CN103676991B - Constant speed section consistency control method and system for coating product line for three-layer PE (polyolefin) steel pipe - Google Patents
Constant speed section consistency control method and system for coating product line for three-layer PE (polyolefin) steel pipe Download PDFInfo
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- CN103676991B CN103676991B CN201410004674.9A CN201410004674A CN103676991B CN 103676991 B CN103676991 B CN 103676991B CN 201410004674 A CN201410004674 A CN 201410004674A CN 103676991 B CN103676991 B CN 103676991B
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Abstract
The invention discloses a constant speed section consistency control method and a control system for a coating product line for a three-layer PE (polyolefin) steel pipe and belongs to the control field for three-layer PE steel pipe manufacturing equipment. The constant speed section consistency control method is characterized by comprising the following steps that 1, program starts operating; 2, hardware is initialized; 3, communication protocol is set; 4, axial speed of the steel pipe is calculated; 5, the expectation rotational velocity of a driving rubber wheel (3) is calculated through main ring PI computation; 6, the rotational velocity of the driving rubber wheel (3) is calculated; 7, the output frequency of a transducer (4) is calculated through auxiliary ring PI computation. A controller is simultaneously connected with multiple groups of transmission mechanisms through a data conversion interface (6) and a data transmission bus (5), and each group of transmission mechanisms act on the steel pipe (1) to realize transmission of the axial movement of the steel pipe (1). The constant speed section consistency control method and the control system for the coating product line for the three-layer PE (polyolefin) steel pipe solve the problem that the rotational velocity consistency control of the driving rubber wheel and the axial speed control of the steel pipe cannot be realized in the constant speed section of the coating product line for three-layer PE steel pipes in the prior art, and the rotational velocity of the driving rubber wheel and the axial speed of the steel pipe are kept in accordance with the values required by technological requirements.
Description
Technical field
The at the uniform velocity consistent control method of section and system of three layers of PE steel pipe coating line, belongs to three layers of PE steel pipe manufacturing equipment control field.Be specifically related to solve three layers of PE steel pipe coating line at the uniform velocity initiatively rubber tire rotating speed is consistent in section and controlled and the problem of steel pipe axial velocity control, the rotating speed of each active rubber tire and the axial velocity of steel pipe be stabilized on technological requirement numerical value.
Background technology
Three layers of PE anti-corrosive steel tube are the important way of rock gas, finished product wet goods petroleum and petrochemical industry Product transport.The quality of three layers of PE anticorrosive coat is one of key factor of this class pipeline life of restriction.Three layers of PE coating processes of steel pipe have two kinds of forms: (1) is coated method, and (2) survey winding method, and wherein coated method is applicable to middle small-bore pipeline, and side winding method is applicable to medium-large caliber pipeline.Be provided with at least 4 group gear trains in section at the uniform velocity, for realizing axially-movable and the rotation of steel pipe at coating procedure, every group of gear train generally comprises an alternating current generator, the active rubber tire being driven by alternating current generator and the driven rubber tire coordinating with active rubber tire.In three layers of PE coating procedure, at the uniform velocity section transmission speed has determined the reaction time of gel time, intermediate gelatine layer and the thawing epoxy powder (FBE) of heat time, the FBE powder of steel pipe, is the important step of three layers of PE corrosion-inhibiting coating quality of decision steel pipe.Production run both required steel shaft to velocity-stabilization on process set value, require again at the uniform velocity section each initiatively rubber tire rotating speed is consistent.If do not consider driving wheel rotating speed consistency problem, will cause the steel shaft speed of marching forward to occur larger fluctuation.
At the uniform velocity in the control method of section, mainly contain following two kinds at three layers of PE production line of prior art:
(1), as shown in Figure 8, a controller and a frequency converter by controller control are set in control system, the drive motor of all active rubber tires are carried out to speed governing by this frequency converter simultaneously, all machine operation frequencies are identical, in principle, these motor speeds are consistent.But this mode is after system is interfered, motor speed changes, and can break motor speed consistance, thereby causes steel pipe axial velocity to occur larger fluctuation, easily produces waste product.
(2), as shown in Figure 9, many controllers are set controller is of the same race, every controller is controlled respectively a frequency converter, every frequency converter is controlled respectively an alternating current generator, every alternating current generator drives an initiatively rubber tire rotation, in all alternating current generators, think a main alternating current generator is set, as the 1st alternating current generator in Fig. 9, in practical coating process, controller is responsible for checking the rotating speed of steel pipe axial velocity and main alternating current generator, according to the difference between steel pipe desired speed and actual speed, calculate the output frequency of frequency converter, thereby drive corresponding initiatively rubber tire turn up to expecting requirement by main alternating current generator.The real work rotating speed of the active rubber tire corresponding with main alternating current generator is sent to the 2nd controller ~ the
kcontroller, as their expectation rotating speed, then calculates corresponding the 2nd frequency converter ~ the by each controller
kthe output frequency of frequency converter, and corresponding control 2nd ~ the
kthe rotating speed of alternating current generator.Although this method can make the 2nd active rubber tire ~ the
kinitiatively thereby the rotating speed of rubber tire tracking the 1st active rubber tire reaches synchronously, but after system is interfered, can cause steel pipe axial velocity to occur larger fluctuation.
In sum, in the control system of existing three layers of PE production line and association area, mainly there is following defect: (1) is although considered the at the uniform velocity control of section of three layers of PE antisepsis production line, but do not relate to the initiatively consistent control problem of rubber tire rotating speed, in the time running into external disturbance, will inevitably cause steel pipe axial velocity to occur larger fluctuation; (2), the synchronous solution of multiple motor speeds has been proposed, but these class methods have only solved all problems of following the tracks of certain main motor speed from motor, substantially do not consider the consistency problem of all motor speeds.(3), simultaneously, although in association area existing Literature Discussion the synchronous solution of multiple motor speed, there are no directly considering three layers of consistent control program of motor speed that PE steel pipe at the uniform velocity advances.
Summary of the invention
The technical problem to be solved in the present invention is: overcome the deficiencies in the prior art, the active rubber tire rotating speed that provides a kind of three layers of PE steel pipe coating line that solved prior art at the uniform velocity cannot realize in section is consistent to be controlled and the problem of steel pipe axial velocity control, makes the rotating speed of each active rubber tire and the axial velocity of steel pipe be stabilized at the uniform velocity unanimously control method and the system of section of three layers of PE steel pipe coating line on technological requirement numerical value.
The technical solution adopted for the present invention to solve the technical problems is: these three layers of PE steel pipe coating lines are the consistent control method of section at the uniform velocity, it is characterized in that: comprise the following steps:
Step 1001, starts;
Program brings into operation;
Step 1002, hardware initialization;
Controller carries out initialization to hardware system;
Step 1003, communications protocol is set;
While operation first, controller is set the communications protocol between each frequency converter;
Step 1004, steel shaft calculates to speed;
Controller calculates steel pipe axial velocity to speed calculation process according to steel shaft;
Step 1005, main ring PI computing is calculated initiatively rubber tire and is expected rotating speed;
Controller operation steel shaft calculates the expectation rotating speed of each active rubber tire to speed control algorithm;
Step 1006, initiatively rubber tire rotating speed calculates;
Controller 7 calculates the speed of each active rubber tire according to active rubber tire speed calculation process;
Step 1007, frequency converter output frequency is calculated in inner loop PI computing;
Controller calculates respectively speed error, uniform error and the cross-coupling error of each active rubber tire according to speed error, uniform error and cross-coupling error computing formula, and calculate the expected frequency of the frequency converter that each active rubber tire is corresponding by the cross-coupling error of each active rubber tire, and send into corresponding frequency converter.
Steel shaft described in step 1004, to speed calculation process, comprises the following steps:
Step 2001, initialization;
System is carried out initialization;
Step 2002, the initialization of steel pipe axial velocity;
Set the initial velocity of preparing the steel pipe applying;
Step 2003, receives electromagnetic sensor data;
Controller receives the axial time data of the steel pipe of electromagnetic sensor transmission;
Step 2004, steel shaft calculates to speed;
The axial time data of the steel pipe that steel shaft transmits according to electromagnetic sensor to speed control calculates the actual axial velocity of every steel pipe;
Step 2005, the comparison of velocity error and axial velocity expectation quality;
The actual axial velocity of controller to every steel pipe and the actual axial velocity of a upper steel pipe or the initial velocity of setting compare, judge whether axial error is less than expectation quality, if axial error is greater than expectation quality, return to step 2002, if axial error is less than expectation quality, execution step 2006;
Step 2006, returns to master routine;
The running status of kinematic train tends towards stability, returns to master routine.
Active rubber tire speed calculation process described in step 1006, comprises the following steps:
Step 3001, initialization;
System is carried out initialization;
Step 3002, initiatively rubber tire initial speed calculates;
Controller calculates the initial speed of each active rubber tire according to active rubber tire rotating speed formula according to the initial velocity of steel pipe;
Step 3003, received code device measurement data;
Initiatively the consistent controller of rubber tire is according to the displacement signal of alternating current generator output shaft corresponding to the each active rubber tire that receives the scrambler transmission on each active rubber tire;
Step 3004, numerical differentiation;
Initiatively the consistent controller of rubber tire is according to the data of each scrambler transmission are carried out to numerical differentiation processing;
Step 3005, digital filtering;
Initiatively the consistent controller of rubber tire, according to the data through differential processing are carried out to filtering processing, is removed useless clutter, obtains the actual speed of each rotation rubber tire;
Step 3006, the comparison of speed error and rotating speed expectation quality;
Initiatively the actual speed of each rubber tire and initial speed are calculated speed error by the consistent controller of rubber tire, then speed error and the rotating speed expectation quality presetting are compared, if speed error is greater than rotating speed expectation quality, return to step 3002, if speed error is less than expectation quality, execution step 3007;
Step 3007, returns to master routine;
Returning to master routine is for further processing.
Speed error computing formula described in step 1007 is
，
Wherein
be
individual active rubber tire speed error,
be
the rotating speed of individual active rubber tire,
for the expectation rotating speed of active rubber tire;
Described uniform error computing formula is:
，
Wherein
be
individual active rubber tire uniform error,
(
) be the quantity of gear train,
be
individual active rubber tire speed error;
Described cross-coupling error computing formula is:
，
Wherein
for cross-coupling error,
be
individual active rubber tire 3 speed errors,
be
individual active rubber tire uniform error.
Active rubber tire rotating speed formula described in step 3002 is:
Wherein
for the axial velocity of steel pipe,
(
) be the quantity of gear train,
be
the rotating speed of individual active rubber tire,
for the diameter of active rubber tire 3,
for the angle between active rubber tire axis and steel pipe 1 axis.
The at the uniform velocity consistent control system of section of three layers of PE steel pipe coating line, comprise controller, it is characterized in that: controller is connected many group gear trains by signal conversion module and data transmission bus simultaneously, and every group of gear train acts on the transmission that realizes the axially-movable of steel pipe on steel pipe.
Described gear train comprises a frequency converter being connected with described controller, connected an alternating current generator of controlling by frequency converter, on the output shaft of alternating current generator, be fixed with the active rubber tire of synchronous rotation, initiatively rubber tire is positioned at a side of steel pipe, is provided with the driven rubber tire parallel with active rubber tire at the opposite side of steel pipe.
On the output shaft of described alternating current generator, be provided with scrambler.
Described controller is PLC.
Compared with prior art, of the present invention had beneficial effect is:
The solution that patent of the present invention proposes has adopted cascade control system, active rubber tire rotating speed that three layers of PE steel pipe coating line that can simultaneously solve prior art at the uniform velocity cannot be realized in section is consistent to be controlled and the problem of steel pipe axial velocity control, preferably resolve because external interference is to the steel pipe adverse effect that at the uniform velocity section motion control causes, the rotating speed of each active rubber tire and the axial velocity of steel pipe are stabilized on technological requirement numerical value, are a kind of practical, efficient control strategies.
On hardware system, adopt the hardware system approximate with prior art of controller, frequency converter, alternating current generator and active rubber tire, be more conducive to implement, reliable, be beneficial to maintenance.
Brief description of the drawings
Fig. 1 is the at the uniform velocity consistent control system structural representations of section of three layers of PE steel pipe coating line.
Fig. 2 is the at the uniform velocity consistent control system side views of section of three layers of PE steel pipe coating line.
Fig. 3 is the at the uniform velocity consistent control system functional-block diagrams of section of three layers of PE steel pipe coating line.
Fig. 4 is the at the uniform velocity consistent control system tandem control principle drawings of section of three layers of PE steel pipe coating line.
Fig. 5 is the at the uniform velocity consistent control method process flow diagrams of section of three layers of PE steel pipe coating line.
Fig. 6 be three layers of PE steel pipe coating line at the uniform velocity the consistent control method steel shaft of section to velocity estimation process flow diagram.
Fig. 7 is at the uniform velocity initiatively rubber tire velocity estimation process flow diagrams of the consistent control method of section of three layers of PE steel pipe coating line.
Fig. 8 is at the uniform velocity section prior art 1 functional-block diagrams of three layers of PE steel pipe coating line.
Fig. 9 is at the uniform velocity section prior art 2 functional-block diagrams of three layers of PE steel pipe coating line.
Wherein: 1, steel pipe 2, alternating current generator 3, active rubber tire 4, frequency converter 5, data transmission bus 6, data transformation interface 7, controller 8, driven rubber tire.
Embodiment
Fig. 1 ~ 7th, most preferred embodiment of the present invention, below in conjunction with accompanying drawing 1 ~ 7, the present invention will be further described.
As shown in Figure 1 and 2, the three layers of PE steel pipe coating line of the present invention at the uniform velocity consistent control system of section are included in steel pipe 1 mobile on production line, and are arranged on many groups of (being more than or equal to 4 groups) gear trains of steel pipe 1 below.Every group of gear train comprises: alternating current generator 2, the driven rubber tire 8 that is arranged on the active rubber tire 3 on alternating current generator 2 output shafts and coordinates with each active rubber tire 3, the side that active rubber tire 3 is positioned at steel pipe 1 contacts with steel pipe 1, and driven rubber tire 8 and initiatively rubber tire 3 are set in parallel in the opposite side of steel pipe 1.Each group active rubber tire 3 and the axis direction of driven rubber tire 8 are identical with the axial direction angle of steel pipe 1, therefore can think that all active rubber tires 3 are equally large to the axial velocity contribution of steel pipe 1, simultaneously because active rubber tire 3 and the axis direction of driven rubber tire 8 and the axis direction of steel pipe 1 exist angle, so in the time that all active rubber tires 3 rotate, can provide the component of rotation and the component of axially-movable to steel pipe 1, therefore steel pipe 1 has obtained rotational speed and axial velocity.Steel pipe 1 axial advancement speed and the initiatively relation between rubber tire 3 rotating speeds are by shown in formula (1):
（1）
Wherein
for the axial velocity of steel pipe 1,
(
) be the quantity of gear train,
be
the rotating speed (alternating current generator 2 rotating speeds of its rotation are identical with driving) of individual active rubber tire 3,
for the diameter of active rubber tire 3,
for the angle between active rubber tire 3 axis and steel pipe 1 axis.
According to Variable Frequency Speed Regulation Principle, the initiatively rotating speed of rubber tire 3
calculated by formula (2):
（2）
Wherein
for frequency converter 4 output frequencies,
for the number of pole-pairs of alternating current generator 2,
for revolutional slip.
On the output shaft of each alternating current generator 2, be provided with scrambler (not shown in FIG.), for recording the displacement of corresponding alternating current generator 2 output shafts, by can be calculated the initiatively rotating speed of rubber tire 3 reality simultaneously.At the uniform velocity be provided with electromagnetic sensor (not shown in FIG.) in the porch of section at three layers of PE steel pipe coating line simultaneously, the changes of magnetic field detecting by electromagnetic sensor can calculate the time of every steel pipe 1 operation in section at the uniform velocity, thereby can calculate the axial velocity of every steel pipe 1 reality.All frequency converters 4 are connected with controller 7 by data transmission bus 5, data transformation interface 6, can realize the mutual biography of information between every group of gear train and controller 7 by data transmission bus 5 and data transformation interface 6.
As shown in Figure 3, three layers of PE steel pipe coating line of the present invention at the uniform velocity section consistent control system comprise controller, be connected with controller simultaneously
kindividual (
k>=4) frequency converter: the 1st frequency converter ~ the
kfrequency converter, is connected with each frequency converter respectively
kindividual alternating current generator: the 1st alternating current generator ~ the
kalternating current generator, and drive rotation by each alternating current generator 2
kindividual active rubber tire: the 1st active rubber tire ~ the
kinitiatively rubber tire.Controller receives from the 1st active rubber tire ~ the by each scrambler
kthe initiatively rotary speed data of rubber tire, controller receives the axially-movable time data of steel pipe 1 simultaneously by electromagnetic sensor.Controller is controller 7.
As shown in Figure 4, in controller, be provided with two and respectively the axial velocity of steel pipe 1 calculated to the controller of control with rubber tire 3 rotating speeds initiatively: as the steel shaft of master controller to speed control and as the consistent controller of active rubber tire of submaster controller, steel shaft is PI controller (pi controller) to speed control with the consistent controller of active rubber tire, and steel shaft forms the at the uniform velocity unanimously cascade control system of control system of section of three layers of PE steel pipe coating line of the present invention to speed control and the consistent controller series connection of active rubber tire.
In the main ring of this cascade control system, steel shaft is responsible for drawing steel pipe 1 axial velocity error according to the axial desired speed of steel pipe 1 and the axial velocity of steel pipe 1 reality set to speed control, then calculate the initiatively expectation rotating speed of rubber tire 3 by the axial velocity error of steel pipe 1, then send into the expectation rotating speed of active rubber tire 3 as the input of the consistent controller of active rubber tire in the consistent controller of active rubber tire of inner loop.Initiatively the consistent controller of rubber tire draws speed error, uniform error and the cross-coupling error of each active rubber tire 3 according to the actual speed of the expectation rotating speed of active rubber tire 3 and each active rubber tire 3, and then calculate the expected frequency of each alternating current generator 2 by the cross-coupling error of each active rubber tire 3, and this frequency is delivered to and controlled in each frequency converter 4, realize the adjusting to active rubber tire 3 rotating speeds by the rotating speed that changes each alternating current generator 2.Thereby realize the consistent control of each active rubber tire 3 rotating speeds by the consistent controller of active rubber tire, each active rubber tire 3 can be followed the tracks of expectation rubber tire rotating speed and realize active rubber tire 3 rotating speeds consistent.
Steel pipe 1 axial velocity error is drawn by formula (3):
（3）
Wherein
for steel pipe 1 axial velocity error,
for steel pipe in technique 1 is expected axial velocity.
The speed error of each active rubber tire 3 is drawn by formula (4):
，
（4）
Wherein
be
individual active rubber tire speed error,
be
the rotating speed of individual active rubber tire 3,
for the expectation rotating speed of active rubber tire 3, the expectation rotating speed of all active rubber tires 3 is identical.
The uniform error of each active rubber tire 3 is drawn by formula (5):
，
（5）
Wherein
be
individual active rubber tire 3 uniform errors,
(
) be the quantity of gear train,
be
individual active rubber tire 3 speed errors.
Initiatively the definition cross-coupling error of rubber tire 3 is as shown in Equation (6):
，
（6）
Wherein
for cross-coupling error,
be
individual active rubber tire 3 speed errors,
be
individual active rubber tire 3 uniform errors.
Steel shaft is to speed control usage ratio integration control (PI), and initiatively the consistent controller of rubber tire uses the PI type control method shown in formula (7) to calculate:
，
（7）
Wherein
for the consistent controller output of driving wheel,
for cross-coupling error,
for proportional control gain,
for integration control gain.
As shown in Figure 5, three layers of PE steel pipe coating line of the present invention are the consistent control method of section at the uniform velocity, comprises the following steps:
Step 1001, starts;
Program brings into operation;
Step 1002, hardware initialization;
Controller 7 carries out initialization to hardware system;
Step 1003, communications protocol is set;
While operation first, the communications protocol that controller 7 is set between each frequency converter 4;
Step 1004, steel shaft calculates to speed;
Controller calculates steel pipe 1 axial velocity to speed calculation process according to steel shaft;
Step 1005, main ring PI computing is calculated initiatively rubber tire 3 and is expected rotating speed;
Controller 7 moves steel shaft and calculates to speed control algorithm (being PI algorithm) the expectation rotating speed of each active rubber tire 3;
Step 1006, initiatively rubber tire 3 rotating speeds calculate;
Controller 7 calculates the speed of each active rubber tire 3 according to active rubber tire speed calculation process;
Step 1007, frequency converter 4 output frequencies are calculated in inner loop PI computing;
Controller 7 calculates respectively speed error, uniform error and the cross-coupling error of each active rubber tire 3 according to speed error, uniform error and cross-coupling error computing formula, and calculate the expected frequency of the frequency converter 4 of each active rubber tire 3 correspondences by the cross-coupling error of each active rubber tire 3, and send into corresponding frequency converter 4.
As shown in Figure 6, steel shaft comprises the following steps to speed calculation process:
Step 2001, initialization;
System is carried out initialization;
Step 2002, the initialization of steel pipe axial velocity;
Set the initial velocity of preparing the steel pipe 1 applying;
Step 2003, receives electromagnetic sensor data;
Controller 7 receives the axial time data of the steel pipe of electromagnetic sensor transmission;
Step 2004, steel shaft calculates to speed;
The axial time data of the steel pipe 1 that steel shaft transmits according to electromagnetic sensor to speed control calculates the actual axial velocity of every steel pipe 1;
In actual production, the length of every steel pipe 1 is definite value, electromagnetic sensor can detect that every steel pipe 1, in the changes of magnetic field in when operation section at the uniform velocity, can detect the working time of every steel pipe 1 by changes of magnetic field, thereby can calculate every steel pipe 1 in the actual axial velocity of section at the uniform velocity.
Step 2005, the comparison of velocity error and axial velocity expectation quality;
The actual axial velocity of controller 7 to every steel pipe 1 and the actual axial velocity of a upper steel pipe or the initial velocity of setting compare, judge whether axial error is less than expectation quality, if axial error is greater than expectation quality, return to step 2002, if axial error is less than expectation quality, execution step 2006;
In actual production, first steel pipe 1 is reusable test steel pipe, in order to test the travelling speed of whole gear train and the consistance of operation, so in the time using first steel pipe 1 to test, first set the initial velocity of this steel pipe, this can be the steel pipe axial velocity in production technology index, also can be the empirical value that staff rule of thumb sets, after Article 1 steel pipe 1 has moved, controller 7 goes out the actual axial velocity of Article 1 steel pipe 1 by the calculated signals of electromagnetic sensor, and compare with the initial velocity of setting, if velocity error is less than expectation quality, represent that the running status of gear train has reached the requirement of technic index, can normally produce, if velocity error is greater than expectation quality, continue operation Article 2 steel pipe 2, and compare by the actual axial velocity of Article 2 steel pipe 1 and the axial velocity of Article 1 steel pipe 1, and computing velocity error, by that analogy, until the velocity error of the velocity error of certain steel pipe 1 and last steel pipe 1 is less than expectation quality.Described expectation quality is the artificial error threshold of setting.
Step 2006, returns to master routine;
The running status of kinematic train tends towards stability, returns to master routine.
As shown in Figure 7, initiatively rubber tire speed calculation process comprises the following steps:
Step 3001, initialization;
System is carried out initialization;
Step 3002, initiatively rubber tire 3 initial speeds calculate;
Controller 7 calculates the initial speed of each active rubber tire 3 according to formula (1) according to the initial velocity of steel pipe 1;
Step 3003, received code device measurement data;
The displacement signal of alternating current generator 2 output shafts of each active rubber tire 3 correspondences that initiatively the consistent controller of rubber tire transmits according to the scrambler receiving on each active rubber tire 3;
Step 3004, numerical differentiation;
Initiatively the consistent controller of rubber tire is according to the data of each scrambler transmission are carried out to numerical differentiation processing;
Step 3005, digital filtering;
Initiatively the consistent controller of rubber tire, according to the data through differential processing are carried out to filtering processing, is removed useless clutter, obtains the actual speed of each active rubber tire 3;
Step 3006, the comparison of speed error and rotating speed expectation quality;
Initiatively the actual speed of each active rubber tire 3 and initial speed are calculated speed error by the consistent controller of rubber tire, then speed error and the rotating speed expectation quality presetting are compared, if speed error is greater than rotating speed expectation quality, return to step 3002, if speed error is less than expectation quality, execution step 3007;
Rotating speed expectation quality in step 3006 is the artificial error threshold of setting.
Step 3007, returns to master routine;
Returning to master routine is for further processing.
Principle of work of the present invention is: the control system shown in Fig. 3 of the present invention, adopts the tandem control structure shown in Fig. 4.Particularly, PLC is controller, and each frequency converter 4 is actuator, and target is to ensure that steel pipe 1 axial velocity is stabilized in technique expectation value, and it is consistent to realize all active rubber tire 3 rotating speeds.The encoded device measurement of displacement data of each alternating current generator 2 output shafts feeds back to controller 7, and by numerical differentiation program and the digital filter program of writing in controller 7, calculates the actual speed of each active rubber tire 3.Electromagnetic sensor is arranged at the uniform velocity to section porch, and by every steel pipe 1, being sent to by the time in controller 7 in section at the uniform velocity,, calculates the average axial velocity of steel pipe to speed estimation algorithms by the steel shaft in controller 7.Steel shaft to speed control according to steel shaft to velocity error, at the initiatively expectation rotating speed of rubber tire 3 of line computation.Initiatively the consistent controller of rubber tire rotating speed, according to expecting rotating speed, calculates the output frequency of each frequency converter 4, to realize rotating speed control and each initiatively consistent control between rubber tire 3 of each active rubber tire 3.In essence, three layers of PE steel pipe coating line inventing the at the uniform velocity consistent control system of section are tandem feedback control systems, can realize the consistent control of the control of steel pipe axial velocity and all active rubber tires 3.
In the present invention, controller 7 is PLC, and steel shaft is two pid control modules in PLC to speed control with the consistent controller of active rubber tire.Controller also can be realized by other hardware, as adopted single-chip microcomputer or Industrial Control Computer.The present invention adopts frequency converter 4 to control alternating current generator 2 and drives initiatively rubber tire 3 to rotate, also can adopt servo controller control servomotor to realize.Patent of the present invention is mainly for side winding method technique, equally applicable to coated method.
The above, be only preferred embodiment of the present invention, is not the restriction of the present invention being made to other form, and any those skilled in the art may utilize the technology contents of above-mentioned announcement to be changed or be modified as the equivalent embodiment of equivalent variations.But every technical solution of the present invention content that do not depart from, any simple modification, equivalent variations and the remodeling above embodiment done according to technical spirit of the present invention, still belong to the protection domain of technical solution of the present invention.
Claims (8)
1. the at the uniform velocity consistent control method of section of three layers of PE steel pipe coating line, is characterized in that: comprise the following steps:
Step 1001, starts;
Program brings into operation;
Step 1002, hardware initialization;
Controller (7) carries out initialization to hardware system;
Step 1003, communications protocol is set;
While operation first, controller (7) is set the communications protocol between each frequency converter (4);
Step 1004, steel shaft calculates to speed;
Controller (7) calculates steel pipe (1) axial velocity to speed calculation process according to steel shaft;
Step 1005, main ring PI computing is calculated initiatively rubber tire (3) and is expected rotating speed;
Controller (7) operation steel shaft calculates the expectation rotating speed of each active rubber tire (3) to speed control algorithm;
Step 1006, initiatively rubber tire (3) rotating speed calculates;
Controller (7) calculates the speed of each active rubber tire (3) according to active rubber tire speed calculation process;
Step 1007, frequency converter (4) output frequency is calculated in inner loop PI computing;
Controller (7) calculates respectively speed error, uniform error and the cross-coupling error of each active rubber tire (3) according to speed error, uniform error and cross-coupling error computing formula, and calculate the expected frequency of the frequency converter (4) that each active rubber tire (3) is corresponding by the cross-coupling error of each active rubber tire (3), and send into corresponding frequency converter (4);
Speed error computing formula described in step 1007 is
，
Wherein
be
individual active rubber tire speed error,
be
the rotating speed of individual active rubber tire (3),
for the expectation rotating speed of active rubber tire (3);
Described uniform error computing formula is:
，
Wherein
be
individual active rubber tire (3) uniform error,
(
) be the quantity of gear train,
be
individual active rubber tire (3) speed error;
Described cross-coupling error computing formula is:
，
Wherein
for cross-coupling error,
be
individual active rubber tire (3) speed error,
be
individual active rubber tire (3) uniform error.
2. the at the uniform velocity consistent control method of section of three layers of PE steel pipe coating line according to claim 1, is characterized in that: the steel shaft described in step 1004, to speed calculation process, comprises the following steps:
Step 2001, initialization;
System is carried out initialization;
Step 2002, the initialization of steel pipe axial velocity;
Set the initial velocity of preparing the steel pipe (1) applying;
Step 2003, receives electromagnetic sensor data;
Controller (7) receives the axial time data of the steel pipe (1) of electromagnetic sensor transmission;
Step 2004, steel shaft calculates to speed;
The axial time data of the steel pipe (1) that steel shaft transmits according to electromagnetic sensor to speed control calculates the actual axial velocity of every steel pipe (1);
Step 2005, the comparison of velocity error and axial velocity expectation quality;
The actual axial velocity of controller (7) to every steel pipe (1) and the actual axial velocity of a upper steel pipe (1) or the initial velocity of setting compare, judge whether axial error is less than expectation quality, if axial error is greater than expectation quality, return to step 2002, if axial error is less than expectation quality, execution step 2006;
Step 2006, returns to master routine;
The running status of kinematic train tends towards stability, returns to master routine.
3. the at the uniform velocity consistent control method of section of three layers of PE steel pipe coating line according to claim 1, is characterized in that: the active rubber tire speed calculation process described in step 1006, comprises the following steps:
Step 3001, initialization;
System is carried out initialization;
Step 3002, initiatively rubber tire (3) initial speed calculates;
Controller (7) calculates the initial speed of each active rubber tire (3) according to active rubber tire rotating speed formula according to the initial velocity of steel pipe (1);
Step 3003, received code device measurement data;
The displacement signal of alternating current generator (2) output shaft of each active rubber tire (3) correspondence that initiatively the consistent controller of rubber tire transmits according to the scrambler receiving on each active rubber tire (3);
Step 3004, numerical differentiation;
Initiatively the consistent controller of rubber tire is according to the data of each scrambler transmission are carried out to numerical differentiation processing;
Step 3005, digital filtering;
Initiatively the consistent controller of rubber tire, according to the data through differential processing are carried out to filtering processing, is removed useless clutter, obtains the actual speed of each active rubber tire (3);
Step 3006, the comparison of speed error and rotating speed expectation quality;
Initiatively actual speed and the initial speed of each active rubber tire (3) are calculated speed error by the consistent controller of rubber tire, then speed error and the rotating speed expectation quality presetting are compared, if speed error is greater than rotating speed expectation quality, return to step 3002, if speed error is less than expectation quality, execution step 3007;
Step 3007, returns to master routine;
Returning to master routine is for further processing.
4. the at the uniform velocity consistent control method of section of three layers of PE steel pipe coating line according to claim 3, is characterized in that: the active rubber tire rotating speed formula described in step 3002 is:
Wherein
for the axial velocity of steel pipe (1),
(
) be the quantity of gear train,
be
the rotating speed of individual active rubber tire (3),
for the diameter of active rubber tire (3),
for the angle between active rubber tire (3) axis and steel pipe (1) axis.
5. complete the at the uniform velocity control system of the consistent control method of section of three layers of PE steel pipe coating line described in claim 1 ~ 4 any one, comprise controller (7), it is characterized in that: controller (7) is connected many group gear trains by data transformation interface (6) and data transmission bus (5) simultaneously, and every group of gear train acts on the transmission that realizes the axially-movable of steel pipe (1) on steel pipe (1).
6. control system according to claim 5, it is characterized in that: described gear train comprises a frequency converter being connected with described controller (4), connected an alternating current generator (2) of controlling by frequency converter (4), on the output shaft of alternating current generator (2), be fixed with the active rubber tire (3) of synchronous rotation, initiatively rubber tire (3) is positioned at a side of steel pipe (1), is provided with the driven rubber tire (8) parallel with active rubber tire (3) at the opposite side of steel pipe (1).
7. control system according to claim 6, is characterized in that: on the output shaft of described alternating current generator (2), be provided with scrambler.
8. control system according to claim 5, is characterized in that: described controller is PLC.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3309602B2 (en) * | 1994-11-25 | 2002-07-29 | 日本鋼管株式会社 | Automatic tape winding device |
| CN101191577A (en) * | 2006-11-28 | 2008-06-04 | 陈炯 | Polyethylene coating steel pipe and its producing method and production line |
| 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 |
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2014
- 2014-01-06 CN CN201410004674.9A patent/CN103676991B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3309602B2 (en) * | 1994-11-25 | 2002-07-29 | 日本鋼管株式会社 | Automatic tape winding device |
| CN101191577A (en) * | 2006-11-28 | 2008-06-04 | 陈炯 | Polyethylene coating steel pipe and its producing method and production line |
| 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 |
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| Title |
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| 李炜 等.管道三层PE生产过程计算机监控系统.《油气储运》.2003,第36-39页. |
| 管道三层PE生产过程计算机监控系统;李炜 等;《油气储运》;20030731;第36-39页 * |
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