CN101452293B - Follow-up riding wheel measurement control method and special equipment thereof - Google Patents
Follow-up riding wheel measurement control method and special equipment thereof Download PDFInfo
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- CN101452293B CN101452293B CN2007101586532A CN200710158653A CN101452293B CN 101452293 B CN101452293 B CN 101452293B CN 2007101586532 A CN2007101586532 A CN 2007101586532A CN 200710158653 A CN200710158653 A CN 200710158653A CN 101452293 B CN101452293 B CN 101452293B
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Abstract
The invention discloses a method and a special device for measuring and controlling a follow-up supporting roller. The device comprises a stand, a change gear box, a rotary pair, a supporting roller base, a supporting roller, a sliding disc, a rotary coder and an analog quantity output module, wherein the stand is horizontally arranged on a lathe bed of a machine tool and is vertical to the feeding direction of a steel material; an input shaft of the change gear box is connected with a shaft of a servo motor through keys; the rotary pair consists of a T-shaped nut and a screw rod, wherein theT-shaped nut is fixedly connected with the sliding disc; one end of the screw rod is connected with the stand through a copper shaft sleeve; the other end of the screw rod runs through the copper shaft sleeve and is connected with a gear key of the change gear box; the supporting roller base is fixed on the sliding disc; the supporting roller can be rotatably arranged on the supporting roller base through a supporting roller shaft; the sliding disc is connected with the stand through the rotary pair; the rotary coder is arranged in the coaxial position on the tail part of the servo motor and is connected with a counting module; and the analog quantity output module is arranged in a computer. The method can remove torsional moment of the supporting roller on the steel material, provide satisfactory control precision and provide reliable guarantee for smooth production.
Description
Technical field
The present invention relates to the curved technology of quenching of steel material, specifically a kind ofly can be used for follow-up riding wheel measurement control method and the isolated plant thereof that steel material heating in medium frequency bends lathe.
Background technology
Steel material bent quenched machine is present domestic mechanical, electrical, liquid integrated numerical control machine tool.Follow-up riding wheel is the important component part of this lathe as steel material supporting mechanism.The quality of its control directly has influence on the quality of steel material processing.At present existing machine adopted is that fixedly support roller adds preceding support wheel in the thermal bending deformation as the steel material, because the steel material is in the heating bending deformation process, the curvature of steel material is in always in the change procedure, therefore, fixedly the position of support roller and steel material contact point changes along with the variation of steel material curvature, and the steel material majority that is used to process all is the T steel material, the mode that therefore can only adopt the bulb position of steel material to contact with fixing support roller, but this supporting way can produce a moment of torsion to the steel material, make the steel material helix-deformed easily, thereby influenced the machining precision of steel material.
Summary of the invention
The objective of the invention is to propose a kind of support roller of eliminating to the moment of torsion that the steel material produces, the follow-up riding wheel measurement control method and the isolated plant thereof of satisfied control accuracy is provided.
Technical scheme of the present invention is as follows:
Measure control method: will calculate the set-point of follow-up riding wheel displacement according to the interior radius of circle value of steel material, and compare with the follow-up riding wheel location feedback value, the deviation that obtains is used for the control to the follow-up riding wheel displacement; Be specially: be radius of circle in the steel material with R1, calculate the radius R value at tapping material center line place; Then by computing formula X
Given=R-SQRT (R
2-L
2) calculate the displacement set-point X of follow-up riding wheel
GivenBy the count signal that rotary encoder provided that is built in drive motor, calculate the feedback value X of support roller displacement
Feedback, displacement calculating amount error e=X then
Given-X
FeedbackWherein:
L is 1/2nd chord lengths of machined steel material; K is a gear reduction ratio; S is a leading screw pitch; CNT is the rotary encoder count value; M is the every circle umber of pulse of rotary encoder; The displacement feedback value X
Feedback=k*s*CNT/m.
The present invention installs rotary encoder at horizontal shift motor afterbody the physical location of follow-up riding wheel is made measurement; The transmitter of rotary encoder inside is delivered to the counting module that has the plus-minus counting function in the computing machine after converting the displacement signal that records to the TTL square-wave pulse.
Described control program flow process is: initiation parameter at first, 1/2nd chord length L, the every circle umber of pulse of rotary encoder m, steel material width H, gear reduction ratio k, leading screw pitch s; Read in radius of circle value R1 in the steel material then; Calculate steel material radius of central line value R=R1+H/2 then, calculate the displacement set-point X of support roller thus
Given=R-SQRT (R
2-L
2) value; Then read in rotary encoder count value CNT; Convert rotary encoder count value CNT to follow-up riding wheel central point displacement X
Feedback=k*s*CNT/m; Displacement calculating amount error e=X
Given-X
FeedbackAccording to displacement error e and digital PID parameter value calculation controlled quentity controlled variable u and output, controlled quentity controlled variable u is converted to voltage signal and outputs to motor servo driver through analog output module, move thereby drive servomotor rotation control support roller by motor servo driver; As continue to measure then to turn back to read in radius of circle measured value R1 in the steel material, otherwise termination routine.
Its isolated plant comprises:
One support, level is installed on the bed piece, and vertical with the direction of feed of steel material;
One change speed gear box, its input shaft links to each other with the axle of servomotor by key;
One revolute is made up of T-nut and leading screw, and wherein T-nut and sliding plate are connected and are socketed on the screw thread of leading screw; Leading screw one end is connected with support through the copper axle sleeve, and the other end passes the copper axle sleeve and is connected with the gear key of change speed gear box; Be used for rotatablely moving of leading screw become the rectilinear motion of T-nut;
One support roller base is fixed on the sliding plate;
One support roller is rotatably installed on the support roller base through supporting-roller shaft;
One sliding plate is connected with support by revolute;
One rotary encoder is installed in the coaxial position of servomotor afterbody, is used to measure the physical location of follow-up riding wheel;
One counting module is installed in the industrial computer, links to each other with rotary encoder;
One analog output module is installed in the computing machine, converts the control signal of calculating the support roller displacement of gained to voltage signal and delivers in the motor servo driver.
Principle of work: the interior radius of circle that detects the steel material of processing by the curvature measurement device on the lathe (referring to that inside is equipped with the rotary encoder of transmitter), it is curvature value, curvature value according to the steel material calculates follow-up riding wheel position set-point, the current location value of feedback that records with rotary encoder compares, and the deviation that obtains after relatively is used for the control to the follow-up riding wheel displacement.Described counting module is inserted on the interior expansion slot of computing machine, is connected by the transmitter of DB25 interface with rotary encoder inside.
The present invention has following advantage:
1. the present invention adopts computer close-loop control, servo driving to realize the displacement servo-actuated control of support roller, and the mode that contacts with steel material web of employing, thereby eliminated the moment of torsion that support roller produces the steel material, and can provide satisfied control accuracy, providing reliable guarantee smoothly for what produce, is a kind of solution of new support roller working method.
2. apparatus structure of the present invention is simple, measure easy to use, measuring accuracy height (measuring error dR=± 1mm).
3. adopt the present invention can realize the quick servo-actuated control of support roller.
Description of drawings
Fig. 1 is the isolated plant structural representation of the inventive method.
Fig. 2 is the schematic diagram of the inventive method.
Fig. 3 is the calculation procedure process flow diagram of the inventive method.
Embodiment
Describe the present invention in detail below in conjunction with following examples and accompanying drawing.
As shown in Figure 2, the inventive method: utilize radius of a circle R1 in the known steel material, calculate the radius R value at tapping material center line place.Calculate the displacement set-point X of follow-up riding wheel then
GivenThe displacement set-point X of described follow-up riding wheel
GivenComputing formula be: X
Given=R-SQRT (R
2-L
2).Utilize known steel material 1/2nd chord length L values again, can calculate the set-point X of displacement
GivenCount signal by the rotary encoder that is built in drive motor provides calculates the displacement feedback value X by control program
Feedback, displacement calculating amount error e=X then
Given-X
Feedback
As shown in Figure 3, described control program flow process is: initiation parameter at first: 1/2nd chord length L=1000mm, and the every circle umber of pulse of rotary encoder m=1000, steel material width H=250mm, gear reduction ratio k=1: 25, leading screw pitch s=8mm; Read in radius of circle R1=3000mm in the steel material (the radius of circle value is recorded by the curvature detecting sensor that is contained on this lathe in the steel material) then, calculate steel material radius of central line value R=R1+H/2=3125mm then, calculate the displacement set-point X of support roller thus
Given=R-SQRT (R
2-L
2)=164.3; Then read in rotary encoder count value CNT (count value of the 1st passage on the counting module); Convert rotary encoder count value CNT to follow-up riding wheel central point displacement X
Feedback=k*s*CNT/m; Displacement calculating amount error e=X
Given-X
FeedbackAccording to displacement error e and digital PID parameter value calculation controlled quentity controlled variable u and output, controlled quentity controlled variable u converts to-voltage signal of 10v～10v and output to motor servo driver through analog output module, and support roller moves thereby motor servo driver drives servomotor rotation control.When support roller moves to given position, X
GivenWith X
FeedbackValue equates that this time error is zero, and support roller stops to move.As continue to measure and then return radius of curvature measurement value R1, otherwise termination routine.
The isolated plant of the inventive method, as shown in Figure 1, by support roller base 1, support 2, change speed gear box 3, servomotor 4, leading screw 5, sliding plate 6, T-nut 7, support roller 8, copper axle sleeve 9, rotary encoder, be installed in the analog output module in the industrial computer, the counting module that is installed in the industrial computer is formed, wherein support 2 levels are installed on the bed piece and are vertical with the direction of feed of steel material, sliding plate 6 levels are installed on the support 2,7 of T-nuts are fixed on the sliding plate 6 and are socketed on the leading screw 5, sliding plate 6 converts the rotation of leading screw 5 to and moves horizontally, support roller base 1 then is fixed on the sliding plate 6, can move with sliding plate, support roller 8 is installed on the support roller base 1; Leading screw 5 one ends are connected with support 2 through copper axle sleeve 9, the other end passes copper axle sleeve 9 and is connected by key with the gear of change speed gear box 3, the input shaft of change speed gear box 3 links to each other by the output shaft of key with servomotor 4, at servomotor 4 afterbody coaxial positions rotary encoder is installed, is used to measure the physical location of follow-up riding wheel.The transmitter of rotary encoder inside links to each other with counting module through the DB25 interface.Described counting module has the plus-minus counting function, is inserted on the industrial computer isa bus expansion slot.
See its course of work by structure of the present invention:
The controlled target of this follow-up riding wheel is when steel material radius changes, the position of rapid adjustment support roller, the center that guarantees support roller is consistent with steel material center line all the time, could play the effect of support so reliably, if adjust untimely, the bulb position of steel material and the support of support roller collision or steel material disengaging support roller just may occur, thereby influence the flatness of the radius and the steel material of steel material.
When the interior radius of circle of steel material changes, detect radius of a circle value in the steel material by the curvature detecting sensor that is contained on this lathe, calculate the positional value of support roller by computer program, position set-point as follow-up riding wheel, by the current location that is contained in the rotary encoder detection support roller on the servo motor shaft, and the current location of support roller delivered to counting module in the computing machine, value of feedback as the support roller position, deduct the difference of set-point as error by value of feedback, adopt Digital PID Controller to calculate required controlled quentity controlled variable u, and by being installed in analog output module output controlled quentity controlled variable u in the computing machine to motor servo driver, drive servomotor by motor servo driver, servomotor drives the leading screw rotation, rotatablely moving of leading screw converts the rectilinear motion of T-nut 7 and support roller base to, so the support roller base drives the support roller moving linearly, when support roller arrives given position, the value of feedback of support roller position equates with support roller position set-point, at this moment the error of position closed loop system is zero, and support roller stops.Like this, when each steel material radius value changed, the position that can both adjust support roller fast was to the center line of steel material.
The present invention is installed counting module additional at expanded slot of computer and is detected umber of pulse, and described counting module adopts PCL-833 (Hua company is ground in Taiwan), and it is 3 channel pulse load modules, and can add/subtract counting, and interface shape is DB25.Rotary encoder links to each other with the DB25 mouth of PCL-833 card, and rotary encoder connects the 1st passage.Rotary encoder: LEC-200-BM-G05D, Changchun No.1 optical Instrument Plant production.
Claims (6)
1. follow-up riding wheel measurement control method, it is characterized in that: will calculate the set-point of follow-up riding wheel displacement according to the interior radius of circle value of steel material, compare with the value of feedback of follow-up riding wheel displacement, the displacement error that obtains is used for the control to the follow-up riding wheel displacement; Be specially: be radius of circle in the steel material with R1, calculate the radius R value at tapping material center line place; Then by computing formula X
Given=R-SQRT (R
2-L
2) calculate the displacement set-point X of follow-up riding wheel
GivenBy the count signal that rotary encoder provided that is built in drive motor, calculate the feedback value X of follow-up riding wheel displacement
Feedback, displacement calculating amount error e=X then
Given-X
FeedbackWherein:
L is 1/2nd chord lengths of machined steel material; K is a gear reduction ratio; S is a leading screw pitch; CNT is the rotary encoder count value; M is the every circle umber of pulse of rotary encoder; The displacement feedback value X
Feedback=k*s*CNT/m.
2. by the described follow-up riding wheel measurement control method of claim 1, it is characterized in that: the count signal by the rotary encoder that is built in drive motor provides calculates the displacement feedback value X by control program
Feedback, displacement calculating amount error e=X then
Given-X
Feedback
3. by the described follow-up riding wheel measurement control method of claim 2, it is characterized in that: described control program flow process is: initiation parameter at first: 1/2nd chord length L, the every circle umber of pulse of rotary encoder m, steel material width H, gear reduction ratio k, leading screw pitch s; Read in radius of circle measured value R1 in the steel material then; Calculate steel material radius of central line value R=R1+H/2 then, calculate the displacement set-point X of support roller thus
Given=R-SQRT (R
2-L
2) value; Then read in rotary encoder count value CNT; Convert rotary encoder count value CNT to follow-up riding wheel central point displacement X
Feedback=k*s*CNT/m; Displacement calculating amount error e=X
Given-X
FeedbackAccording to displacement error e and digital PID parameter value calculation controlled quentity controlled variable u and output, controlled quentity controlled variable u is converted to voltage signal and outputs to motor servo driver through analog output module, move thereby drive servomotor rotation control support roller by motor servo driver; As continue to measure then to turn back to read in radius of circle measured value R1 in the steel material, otherwise termination routine.
4. isolated plant by the described follow-up riding wheel measurement control method of claim 1 is characterized in that comprising:
One support (2), level is installed on the bed piece, and vertical with the direction of feed of steel material;
One change speed gear box (3), its input shaft links to each other with the axle of servomotor (4) by key;
One revolute is made up of T-nut (7) and leading screw (5), and wherein T-nut (7) and sliding plate (6) are connected and T-nut (7) is socketed on the screw thread of leading screw (5); Leading screw (5) one ends are connected with support (2) through copper axle sleeve (9), and the other end passes copper axle sleeve (9) and is connected with the gear key of change speed gear box (3); Be used for rotatablely moving of leading screw become the rectilinear motion of T-nut;
One support roller base (1) is fixed on the sliding plate (6);
One support roller (8) is rotatably installed on the support roller base (1) through supporting-roller shaft;
One sliding plate (6) is connected with support (2) by revolute;
One rotary encoder is installed in the coaxial position of servomotor (4) afterbody, is used to measure the physical location of follow-up riding wheel;
One counting module is installed in the industrial computer, links to each other with rotary encoder;
One analog output module is installed in the computing machine, converts the control signal of calculating the support roller displacement of gained to voltage signal and delivers in the motor servo driver.
5. press the isolated plant of the described follow-up riding wheel measurement control method of claim 4, it is characterized in that: described rotary encoder inside is equipped with transmitter, be used for converting the actual position signal of support roller to the TTL square-wave pulse signal, transmitter links to each other with counting module through the DB25 interface.
6. by the isolated plant of the described follow-up riding wheel measurement control method of claim 5, it is characterized in that: described counting module is the counting module with plus-minus counting function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101586532A CN101452293B (en) | 2007-11-30 | 2007-11-30 | Follow-up riding wheel measurement control method and special equipment thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101586532A CN101452293B (en) | 2007-11-30 | 2007-11-30 | Follow-up riding wheel measurement control method and special equipment thereof |
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| Publication Number | Publication Date |
|---|---|
| CN101452293A CN101452293A (en) | 2009-06-10 |
| CN101452293B true CN101452293B (en) | 2010-10-13 |
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| CN2007101586532A Expired - Fee Related CN101452293B (en) | 2007-11-30 | 2007-11-30 | Follow-up riding wheel measurement control method and special equipment thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102861800B (en) * | 2012-09-14 | 2015-01-21 | 太原泰立机电新技术有限公司 | Servo adjusting device |
| CN115291527B (en) * | 2022-09-30 | 2022-12-20 | 成都航天万欣科技有限公司 | Follow-up control method, system, equipment and storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201127964Y (en) * | 2007-11-30 | 2008-10-08 | 中国科学院沈阳自动化研究所 | Device for measuring and controlling follow-up riding wheel |
| CN101451804A (en) * | 2007-11-30 | 2009-06-10 | 中国科学院沈阳自动化研究所 | Steel bending radius measurement method and apparatus |
| CN101468366A (en) * | 2007-12-28 | 2009-07-01 | 中国科学院沈阳自动化研究所 | Method and device for controlling flatness of steel material |
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2007
- 2007-11-30 CN CN2007101586532A patent/CN101452293B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201127964Y (en) * | 2007-11-30 | 2008-10-08 | 中国科学院沈阳自动化研究所 | Device for measuring and controlling follow-up riding wheel |
| CN101451804A (en) * | 2007-11-30 | 2009-06-10 | 中国科学院沈阳自动化研究所 | Steel bending radius measurement method and apparatus |
| CN101468366A (en) * | 2007-12-28 | 2009-07-01 | 中国科学院沈阳自动化研究所 | Method and device for controlling flatness of steel material |
Non-Patent Citations (5)
| Title |
|---|
| JP平-10-167441A 1998.06.23 |
| JP平-10855A 1996.01.16 |
| JP平-11-292011A 1999.10.26 |
| 荣胜波等.新型托辊柔性装配线制造信息系统.微计算机信息25 4-3.2009,25(4-3),15-16. |
| 荣胜波等.新型托辊柔性装配线制造信息系统.微计算机信息25 4-3.2009,25(4-3),15-16. * |
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