CN101905820A - Winding tension and speed control method based on air-controlled slip shaft - Google Patents

Winding tension and speed control method based on air-controlled slip shaft Download PDF

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CN101905820A
CN101905820A CN 201010225801 CN201010225801A CN101905820A CN 101905820 A CN101905820 A CN 101905820A CN 201010225801 CN201010225801 CN 201010225801 CN 201010225801 A CN201010225801 A CN 201010225801A CN 101905820 A CN101905820 A CN 101905820A
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slip shaft
control
winding
air
pneumatic slip
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CN101905820B (en
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陈德传
卢玲
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Nantong Hengli Heavy Industry Machinery Co Ltd
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Hangzhou Dianzi University
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Abstract

本发明涉及一种基于气控滑差轴的卷绕张力与转速控制方法。现有的控制方法没有对升降速动态过程进行动态补偿控制;二是没有对卷绕惯量进行补偿控制;三是没有对滑差轴的转速进行协调控制而导致滑差轴发热严重、寿命短。本发明方法首先根据带材厚度与卷绕长度计算卷绕半径及气控滑差轴转速n;然后计算带材输送的动态加速度和气控滑差轴的输入气压;最后将得到的输入气压信号输入到气控滑差轴,气控滑差轴转速信号输入到滑差轴传动电机驱动器,从而实现卷绕张力与转速的协调控制。本发明方法实现了静、动态卷绕张力的平稳控制与卷绕惯性的补偿控制,降低了气控滑差轴的滑差功耗从而大大提高了气控滑差轴的寿命。The invention relates to a winding tension and rotational speed control method based on an air-controlled slip shaft. The existing control method does not carry out dynamic compensation control on the dynamic process of speed up and down; secondly, it does not carry out compensation control on winding inertia; The method of the present invention firstly calculates the winding radius and the rotational speed n of the air control slip shaft according to the thickness of the strip and the winding length; then calculates the dynamic acceleration of the strip conveying and the input air pressure of the air control slip shaft; and finally inputs the obtained input air pressure signal To the air-controlled slip shaft, the speed signal of the air-controlled slip shaft is input to the drive motor driver of the slip shaft, so as to realize the coordinated control of winding tension and speed. The method of the invention realizes the stable control of the static and dynamic winding tension and the compensation control of the winding inertia, reduces the slip power consumption of the air control slip shaft and greatly improves the service life of the air control slip shaft.

Description

Winding tension and method for controlling number of revolution based on Pneumatic slip shaft
Technical field
The invention belongs to the automation of industry field, relate to a kind of control method that is used for the band cutting machine based on the winding tension and the rotating speed of Pneumatic slip shaft.
Background technology
Pneumatic slip shaft is novel coiling parts crucial in the modern all kinds of band cutting machine, it is mainly by axis body, axial leather bag, hairfelt, parts such as friction slip ring group assembly from inside to outside, Pneumatic slip shaft is by electric motor drive, be input to the air pressure of leather bag in the Pneumatic slip shaft by adjusting, friction force between change differential slip ring and hairfelt is to realize being wound on the some Tension Control of coiling around thing on the same Pneumatic slip shaft, strap tension between respectively coiling may be inhomogeneous because of thickness of strip, the initial different problem of the inconsistent elasticity of respectively reeling that causes of coil diameter is then carried out cushioning balance by differential slip ring, that is: the rotating speed of coaxial each differential slip ring may be different, can normally move to guarantee that polydisc independent of each other is reeled on the same slip shaft.The Winding Tension Controlling method of Pneumatic slip shaft commonly used all adopts the method for air inlet air pressure linear increase with the increase of coil diameter of Pneumatic slip shaft at present, and its main shortcoming is: the one, lifting quick-action attitude process is not carried out dynamic compensation control; The 2nd, coiling inertia is not compensated control; The 3rd, the rotating speed of slip shaft is not carried out co-operative control and cause that the slip shaft heating is serious, the life-span is short.Thereby be difficult to adapt to production occasions such as the control of High Performance coiling, busy shift, also be difficult to prolong the work life of Pneumatic slip shaft, the maintenance cost of reduction production facilities.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, designed a kind of have quiet, dynamic tension steadily control with reduce the Pneumatic slip shaft heating, improve the control method in its life-span.
The inventive method may further comprise the steps:
Step a is according to thickness of strip and coiling length computation winding radius R (unit: m);
Step b calculates Pneumatic slip shaft rotation speed n (unit: r/s);
Step c calculates that band carries dynamically adds (subtracting) speed
Figure BSA00000188102100011
(unit: m/s 2);
Steps d is calculated the input air pressure P (unit: MPa) of Pneumatic slip shaft;
Step e is input to Pneumatic slip shaft with the input air pressure P signal that obtains, and Pneumatic slip shaft rotation speed n signal is input to slip shaft driving motor actuator, thereby realizes the co-operative control of winding tension and rotating speed.
Winding radius R described in the step a, and thickness of strip h (unit: m) and the coiling length L (unit: possess m) functional relation R=r (h, L), represent by following formula:
R = R 0 2 + hL π - - - ( 1 )
Wherein, R 0Be initial winding radius, be known quantity.Along with the growth of time, the coiling length L also increases, and winding radius R also increases; L can obtain by meter long pass sensor.
Calculating Pneumatic slip shaft rotation speed n described in the step b, be the linear velocity V that carries according to band (unit: m/s), parameter such as winding radius R calculates, computing formula is as follows:
n = k n V 2 πR + Δn - - - ( 2 )
Wherein, k nBe slip ratio, Δ n is initial slippage rotating speed, and V and Δ n set by the user.
The described calculating band of step c is carried dynamically adds (subtracting) speed
Figure BSA00000188102100023
Be the linear velocity V according to this collection, the linear velocity V that gathered last time -And the pitch time T of twice data acquisition (that is: in the sampling period, unit: s) calculate, computing formula is as follows:
dV dt = V - V - T - - - ( 3 )
The input air pressure P of the calculating Pneumatic slip shaft described in the steps d (unit: MPa), and winding tension setting value F (unit: N), possess between winding radius R, the coiling tapering z functional relation P=p (F, R z), are represented by following formula:
P = k p [ ( 1 - z R - R 0 R m - R 0 ) FR + 0.02 k n Bγ R 3 dV dt + 0.01 k n 2 BγhR V 2 ] + P 0 - - - ( 4 )
Wherein, k pBe the air pressure-moment coefficient (that is: the model specification by specific Pneumatic slip shaft determines) of Pneumatic slip shaft characteristic decision, γ is a strip density (unit: kg/m 3), h be thickness (unit: m), P 0For initial gas pressure (unit: MPa), B be band on the every Pneumatic slip shaft overall width (unit: m), R 0, R mBe respectively initial winding radius and maximum winding radius (unit: m), k nBe slip ratio, z, R 0, R mSet by the user.
The input air pressure P signal with obtaining described in the step e is input to Pneumatic slip shaft, it is will be with the air pressure result of calculation P of steps d by air pressure function unit (as: electricity-gas apportioning valve) that Pneumatic slip shaft rotation speed n signal is input to slip shaft driving motor actuator, be input to the control that realizes in the Pneumatic slip shaft winding tension, the rotation speed n signal that step b is obtained is input to motor driver (as: frequency converter), the rotating speed of control Pneumatic slip shaft drive motor.
The beneficial effect that the present invention has:
(1) do not need to change the hardware configuration of control system;
(2) quiet, the steady control of dynamic winding tension and the compensate control of coiling inertia have been realized;
(3) rotating speed of Pneumatic slip shaft has been carried out the co-operative control that changes with coil diameter, thereby reduced the life-span that the slippage power consumption of Pneumatic slip shaft has improved Pneumatic slip shaft greatly.
The present invention has solved the defective that prior art exists fully, and realizes easily simple.
The specific embodiment
Winding tension and method for controlling number of revolution concrete steps based on Pneumatic slip shaft are:
Step a is according to thickness of strip and coiling length computation winding radius R (unit: m);
Step b calculates Pneumatic slip shaft rotation speed n (unit: r/s);
Step c calculates that band carries dynamically adds (subtracting) speed
Figure BSA00000188102100031
(unit: m/s 2);
Steps d is calculated the input air pressure P (unit: MPa) of Pneumatic slip shaft;
Step e is input to Pneumatic slip shaft with the input air pressure P signal that obtains, and Pneumatic slip shaft rotation speed n signal is input to slip shaft driving motor actuator, thereby realizes the co-operative control of winding tension and rotating speed.
Winding radius R described in the step a, and thickness of strip h (unit: m) and the coiling length L (unit: possess m) functional relation R=r (h, L), represent by following formula:
R = R 0 2 + hL π - - - ( 1 )
Wherein, R OBe initial winding radius, be known quantity.Along with the growth of time, the coiling length L also increases, and winding radius R also increases; L can obtain by meter long pass sensor.
Calculating Pneumatic slip shaft rotation speed n described in the step b, be the linear velocity V that carries according to band (unit: m/s), parameter such as winding radius R calculates, computing formula is as follows:
n = k n V 2 πR + Δn - - - ( 2 )
Wherein, k nBe slip ratio, Δ n is initial slippage rotating speed, and V and Δ n set by the user.
The described calculating band of step c is carried dynamically adds (subtracting) speed Be the linear velocity V according to this collection, the linear velocity V that gathered last time -And the pitch time T of twice data acquisition (that is: in the sampling period, unit: s) calculate, computing formula is as follows:
dV dt = V - V - T - - - ( 3 )
The input air pressure P of the calculating Pneumatic slip shaft described in the steps d (unit: MPa), and winding tension setting value F (unit: N), possess between winding radius R, the coiling tapering z functional relation P=p (F, R z), are represented by following formula:
P = k p [ ( 1 - z R - R 0 R m - R 0 ) FR + 0.02 k n Bγ R 3 dV dt + 0.01 k n 2 BγhR V 2 ] + P 0 - - - ( 4 )
Wherein, k pBe the air pressure-moment coefficient (that is: the model specification by specific Pneumatic slip shaft determines) of Pneumatic slip shaft characteristic decision, γ is a strip density (unit: kg/m 3), h be thickness (unit: m), P 0For initial gas pressure (unit: MPa), B be band on the every Pneumatic slip shaft overall width (unit: m), R 0, R mBe respectively initial winding radius and maximum winding radius (unit: m), V be linear velocity (unit: m/s), k nBe slip ratio, z, R 0, R mSet by the user.
The input air pressure P signal with obtaining described in the step e is input to Pneumatic slip shaft, it is will be with the air pressure result of calculation P of step (d) by air pressure function unit (as: electricity-gas apportioning valve) that Pneumatic slip shaft rotation speed n signal is input to slip shaft driving motor actuator, be input to the control that realizes in the Pneumatic slip shaft winding tension, the rotation speed n signal that step (b) is obtained is input to motor driver (as: frequency converter), the rotating speed of control Pneumatic slip shaft drive motor.
Automation control system according to the initial tension value F that is provided with in the man machine operation interface and taper value z (span: 0.1~0.9), maximum, minimum radius value R mWith R 0, slip ratio k n(span: 1.1~1.5), initial slippage rotating speed Δ n, the band parameter (comprising: strip density γ, thickness h, strip width B), and the real-time winding radius R that calculates acquisition after testing, calculate the air inlet atmospheric pressure value of cooresponding Pneumatic slip shaft and the tachometer value of Pneumatic slip shaft, and then the control incoming signal (0~10V) that sends by the D/A module of regulating control in the automation control system or PLC system, convert thereof into 0~100% specified air pressure through electric pneumatic converter (as: electricity-gas apportioning valve) and be input to Pneumatic slip shaft, realize Winding Tension Controlling; And the control incoming signal that the speed control signal of Pneumatic slip shaft is sent by the D/A module of regulating control in the automation control system or RLC system is realized the co-operative control of speed through the drive motor of motor driver (as: frequency converter) control Pneumatic slip shaft.

Claims (1)

1. based on the winding tension and the method for controlling number of revolution of Pneumatic slip shaft, it is characterized in that this method comprises the steps:
Step a. calculates winding radius R according to thickness of strip h and coiling length L,
Figure FSA00000188102000011
R wherein 0Be initial winding radius, L can obtain by meter long pass sensor;
Step b. calculates the Pneumatic slip shaft rotation speed n, K wherein nBe slip ratio, Δ n is initial slippage rotating speed, and V and Δ n set by the user;
Step c is calculated the dynamic acceleration that band is carried
Figure FSA00000188102000014
Wherein V is the linear velocity of this collection, V -Be the linear velocity that gathered last time, T is the pitch time of twice data acquisition;
Steps d. calculate the input air pressure P of Pneumatic slip shaft,
P = k p [ ( 1 - z R - R 0 R m - R 0 ) FR + 0.02 k n Bγ R 3 dV dt + 0.01 k n 2 BγhR V 2 ] + P 0 ;
K wherein pBe the air pressure-moment coefficient of Pneumatic slip shaft characteristic decision, z is the coiling tapering, R 0, R mBe respectively initial winding radius and maximum winding radius, F is the winding tension setting value, and B is the overall width of band on the every Pneumatic slip shaft, and γ is a strip density, P 0Be initial gas pressure;
Step e. is input to Pneumatic slip shaft with the input air pressure P signal that steps d obtains, and realizes the control to winding tension; Step b is obtained Pneumatic slip shaft rotation speed n signal be input to slip shaft driving motor actuator, realize the control of rotating speed.
CN201010225801XA 2010-07-13 2010-07-13 Pneumatic slip shaft-based winding tension and rotation speed control method Expired - Fee Related CN101905820B (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102799196A (en) * 2012-08-17 2012-11-28 杭州电子科技大学 Infinitely-derivable dynamic speed-up-down movement locus-based method
CN102820838A (en) * 2012-08-17 2012-12-12 杭州电子科技大学 Method for distributing multiple motor speed instructions in strip producing process
CN103454963A (en) * 2013-08-27 2013-12-18 上海维宏电子科技股份有限公司 Method for controlling filter paper to be conveyed stably at specified speed in numerical control system
CN107918723A (en) * 2017-12-24 2018-04-17 惠州市爱博智控设备有限公司 A kind of coil diameter computational methods based on the production line speed of service
CN116216395A (en) * 2023-05-06 2023-06-06 广东包庄科技有限公司 Tension winding control method and device, electronic equipment and storage medium
CN116553256A (en) * 2023-05-18 2023-08-08 邢台纳科诺尔精轧科技股份有限公司 Slip shaft tension control method, slip shaft tension control device, slip shaft tension controller and storage medium
CN116969228A (en) * 2023-09-20 2023-10-31 潍坊市农业科学院(山东省农业科学院潍坊市分院) Automatic crop wrapping roll and manufacturing equipment thereof

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CN2841600Y (en) * 2005-10-14 2006-11-29 赵令泽 Winding deviation shaft structure
CN201246453Y (en) * 2008-04-28 2009-05-27 永易立股份有限公司 Full-air-pressure type slip shaft, slip ring unit and slip ring thereof
CN201508259U (en) * 2009-09-24 2010-06-16 陕西北人印刷机械有限责任公司 Inflated slip shaft tension measuring device
CN101767729A (en) * 2010-01-13 2010-07-07 福建培新机械制造实业有限公司 Tension control unit of flexible material

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1045290A (en) * 1996-08-05 1998-02-17 S K Eng Kk Automatic web connecting device
CN2841600Y (en) * 2005-10-14 2006-11-29 赵令泽 Winding deviation shaft structure
CN201246453Y (en) * 2008-04-28 2009-05-27 永易立股份有限公司 Full-air-pressure type slip shaft, slip ring unit and slip ring thereof
CN201508259U (en) * 2009-09-24 2010-06-16 陕西北人印刷机械有限责任公司 Inflated slip shaft tension measuring device
CN101767729A (en) * 2010-01-13 2010-07-07 福建培新机械制造实业有限公司 Tension control unit of flexible material

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102799196A (en) * 2012-08-17 2012-11-28 杭州电子科技大学 Infinitely-derivable dynamic speed-up-down movement locus-based method
CN102820838A (en) * 2012-08-17 2012-12-12 杭州电子科技大学 Method for distributing multiple motor speed instructions in strip producing process
CN102820838B (en) * 2012-08-17 2014-08-13 杭州电子科技大学 Method for distributing multiple motor speed instructions in strip producing process
CN103454963A (en) * 2013-08-27 2013-12-18 上海维宏电子科技股份有限公司 Method for controlling filter paper to be conveyed stably at specified speed in numerical control system
CN103454963B (en) * 2013-08-27 2016-03-30 上海维宏电子科技股份有限公司 Method filter paper being stablized to pipage control with command speed is realized in digital control system
CN107918723A (en) * 2017-12-24 2018-04-17 惠州市爱博智控设备有限公司 A kind of coil diameter computational methods based on the production line speed of service
CN116216395A (en) * 2023-05-06 2023-06-06 广东包庄科技有限公司 Tension winding control method and device, electronic equipment and storage medium
CN116553256A (en) * 2023-05-18 2023-08-08 邢台纳科诺尔精轧科技股份有限公司 Slip shaft tension control method, slip shaft tension control device, slip shaft tension controller and storage medium
CN116553256B (en) * 2023-05-18 2024-01-23 邢台纳科诺尔精轧科技股份有限公司 Slip shaft tension control method, slip shaft tension control device, slip shaft tension controller and storage medium
CN116969228A (en) * 2023-09-20 2023-10-31 潍坊市农业科学院(山东省农业科学院潍坊市分院) Automatic crop wrapping roll and manufacturing equipment thereof
CN116969228B (en) * 2023-09-20 2023-12-08 潍坊市农业科学院(山东省农业科学院潍坊市分院) Automatic crop wrapping roll and manufacturing equipment thereof

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