System thereof that is realized by the network control frequency converter by the PC computer is DCS.
Background technology
The DC motor of tradition multiple unit motor " synchronously " transmission adopted heaviness adds the gearbox transmission, adopt pendulum-type or roll-type degree of tightness frame and resolver between each unit, device such as selsyns etc. are synchronously regulated rotating speed of motor, perhaps adopt tension pick-up to constitute constant tension control system, these method complex structures, reliability is relatively poor, and control precision is lower, and control operation administers and maintains all inconvenient.Trace it to its cause, this is that inherent characteristic by feeding back closed-loop control system is determined, promptly its dynamic quality depends on good Control Parameter and cooperates, and its steady state controling precision then depends on setter and detects the precision and the stability of feedback device.But these analogue means often are subjected to the potentiometer loose contact, component parameters variate, amplifier temperature drift, the interference of many factors such as line electrical leakage and various electromagnetic radiation.If adopt high accuracy, high-quality transducer and controller then too much equipment cost increased greatly because of needed quantity.
Summary of the invention
In order to overcome traditional motor synchronous control system complex structure, reliability is relatively poor, control precision is lower, control operation administers and maintains all inconvenient shortcoming, the present invention has studied Network Based, realize by the computer control frequency converter,, and designed the DCS that uses mutually without many motor synchronous operation control new methods of transducers such as degree of tightness frame or tension force.
The synchronous method of this computer control multiple motor variable frequency and speed regulating is, set the frequency converter operational parameter control by computer by network communication, realize multiple motor variable frequency and speed regulating synchronous operation, it is characterized in that, it is to adopt computer 3 to carry out data communication by RS-232/ field bus control system transducer 4 and field bus control system 5 with each frequency converter 6, operational parameter control set point to each frequency converter 6 is rewritten respectively, thereby realize control, make the linear velocity of multiple unit roll 8 equate or keep certain speed ratio relation multiple electric motors 7 synchronous operations.
Method of the present invention is to set each frequency converter 6 operational parameter control by computer 1,3 respectively by local area network (LAN) and field bus control system 5 communications, realizes many motor 7 frequency control synchronous operations controls.
In the control system of the present invention, upper PC computer (1) connects on-the-spot PC (3), support the intelligent type frequency-conversion device (6) of this field bus control system communications protocol to link to each other with field bus control system (5) with some by RS-232/ field bus control system transducer (4), frequency converter (6) links to each other with alternating current motor (7), and alternating current machine (7) links to each other with roll (8) by transmission mechanism.
Method of the present invention adopts the same footwork of one or more frequency controls in following three kinds: 1. the multi-motor frequency conversion group of several the shared frequency converter drivings of motor transfers same footwork; 2. the motor of introducing output torque of Speedless sensor vector-control frequency converter or Current Negative Three-Point Capacitance drags the same footwork of soft mechanical characteristic; 3. a unit adopts two same footworks of motor variable-frequency speed-regulating that vary in size, and promptly uses the heavy-duty motor speed governing, turns square and tension force with low-power machine.
The synchronous Distributed Control System DCS of computer control multiple motor variable frequency and speed regulating of the present invention, by PC 1,3, local area network (LAN) and certain field bus control system 5 and frequency converter 6 are formed, its operation principle is: PC1,3 is by network and each frequency converter 6 serial communications, operation characteristic parameter and operational parameter control to each frequency converter reads respectively, computing and rewriting, realizes control and supervision to each frequency converter.
Among the synchronous Distributed Control System DCS of computer control multiple motor variable frequency and speed regulating of the present invention, adopt certain control bus such as RS-485 5 to carry out the multimachine serial data communication between PC 3 and each frequency converter 6.
Among the synchronous Distributed Control System DCS of computer control multiple motor variable frequency and speed regulating of the present invention, PC3 to the operation characteristic parameter and the operational parameter control of each frequency converter 6 read respectively, demonstration, computing and rewriting, the panel button controlled function and the Presentation Function that replace frequency converter, realization is to the control and the supervision of each frequency converter 6, and whole synchronous control system is pure digi-tal chemical control system system.
The high modernity PC of integrated use cost performance of the present invention, network and converter technology realize the synchronous and monitoring of the operation of multiple electric motors.Its outstanding characteristics are: the degree of tightness frame, selsyn etc. that need not have certain methods now are controller and transducers such as rotating speed, tension force synchronously, also without switching value I/O mouth and A/D, D/A interface, greatly simplified system configuration, reduce equipment cost and greatly improved system reliability and control and management level, and can also save energy and reduce the cost, improve the economic benefit of output, quality and the equipment operation of product.
Description of drawings
Accompanying drawing 1 is computer control multiple motor variable frequency and speed regulating synchronisation control means of the present invention and DCS frame principle figure thereof;
Accompanying drawing 2 is a kind of implementation figure of many motor synchronous system of the present invention and the DCS of frequency converter group;
Accompanying drawing 3 is a kind of implementation control bus of the present invention transducer winding diagram;
Accompanying drawing 4 is that inverter current negative feedback soft mechanical characteristic is with the footwork schematic diagram for one of method for synchronous of the present invention;
Accompanying drawing 5 is one of a kind of example application DCS man-machine interface of the present invention " L associating scouring and bleaching machine technological process and monitoring " window figure;
Accompanying drawing 6 is a kind of example application DCS's of the present invention " L associating scouring and bleaching machine A unit major parameter is concentrated and is provided with and monitoring " window figure.
Among the figure: 1, host computer, 2, the Synchronization Control subsystem, 3, field computer, 4, RS-232/ field bus control system transducer, 5, field bus control system, 6, frequency converter, 7, motor, 8, roll, 9, the material of processing continuously.
Embodiment
System configuration and principle below in conjunction with annexed drawings set forth specific implementation method of the present invention and its DCS.
Accompanying drawing 1 is many motor synchronous control new methods of the present invention and DCS frame principle figure thereof, host computer 1 and each control subsystem 2 are that the on-the-spot PC of some groups of A group and B groups etc. is unified into local area network (LAN), M1 is the main unit motor that makes in the A group, other be the driven unit motor, in the continuous course of processing of material, according to the different requirements of technology, the linear velocity of each unit (V) keeps " synchronously " coordinated operation, α by (1) formula relation
1Be the processing speed ratio factor.
V
i＝α
i·V
i-1，i＝1、2…m (1)
Its principle is to adopt computer 3 to carry out data communication by RS-232/ field bus control system transducer 4 and certain field bus control system 5 with each frequency converter 6 of supporting this field bus control system communications protocol, the Control Parameter to each frequency converter 6 reads respectively, thereby demonstration, computing and rewriting realize the centralized monitor to multiple electric motors 7 synchronous operations, the linear velocity of multiple unit roll 8 is equated or keep certain speed ratio relation, thereby guarantee material 9 normally the carrying out or keep the constant of its tension force of processing continuously.
Accompanying drawing 2 is a kind of overall system design implementation of the inventive method and DCS thereof, for requiring those synchronous multiple unit dragging motors all to adopt ac variable frequency speed regulation, and these intelligent type frequency-conversion devices are divided into a group (maximum 31), by the operational factor realization Synchronization Control of on-the-spot PC3 by RS-232/RS-485 transducer 4 and each frequency converter 6 of RS-485 bus 5 communication settings.Upper PC and on-the-spot PC install network edition MCGS industrial control configuration software respectively, form DCS by PC and frequency converter group by network like this.By PC to the operational factor of each frequency converter read, computing and rewriting, realize control to frequency converter, simultaneously to operation of motor,, monitor, show, storage and printing etc. as parameters such as stator current, voltage, frequencies.
Accompanying drawing 4 is that inverter current negative feedback soft mechanical characteristic is with the footwork schematic diagram.The electric current output negative feedback of introducing vector-control frequency converter designs the soft mechanical characteristic of dragging system, the motor that runs fast tendency is arranged so because of load increases the weight of soon not, have that race is inclined to slowly because of load has lightened also slowly not, finally keep speed unanimity (V
gThereby) realize synchronously.The linear velocity of each unit should set ratio back slightly bigger successively of front, to realize the desired tension adjustment of processing.Other two kinds of methods are: 1. multiple electric motors frequency converter group transfers same footwork.Each drags each unit with an alternating current machine, and a shared frequency converter drives realizes that then these rotating speed of motor all equate synchronously.Can strict synchronism if the diameter of each drive roll all equates fully; Guarantee then diameter difference slightly of certain machine tensions if desired, the ratio back of front successively a little more greatly.2. the same footwork of big or small motor variable-frequency speed-regulating.A unit drives with two motor variable-frequency speed-regulatings that power varies in size, and uses high-power electric machine speed regulation; Regulate torque and tension force with the motor that power is little.
If the processing speed of a motor vehicle is V, have by (1) formula
V
1＝V＝k
1V
k
1＝1
V
0＝V
1/α
1＝k
0V
k
0＝1/α
1
V
2＝α
2V
1＝k
2V
k
2＝α
2
V
3＝α
3V
2＝α
3α
2V
1＝k
3V
k
3＝α
3α
2
…
V
m＝α
mα
m-1L?α
2V＝k
mV
k
m＝α
mα
m-1L?α
2
Promptly
V
j＝k
jV，j＝0、1、2…m (2)
If the diameter of roll is d, rotating speed of motor is n, and V=V is then arranged
1=π d
1n
1And V
j=π d
jn
j, substitution (2) formula is also put in order
n
j＝p
jn
1，j＝0、1、2…m (3)
p
j＝k
jd
1/d
j，j＝0、1、2…m (4)
n
1For basic speed is the main order electromotor rotating speed, determine by the speed of a motor vehicle of processing request, i.e. n
1=V/ (π d
1), the rotating speed of slave motor is set by 3 formulas, p
jBe the rotating speed coefficient to base speed, its value is calculated by 4 formulas.Without degree of tightness frame or tension pick-up, each rotating speed of motor is realized synchronously by the rotating speed (frequency) that computer is set its frequency converter respectively by the RS-485 control bus, the linear velocity that is each unit roll equates or keeps the certain speed ratio relation or the constant tension of maintenance processing materials, and pre-set parameters such as each processing speed ratio factor can accurately be adjusted easily continuously.
System controlling software is realized with the programming of MCGS configuration software, system according to priority manages a plurality of task process, timeslice samsara by each task, realize the parallel processing of a plurality of processes on the macroscopic view, as serial communication, data deposit and processing, control algolithm, the demonstration of technology animation, trend curve, warning picture and printing etc.Upper PC and on-the-spot PC host service function adopt a series of close friends human-computer interaction interface intuitively, make operational administrative to whole DCS become very flexibly and convenient.
Communication between upper PC and the on-the-spot PC between communication and PC and the frequency converter is realized by MCGS communication apparatus configuration function.Adopt master-slave mode to carry out multi-computer communication by the RS-485 bus between PC and the frequency converter, online communication is each time all finished by host computer control, is determined and is discerned each frequency converter by address code.
Illustrate application of the present invention with the scouring and bleaching example that transform as of combination machine synchro system of L type below.This machine complete machine divides A, B, a C3 part (big unit), has used 28 driving motors altogether, and wherein the A unit is 10,7 of B unit, 11 of C unit.It is synchronous that whole combination machine belongs to two-stage, and A main makes that unit, B and C are driven unit, and speed adjustable range is 35～140m/min, but but 3 both also isolated operations of cooperation of unit.Between 3 big units and the synchronous variable-speed between each motor of each big unit, the DC speed regulation synchro system that is made of original three-roller type degree of tightness frame and resolver transform the ac variable frequency speed regulation synchro system of new method of the present invention as, and the monitoring of system is finished by MCGS industrial control configuration software.
Accompanying drawing 5 is one of example application DCS man-machine interface of the present invention " L associating scouring and bleaching machine technological process and monitoring " window figure.Can monitor intuitively three big units and uncoiling machine and around the volume machine the speed of service.Complete machine control can be set to manually or automatically, when being set to when automatic, has only " A unit controls " can be by mouse action, other all " dress " from trend A unit; When being set to when manual, then can be by mouse action.If which unusual or fault partly occur, then alarm lamp and total alarm lamp on its motor next door are glittering.Click each textbox hot-zone or motor icon hot-zone in this window, can certainly be by the menu operation of master control window, can enter the subwindow of various piece monitoring easily, click again that each motor just can enter this parameter setting of motor frequency conversion device and monitor window again in the subwindow.
Accompanying drawing 6 is " L associating scouring and bleaching machine A unit major parameter is concentrated and is provided with and monitoring " window figure of example application DCS of the present invention, also every two other big unit is arranged is " the operation major parameter is concentrated and is provided with and monitor window " of B unit and C unit and " the operation major parameter is concentrated setting and monitor window " of three big units in design, be characterized in " concentrating ", convenient and accurate, the setting of each parameter with just monitor as fill in a form lattice with see form, operate very simple, intuitive.Other many man-machine interface is omitted.
System control and with frequency converter between the realization of communicating by letter.System controlling software is realized with the programming of MCGS configuration software, system according to priority manages a plurality of task process, timeslice samsara by each task, realize the parallel processing of a plurality of processes on the macroscopic view, as serial communication, data deposit and processing, control algolithm, the demonstration of technology animation, trend curve, warning picture and printing etc.Upper PC and IPC host service function adopt a series of close friends human-computer interaction interface intuitively, make operational administrative to whole DCS become very flexibly and convenient.
Adopt the TCP/IP communications protocol between host computer and the work on the spot station, realize communication by MCGS communication apparatus configuration function.Adopt master-slave mode to carry out multi-computer communication by the RS-485 bus between IPC and the frequency converter, online communication is each time all finished by host computer control, is determined and is discerned each frequency converter by address code.FR-E500 type frequency converter with Mitsubishi is the implementation method that example is illustrated communication between computer and the frequency converter below.
This frequency converter is provided with the PU interface, can carry out panel control or computer serial RS-485 communication by it.The PU mouth is actually a crystal head slot, when loading onto the control panel operation, has used 8 all metal pins; When by RS-485 bus and compunication, if use RDA wherein, RDB, SDA, SDB, SG5 pin.This model frequency converter provides full duplex RS-485 communication, and usually employed all be half-duplex type RS-485 interface, so with the T/R+ that the RS-232/RS-485 conversion head provides, T/R-, three pins of GND, by with RDA, sda line is to being connected to T/R+, RDB, and the SDB line is to being connected to T/R-, GND on the frequency converter connects the GND of conversion head, has so just finished the conversion of the full duplex serial RS-485 of electrical equipment specification to half-duplex serial type RS-485.
Before computer and inverter communication, need the operational parameter control of key to be carried out communication condition and set with panel controller, set point is as shown in table 1.The communication frames form of FR-E500 type frequency converter is divided into two big classes.
(1) received frame is that the command format that computer sends frequency converter to is: ENQ+ address code+instruction code+stand-by period+data+integrity checking and+the new line symbol; Wherein, ENQ is the command character of expression order beginning; Address code can be 0 one 31, is made as 1 one 31 here; Instruction code:, be 6F as read frequency to the command code of the various operations of reply frequency converter.Note, when computer sends reading order, in the form free of data this.
(2) acknowledgement frame is that the command format that frequency converter feeds back to computer is; 1. if host computer sends the write data order to frequency converter, then the acknowledgement frame form is: ACK+ address code+new line symbol; Wherein, the command character that ACK is successfully write for the expression frequency converter, if make a mistake, command character is NAK, and returns error code; 2. if host computer sends the read data order to frequency converter, then the acknowledgement frame form is: STX+ address code+sense data+ETX+ integrity checking and+new line symbol; Wherein, the command character that STX successfully reads for the expression frequency converter, ETX is the command character of expression ED, if make a mistake, command character is NAK, and returns error code.Notice that its communication frames form of the frequency converter of different model is often different, so preferably select identical model for use as far as possible.In the serial communication of IPC is realized, can write signal procedure with the api function of Windows, just use CreateFile () respectively, ReadFile () and WriteFile () function come a serial ports to be opened the operation of read and write respectively; Also can come serial ports is operated with MFC class libraries or ActiveX control mode; If the device configuration function with MCGS realizes, then need not to write complicated signal procedure, can utilize the devices communicating driver of the PLC/DSP of frequency converter that producer provides or control of conversion device to carry out communication.
Table 1 frequency converter operational parameter control communication condition is set
Claims (7)
1, computer control multiple motor variable frequency and speed regulating synchronous method, be to set the frequency converter operational parameter control by network communication by computer, the multiple motor variable frequency and speed regulating synchronous operation that realizes, it is characterized in that, it is to adopt field computer (3) to carry out data communication by RS-232-field bus control system transducer (4) and field bus control system (5) with each frequency converter (6), operational parameter control set point to each frequency converter (6) is rewritten respectively, thereby realize control, make the linear velocity of multiple unit roll (8) keep certain speed ratio relation multiple electric motors (7) synchronous operation.
2, computer control multiple motor variable frequency and speed regulating synchronous method according to claim 1, it is characterized in that, this method is to connect field computer (3) by host computer (1), field computer (3) is set each frequency converter (6) operational parameter control respectively by local area network (LAN) and field bus control system (5) communication again, realizes many motors (7) frequency control synchronous operation control.
3, computer control multiple motor variable frequency and speed regulating synchronous method according to claim 1, it is characterized in that, host computer (1) connects field computer (3), field computer (3) links to each other with some frequency converters (6) with field bus control system (5) by RS-232-field bus control system transducer (4), frequency converter (6) links to each other with motor (7), motor (7) links to each other with roll (8) by transmission mechanism, frequency converter (6) is for supporting the intelligent type frequency-conversion device of field bus control system communications protocol, and motor (7) is an alternating current motor.
4, computer control multiple motor variable frequency and speed regulating synchronous method according to claim 1, it is characterized in that synchronization principles and method adopt the same footwork of one or more frequency controls in following three kinds: 1. the multi-motor frequency conversion group of several the shared frequency converter drivings of motor transfers same footwork; 2. the motor of introducing output torque of Speedless sensor vector-control frequency converter or Current Negative Three-Point Capacitance drags the same footwork of soft mechanical characteristic; 3. a unit adopts two same footworks of motor variable-frequency speed-regulating that vary in size, and promptly uses the heavy-duty motor speed governing, turns square and tension force with low-power machine.
5, the synchronous Distributed Control System of computer control multiple motor variable frequency and speed regulating, be DCS, it is characterized in that, formed by host computer (1), field computer (3), local area network (LAN) and field bus control system (5) and frequency converter (6), host computer (1) connects field computer (3), field computer (3) is again by network and each frequency converter (6) serial communication, operation characteristic parameter and operational parameter control to each frequency converter reads respectively, computing and rewriting, realizes control and supervision to each frequency converter.
6, the synchronous Distributed Control System of computer control multiple motor variable frequency and speed regulating according to claim 5, promptly DCS is characterized by and adopts RS-485 field bus control system (5) to carry out the multimachine serial data communication between field computer (3) and each frequency converter (6).
7, the synchronous Distributed Control System of computer control multiple motor variable frequency and speed regulating according to claim 5, be DCS, it is characterized by, by field computer (3) to the operation characteristic parameter and the operational parameter control of each frequency converter (6) read respectively, demonstration, computing and rewriting, the panel button controlled function and the Presentation Function that replace frequency converter, realization is to the control and the supervision of each frequency converter (6), and whole synchronous control system is pure digi-tal chemical control system system.
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|---|---|---|---|
| CNB2006100323234A CN100511963C (en) | 2006-09-25 | 2006-09-25 | Computer control multiple motor variable frequency and speed regulating synchronous method and central and distributing control system thereof |
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| CN105703669B (en) * | 2014-11-26 | 2018-12-14 | 三垦电气株式会社 | control device and control method |
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