CN103414431A - Servo motion control integrated machine system for flying saw machine - Google Patents

Abstract

The invention provides a servo motion control integrated machine system for a flying saw machine, belonging to the technical field of automatic control. The system comprises a rectifier circuit, a filter circuit, a brake circuit, a switch power supply circuit, a protection circuit, an inverter circuit, a current sampling circuit, an encoder circuit, a PWM drive circuit, a CPLD circuit, a DSP circuit, a power down memory circuit, a communication control circuit and an I/O interface circuit. The system has the advantages that the problems of oscillation, instability and even out of control of a flying saw actuator which is a servo motor caused by control signal introduction interference caused by different ground potentials of two devices are solved. The production precision is improved. The reliability is enhanced, and the response speed is improved.

Description

For the servo control integrated machine system on flying saw

Technical field

The invention belongs to the automatic control technology field, particularly a kind of for the servo control integrated machine system on flying saw.

Background technology

Flying saw is the common equipment of the continuously online scale cutting of various tubing, section bar, and the application of servo system has met high accuracy, high-level Production requirement.In the prior art, fly to saw the control to servomotor in control system by servo-driver and fly to saw motion controller and jointly complete.Fly to saw the length requirement of motion controller according to institute's Pipe Cutting material, section bar, by detecting current speed of production and the length of tubing, computing output movement control signal, make flying saw move according to the movement locus of expection and the kinematic parameter of regulation.Servomotor is the actuator that flies to saw motion controller.The control signal that flies to saw motion controller output is sent to servo-driver by cable, and servo-driver passes the signal to servomotor again, to complete the control requirement.The mode that this motion controller separates with servo controller is usually introduced interference signal, affects equipment reliability of operation and required precision, and manufacturing cost is higher, and required installing space is larger.

Summary of the invention

For the deficiencies in the prior art, the invention provides a kind ofly for the servo control integrated machine system on flying saw, reached and can effectively control flying saw, make flying saw have the purpose of higher response speed, integrated level and reliability.

To achieve these goals, the invention provides a kind ofly for the servo control integrated machine system on flying saw, comprise rectification circuit, filter circuit, braking circuit, switching power circuit, protective circuit, inverter circuit, current sampling circuit, encoder circuit, PWM drive circuit, CPLD circuit, DSP circuit, power down memory circuit, communication control circuit and I/O interface circuit;

Rectification circuit, filter circuit is connected successively with inverter circuit, braking circuit is connected on DC bus, encoder circuit is connected with the capturing unit (QEP) of DSP circuit, current sampling circuit is connected with the ADC module of DSP circuit, communication control circuit is connected with the SCI module of DSP circuit, the I/O interface circuit is connected on the data/address bus of DSP circuit, the power down memory circuit is connected with the data address bus of DSP circuit, six road PWM output ports of DSP circuit are connected with the CPLD circuit, six road PWM outputs of CPLD circuit connect the input of PWM drive circuit, the PWM drive circuit connects inverter circuit, protective circuit is connected on DC bus, switching power circuit respectively with protective circuit, current sampling circuit, encoder circuit, the PWM drive circuit, the CPLD circuit, the DSP circuit, the power down memory circuit, communication control circuit is connected with the I/O interface circuit.

The 380V alternating current becomes direct current through rectification circuit, and direct current is connected with inverter circuit after circuit after filtering, and braking circuit is connected on DC bus.Encoder circuit, current sampling circuit, power down memory circuit, communication control circuit and I/O interface circuit are connected with the DSP circuit.DSP circuit output pwm pulse, through the CPLD circuit, give the PWM drive circuit and encourage inverter circuit work.Protective circuit is connected on DC bus, and when producing overvoltage or under voltage during signal, or when inverter circuit sends rub-out signal because of the fault of system, these signals will be sent to the CPLD circuit.Switching power circuit changes DC bus-bar voltage into various chips and optocoupler required voltage.

A kind of control method for the servo control integrated machine system on flying saw, comprise the steps:

Step 1, system initialization;

Step 2, System self-test, if fault is arranged, show failure code; If nothing, program is carried out downwards;

Whether step 3, judgement saw car get back to initial point, if the DSP circuit receives the signal of zero-bit optoelectronic switch, mean to be execution step 4; If do not receive, mean no, the execution step 3;

Step 4, read the parameters of touch-screen;

Step 5, the motor pattern that reads touch-screen are selected information,, return to zeros by manual mode during not at origin position when the saw car, when flying saw work, select automatic mode, when debugging, and the selection debugging mode; (whether should make simulation into)

Step 6, saw car are followed the trail of tubing speed;

Step 7, primer fluid cylinder pressure; Device, by I/O interface circuit output control signal, is connected the hydraulic cylinder electromagnetically operated valve on flying saw, and the primer fluid cylinder pressure realizes building compression functions;

Step 8, saw blade cut tubing;

Step 9, cut release; Device disconnects the hydraulic cylinder electromagnetically operated valve on flying saw by I/O interface circuit output control signal, realizes pressure relief;

Step 10, saw car return.

Tracing control method in described step 6 comprises the steps:

Step 6.1: initialization;

Step 6.2: according to formula S=L-Vt, in formula, S is the tubing in-position, and L is that Pipe Cutting is long, V is tubing speed, and t to returning to the time used at zero point, judges whether tubing arrives assigned address S when from the saw car, starting to follow the trail of zero point, if continue execution step 6.3, if not, return;

Step 6.3: call the SERVO CONTROL program, start the servomotor on flying saw, realize speed increase according to the mode of serpentine, concrete speed formula is

V wherein ₀For the speed of tubing is synchronizing speed, t ₀(ms) for the saw car, follow the trail of the time, can arrange by touch-screen, v means to saw the real-time speed of car;

Step .6.4: whether the real-time speed of judgement saw car equals tubing speed, follows the trail of if finish, and returns if not, continues to accelerate according to the mode of serpentine.

Described SERVO CONTROL program in step 6.3 comprises the steps:

Step 6.3.1: preservation state register accumulator;

Step 6.3.2: the current value of reading the A/D conversion;

Step 6.3.3: read motor speed;

Step 6.3.4: rotating speed PI controls;

Step 6.3.5: the current value under stator a, b, c coordinate system is obtained to the current value under α, β coordinate system by Clarke conversion in formula 1 respectively;

$\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\·\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]---\left(1\right)$

In formula: i _a, i _b, i _c---be respectively the electric current under stator a, b, c coordinate system;

I _α, i _β---be respectively the electric current under α, β coordinate system;

Step 6.3.6: the current value under α, β coordinate system is obtained to the current value under d, q coordinate system by formula 2Park conversion respectively;

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& \sin \mathrm{\θ}\\ -\sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\·\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]---\left(2\right)$

In formula: i _d, i _q---be respectively the electric current under d, q coordinate system;

I _α, i _β---be respectively the electric current under α, β coordinate system;

Step 6.3.7:d, q shaft current PI control;

Step 6.3.8: the magnitude of voltage under α, β coordinate system is obtained to the magnitude of voltage under d, q coordinate system by formula 3Park inverse transformation respectively;

$\left[\begin{array}{c}{U}_{\mathrm{\α}}\\ U_{\mathrm{\β}}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\·\left[\begin{array}{c}{U}_d\\ U_q\end{array}\right]---\left(3\right)$

In formula: U _a, U _β---be respectively the voltage under α, β coordinate system;

U _d, U _q---be respectively the voltage under d, q coordinate system;

Step 6.3.9: call the SVPWM algorithm routine;

Step 6.3.10: the register accumulator returns to form;

Step 6.3.11: return.

PI control program in described step 6.3.4 and 6.3.7 comprises the steps:

Step (1), beginning, set initial value e (k)=e (k-1)=0, u (k-1)=0;

Step (2), this sampling input e (k);

Step (3), deviation are calculated Δ e (k)=e (k)-e (k-1);

Step (4), calculating output controlling increment Δ u (k)=k _p* Δ e (k)+k _i* e (k);

Step (5), calculating output variable u (k)=u (k-1)+Du (k);

Step (6), amplitude limit $u\left(k\right)=\left\{\begin{array}{cc}{u}_{\max },& u\left(k\right)\&GreaterEqual;u_{\max }\\ u_{\min },& u\left(k\right)\&le;u_{\min }\\ u\left(k\right),& u_{\mathrm{main}}<u\left(k\right)<u_{\max }\end{array};\right.$

Step (7), translation are preserved, e (k-1)=e (k), u (k-1)=u (k);

E in formula (k)-deviation;

U (k)-output controlled quentity controlled variable;

The calculation deviation that e (k-1)-last time preserves;

The output controlled quentity controlled variable that u (k-1)-last time preserves;

K _p-proportionality coefficient;

K _i-integral coefficient;

U _minThe lower limit of-amplitude limit;

U _maxThe higher limit of-amplitude limit;

K-iterations.

Saw blade cutting process in described step 8 comprises the steps:

Step 8.1: start;

Step 8.2: read the encoder in the servomotor on flying saw and be arranged on the pipe code device signal on pipe production line, whether the real-time speed of judgement saw car synchronizes with tubing speed, if, by I/O interface circuit output clamping signal, control the fixture block electromagnetically operated valve on flying saw, realize clamping function;

Step 8.3: read the clamping time of setting parameter in touch-screen, export the saw signal by the I/O interface after postponing this clamping time, control and fall to sawing electromagnetically operated valve on flying saw, realize falling to sawing function;

Step 8.4: the Pipe Cutting time of reading setting parameter, whether the signal that approach switch is cut off in inquiry simultaneously has feedback signal, if the shutoff signal of finding, the number of it is believed that is lifted in output, controls to lift the saw electromagnetically operated valve on flying saw, realizes lifting the saw function, through this time, if sawing can not complete, force saw blade to lift, play a protective role;

Step 8.5: read the lifting according to the time of setting parameter, postpone this time after output pine folder signal, control the fixture block two way solenoid valve on flying saw, realize pine folder function.

Operation principle of the present invention: rectification module becomes direct current by the 380V alternating current of access, and its voltage stabilizing is processed.Direct current after voltage stabilizing is transported on the one hand the inversion of inverter circuit voltage supplied and uses, and is transported on the one hand switch power module.Switch power module changes busbar voltage into 24V, 5V, 3.3V, 1.8V etc., for various chips and optocoupler provide required power supply.Hall current sensor in system is responsible for detecting the phase current of permanent magnet synchronous servo motor.Six road signal A, A/, B, B/, Z, the Z/ that photoelectric encoder produces delivers to the QEP/CAP module of DSP after the processing such as difference, filtering, utilize the signal of photoelectric encoder can realize the detection to motor position and rotating speed.DSP, as the control core of system, realizes the communication of same host computer by communication interface, and the control command that the input command fed back according to some switching signals on touch-screen and flying saw or upper computer software send completes the control requirement that flies to saw; Recycle the photoelectric encoder signal after processing, calculate position and the speed of permanent-magnetic synchronous motor rotor, realize closed-loop control; The three-phase current that DSP also detects the current Hall transducer carries out the AD conversion, and complete Clark conversion, the Park conversion of electric current, after the adjusting that completes each PID adjuster and anti-Park conversion, DSP completes the duty ratio that the SVPWM algorithm calculates the PWM waveform, and output six road pwm pulses also are sent to CPLD by PWM.CPLD is as Auxiliary Control Element, and auxiliary DSP realizes the control and management to system.CPLD receives the pwm pulse signal from DSP, and according to the security situation of system, determines the output of PWM.When voltage protection circuit produces overvoltage or brownout signal; while perhaps when inverter circuit, sending rub-out signal because of the fault of system; these signals will be sent to CPLD; CPLD will stop to high speed photo coupling transmission pwm pulse signal; the output of blocking-up PWM; guarantee that the switch in inverter circuit is in off state, motor is now out of service, thus the safety of the system of assurance.By constantly collection, computing, realize closed-loop control like this.If the saw vehicle speed that servomotor drives and line speed equate, just as the I/O interface output signal, clamp, build pressures, fall to sawing, lift a series of actions such as saw, Song Jia; After completing these actions, the saw car returns, and waits for action next time, successively circulation.

Beneficial effect of the present invention: adopt the form that flies to saw motion controller and servo controller all-in-one, solved and installed control signal that current potential differently causes and introduce and disturb because of two, caused and fly to saw actuator---servomotor concussion, unstable problem even out of control.The signal that adopts simultaneously the all-in-one form also to remove because of the connection cable introducing disturbs, and has improved the production precision.Machine of the present invention has saved a lot of hardware circuits, comprises a CPU, some change-over circuits and signal processing circuit, has saved significantly space and cost.Adopt inner pure digi-tal amount to control, solved the problem that analog quantity easily is disturbed, strengthened reliability, improve response speed.Control unit adopts the form of DSP+CPLD, rational Resources allocation, the occupancy of reduction DSP.Adopt the external touch screen to carry out parameter setting and data analysis, make and fly to saw more convenient, the directly perceived and hommization of control operation.The invention of this all-in-one simultaneously is that the research and development of later multiaxis all-in-one lay the foundation.

The accompanying drawing explanation

Fig. 1 is structured flowchart of the present invention;

Fig. 2 is the connection layout of DSP circuit of the present invention and CPLD circuit;

Fig. 3 is that the present invention flies to saw control flow chart;

Fig. 4 is the period of motion schematic diagram that the present invention saws car;

Fig. 5 is Tracing Control flow chart of the present invention;

Fig. 6 is that the present invention saws car S shape movement profiles;

Fig. 7 is vector control structured flowchart of the present invention;

Fig. 8 is SERVO CONTROL program flow diagram of the present invention;

Fig. 9 is PI control program flow chart of the present invention;

Figure 10 is SVPWM algorithm flow chart of the present invention.

Embodiment

Detailed construction of the present invention describes in conjunction with specific embodiments.

A kind of for the servo control integrated machine system on flying saw; as illustrated in fig. 1 and 2, comprise rectification circuit, filter circuit, braking circuit, switching power circuit, protective circuit, inverter circuit, current sampling circuit, encoder circuit, PWM drive circuit, CPLD circuit, DSP circuit, power down memory circuit, communication control circuit and I/O interface circuit.

The DSP circuit chip adopts the digital signal processor of the TMS320F2812 model of TI company in the present embodiment, the CPLD circuit adopts the EPM1270 chip of altera corp, the power down memory circuit adopts the FM24CL16 chip, rectification circuit is selected the MDS-100-16 module, select the SKM150GB173D model IGBT module of Xi Menkang to build inverter circuit and braking circuit, current sensor is selected the LA100-P model transducer of LEM, select the 400V4700 μ F electric capacity of Hunan Ai Hua to build filter circuit, drive circuit is selected the A316J special driving chip, the kernel control chip of switching power circuit is selected UC3844 high-performance fixed frequency current mode controller, 3.3V with 1.8V voltage is respectively by TPS7333Q, after the conversion of TPS76801Q chip, provide, overvoltage, under-voltage protecting circuit is by over-voltage comparator LM2901 by electric resistance partial pressure, according to the high-low level of output, judged whether that fault occurs, encoder circuit selects the AM26LS32 receiver chip to carry out the differential signal of received code device, communication control circuit is by HCPL0601 optocoupler and MAX232, the MAX488 chip forms, the RS232 mode is used for and the upper computer software communication, the RS422 mode is used for and the touch-screen communication, the I/O interface circuit is by the HA245 bus transceiver, the SN74HC574 trigger, the P127 optocoupler builds.

Rectification circuit, filter circuit and inverter circuit are connected successively, and braking circuit is connected on DC bus.Encoder circuit is connected with the capturing unit (QEP) of DSP, current sampling circuit is connected with the ADC module of DSP, communication control circuit is connected with the SCI module of DSP, the I/O interface circuit is connected on the data/address bus of DSP, the power down memory circuit is connected with the data address bus of DSP, DSPDe six road PWM output ports are connected with the CPLD circuit, the six road PWM outputs of CPLD connect the input of PWM drive circuit, the PWM drive circuit connects inverter circuit, protective circuit is connected on DC bus, switching power circuit respectively with protective circuit, current sampling circuit, encoder circuit, the PWM drive circuit, the CPLD circuit, the DSP circuit, the power down memory circuit, communication control circuit is connected with the I/O interface circuit.

The DSP circuit receives on flying saw by the I/O interface circuit and cashier's office in a shop switching signal of electrical control, by communication bus receives touch-screen control information, by the code device signal Acquisition Circuit, receive the speed of tubing and length information and complete and fly the calculating of saw action related algorithm, the output pwm pulse signal, process through CPLD afterwards, then be delivered to inverter circuit and control servomotor and move according to the objective speed curve of setting.The DSP circuit is by address bus and data/address bus and program storage, CPLD circuit, and the power down memory circuit is connected and carries out information exchange.The DSP circuit carries out communication by inner SCI module and upper computer software, receives motor speed, position and current signal by encoder circuit and current sampling circuit.The DSP circuit is the core of whole device, to the read-write of other peripheral circuit, control and all by it, realize.It is very suitable for being applied in high performance electric machine control system.The dominant frequency of 150M and high performance 32 bit CPUs can carry out mathematical operation at a high speed, for control system, use complicated control algolithm and a large amount of mathematical operations hardware foundation is provided.

The CPLD circuit receives the six road pwm pulse signals that the DSP circuit sends, and receives simultaneously error protection signal UFO, VFO, WFO, FO and brake signal Br from inverter circuit, the overvoltage signal H_VS that the over voltage protective circuit produces and under-voltage signal L_VS etc.The CPLD unit will determine whether to inverter circuit output pwm pulse, with the safety of assurance system operation according to whether receiving these signals.CPLD also couples together by the storage space S RAM that extends out of data, address bus and DSP, thereby guarantees the memory space that CPLD could store and access DSP, realizes the data exchange between DSP and CPLD unit.The connection layout of DSP and CPLD as shown in Figure 2.This chip cost is low, stable, easy to use, flexible in programming, for system has been saved hardware space.

The power down memory circuit is selected FRAM.The characteristics of FRAM are that speed is fast, can not be subject to the impact of external condition (such as the magnetic field factor), and the advantages such as unlimited read-write, high-speed read-write and low-power consumption of the non-volatile data storage characteristic of ROM and RAM are combined.

Switching power circuit the direct current after rectification through Switching Power Supply change into 24V ,+15V ,-15V, 5V, and convert 5V to 3.3V, 1.8V through the voltage stabilizing chip, for various chips and optocoupler provide required power supply.

Filter circuit, inverter circuit, braking circuit etc. belong to the main circuit part of integrative machine.Rectification circuit becomes direct current to the alternating current from electrical network, and filter circuit carries out filtering, shaping by it, is sent to P, the N interface of inverter circuit.The six road pwm pulses that send from CPLD, after high speed photo coupling, are sent to the corresponding interface of inverter circuit, the shutoff of power ratio control switch, thus realize the galvanic inversion of P, N.After inversion, U, V, W delivery outlet provide the three-phase drive power supply for servomotor.

Current sampling circuit is to detect by the electric current of Hall current sensor to motor, and it is sent into to the A/D module of DSP, participates in the vector control algorithm computing.

Encoder circuit to six road signal A, the A of the generation of photoelectric encoder, B, B, Z, Z after the processing such as difference, filtering, deliver to the QEP/CAP module of DSP, utilize the signal of photoelectric encoder can realize the detection to motor position and rotating speed.

Protective circuit is overvoltage, the under-voltage protection of DC bus.When DC bus, export under-voltage fault, output overvoltage fault when busbar voltage is greater than 800V during lower than 300V.Through CPLD, block pwm pulse signal.

The I/O interface circuit: input mainly contains limit switch, zero position switch signal, crawl, lifts saw, shutoff signal etc.; Output mainly contains clampings, fall to saw, lift according to etc.

Communication control circuit is for carrying out communication with upper computer software, touch-screen.

A kind of control method for the servo control integrated machine system on flying saw, comprise the steps: as shown in Figure 3,

Step 1, system initialization;

Step 2, System self-test, if fault is arranged, show failure code, as abnormal as preseting length, shows E-OL; Follow the trail of distance

Deficiency, show E-LS; Low pressure, show E-OFF; Overcurrent, show E-OC; Overvoltage, show E-OV etc.If nothing,

Program is carried out downwards.

Concrete failure diagnosis:

The diagnostic program arranged in controller, can prevent generation or the expansion of fault, and can find out rapidly fault type and position after fault occurs, reduces the downtime.Diagnostic program is included in system program, in the system running, carries out Checking and diagnosis.

The servo control integrative machine is provided with different operational modes, facilitates equipment debugging; By touch-screen, can read in real time simultaneously the cutting accuracy of saw vehicle speed curve and pipe, be beneficial to the monitoring of product.By the hardware designs optimized and control mode can make sizing accuracy<± 1mm, line speed reaches 200m/min, and the otch that guarantees pipe is without burr.

Whether step 3, judgement saw car get back to initial point, if the DSP circuit receives the signal of zero-bit optoelectronic switch, mean to be,

Execution step 4; If do not receive, mean no, the execution step 3;

Step 4, the parameters that reads touch-screen (the long 6m of institute's Pipe Cutting, are synchronously adjusted time 1ms, clamping time 50ms, are lifted

Saw time 350ms, loose folder time 1ms, Pipe Cutting time 300ms, tubing simulation speed 80m/min);

Step 5, the motor pattern that reads touch-screen are selected information, when the saw car, during not at origin position, return to zero by manual mode,

When flying saw works, select automatic mode, when debugging, select debugging mode; (whether should make simulation into)

Manual mode of operation: selection " manual mode " on touch-screen, system enters the manual operation program, pins simultaneously " clamping " and " saw falls " manually sawing, decontrols pine and presss from both sides, lifts saw; While will " manually advance, manual retraction " switch being adjusted to " manually advancing ", the saw car is walked forward, and while being converted to " manual retraction " position, the saw car is walked backward.The manual operation program comprises all subprograms of a cycle of operation, comprises the parameter setting, saw car motion, the saw of lifting, fall, clamp, the pine folder, seek zero, the anxious control program such as stop.

Automatic operational mode: on touch-screen, select " automatic mode ", system enters automated operator, in automatic mode, has not only comprised the subprogram of operation, and has comprised all kinematic parameters in the running.In automatic running, flying saw, by the parameter operation of setting, completes the scale cutting to pipe.If exit automatically, to select " manual mode ", system namely exits automatically after completing once circulation.

Simulation mode of operation: on touch-screen, select " simulation model ", system enters simulated operating procedure.Simulation model can be simulated the material line speed when debugging, check the performance of flying saw.To dispatching from the factory debugging and play good effect during malfunction test, avoided the waste to material.Simulation model is identical with the implementation of automatic mode.

Step 6, saw car are followed the trail of tubing speed;

Step 7, primer fluid cylinder pressure; Device, by I/O interface circuit output control signal, is connected the hydraulic cylinder electricity on flying saw

Magnet valve, the primer fluid cylinder pressure realizes building compression functions.

Step 8, saw blade cut tubing;

A period of motion of saw car can be divided into 5 stages (as shown in figure tetra-): wait for section (AB), forward tracking section (BC), a forward sync section (CD), forward braking section (DE), inverted running section (EF).Wherein forward is followed the trail of the process that section BC is saw car tracking tubing, synchronizes until reach with tubing.Sync section CD is that the speed of production of the saw speed of service of car and tubing is identical, the cutting movement of saw blade is laterally static with respect to tubing, only do the radial cuts motion, can improve cut quality like this, especially improved evenness and the end face squareness of cutting end face.At forward braking section DE saw car, decelerate to zero by with tubing, synchronizeing, it is symmetrical that its curve movement and forward are followed the trail of section.And inverted running section EF can adopt the running orbit identical with the forward target phase, like this when flying saw operation one-period, the pulse number that its inverted running receives is identical with the pulse number that the forward operation receives, and the saw car just in time is parked in initial position, the error that does not exist the secondary operation to bring.

In the kinematic system that flies to saw, in order to guarantee that sawing vehicle motor is starting or stoping excessive impact, the excess of stroke or the vibration of Shi Buhui generation, must carry out acceleration and deceleration control to motor, namely when electric motor starting, when namely sawing car and start to follow the trail of the tubing motion, the rotating speed that guarantees motor increases gradually, when the speed of saw car reaches speed with tubing when identical, saw vehicle motor constant speed, and after the cutting task completes, when the saw car ran slowly, the rotating speed of motor reduced gradually.Therefore, extremely important in the selection of the curve movement of the section of chasing for flying to saw car, it is the key that guarantees whole system stable operation, is also the main movement part that improves sizing accuracy.

Step 9, cut release; Device disconnects the hydraulic cylinder electricity on flying saw by I/O interface circuit output control signal

Magnet valve, realize pressure relief.

Step 10, saw car return;

Tracing Control in described step 6 is as follows: as shown in Figure 5,

Step 6.1: initialization;

Step 6.2: whether tubing arrives assigned address S(S=L-Vt=6m-80m/min*3204ms=1.728m, and L is that Pipe Cutting is long, and V is tubing speed, t when from the saw car, starting to follow the trail of zero point to returning to the time used at zero point), if continue, carry out third step, if not, return;

Step 6.3: call the SERVO CONTROL program, start the servomotor on flying saw, realize speed increase according to the mode of serpentine.Concrete speed formula is

V wherein ₀For the speed of tubing is synchronizing speed, t ₀(ms) for the saw car, follow the trail of the time, can arrange by touch-screen, v means to saw the real-time speed of car;

Step .6.4: whether the real-time speed of judgement saw car equals tubing speed, follows the trail of if finish, and returns if not, continues to accelerate according to the mode of serpentine.

As shown in Figure 6, within the very short a period of time of following the trail of before section is transitioned into sync section, the step value A (t) of system is more and more less, overshoot is also more and more less, the saw car accelerates with such curve movement, can the raising system stability of operation, to the scale cutting accuracy of tubing, be very favourable simultaneously, when the transmission speed of tubing is v0=80m/min, when the tracking segment distance is 300mm, follow the trail of the point that produces peak acceleration in section and be positioned at midpoint, from the change curve of acceleration, can find out: be all zero at start position and destination county acceleration, whether this makes the saw car both not produce rigid shock in the motion process of following the trail of section soft impulse.

SERVO CONTROL in step 6.3:

SERVO CONTROL adopts vector control mode (the vector control block diagram as shown in Figure 7), and vector control is comprised of following several parts: the speed detection module; Speed ring, current loop controller; Coordinate transformation module; The SVPWM module; Rectification and inversion module.

When receiving speed command, given speed is compared with the spinner velocity signal detected, through the adjusting of speed control, the given signal of output current controller.Pass through simultaneously coordinate transform, the three-phase current of stator feedback becomes Id, Iq, by current controller, make Id=0, Iq equates with given Iq, and current controller is output as the voltage of d, q axle, becomes α through coordinate transform, β voltage, six road PWM drive IGBT by the output of SVPWM module, produce the three phase sine electric current input motor stator of variable frequency and amplitude, come drive motors to rotate.

The SERVO CONTROL program is as follows: flow chart as shown in Figure 8

Step 6.3.1: preservation state register accumulator;

Step 6.3.2: the current value of reading the A/D conversion;

Step 6.3.3: read motor speed;

Step 6.3.4: rotating speed PI controls;

Step 6.3.5: the current value under stator a, b, c coordinate system is obtained to the current value under α, β coordinate system by Clarke conversion in formula 1 respectively;

$\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\&CenterDot;\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]---\left(1\right)$

In formula: i _a, i _b, i _c---be respectively the electric current under stator a, b, c coordinate system;

I _α, i _β---be respectively the electric current under α, β coordinate system;

Step 6.3.6: the current value under α, β coordinate system is obtained to the current value under d, q coordinate system by formula 2Park conversion respectively;

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\&CenterDot;\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]---\left(2\right)$

In formula: i _d, i _q---be respectively the electric current under d, q coordinate system;

I _α, i _β---be respectively the electric current under α, β coordinate system;

Step 6.3.7:d, q shaft current PI control;

Step 6.3.8: the magnitude of voltage under α, β coordinate system is obtained to the magnitude of voltage under d, q coordinate system by formula 3Park inverse transformation respectively;

$\left[\begin{array}{c}{U}_{\mathrm{\&alpha;}}\\ U_{\mathrm{\&beta;}}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& -\sin \mathrm{\&theta;}\\ \sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\&CenterDot;\left[\begin{array}{c}{U}_d\\ U_q\end{array}\right]---\left(3\right)$

In formula: U _a, U _β---be respectively the voltage under α, β coordinate system;

U _d, U _q---be respectively the voltage under d, q coordinate system;

Step 6.3.9: call the SVPWM algorithm routine;

Step 6.3.10: the register accumulator returns to form;

Step 6.3.11: return.

Call the SVPWM algorithm routine as shown in figure 10.

PI control program in step 6.3.4 and 6.3.7 all carries out as follows: flow chart as shown in Figure 9.

Step (1), beginning, set initial value e (k)=e (k-1)=0, u (k-1)=0;

Step (2), this sampling input e (k);

Step (3), deviation are calculated Δ e (k)=e (k)-e (k-1);

Step (4), calculating output controlling increment Δ u (k)=k _p* Δ e (k)+k _i* e (k);

Step (5), calculating output variable u (k)=u (k-1)+Δ u (k);

Step (6), amplitude limit $u\left(k\right)=\left\{\begin{array}{cc}{u}_{\max },& u\left(k\right)\&GreaterEqual;u_{\max }\\ u_{\min },& u\left(k\right)\&le;u_{\min }\\ u\left(k\right),& u_{\mathrm{main}}<u\left(k\right)<u_{\max }\end{array};\right.$

Step (7), translation are preserved, e (k-1)=e (k), u (k-1)=u (k);

E in formula (k)-deviation;

U (k)-output controlled quentity controlled variable;

The calculation deviation that e (k-1)-last time preserves;

The output controlled quentity controlled variable that u (k-1)-last time preserves;

K _p-proportionality coefficient;

K _i-integral coefficient;

U _minThe lower limit of-amplitude limit;

U _maxThe higher limit of-amplitude limit;

K-iterations.

Saw blade cutting process in step 8 is as follows:

Step 8.1: start;

Step 8.2: read the encoder in the servomotor on flying saw and be arranged on the pipe code device signal on pipe production line, whether the real-time speed of judgement saw car synchronizes with tubing speed, if, by I/O interface circuit output clamping signal, control the fixture block electromagnetically operated valve on flying saw, realize clamping function;

Step 8.3: read the clamping time of setting parameter in touch-screen, export the saw signal by the I/O interface after postponing this clamping time, control and fall to sawing electromagnetically operated valve on flying saw, realize falling to sawing function;

Step 8.4: read the Pipe Cutting time of setting parameter, whether the signal that approach switch is cut off in inquiry simultaneously has feedback signal, if the shutoff signal of finding, the number of it is believed that is lifted in output, controls to lift the saw electromagnetically operated valve on flying saw, realizes lifting the saw function.Through this time, if sawing can not complete, force saw blade to lift, play a protective role;

Step 8.5: follow the trail of upper tubing speed if read lifting according to time saw vehicle speed of setting parameter, namely with it, synchronize, device output clamping signal, when the T2 time (clamping time 50ms), finish, output falls to sawing signal, and the number of it is believed that is lifted in end output when the T3 time (Pipe Cutting time 300ms), when the T4 time (lifting saw time 350ms), finish output pine folder signal, export afterwards the release signal, a cutting process finishes, as shown in Figure 4.

Claims (6)

1. one kind for the servo control integrated machine system on flying saw, it is characterized in that: comprise rectification circuit, filter circuit, braking circuit, switching power circuit, protective circuit, inverter circuit, current sampling circuit, encoder circuit, PWM drive circuit, CPLD circuit, DSP circuit, power down memory circuit, communication control circuit and I/O interface circuit;

Rectification circuit, filter circuit is connected successively with inverter circuit, braking circuit is connected on DC bus, encoder circuit is connected with the capturing unit of DSP circuit, current sampling circuit is connected with the ADC module of DSP circuit, communication control circuit is connected with the SCI module of DSP circuit, the I/O interface circuit is connected on the data/address bus of DSP circuit, the power down memory circuit is connected with the data address bus of DSP circuit, six road PWM output ports of DSP circuit are connected with the CPLD circuit, six road PWM outputs of CPLD circuit connect the input of PWM drive circuit, the PWM drive circuit connects inverter circuit, protective circuit is connected on DC bus, switching power circuit respectively with protective circuit, current sampling circuit, encoder circuit, the PWM drive circuit, the CPLD circuit, the DSP circuit, the power down memory circuit, communication control circuit is connected with the I/O interface circuit.

2. adopt the control method for the servo control integrated machine system on flying saw claimed in claim 1, it is characterized in that: comprise the steps:

Step 1, system initialization;

Step 2, System self-test, if fault is arranged, show failure code; If nothing, program is carried out downwards;

Whether step 3, judgement saw car get back to initial point, if the DSP circuit receives the signal of zero-bit optoelectronic switch, mean to be execution step 4; If do not receive, mean no, the execution step 3;

Step 4, read the parameters of touch-screen;

Step 5, the motor pattern that reads touch-screen are selected information,, return to zeros by manual mode during not at origin position when the saw car, when flying saw work, select automatic mode, when debugging, and the selection debugging mode;

Step 6, saw car are followed the trail of tubing speed;

Step 7, primer fluid cylinder pressure; Device, by I/O interface circuit output control signal, is connected the hydraulic cylinder electromagnetically operated valve on flying saw, and the primer fluid cylinder pressure realizes building compression functions;

Step 8, saw blade cut tubing;

Step 9, cut release; Device disconnects the hydraulic cylinder electromagnetically operated valve on flying saw by I/O interface circuit output control signal, realizes pressure relief;

Step 10, saw car return.

3. the control method for the servo control integrated machine system on flying saw according to claim 2, its spy

Levy and be: the tracing control method in described step 6 comprises the steps:

Step 6.1: initialization;

Step 6.2: according to formula S=L-Vt, in formula, S is the tubing in-position, and L is that Pipe Cutting is long, V is tubing speed, and t to returning to the time used at zero point, judges whether tubing arrives assigned address S when from the saw car, starting to follow the trail of zero point, if continue execution step 6.3, if not, return;

Step 6.3: call the SERVO CONTROL program, start the servomotor on flying saw, realize speed increase according to the mode of serpentine, concrete speed formula is V wherein ₀For the speed of tubing is synchronizing speed, t ₀For the saw car, follow the trail of the time, can arrange by touch-screen, v means to saw the real-time speed of car;

Step .6.4: whether the real-time speed of judgement saw car equals tubing speed, follows the trail of if finish, and returns if not, continues to accelerate according to the mode of serpentine.

4. the control method for the servo control integrated machine system on flying saw according to claim 3 is characterized in that:

Described SERVO CONTROL program in step 6.3 comprises the steps:

Step 6.3.1: preservation state register accumulator;

Step 6.3.2: the current value of reading the A/D conversion;

Step 6.3.3: read motor speed;

Step 6.3.4: rotating speed PI controls;

Step 6.3.5: the current value under stator a, b, c coordinate system is obtained to the current value under α, β coordinate system by Clarke conversion in formula 1 respectively;

$\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\&CenterDot;\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]---\left(1\right)$

In formula: i _a, i _b, i _c---be respectively the electric current under stator a, b, c coordinate system;

I _α, i _β---be respectively the electric current under α, β coordinate system;

Step 6.3.6: the current value under α, β coordinate system is obtained to the current value under d, q coordinate system by formula 2Park conversion respectively;

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\&CenterDot;\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]---\left(2\right)$

In formula: i _d, i _q---be respectively the electric current under d, q coordinate system;

I _α, i _β---be respectively the electric current under α, β coordinate system;

Step 6.3.7:d, q shaft current PI control;

Step 6.3.8: the magnitude of voltage under α, β coordinate system is obtained to the magnitude of voltage under d, q coordinate system by formula 3Park inverse transformation respectively;

$\left[\begin{array}{c}{U}_{\mathrm{\&alpha;}}\\ U_{\mathrm{\&beta;}}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& -\sin \mathrm{\&theta;}\\ \sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\&CenterDot;\left[\begin{array}{c}{U}_d\\ U_q\end{array}\right]---\left(3\right)$

In formula: U _a, U _β---be respectively the voltage under α, β coordinate system;

U _d, U _q---be respectively the voltage under d, q coordinate system;

Step 6.3.9: call the SVPWM algorithm routine;

Step 6.3.10: the register accumulator returns to form;

Step 6.3.11: return.

5. the control method for the servo control integrated machine system on flying saw according to claim 4, it is characterized in that: the PI control program in described step 6.3.4 and 6.3.7 includes following steps:

Step (1), beginning, set initial value e (k)=e (k-1)=0, u (k-1)=0;

Step (2), this sampling input e (k);

Step (3), deviation are calculated Δ e (k)=e (k)-e (k-1);

Step (4), calculating output controlling increment Δ u (k)=k _p* Δ e (k)+k _i* e (k);

Step (5), calculating output variable u (k)=u (k-1)+Δ u (k);

Step (6), amplitude limit $u\left(k\right)=\left\{\begin{array}{cc}{u}_{\max },& u\left(k\right)\&GreaterEqual;u_{\max }\\ u_{\min },& u\left(k\right)\&le;u_{\min }\\ u\left(k\right),& u_{\mathrm{main}}<u\left(k\right)<u_{\max }\end{array};\right.$

Step (7), translation are preserved, e (k-1)=e (k), u (k-1)=u (k);

E in formula (k)-deviation;

U (k)-output controlled quentity controlled variable;

The calculation deviation that e (k-1)-last time preserves;

The output controlled quentity controlled variable that u (k-1)-last time preserves;

K _p-proportionality coefficient;

K _i-integral coefficient;

U _minThe lower limit of-amplitude limit;

U _maxThe higher limit of-amplitude limit;

K-iterations.

6. the control method for the servo control integrated machine system on flying saw according to claim 2, it is characterized in that: the saw blade cutting process in described step 8 comprises the steps:

Step 8.1: start;

Step 8.2: read the encoder in the servomotor on flying saw and be arranged on the pipe code device signal on pipe production line, whether the real-time speed of judgement saw car synchronizes with tubing speed, if, by I/O interface circuit output clamping signal, control the fixture block electromagnetically operated valve on flying saw, realize clamping function;

Step 8.3: read the clamping time of setting parameter in touch-screen, export the saw signal by the I/O interface after postponing this clamping time, control and fall to sawing electromagnetically operated valve on flying saw, realize falling to sawing function;

Step 8.4: the Pipe Cutting time of reading setting parameter, whether the signal that approach switch is cut off in inquiry simultaneously has feedback signal, if the shutoff signal of finding, the number of it is believed that is lifted in output, controls to lift the saw electromagnetically operated valve on flying saw, realizes lifting the saw function, through this time, if sawing can not complete, force saw blade to lift, play a protective role;

Step 8.5: read the lifting according to the time of setting parameter, postpone this time after output pine folder signal, control the fixture block two way solenoid valve on flying saw, realize pine folder function.

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