CN101888205A - Multi-motor synchronous control method for high-frequency straight seam welded pipe - Google Patents
Multi-motor synchronous control method for high-frequency straight seam welded pipe Download PDFInfo
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- CN101888205A CN101888205A CN2009100510342A CN200910051034A CN101888205A CN 101888205 A CN101888205 A CN 101888205A CN 2009100510342 A CN2009100510342 A CN 2009100510342A CN 200910051034 A CN200910051034 A CN 200910051034A CN 101888205 A CN101888205 A CN 101888205A
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Abstract
The invention relates to a multi-motor synchronous control method for a high frequency straight seam welded pipe, and belongs to the cross field of straight seam welded steel pipe production, machinery, computer and automatic control of metallurgical industry. The welded pipe product is mainly applied to the fields such as petroleum exploitation, transportation and the like. The patent performs a detailed research on a control model and an algorithm, combines the technical characteristics with the mechanical characteristics, designs a synchronous control system for a plurality of motors in a production line of the high frequency welded pipe, offers a control structure and a synchronous model and determines a sampling frequency and a method for overcoming time delay. Actual field verification shows that the methods greatly improve the control accuracy, further improve the product quality and the yield and have obvious economic benefits.
Description
One, technical field
The present invention relates to many motor synchronous of metallurgy industry ERW control technology.Belong to metallurgy industry straight weld steel pipe's production, machinery, computer and control crossing domain automatically, its product welded tube is mainly used in fields such as oil exploitation, transportation.Launch to study in great detail from controlling models and algorithm aspect, combined process characteristics and mechanical property have been carried out the design of synchronous control system to many motors in its production line of high-frequency welded tube.Increase substantially control precision, and then improved the quality and the lumber recovery of product, economic benefit is obvious.
Two, background technology
Welded tube production is the important production link in steel tube factory in the metallurgical system, and the economic benefit of its product is obvious, is subjected to the attention of numerous smelters.Realize the automation of its production line and information-based most important to increasing substantially of the quality of product and production management level undoubtedly, thereby also can bring huge economic benefit.
This production process mainly is made up of four procedures, is respectively pre-bending, smart curved, sizing 1, sizing 2, and the per pass operation drags by a direct current motor.Four motors of manufacturing technique requirent have good net synchronization capability under certain load and speed setting value, promptly linear velocity difference is as far as possible little.The difficult point that realizes control automatically is that the highly reliable synchronous working of a plurality of control point control motors and the choose reasonable in sampling period make control system reach efficient real-time requirement.
On the production line of high-frequency welded tube since production line on each process point be rigid attachment, so sync rates directly influences product quality.For guaranteeing that the production line linear velocity on each drive point equates, routine techniques is to adopt Single-chip Controlling direct current machine+mechanical gear box speed governing.Because in multi-motor control system, the speed synchronization accuracy of each motor lower (asynchronous rate is about 1%), the factor that influences sync rates is mainly: 1. the quiescent operation speed of each motor; 2. when disturbance, the velocity-response curve of each electric machine control system is inconsistent; 3. the reliability of control system.
Simultaneously, different welded tube kinds has different synchronous requirements, and to common welded tube, asynchronous rate can satisfy technological requirement about 1%.But for some accurate welded tubes, asynchronous rate should reach about 1 ‰.
In addition, in the welded tube production scene, except that control system, other has the high-frequency induction welder of high-power (3000KVA).In process of production, this welding machine and speed governing unit link, thereby the reliability and the antijamming capability of system proposed very high requirement.
Practical problem in the above-mentioned production not only makes product quality not high, also causes the huge waste of electric power equal energy source, brings serious hidden danger to production simultaneously, once causes steel pipe to fly out to injure workman's incident because motor is asynchronous.So it is extremely urgent to introduce new technology improvement production technology.
Three, summary of the invention
The object of the present invention is to provide a kind of method that in ERW is produced, adopts many motor synchronous controls.The specific implementation content comprises:
1) solved the delay problem that the instruction in the field bus system arrives each subsystem by the method for using analog quantity+digital quantity (fieldbus);
The velocity setting value of first motor can be given by network control system (USS agreement) by manual potentiometer or main frame, and first control device of electric motor can give next motor as set point by the Peer-to-Peer protocol transmission speed instantaneous value of current this TV station motor after treatment.Under this pattern, next motor shortened greatly in (sampling) time of the enterprising row operation acquisition in the rotating speed basis of Shang Yitai motor speed setting value.Owing to be directly to obtain by serial-port communication, promptly the sampling time is by the baud rate decision of serial ports, because physical distance can be shorter between the DC motor control device (6R24), within several meters.Therefore the serial communication baud rate can be carried to 38400bps.The word length that transmits a set point like this is 2 bytes, and by 1 start bit, 1 position of rest and 1 bit check position, the time of transmitting a set point is 22/38400=0.573ms.Delay between the end of Peer-to-Peer net sampling and first 's output only is 2 * 3 * 0.573=3.438ms (millisecond).This mode of operation can improve the response (being 300ms, is 3.438ms) of system greatly when pattern 2 when pattern 1, the performance (sample frequency) of network control system is greatly improved (than no set point network time improved 90 times).
Cross the employing field bus technique, solve the high problem of the asynchronous rate of direct current machine of multi-motor control system.Field bus technique mainly solve each subsystem between the communication issue of data sharing.But data transmission rate influences the electric system response speed, makes the system can't operate as normal when time delay is serious.When therefore adopting field bus technique, need to solve the delay problem of serial communication.Adopt following technology to solve at native system: under the manual work state,, can guarantee motor synchronous substantially by 4 connecting shaft potentiometer given speed command voltages; Under automatic mode, on the basis of adopting 4 connecting shaft potentiometer given speed command voltages, the compensation value method that increases (minimizing) instruction overcomes the weakness of serial communication time delay.During the system real time execution, the different rates of motor speed are below 1 ‰ in the proof system after tested.
2) set up many motor synchronous model, and be applied in the many motor synchronous control real-time systems and obtained effect preferably, the different rates of motor speed are below 1 ‰;
The physical meaning of sync rates can be described as the desire relatively linear velocity and the difference of bending motor lines speed as the essence of benchmark of motor.Obviously, the sync rates of smart curved motor is 0, and sync rates is littler, and littler with the linear velocity difference of the curved motor of essence, net synchronization capability better.Because each process point is a rigid attachment on the production line, so sync rates directly influences product quality.。
The net synchronization capability of motor is represented by sync rates, is benchmark with the curved direct current machine of essence, and computing formula is as follows:
Sync rates=(desire is the curved motor lines speed of motor lines speed-essence relatively)/smart curved motor lines speed
=(the K1* desire is the smart curved motor speed of motor speed-Km* relatively)/smart curved motor speed of Km*
=(relatively motor speed-(Km/K1) the * essence is bent motor speed to desire)/(Km/K1) the smart curved motor speed of *
=(desire is the smart curved motor speed of motor speed-K* relatively)/(the smart curved motor speed of K*)
=desire is motor speed/(smart curved motor speed of K*)-1 relatively
Proportionality coefficient K is caused that by the conversion between rotating speed and the linear velocity by the gear box decision of each direct current machine, getting smart bending is 1, and then pre-bending, sizing 1, sizing 2 are respectively 1.26,0.98,0.98.
3) by working out PC close friend's human-machine interface configuration, need not purchase extra annex and promptly realize the speed governing of networking, finish monitoring to whole production line, thereby provide the implementation of a low cost, high reliability for the control of pipe-mill, realized the design of host computer configuration and The whole control system, made to produce and realize digitlization, visual.
Claims (5)
1. the present invention realizes under the computer speed-adjusting and control system framework of being made up of industrial computer and Siemens's DC speed regulator networking; Sample frequency has a significant impact the synchronism and the real-time of system, so sample frequency is by the sequential decision of network control USS agreement.
2. on the basis of claim (1), employing has realized that based on the USS agreement of RS485 interface the advanced mechanism of the serial communication of industrial computer and many DC speed regulator carries out Configuration Design, greatly reduced the complexity that circuit connects, avoided of the interference of on-the-spot possible various electromagnetic interference the equipment of controlling.
3. on the basis of claim (1), need not purchase extra configuration annex and promptly realize the speed governing of networking, by establishment PC close friend's man-machine interface, finish monitoring, thereby the scheme of a low cost, high reliability is provided for the control of pipe-mill whole production line.
4. on the basis of claim (1) (2) (3), set up the 4 milling trains interlock synchronistic model of representing based on the sync rates that can reflect the motor synchronous performance, thoroughly solved many machine operation stationary problem.
5. on the basis of above claim, solved the instruction in the field bus system by the method for using analog quantity+digital quantity (fieldbus) and arrived the delay problem of each subsystem, and obtained preferably in many motor synchronous control real-time systems that the different rates of effect motor speed are below 1 ‰.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100510342A CN101888205A (en) | 2009-05-13 | 2009-05-13 | Multi-motor synchronous control method for high-frequency straight seam welded pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100510342A CN101888205A (en) | 2009-05-13 | 2009-05-13 | Multi-motor synchronous control method for high-frequency straight seam welded pipe |
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| Publication Number | Publication Date |
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| CN101888205A true CN101888205A (en) | 2010-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009100510342A Pending CN101888205A (en) | 2009-05-13 | 2009-05-13 | Multi-motor synchronous control method for high-frequency straight seam welded pipe |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102081409A (en) * | 2010-11-30 | 2011-06-01 | 大连三高重工设备有限公司 | Speed control system and method of titanium welded pipe production line |
| CN110932607A (en) * | 2019-12-20 | 2020-03-27 | 广西师范大学 | Distributed synchronous control method of multi-motor network system |
-
2009
- 2009-05-13 CN CN2009100510342A patent/CN101888205A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102081409A (en) * | 2010-11-30 | 2011-06-01 | 大连三高重工设备有限公司 | Speed control system and method of titanium welded pipe production line |
| CN110932607A (en) * | 2019-12-20 | 2020-03-27 | 广西师范大学 | Distributed synchronous control method of multi-motor network system |
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Application publication date: 20101117 |