CN101780896A - Method for controlling uncoiling tension of ribbon material - Google Patents

Abstract

The invention discloses a method for controlling the uncoiling tension of a ribbon material, which is used for controlling the tension of the ribbon material in the uncoiling process. The method comprises the following steps: receiving a position given quantity; acquiring an output quantity used as the controlled quantity; comparing the position given quantity with the output quantity to acquire a position deviation; adjusting the position deviation to acquire a control input quantity; carrying out frequency conversion treatment on the control input quantity to acquire a drive signal; and acquiring a new output quantity for driving an uncoiler to uncoil the rebbion material according to the drive signal, and giving feedback. The method can quickly and steadily adjust the tension control of the ribbon material in the uncoiling process, so that the tension of the ribbon material is kept constant in the uncoiling process.

Description

A kind of method of controlling strip material uncoiling tension force

Technical field

The present invention relates to a kind of control method, relate in particular to a kind of method of controlling strip material uncoiling tension force.

Background technology

In the production process of plasterboard, the quality of plasterboard finished product outward appearance is decided by the pressing section of plasterboard.The tension force that protecting paper of gypsum board is drawn is a key factor that influences the plasterboard moulding.This paper Force control system is actually the Stellungsservosteuerung of letterweight roller.Stellungsservosteuerung is the track channel of output for given input, and it is a feedback control system, and what it was realized is the accurate tracking of actuating unit for position command.Position command in the Stellungsservosteuerung (specified rate) is the same with controlled variable (output), all is the space displacement electric weight of displacement (or represent) of load, can be angular transposition, also can be straight-line displacement.When the specified rate random variation, system can make controlled variable follow like clockwork and reappear specified rate.

Stellungsservosteuerung requires different with the performance figure of drive control system.For drive control system, specified rate is constant normally, requires the constant of system held output, so the disturbance rejection performance figure are the key technical indexes; For Stellungsservosteuerung, specified rate is that the position instruction normally changes, it is a change variable, requiring output is the variation that controlled variable is followed specified rate exactly, so be similar to the follow-up system of this class of protecting paper of gypsum board tension control system, its main performance index is rapidity, sensitieness and accuracy of system outlet response or the like.

Existing Tension Control generally adjusts the chart speed degree and the load transfer device speed synchronization realizes.But during speed synchronization, the tension force of paper may change, thereby causes that paper is because of the unbalance stress appearance damage or pull apart.

In the uncoiling process of strip material such as steel band, run into similar problem equally.Therefore be necessary to provide a kind of actv. control method, control the tension force of strip material in uncoiling process preferably.

Summary of the invention

Technical matters to be solved by this invention is to be to provide a kind of method of controlling strip material uncoiling tension force, is used to control the tension force of strip material in uncoiling process.

In order to solve the problems of the technologies described above, the invention provides a kind of method of controlling strip material uncoiling tension force, comprising:

Receive a position given;

Acquisition is as the output of controlled variable;

Described position given and output are compared, obtain a position deviation;

Described position deviation is regulated, obtain a control input;

Described control input is carried out frequency-conversion processing, obtain a drive signal;

Obtain new being used to according to described drive signal and drive output and the feedback that unwinding device carries out uncoiling work.

In the aforesaid method, described drive signal can comprise the power supply signal of the control motor of frequency change.

In the aforesaid method, described position deviation is regulated, obtain the step of described control input, can comprise that described position deviation is carried out proportion integration differentiation regulates, and obtains described control input.

In the aforesaid method, obtain the step of described new output, can comprise according to described drive signal and carry out speed governing, export a speed-regulating signal according to described drive signal; Carry out the speed governing operation according to described speed-regulating signal, obtain described new output.

Compared with prior art, the various embodiments of the inventive method can fast, stably be adjusted the Tension Control of strip material in uncoiling process, keep constant tension when making strip material uncoiling.

Description of drawings

Fig. 1 is a tension control system embodiment composition frame chart of the present invention.

The schematic flow sheet of one method embodiment when Fig. 2 is a system applies of the present invention.

Fig. 3 is a SIMULINK constructional drawing embodiment illustrated in fig. 1.

Fig. 4 is system shown in Figure 1 embodiment simulation result Bode Diagram figure.

Fig. 5 is system shown in Figure 1 embodiment simulation result unit-step response figure.

The specific embodiment

Describe embodiments of the present invention in detail below with reference to drawings and Examples, how the application engineering means solve technical matters to the present invention whereby, and the implementation procedure of reaching technique effect can fully understand and implements according to this.

Fig. 1 is an embodiment of system of the present invention.As shown in Figure 1, this system embodiment mainly comprises position detector 110, connecting rod straightener 120, frequency converter 130 and actuator 140, wherein:

Position detector 110, the output that is used to receive a position given V and system is controlled variable U, and this specified rate V and controlled variable U are compared, and obtains a position deviation;

Connecting rod straightener 120 links to each other with position detector 110, is used for the position deviation that position detector 110 is obtained is regulated, the control input after acquisition one is regulated; This connecting rod straightener is a proportion integration differentiation (PID) connecting rod straightener in the present embodiment, this output controlling quantity is the normalized current signal of the 4-20 milliampere after handling as required in the present embodiment, certainly, other quantity electric signal of measuring of an other unit also are fine;

Frequency converter 130 links to each other with connecting rod straightener 120, is used for the control input that connecting rod straightener 120 is obtained is carried out frequency-conversion processing, exports a drive signal, and this drive signal is the power supply signal of the control motor of a frequency change in the present embodiment;

Actuator 140 links to each other with frequency converter 130, and being used for obtaining a position output according to drive signal is controlled variable U, and this controlled variable U is used to drive the uncoiling work that unwinding device carries out strip material;

Feedback unit 150 links to each other with position detector 110, is used to gather the controlled variable U that is obtained of actuator 140, and feeds back to position detector 110.

As shown in Figure 1, above-mentioned actuator 140 can comprise an actuating motor 142 and a reductor 144, wherein:

This actuating motor 142 links to each other with frequency converter 130, is used for carrying out speed governing according to the drive signal that frequency converter 130 is exported, and exports a speed-regulating signal;

This reductor 144 links to each other with this actuating motor 142, is used for carrying out deceleration-operation according to the speed-regulating signal that actuating motor 142 is exported, and obtaining this position output is controlled variable U.

Fig. 2 is the steps flow chart scheme drawing of the described system embodiment of Fig. 1 method embodiment when using.Please refer to Fig. 1, as shown in Figure 2, this method embodiment mainly comprises the steps:

Step S210 receives a position given V;

Step S220, by feedback, gathering and obtaining output is controlled variable U;

Step S230 compares this position given V and controlled variable U, obtains a position deviation;

Step S240 regulates this position deviation, obtains a control input; In method embodiment, this adjusting is that PID regulates, and this control input is the normalized current signal of a 4-20 milliampere according to concrete needs, and certainly, other quantity electric signal that an other unit is measured also are fine;

Step S250 carries out frequency-conversion processing to this control input, obtains a drive signal then; This drive signal can be the power supply signal of the control motor of a frequency change;

Step S260 obtains new controlled variable according to this drive signal, and this new controlled variable is used to drive unwinding device such as paper unwinding device or steel plate unwinding device and carries out uncoiling work; Simultaneously, this is carried out described feedback by new controlling quantity.

System embodiment shown in Figure 1 is the Stellungsservosteuerung of a band position feedback ring.In the protecting paper of gypsum board unwinding device, the controlled variable of this Stellungsservosteuerung is that output U is the angular transposition of letterweight roller, i.e. the mechanical corner of letterweight roller.On a protecting paper of gypsum board uncoiling manufacturing line, above-mentioned position detector 110 is a potential device, and connecting rod straightener 120 is the integrated control module in the forming station AB PLC5 of plasterboard factory, and frequency converter 130 is an AB frequency converter 1336plus.

In the embodiment shown in fig. 1, a kind of configuration mode of each component part transfer function is:

The transfer function of pid correction device is:

$G_{\mathrm{PID}}=\frac{0.2s+1}{2s+1}\·\frac{0.8545s+1}{0.0004681s+1}$

The transfer function of frequency converter 130:

$G_{\mathrm{INVERTER}}=\frac{6.25}{0.007s+1}\·\frac{40}{0.00167s+1}$

The transfer function of actuating motor 142:

$G_{\mathrm{MOTOR}}=\frac{24}{0.{0063S}^2+0.9S+1}$

The transfer function of reductor 144:

$G_{\mathrm{GEAR}}=\frac{0.1}{S}$

According to above-mentioned transfer function, can construct SIMULINK constructional drawing as shown in Figure 3.In conjunction with SIMULINK constructional drawing shown in Figure 3, can come the frequency domain performance and the time domain index of diplomatic copy invention system embodiment with following MATLAB program:

％MATLAB?PROGRAM?PAPER.M

％

G1＝tf([0.2?1]，[2，1])；

G2＝tf([0.8545?1]，[0.0004681?1])；

G3＝tf(6.25，[0.007?1])；

G4＝tf(40，[0.00167?1])；

G5＝tf(24，[0.00630.9?1])；

G6＝tf(0.1，[10])；

G＝G1*G2*G3*G4*G5*G6；

margin(G)；

figure(1)；

[mag，phase，w]＝bode(G)；margin(mag，phase，w)；hold?on

[GM，Pm，Wcg，Wcp]＝margin(mag，phase，w)

sys＝feedback(G，1)；figure(2)；step(sys)

[y，t]＝step(sys)；perf(1，y，)；t＝[0:0.01:30]′；

[ess1]＝ster(0，sys，t)；[ess2]＝ster(1，sys，t)；

By above-mentioned emulation program, can obtain as the Bode Diagram figure of Fig. 4 and unit-step response (Step Response) figure shown in Figure 5.The abscissa of Fig. 4 is frequency (frequency), and its unit is radian per second (rad/sec); Ordinate is respectively phase place (Phase), and its unit is degree (deg) and amplitude Magnitude, and its unit is (dB).The abscissa of Fig. 5 is time (Time), and its unit is (sec); Ordinate is amplitude (Amplitude).

As can be seen from Figure 5, static index and the dynamic indicator of said system embodiment are all relatively good, and the rapidity of system, sensitieness and accuracy are all better.In actual applications, the various embodiments of system of the present invention, can keep strip material is to keep constant tension in uncoiling.

Though the disclosed embodiment of the present invention as above, the embodiment that described content just adopts for the ease of understanding the present invention is not in order to limit the present invention.Technical personnel in any the technical field of the invention; under the prerequisite that does not break away from the disclosed spirit and scope of the present invention; can do any modification and variation what implement in form and on the details; but scope of patent protection of the present invention still must be as the criterion with the scope that appending claims was defined.

Claims (4)

1. a method of controlling strip material uncoiling tension force is characterized in that, comprising:

Receive a position given;

Acquisition is as the output of controlled variable;

Described position given and output are compared, obtain a position deviation;

Described position deviation is regulated, obtain a control input;

Described control input is carried out frequency-conversion processing, obtain a drive signal;

Obtain new being used to according to described drive signal and drive output and the feedback that unwinding device carries out uncoiling work.

2. the method for claim 1 is characterized in that:

Described drive signal comprises the power supply signal of the control motor of frequency change.

3. the method for claim 1 is characterized in that:

Described position deviation is regulated, obtain the step of described control input, comprise that described position deviation is carried out proportion integration differentiation regulates, and obtains described control input.

4. the method for claim 1 is characterized in that:

Obtain the step of described new output according to described drive signal, comprise according to described drive signal and carry out speed governing, export a speed-regulating signal; Carry out the speed governing operation according to described speed-regulating signal, obtain described new output.

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