CN101311865A - Bidirectional two-speed positioning control method - Google Patents
Bidirectional two-speed positioning control method Download PDFInfo
- Publication number
- CN101311865A CN101311865A CNA2007100409526A CN200710040952A CN101311865A CN 101311865 A CN101311865 A CN 101311865A CN A2007100409526 A CNA2007100409526 A CN A2007100409526A CN 200710040952 A CN200710040952 A CN 200710040952A CN 101311865 A CN101311865 A CN 101311865A
- Authority
- CN
- China
- Prior art keywords
- value
- cut
- low speed
- high speed
- opening
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The present invention discloses a double-direction double-speed positioning control method. At the beginning, equipment is arranged at the point A, and the equipment is required to be positioned at the point O. At the beginning, the equipment moves to the point B at high speed along the close direction and then is changed into low speed closing to move to the point C, the close output of the equipment is switched off, and the equipment keeps on moving under the inertia effect and stops moving at the point D. In the positioning control, the selection of four control parameters can influence the positioning precision and the total time required for positioning, so as to obtain the best value of four parameters. The present invention discloses the method for automatically identifying by the actual movement of the equipment; the present invention also discloses a self-adaptation method of the parameters; the present invention also discloses the control function of eliminating the mechanical gap and the measures for preventing the output from being switched frequently between high speed and low speed and between the low speed and the stop. The positioning control method disclosed by the present invention has the advantages of high positioning precision and fast positioning time.
Description
Technical field
The present invention relates to a kind of bidirectional two-speed positioning control method.
Background technology
In metallurgical works, extensively have the positioning control requirement of equipment, the coil of strip height of coil of strip dolly of for example entering the mouth is increased to the positioning control of uncoiler centre-height, the width adjustment positioning control of flipper guide, the adjustment positioning control of the roller insertion depth of straightener etc., the above-mentioned topworks that is used for positioning control is the motor of on/off formula valve or not speed governing of rotating, this kind equipment has two opposite directions when positioning control, for example open and close, and two kinds of fixing speed are arranged in the control procedure, so be called the control of bidirectional two-speed break-make output.Here the topworks that is used for positioning control requires to have respectively " at a high speed, low speed " two kinds of fixed speed outputs by the plant equipment decision on " open, close " two directions, also require to be furnished with the pick-up unit of equipment physical location simultaneously.In order the time to determine " open, close " moving direction of equipment in control, must the polarity of the pick-up unit of physical location be defined, it requires as shown in Figure 1, promptly when equipment " opening " when direction moves, detected actual position value wants changes persuing big; When direction moved, detected actual position value required to diminish " closing ".
The principle of bidirectional two-speed positioning control as shown in Figure 2, its control procedure is as follows:
In Fig. 2, equipment is in the A point now, requires equipment to be positioned to the O point, and namely actual position value is bigger than the target location value, and the position deviation value is for just, so require equipment to move at closing direction.Concrete control procedure is: equipment earlier at closing direction with high-speed mobile to the B point, cut off then at a high speed order, make the low speed shutdown command into, to C point, cut off the low speed shutdown command, make equipment under effect of inertia, continue to move to the D point, final equipment stops to move.It is that the D point is overlapped with the O point that best positioning control requires, and at this moment deviations is zero.
Also as can be known, the key point of this position control method is the distance parameter that 4 judgement speed are cut off from Fig. 2, namely cuts off high speed opening value OPNhigh, cuts off the low speed value of opening OPNlow, cuts off high speed close value CLShigh and cuts off low speed close value CLSlow.The selection correctness of these 4 parameters has determined the precision of positioning control and positioning control to finish the required time.If it is excessive that high speed cut-out value obtains, it is elongated then can to make equipment be in time of the capable fortune of low speed, thereby causes elongate positioning time.If but that high speed cut-out value obtains is too small, then can make equipment not have the capable fortune of low speed or the capable fortune time of low speed too short, thereby cause the location to surpass the target location.If low speed cut-out value obtains excessively or too small in addition, then can make the D point greatly depart from the O point, cause the low of equipment positioning control accuracy.So the precision of positioning control depends on the correct selection of cutting off the low speed value of opening OPNlow and cutting off these 2 controlled variable of low speed close value CLSlow, the required time of positioning control is depended on the correct selection of cutting off high speed opening value OPNhigh and cutting off these 2 controlled variable of high speed close value CLShigh, yet they but depend on the mechanical constant and the control characteristic of equipment, as frictional resistance, total inertia etc.
In traditional positioning control system, in order to obtain these parameters relevant with plant machinery, to debug by having the technical staff who enriches engineering experience when debugging at the scene, by the way of using the control parameter to attempt, through a large amount of test runnings, the change expense just can be groped more correct control parameter after a large amount of time, and its debugging effect quality depends on commissioning staff's experience and to the familiarity of controlled device.In addition, owing to there is not adaptive control function, when device parameter changes, during such as frictional resistance or inertia variation, can not and then adjust the control parameter, can not make system be in the Optimal Control state always.In addition, when having the gap in the machinery, owing to do not possess the function of eliminating mechanical clearance, cause positioning control accuracy lower.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of bidirectional two-speed positioning control method, and it can pass through the equipment actual motion, discerns four controlled variable of positioning control system automatically, improves control accuracy.In addition, it can also be according to the physical device duty, these 4 parameters are carried out adaptive control, can also eliminate mechanical clearance and prevent that output from frequently switching fast and at a slow speed and at a slow speed and between stopping, thereby reach optimum position control accuracy and the purpose of the shortest positioning time.
For solving the problems of the technologies described above, this method is identified the parameter value of 4 judgement speed switchings and direction automatically by following steps.In order in the parameter recognition process, to allow equipment move, any one enough big regional extent that earlier artificial designated equipment can move, promptly specify 1 open position OPNpos and 1 off-position CLSpos, equipment moves between these 2 positions in the parameter recognition process, other has the bearing accuracy value DS_OK that is determined by technology, and concrete steps are as follows:
Step 1: the open position OPNpos of equipment appointment when the present position moves to parameter measurement promptly moves to equipment the initial position of parameter measurement;
Step 2: equipment begins to close from the present position, and only to close at a high speed the closed position CLSpos that shifts to appointment, when from the Distance Remaining of target location during less than positioning accuracy value DS_OK, just cut off at a high speed output, and begin simultaneously measurement device in the displacement of effect of inertia when stopping, 1.2 times of this displacement value are the high speed that measures and close when cut-out value CLShigh is provided with rear control and use;
Step 3: equipment begins to open from the present position, and only shift to the open position OPNpos of appointment with high speed opening, when just cutting off at a high speed output during less than positioning accuracy value DS_OK from the Distance Remaining of target location, and begin simultaneously measurement device in the displacement of effect of inertia when stopping, using when 1.2 times of this displacement value are the high speed opening cut-out value OPNhigh that measures and are provided with rear control;
Step 4: equipment begins to close from the present position, and earlier to close the off-position CLSpos that shifts to appointment at a high speed, when just cutting off output at a high speed during less than the cut-out high speed close value CLShigh in the step 2 from the Distance Remaining of target location, make low speed into and close output, when cutting off low speed output during less than bearing accuracy value DS_OK from the Distance Remaining of target location, and begin measuring equipment simultaneously in the displacement of inertia effect when stopping, this displacement value is the low speed that measures and closes when cut-out value CLSlow is provided with back control and use;
Step 5: equipment begins to open from the present position, and elder generation shifts to the open position OPNpos of appointment with high speed opening, when cutting off output at a high speed during less than the OPNhigh value in the step 3 from the Distance Remaining of target location, make low speed into and open output, when cutting off low speed output during less than bearing accuracy value DS_OK from the Distance Remaining of target location, and begin measuring equipment simultaneously in the displacement of inertia effect when stopping, this displacement value is the low speed that measures and closes when cut-out value OPNlow is provided with back control and use.So far, 4 parameter values as the cut-out of judgement speed are all identified complete.
This method can also be carried out the self adaptation adjustment to these 4 judgement speed cut-out values in running, concrete steps are as follows:
Step 1: equipment requirement is shifted to the target location when positioning control, at this moment will be according to the difference decision moving direction of present position value with the target location value, if the present position value is worth greater than the target location, then determine the shutdown command of output high speed, when just cutting off at a high speed output when cutting off high speed close value CLShigh from the Distance Remaining of target location, make low speed into and close output, when cutting off low speed output when cutting off low speed close value CLSlow from the Distance Remaining of target location, and begin simultaneously measurement device in the displacement of effect of inertia when stopping, calculate then 3 times and this arithmetic mean of instantaneous value at 4 times interior measured values, the self adaptation result that final low speed is closed the cut-out value is: new cut-out low speed close value is the arithmetic mean of instantaneous value sum of above-mentioned 4 measured values of 0.4 times former cut-out low speed close value and 0.6 times;
Step 2: after finishing low speed and closing self-adaptation, the high speed close value is carried out self-adaptation.If cut off high speed close value CLShigh greater than 5 times cut-out low speed close value (being 5*CLSlow), the then new cut-out high speed close value former cut-out low speed close value that equals 5 times, i.e. CLShigh=5*CLSlow; If cut off high speed close value CLShigh less than 2 times cut-out low speed close value (being 2*CLSlow), the then new cut-out high speed close value former cut-out low speed close value that equals 2 times, i.e. CLShigh=2*CLSlow;
Step 3: equipment requirements is shifted to the target location when positioning control, according to the difference decision moving direction of present position value with the target location value, if the present position is less than the target location, then decision output high speed opening order, when just cutting off output at a high speed when cutting off high speed opening value OPNhigh from the Distance Remaining of target location, make low speed into and open output, export when cutting off low speed when cutting off the low speed value of opening OPNlow from the Distance Remaining of target location, and begin measuring equipment simultaneously in the displacement of inertia effect when stopping, calculate 3 times and this arithmetic mean at 4 times interior measured values the self-adaptation result of final cut-out low speed value of opening then: new cut-out low speed value of opening equals the arithmetic mean sum of above-mentioned 4 measured values of former cut-out low speed value of opening of 0.4 times and 0.6 times;
Step 4: after finishing low speed and opening self-adaptation, the high speed opening value is carried out self-adaptation.If high speed opening cut-out value is greater than cut-out low speed value of opening of 5 times, i.e. OPNhigh＞5*OPNlow, then new cut-out high speed opening value former cut-out low speed value of opening of equaling 5 times, i.e. OPNhigh=5*OPNlow; If high speed opening cut-out value is less than cut-out low speed value of opening of 2 times, i.e. OPNhigh＜2*OPNlow, then new cut-out high speed opening value former cut-out low speed value of opening of equaling 2 times, i.e. OPNhigh=2*OPNlow.
So far, 4 self-adaptation adjustment work as judgement speed cut-out value finish.
This method also has the function of eliminating mechanical clearance, and the mechanical clearance value is the fixed value by the plant equipment decision, in the following several ways:
(1) equipment requirement is shifted to the target location when positioning control, according to the difference decision moving direction of present position value with the target location value, if the present position value is worth less than the target location, then require output to open the speed command of direction, if the control of elimination mechanical clearance requires the final moving direction of equipment to be similarly and opens direction, then:
If when during greater than 2.4 times mechanical clearance value, then by normal positioning control, opening the mobile control of direction from the residue displacement of target location, till requiring the target location.This mode is seen the example 4 among Fig. 4, and the distance that the A point is ordered to E is greater than 2.4 times mechanical clearance value, and equipment can open directly into target location E point during control;
If when from the residue displacement of target location mechanical clearance value less than 2.4 times, then in the opposite direction move earlier, be that closing direction moves, make residue displacement greater than 2.4 times mechanical clearance value, phase down moves again, just can open the mobile control of direction then by normal positioning control, till requiring the target location.At this moment the distance that example 5 among this mode such as Fig. 4, A point are ordered to F closes to earlier the K point less than 2.4 times mechanical clearance value, makes distance that A point and K order greater than 2.4 times mechanical clearance value, and then moves control opening direction, till requiring target location F point;
(2) if the present position value is worth less than the target location, then require output to open the direction speed command, if but when eliminating mechanical clearance control and require the final mobile opposite direction of equipment, when namely requiring to closing direction, then move opening direction earlier, till to positional value being the mechanical clearance value sum of target location value and 2.4 times, its objective is that equipment is opened is excessive, move in order to finally carry out closing direction.After arriving this position, device location just stops to open, then by normal positioning control, carrying out closing direction moves, till during to the target location that requires, example 6 among this mode such as Fig. 4 earlier opens to the G point from the A point, and the desired location value that G is ordered is the mechanical clearance value sum of target location value and 2.4 times, after arriving the G point, close to final localizing objects H point again;
(3) equipment requirement is shifted to the target location when positioning control, at this moment will be according to the difference decision moving direction of present position value with the target location value, if the present position value is worth greater than the target location, then require the speed command of output closing direction, require the final direction of equipment equally also to be closing direction if eliminate mechanical clearance control, then:
If when the mechanical clearance value of residue displacement greater than 2.4 times, then carry out closing direction by normal positioning control and move control, till requiring the target location, example 1 among this mode such as Fig. 4, the distance that the A point is ordered to B is greater than 2.4 times mechanical clearance value, and equipment can directly close to target location B point during control;
If when the mechanical clearance value of residue displacement less than 2.4 times, then in the opposite direction earlier, namely opening direction moves, make residue displacement greater than the mechanical clearance value of 2.4 times of appointments, stop then opening movement, carry out mobile control on the closing direction by normal positioning control again, till requiring the target location.At this moment the distance that example 2 among this mode such as Fig. 4, A point are ordered to C opens to earlier the M point less than 2.4 times mechanical clearance value, makes distance that A point and M order greater than 2.4 times mechanical clearance value, and then moves control at closing direction, till requiring target location C;
(4) equipment requirements is shifted to the target location when positioning control, at this moment will be according to the difference decision moving direction of present position value with the target location value, if the present position value is worth greater than the target location, then require the speed command of output closing direction, if require the final moving direction of equipment for opposite but eliminate mechanical clearance control, be when opening direction, then move at closing direction earlier, till making the device location value be the difference of mechanical clearance value of target location value and 2.4 times, its objective is that to make device shutdown excessive, move so that finally open direction.After arriving this positional value, phase down moves, and then by normal positioning control, target location value is on request opened mobile control the on the direction, till requiring the target location.Example 3 among this mode such as Fig. 4 earlier closes to the N point from A point, and the desired location value that N is ordered is mechanical clearance value poor of target location value and 2.4 times, behind arrival N point, opens to final localizing objects position D point again.So far, regardless of target location and physical location relativeness, can both guarantee that equipment finally is the direction end location work that requires eliminating mechanical clearance control, and mobile distance is enough big, has overcome mechanical gap.
This method also has the output of preventing at frequent handoff functionality fast and at a slow speed and at a slow speed and between stopping, and when fast, at a slow speed and when switching between stopping, one " magnetic hysteresis district " is set, the width in this " magnetic hysteresis district " is 0.05 times cut-out value.It is realized by carrying out following parameter setting:
The Distance Remaining value of high speed opening input is chosen as OPNhigh;
The Distance Remaining value that high speed opening cuts off is chosen as 0.95*OPNhigh;
The Distance Remaining value that low speed is opened input is chosen as OPNlow;
The Distance Remaining value that low speed is opened cut-out is chosen as 0.95*OPNlow;
The Distance Remaining value of closing at a high speed input is chosen as CLShigh;
The Distance Remaining value of closing at a high speed cut-out is chosen as 0.95*CLShigh;
The Distance Remaining value that low speed is closed input is chosen as CLSlow;
The Distance Remaining value that low speed is closed cut-out is chosen as 0.95*CLSlow.
Compare with prior art, bidirectional two-speed positioning control method of the present invention has following beneficial effect:
1. actual at a high speed and low speed and open direction and the running of closing direction by equipment, the required control parameter of energy automatic acquisition, namely open direction " cut off low speed output valve ", open direction " cutting off the high speed output valve " and closing direction " cuts off the low speed output valve ", closing direction " cut-out high speed output valve ", make positioning control accuracy be no longer dependent on debugging staff's self experience, and the shortlyest select to control parameter by positioning time, saved the time of positioning control action.
2. bidirectional two-speed positioning control method of the present invention also has adaptation function simultaneously, even controlled variable is not too correct first, but after selecting adaptation function, operation along with equipment, can be according to the physical device duty, automatically adjust this four controlled variable, thereby reach the optimum position control accuracy.And when self adaptation was adjusted, " cutting off the low speed output valve " and " cutting off the high speed output valve " of opening and closing two directions can by device characteristics, get different values, thereby guarantee that good control accuracy is arranged on the whichever direction.
3. bad or when not adjusting, method of the present invention is eliminated mechanical clearance automatically, thereby still can obtain high control precision in plant equipment.
4. owing to switching at high speed, low speed with between stopping one " magnetic hysteresis district " is set, when physical location and desired location difference near high speed cut-out point and low speed cut-out point during positive and negative variation, output not can at a high speed and between the low speed, low speed and stop between frequently switching.And when needs both forward and reverse directions change action, after the output excision of certain direction, the waiting facilities position just allows the output of reverse direction action command after no longer moving, thus the function of the overcurrent of physical shock that causes owing to inertia when avoiding equipment both forward and reverse directions change action and motor.
Description of drawings
The present invention is further detailed explanation below in conjunction with accompanying drawing and embodiment:
Fig. 1 is a bidirectional two-speed positioning control direction definition synoptic diagram;
Fig. 2 is a bidirectional two-speed positioning control principle schematic;
Fig. 3 is that the controlled variable of one embodiment of the present of invention flipper guide is determined synoptic diagram;
Fig. 4 eliminates the mechanical clearance synoptic diagram in the method for the present invention.
Embodiment
Provided one embodiment of the present of invention among Fig. 3: the parameter recognition process of 1 flipper guide, wherein the switching of flipper guide drives with the rotation of motor, and position probing realizes with scrambler.In order in the parameter identifying, to allow equipment moving, first artificial designated equipment any certain enough big regional extent that can move, namely specify 1 open position OPNpos and 1 closed position CLSpos, equipment is mobile between these 2 positions in the parameter identifying, divides following 5 steps to realize:
Step 1: the open position OPNpos of equipment appointment when the present position moves to parameter measurement promptly moves to equipment the initial position of parameter measurement;
Step 2: equipment begins to close from the present position, and only to close at a high speed the closed position CLSpos that shifts to appointment, when from the Distance Remaining of target location during less than positioning accuracy value DS_OK, just cut off at a high speed output, and begin simultaneously measurement device in the displacement of effect of inertia when stopping, 1.2 times of this displacement value are the high speed that measures and close when cut-out value CLShigh is provided with rear control and use;
Step 3: equipment begins to open from the present position, and only shift to the open position OPNpos of appointment with high speed opening, when just cutting off at a high speed output during less than positioning accuracy value DS_OK from the Distance Remaining of target location, and begin simultaneously measurement device in the displacement of effect of inertia when stopping, using when 1.2 times of this displacement value are the high speed opening cut-out value OPNhigh that measures and are provided with rear control;
Step 4: equipment begins to close from the present position, and earlier to close the off-position CLSpos that shifts to appointment at a high speed, when just cutting off output at a high speed during less than the cut-out high speed close value CLShigh in the step 2 from the Distance Remaining of target location, make low speed into and close output, when cutting off low speed output during less than the DS_OK value from the Distance Remaining of target location, and begin measuring equipment simultaneously in the displacement of inertia effect when stopping, this displacement value is the low speed that measures and closes when cut-out value CLSlow is provided with back control and use;
Step 5: equipment begins to open from the present position, and elder generation shifts to the open position OPNpos of appointment with high speed opening, when cutting off output at a high speed during less than the OPNhi gh value in the step 3 from the Distance Remaining of target location, make low speed into and open output, when cutting off low speed output during less than the DS_OK value from the Distance Remaining of target location, and begin measuring equipment simultaneously in the displacement of inertia effect when stopping, this displacement value is the low speed that measures and closes when cut-out value OPNlow is provided with back control and use.
So far, four parameter values as the cut-out of judgement speed (cut off high speed opening value OPNhigh, cut off the low speed value of opening OPNlow, cut off high speed close value CLShigh, cut off low speed close value CLSlow) are all identified complete among Fig. 2.
Position control method of the present invention also has adaptive control function, and it can carry out the self adaptation adjustment to four judgement speed cut-out values among Fig. 2 in running, and concrete self adaptation adjustment process is as follows:
(1) equipment requirement is shifted to the target location when positioning control, at this moment will be according to the difference decision moving direction of present position value with the target location value, if the present position value is worth greater than the target location, then determine the shutdown command of output high speed, when just cutting off at a high speed output when cutting off high speed close value CLShigh from the Distance Remaining of target location, make low speed into and close output, when cutting off low speed output when cutting off low speed close value CLSlow from the Distance Remaining of target location, and begin simultaneously measurement device in the displacement of effect of inertia when stopping, calculate then 3 times and this arithmetic mean of instantaneous value at 4 times interior measured values, the self adaptation result that final low speed is closed the cut-out value is: new cut-out low speed close value is the arithmetic mean of instantaneous value sum of above-mentioned 4 measured values of 0.4 times former cut-out low speed close value and 0.6 times;
(2) after finishing low speed and closing self-adaptation, the high speed close value is carried out self-adaptation.If cut off high speed close value CLShigh greater than 5 times cut-out low speed close value (being 5*CLSlow), the then new cut-out high speed close value former cut-out low speed close value that equals 5 times, i.e. CLShigh=5*CLSlow; If cut off high speed close value CLShigh less than 2 times cut-out low speed close value (being 2*CLSlow), the then new cut-out high speed close value former cut-out low speed close value that equals 2 times, i.e. CLShigh=2*CLSlow.
(3) equipment requirements is shifted to the target location when positioning control, according to the difference decision moving direction of present position value with the target location value, if the present position is less than the target location, then decision output high speed opening order, when just cutting off output at a high speed when cutting off high speed opening value OPNhigh from the Distance Remaining of target location, make low speed into and open output, export when cutting off low speed when cutting off the low speed value of opening OPNlow from the Distance Remaining of target location, and begin measuring equipment simultaneously in the displacement of inertia effect when stopping, calculate 3 times and this arithmetic mean at 4 times interior measured values the self-adaptation result of final cut-out low speed value of opening then: new cut-out low speed value of opening equals the arithmetic mean sum of above-mentioned 4 measured values of former cut-out low speed value of opening of 0.4 times and 0.6 times;
(4) after finishing low speed and opening self-adaptation, the high speed opening value is carried out self-adaptation.If high speed opening cut-out value is greater than cut-out low speed value of opening of 5 times, i.e. OPNhigh＞5*OPNlow, then new cut-out high speed opening value former cut-out low speed value of opening of equaling 5 times, i.e. OPNhigh=5*OPNlow; If high speed opening cut-out value is less than cut-out low speed value of opening of 2 times, i.e. OPNhigh＜2*OPNlow, then new cut-out high speed opening value former cut-out low speed value of opening of equaling 2 times, i.e. OPNhigh=2*OPNlow.
So far, four self-adaptation adjustment work as judgement speed cut-out value finish among Fig. 2.
Position control method of the present invention also has the function of eliminating mechanical clearance, Fig. 4 has provided a synoptic diagram that flipper guide moves, driving screw rod during revolution rotates, also driving scrambler simultaneously rotates, screw rod rotates the drive nut and moves, thereby has driven the switching of the flipper guide that is fixed together with nut.Owing to have the gap between nut and screw rod, when when forward rotation makes backward rotation into, along with the backward rotation of motor, it drives the screw rod backward rotation immediately at the beginning, screw rod drives scrambler backward rotation together again immediately, thereby physical location has detected reverse moving at once.Yet this moment, bolt rotary but can not make nut move at once owing to have the gap between nut and screw rod, thereby caused the flipper guide physical location not mobile.This position coder detects change in location and phenomenon that actual controlled device position does not change, is caused by the plant machinery gap.For the flipper guide device, for example can be when closing direction the positional value of scrambler be calibrated and the zero-bit of definite positional value, thereby the positional value when closing direction moves is a positional value of having eliminated the gap.In order to eliminate the Position Control error that flipper guide mechanical clearance causes in the later on positioning control, can require when positioning control, the direction when allowing the final direction of action of flipper guide calibrate with positional value is consistent, as all being the direction of closing.Mechanical clearance value BACK_dis is by the fixed value of plant equipment decision, specifically comprises the steps:
(1) equipment requirement is shifted to the target location when positioning control, according to the difference decision moving direction of present position value with the target location value, if the present position value is worth less than the target location, then require output to open the speed command of direction, if the control of elimination mechanical clearance requires the final moving direction of equipment to be similarly and opens direction, then:
If when during greater than 2.4 times mechanical clearance value, then by normal positioning control, opening the mobile control of direction from the residue displacement of target location, till requiring the target location.This mode is seen the example 4 among Fig. 4, and the distance that the A point is ordered to E is greater than 2.4 times mechanical clearance value, and equipment can open directly into target location E point during control;
If when from the residue displacement of target location mechanical clearance value less than 2.4 times, then in the opposite direction move earlier, be that closing direction moves, make residue displacement greater than 2.4 times mechanical clearance value, phase down moves again, just can open the mobile control of direction then by normal positioning control, till requiring the target location.At this moment the distance that example 5 among this mode such as Fig. 4, A point are ordered to F closes to earlier the K point less than 2.4 times mechanical clearance value, makes distance that A point and K order greater than 2.4 times mechanical clearance value, and then moves control opening direction, till requiring target location F point.
(2) if the present position value is worth less than the target location, then require output to open the direction speed command, if but when eliminating mechanical clearance control and require the final mobile opposite direction of equipment, when namely requiring to closing direction, then move opening direction earlier, till to positional value being the mechanical clearance value sum of target location value and 2.4 times, its objective is that equipment is opened is excessive, move in order to finally carry out closing direction.After arriving this position, device location just stops to open, then by normal positioning control, carrying out closing direction moves, till during to the target location that requires, example 6 among this mode such as Fig. 4 earlier opens to the G point from the A point, and the desired location value that G is ordered is the mechanical clearance value sum of target location value and 2.4 times, after arriving the G point, close to final localizing objects H point again.
(3) equipment requirement is shifted to the target location when positioning control, at this moment will be according to the difference decision moving direction of present position value with the target location value, if the present position value is worth greater than the target location, then require the speed command of output closing direction, require the final direction of equipment equally also to be closing direction if eliminate mechanical clearance control, then:
If when the mechanical clearance value of residue displacement greater than 2.4 times, then carry out closing direction by normal positioning control and move control, till requiring the target location, example 1 among this mode such as Fig. 4, the distance that the A point is ordered to B is greater than 2.4 times mechanical clearance value, and equipment can directly close to target location B point during control;
If when the mechanical clearance value of residue displacement less than 2.4 times, then in the opposite direction earlier, namely opening direction moves, make residue displacement greater than the mechanical clearance value of 2.4 times of appointments, stop then opening movement, carry out mobile control on the closing direction by normal positioning control again, till requiring the target location.At this moment the distance that example 2 among this mode such as Fig. 4, A point are ordered to C opens to earlier the M point less than 2.4 times mechanical clearance value, makes distance that A point and M order greater than 2.4 times mechanical clearance value, and then moves control at closing direction, till requiring target location C.
(4) equipment requirements is shifted to the target location when positioning control, at this moment will be according to the difference decision moving direction of present position value with the target location value, if the present position value is worth greater than the target location, then require the speed command of output closing direction, if require the final moving direction of equipment for opposite but eliminate mechanical clearance control, be when opening direction, then move at closing direction earlier, till making the device location value be the difference of mechanical clearance value of target location value and 2.4 times, its objective is that to make device shutdown excessive, move so that finally open direction.After arriving this positional value, phase down moves, and then by normal positioning control, target location value is on request opened mobile control the on the direction, till requiring the target location.Example 3 among this mode such as Fig. 4 earlier closes to the N point from A point, and the desired location value that N is ordered is mechanical clearance value poor of target location value and 2.4 times, behind arrival N point, opens to final localizing objects position D point again.
So far, regardless of target location and physical location relativeness, can both guarantee that equipment finally is the direction end location work that requires eliminating mechanical clearance control, and mobile distance is enough big, has overcome mechanical gap.
Bidirectional two-speed positioning control method of the present invention, further has the output of preventing at frequent handoff functionality fast and at a slow speed and at a slow speed and between stopping, when fast, at a slow speed and when switching between stopping, one " magnetic hysteresis district " is set, and the width in this " magnetic hysteresis district " is 0.05 times a cut-out value.It is realized by carrying out following parameter setting:
The Distance Remaining value of high speed opening input is chosen as OPNhigh;
The Distance Remaining value that high speed opening cuts off is chosen as 0.95*OPNhigh;
The Distance Remaining value that low speed is opened input is chosen as OPNlow;
The Distance Remaining value that low speed is opened cut-out is chosen as 0.95*OPNlow;
The Distance Remaining value of closing at a high speed input is chosen as CLShigh;
The Distance Remaining value of closing at a high speed cut-out is chosen as 0.95*CLShigh;
The Distance Remaining value that low speed is closed input is chosen as CLSlow;
The Distance Remaining value that low speed is closed cut-out is chosen as 0.95*CLSlow.
Claims (4)
1, a kind of bidirectional two-speed positioning control method, this bidirectional two-speed positioning control system includes the positioning control topworks that the output of " at a high speed; low speed " two kinds of fixed speeds is arranged respectively and the device of checkout equipment physical location on " opening; close " two directions, it is characterized in that, this method discerns automatically by following steps that four judgement speed in the Positioning Process are switched and the parameter value of direction: cut-out high speed opening value OPNhigh, cut off the low speed value of opening OPNlow, cut off high speed close value CLShigh, cut off low speed close value CLSlow, step is as follows:
Step 1: the open position OPNpos of equipment when the present position moves to parameter measurement promptly moves to equipment the initial position of parameter recognition;
Step 2: equipment begins to close from the present position, and only shift to closed position CLSpos to close at a high speed, when from the Distance Remaining of target location during less than the positioning accuracy value, just cut off at a high speed output, and begin simultaneously measurement device in the displacement of effect of inertia when stopping, 1.2 times of this value are the high speed that measures and close cut-out value CLShigh;
Step 3: equipment begins to open from the present position, and only shift to open position OPNpos with high speed opening, when from the Distance Remaining of target location during less than the positioning accuracy value, just cut off at a high speed output, and begin simultaneously measurement device in the displacement of effect of inertia when stopping, 1.2 times of this value are the high speed opening cut-out value OPNhigh that measures;
Step 4: equipment begins to close from the present position, and shift to off-position CLSpos to close at a high speed earlier, when just cutting off output at a high speed during less than the cut-out high speed close value that obtains in the step 2 from the Distance Remaining of target location, make low speed into and close output, when cutting off low speed output during less than the bearing accuracy value from the Distance Remaining of target location, and begin measuring equipment simultaneously in the displacement of inertia effect when stopping, this value is the low speed that measures and closes cut-out value CLSlow;
Step 5: equipment begins to open from the present position, and shift to open position OPNpos with high speed opening earlier, when cutting off output at a high speed during less than the cut-out high speed opening value that obtains in the step 3 from the Distance Remaining of target location, make low speed into and open output, when cutting off low speed output during less than the bearing accuracy value from the Distance Remaining of target location, and begin measuring equipment simultaneously in the displacement of inertia effect when stopping, this value is the low speed that measures and closes cut-out value OPNlow.
2, according to the described bidirectional two-speed positioning control method of claim 1, it is characterized in that: this method also is included in the Positioning Process to be switched and the parameter value of direction carries out the self-adaptation adjustment process above-mentioned four judgement speed, and detailed process is:
(1) equipment requirement is shifted to the target location when positioning control, at this moment will be according to the difference decision moving direction of present position value with the target location value, if the present position value is worth greater than the target location, then determine the shutdown command of output high speed, when just cutting off at a high speed output when cutting off the high speed close value from the Distance Remaining of target location, make low speed into and close output, when cutting off low speed output when cutting off the low speed close value from the Distance Remaining of target location, and begin simultaneously measurement device in the displacement of effect of inertia when stopping, calculate then 3 times and this arithmetic mean of instantaneous value at 4 times interior measured values, the self adaptation result that final low speed is closed the cut-out value is: new cut-out low speed close value is the arithmetic mean of instantaneous value sum of above-mentioned 4 measured values of 0.4 times former cut-out low speed close value and 0.6 times;
(2) finish cut off low speed close value self adaptation and adjust after, cut off the adjustment of high speed close value self adaptation: if cut off the high speed close value greater than 5 times cut-out low speed close value, the new cut-out high speed close value former cut-out low speed close value that equals 5 times then; If cut off the high speed close value less than 2 times cut-out low speed close value, the new cut-out high speed close value former cut-out low speed close value that equals 2 times then;
(3) if the present position less than the target location, then decision output high speed opening order, when just cutting off output at a high speed when cutting off the high speed opening value from the Distance Remaining of target location, make low speed into and open output, export when cutting off low speed when cutting off the low speed value of opening from the Distance Remaining of target location, and begin measuring equipment simultaneously in the displacement of inertia effect when stopping, calculate 3 times and this arithmetic mean at 4 times interior measured values the self-adaptation result of final cut-out low speed value of opening then: new cut-out low speed value of opening equals the arithmetic mean sum of above-mentioned 4 measured values of former cut-out low speed value of opening of 0.4 times and 0.6 times;
(4) finish cut off the adjustment of the low speed value of opening self adaptation after, cut off the adjustment of high speed opening value self adaptation: if high speed opening cut-out value greater than cut-out low speed value of opening of 5 times, new cut-out high speed opening value former cut-out low speed value of opening of equaling 5 times then; If high speed opening cut-out value is less than cut-out low speed value of opening of 2 times, new cut-out high speed opening value former cut-out low speed value of opening of equaling 2 times then.
3, according to claim 1 or 2 described bidirectional two-speed positioning control methods, it is characterized in that: this method further comprises eliminates the mechanical clearance process, realizes with the calibrating direction of the device of checkout equipment position is consistent by making the last operative orientation of equipment.
4, according to claim 1 or 2 described bidirectional two-speed positioning control methods, it is characterized in that: this method further comprise following measure with prevent output at a high speed and between the low speed and low speed and stop between frequently switching:
The Distance Remaining value that high speed opening drops into is set to cut off the high speed opening value;
The Distance Remaining value that high speed opening cuts off is set to 0.95 times cut-out high speed opening value;
The Distance Remaining value that low speed is opened input is set to cut off the low speed value of opening;
The Distance Remaining value that low speed is opened cut-out is set to cut-out low speed value of opening of 0.95 times;
The Distance Remaining value of closing input at a high speed is set to cut off the high speed close value;
The Distance Remaining value of closing at a high speed cut-out is set to 0.95 times cut-out high speed close value;
The Distance Remaining value that low speed is closed input is set to cut off the low speed close value;
The Distance Remaining value that low speed is closed cut-out is set to 0.95 times cut-out low speed close value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100409526A CN100565409C (en) | 2007-05-21 | 2007-05-21 | Bidirectional two-speed positioning control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100409526A CN100565409C (en) | 2007-05-21 | 2007-05-21 | Bidirectional two-speed positioning control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101311865A true CN101311865A (en) | 2008-11-26 |
| CN100565409C CN100565409C (en) | 2009-12-02 |
Family
ID=40100535
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100409526A Expired - Fee Related CN100565409C (en) | 2007-05-21 | 2007-05-21 | Bidirectional two-speed positioning control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100565409C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102055069A (en) * | 2010-11-01 | 2011-05-11 | 京信通信系统（中国）有限公司 | Electric tuning antenna control system and method |
| CN102493798A (en) * | 2011-12-15 | 2012-06-13 | 北京市三一重机有限公司 | Control method for halting drill pipe of piling machine on fixed point and drill pipe |
| CN102989839A (en) * | 2011-09-16 | 2013-03-27 | 宝山钢铁股份有限公司 | Hot continuous rolling coiler parallel side guide plate control method |
| CN103726827A (en) * | 2013-12-30 | 2014-04-16 | 北京市三一重机有限公司 | Drill rod movement control method, device and system |
| CN105867369A (en) * | 2016-03-31 | 2016-08-17 | 北京科技大学 | Horizontal position accurate positioning control method of coil conveying trolley with encoder |
| CN107807681A (en) * | 2017-11-16 | 2018-03-16 | 山信软件股份有限公司 | A kind of drive apparatus automatic positioning method and device based on encoder |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4532402A (en) * | 1983-09-02 | 1985-07-30 | Xrl, Inc. | Method and apparatus for positioning a focused beam on an integrated circuit |
-
2007
- 2007-05-21 CN CNB2007100409526A patent/CN100565409C/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102055069A (en) * | 2010-11-01 | 2011-05-11 | 京信通信系统（中国）有限公司 | Electric tuning antenna control system and method |
| WO2012059026A1 (en) * | 2010-11-01 | 2012-05-10 | 京信通信系统（中国）有限公司 | Control system and method for electrical tilt antenna |
| CN102055069B (en) * | 2010-11-01 | 2014-10-29 | 京信通信系统（中国）有限公司 | Electric tuning antenna control system and method |
| CN102989839A (en) * | 2011-09-16 | 2013-03-27 | 宝山钢铁股份有限公司 | Hot continuous rolling coiler parallel side guide plate control method |
| CN102989839B (en) * | 2011-09-16 | 2014-12-24 | 宝山钢铁股份有限公司 | Hot continuous rolling coiler parallel side guide plate control method |
| CN102493798A (en) * | 2011-12-15 | 2012-06-13 | 北京市三一重机有限公司 | Control method for halting drill pipe of piling machine on fixed point and drill pipe |
| CN103726827A (en) * | 2013-12-30 | 2014-04-16 | 北京市三一重机有限公司 | Drill rod movement control method, device and system |
| CN105867369A (en) * | 2016-03-31 | 2016-08-17 | 北京科技大学 | Horizontal position accurate positioning control method of coil conveying trolley with encoder |
| CN107807681A (en) * | 2017-11-16 | 2018-03-16 | 山信软件股份有限公司 | A kind of drive apparatus automatic positioning method and device based on encoder |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100565409C (en) | 2009-12-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100565409C (en) | Bidirectional two-speed positioning control method | |
| CN106125782B (en) | Motor positioning correction method | |
| CN108227756A (en) | A kind of high-precision valve door control method | |
| US9065381B2 (en) | Electrically adjustable antenna control system and method | |
| CN101841295B (en) | Linear motor motion control method based on fixed-step speed measurement | |
| CN100365464C (en) | Positioning method and device | |
| US20150066434A1 (en) | Data acquisition device for acquiring cause of stoppage of drive axis and information relating thereto | |
| CN108907888A (en) | NC machine tool feed system reversing error peak value prediction technique under half-closed loop control | |
| CN101714002B (en) | Automatic control device and method for rotary chute rotating position of blast furnace bell-less top | |
| CN103161988A (en) | High-precision proportional valve comprising angular displacement amplifying mechanism | |
| CN109088570A (en) | The control device of motor | |
| CN101311866B (en) | Continuous output positioning control method | |
| CN102858492A (en) | Method for operating a pivot drive | |
| CN101018659B (en) | Method for operating an injection molding machine | |
| CN103008772A (en) | Positioning method and positioning system for back barrier material of sheet shear or bending machine | |
| CN109264505B (en) | Tension controller suitable for active/passive wire feeding mode and control method thereof | |
| CN101689824A (en) | Calibrating stepper motor by driving fractional ranges | |
| CN103159061B (en) | The control method of a kind of process deviation-rectifying system and mechanical meta thereof | |
| CN102527750B (en) | Tracking method of traversing speed and position of water tank wire-drawing machine | |
| CN106371402A (en) | Method for realizing homing through transmitting origin-point signals by means of communication and corresponding servo driver | |
| CN105652806B (en) | The Controlling model automatic detection technology of parameter method of Closed-loop Nc System in laser cutting | |
| CN105790657A (en) | High-precision motor driving closed-loop control system based on interference suppression circuit | |
| CN201083495Y (en) | Tyre forming machine automatic control laser marker | |
| CN208953976U (en) | Limit position signal feedback adjustment device after a kind of coil of strip tower correction machine | |
| JP3451425B2 (en) | Wire winding device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091202 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |