CN104133490A - Automatic position control method in automatic system of round billet roughing mill - Google Patents
Automatic position control method in automatic system of round billet roughing mill Download PDFInfo
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- CN104133490A CN104133490A CN201410362931.6A CN201410362931A CN104133490A CN 104133490 A CN104133490 A CN 104133490A CN 201410362931 A CN201410362931 A CN 201410362931A CN 104133490 A CN104133490 A CN 104133490A
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Abstract
The invention discloses an automatic position control method in an automatic system of a round billet roughing mill. The method comprises the steps that (1) a PLC module collects the actual position SF of a transmission mechanism through an absolute value encoder; (2) an automatic position control functional block of the PLC calculates a difference value delta S according to a target position set value SR and an actual position value SF, and an area where the actual position of equipment exists is determined to give corresponding given speed VR; (3) the PLC works out the given speed VR to drive a motor through a frequency converter, and the position of the equipment is adjusted; (4) the PLC executes the step (1) again in the next execution cycle and stops executing the steps until the equipment reaches the target position. According to the automatic position control method, automatic position control software has the advantages of being reasonable in motion control strategy, simple in structure, high in positioning precision and the like. In the metallurgical industry, the automatic position control method is of great practical value in precisely positioning the controlled equipment driven by the motor and has application and popularization prospects.
Description
Technical field
The present invention relates to technical field of industrial automatic control, relate in particular to automated location control method, relate in particular automated location control method in a kind of round base bloomer automated system.
Background technology
At metallurgy industry, on all kinds of milling trains, all have a large amount of automated location controlling units, common locator meams is using the difference multiplication by constants of position setting value and position actual value as speed preset value, when position actual value reaches after stop area, by the zero setting of speed preset value, closed band-type brake of while.This locator meams defectiveness: 1. positioning precision is poor.2. when the setting value of position actual value approximated position, speed setting value is less than normal, and frequency converter output torque is inadequate, easily near position setting value, vibrates.Before and after circle base big mill, be furnished with manipulator and finer tilt mechanism.The operation of rolling is the reciprocal rolling of multi-pass, and each passage will enter the corresponding hole slot rolling of roll according to rolling schedule, by lifting finger, rolled piece is overturn if desired.Bloomer will be realized full-automatic rolling, each rolling pass must by rolling schedule complete quickly and accurately automatic gauge regulate, automatically to groove, automatic turning steel, accurately location is most important therefore to depress the position of motor, manipulator and tilting finger.
Summary of the invention
For correlative technology field document and above the deficiencies in the prior art, in a large amount of existing literature research and long-term on the basis of association area Development Practice, the present invention proposes to be changed to corresponding target velocity by the given oblique wave of the real-time computing velocity of motor acceleration value, according to present speed is given, calculate in real time the theories such as deceleration distance with slower-velocity target speed, overcome the poor technical barrier that waits of positioning precision in prior art, by deceleration distance and speed preset, in Positioning Process, calculate in real time, its value was synchronously upgraded in each scan period of PLC, after logic judgement, send exactly and slow down and cease and desist order, realize the pinpoint beneficial effect of controlled device.The present invention adopts rational Motion Control Strategies, good control algolithm, and the control accuracy of assurance controlled device, realizes automatic rolling for circle base bloomer and provides safeguard
For achieving the above object, the present invention is achieved by the following technical solutions: automated location control method in a kind of round base bloomer automated system, the method comprises the following steps: step 1, PLC module gather the physical location S of gear train by absolute value encoder
f; The automated location control function block of step 2, PLC is according to target location setting value S
rwith actual position value S
fcalculated difference Δ S, the residing region of judgment device physical location provides corresponding speed preset V
r; Step 3, PLC calculate speed preset V
rby transducer drive motor, device location is regulated; Step 4, PLC perform step one again in the next performance period, until reach target location, stop.
The speed preset V of described step 2
rcalculate, comprise lower step: step 1, as Δ S > D
2+ D
3time, target velocity is high speed V
h; If speed preset V now
r< V
h, press acceleration a
1on slope, rise output given, i.e. the speed preset V of current scan period of PLC
r=V
r'+Δ V=V
r'+a
1t, wherein, D
2for low speed distance, D
3for deceleration distance, V
r' be the PLC speed preset in upper one scan cycle, T is the PLC scan period, a
1for motor acceleration; Work as V
rreach V
h, V
r=V
hand keep output, motor not to before deceleration point always in high-speed cruising state; Step 2, work as D
1≤ Δ S≤D
2+ D
3time, target velocity is low speed V
l; If V now
r> V
l, by deceleration acceleration a
2slope decline output is given, i.e. V
r=V
r'-Δ V=V
r'-a
2t; Work as V
rreach V
l, V
r=V
land keep output, motor not to before halt in slow running, a wherein
2acceleration during for motor deceleration; Step 3, as Δ S≤D
1time, target velocity is zero; If V now
r> 0, presses a
2slope decline output is given until V
r=0, motor deceleration is to zero, and physical location arrives in the accuracy rating of target positions specify.
Described deceleration distance
Described D
1accuracy rating addition by braking distance and permission forms.
Described V
rthere are three sections of target velocity: V
h, V
land zero-speed, when this speed preset changes by motor acceleration value a
1, a
2oblique wave is changed to corresponding target velocity.
The direction of described target velocity, when working as S
r>=S
ftime, from trend front signal, target velocity is for just, on the contrary target velocity is for negative.
Described deceleration distance D
3with speed preset V
rin Positioning Process, calculate in real time, its value was synchronously upgraded in each scan period of PLC.
Between described PLC and frequency-converter device, by Profibus-DP net, carry out exchanges data.
Circle base bloomer is depressed, front and back manipulator and front and back tilting finger motor are selected transducer drive, adopts the speed closed loop vector controlled pattern with incremental encoder, has guaranteed kinematic train dynamic response index and velocity control accuracy.The physical location of equipment is detected by absolute value encoder and gathers through PLC module, and the automated location that positioning control is worked out in PLC is controlled (APC) software functional block and completed.Between PLC and frequency-converter device, by Profibus-DP net, carry out exchanges data.
APC functional block is formal parameter piece, for different gear trains, calls different background data pieces.The argument table of functional block has defined statement and the data type of each variable, has also just directly determined the content and structure of its background data piece.In the argument table of APC functional block, mainly input, output parameter have: location opening flag, location end mark, target location, physical location, stop distance D
1, low speed distance D
2, deceleration distance D
3, high-speed target speed V
h, slower-velocity target speed V
l, motor acceleration a
1, deceleration by motor a
2with speed preset V
r.Wherein, D
1accuracy rating addition by braking distance and permission forms; V
hshould meet the technological requirement of equipment fast moving; V
lshould meet equipment steadily and the requirement of accurate stopping; a
1and a
2technological requirement in the time of should meeting equipment acceleration, deceleration.D
1, D
2, V
h, V
l, a
1, a
2need rule of thumb or debugging situation is given fixed value in advance, attention must make D
2> D
1.
The rotating speed of motor passes through the given V of APC functional block output speed by PLC
rcontrol.
The automated location control function block designing in the present invention is according to target location setting value S
rwith actual position value S
fcalculated difference Δ S, the residing region of judgment device physical location provides corresponding speed preset V
r, V
rthere are three sections of target velocity: V
h, V
land zero-speed, when changing, presses this speed preset motor acceleration value a
1, a
2oblique wave is changed to corresponding target velocity.But situation more complicated often in actual applications, is often that this target location and last target location are more approaching, and the adjustment amount of position is little, and motor does not also accelerate to V from zero
hjust need to slow down, therefore according to the given V of current actual speed
rwith slower-velocity target speed V
laccurately calculate deceleration distance D
3, D wherein
3and V
rin Positioning Process, calculate in real time, its value was synchronously upgraded in each scan period of PLC.Again according to D
1, D
2, D
3value combination and Δ S comparison, accurately send and slow down and parking order, guarantees the positioning precision of controlled device.
The beneficial effect that the present invention possesses is: it is example that the horse steel electric furnace factory of take circle base bloomer is depressed motor location (roll gap) control, and the effect of automated location control (APC) is described.Fig. 3 is the once round base bloomer automatic rolling process of the German iba PDA of company software records, whole process is 11 reciprocal rollings of passage, the sampling time that PDA arranges is 10ms, roll gap target location setting value, roll gap actual position value in figure, have been shown, depress motor actual speed and passage number 4 curves, the rolling schedule that wherein roll gap target location issues by secondary robotization and roller system table preset after confirming.By the detection to the analysis of curve and rolled piece, bloomer upper and lower roll roll gap automated location is controlled very perfect, and its positioning precision is ± 0.25mm to reach the requirement of depressing design accuracy ± 0.5mm completely.Therefore from Fig. 3, seeing, because the position adjustment amount of roll gap between each passage is less, depress motor actual speed and substantially do not reach and be just down at a high speed low speed, is exactly even that low speed regulates in the 9th passage.Through practical application, show, this automated location is controlled software and is had that Motion Control Strategies is reasonable, simple in structure, positioning precision advantages of higher.At metallurgy industry, for adopting electric motor driven controlled device to be accurately positioned with very large practical value, there is popularizing application prospect.
Accompanying drawing explanation
Fig. 1 is the positioning control structure figure of the specific embodiment of the invention;
Fig. 2 is that the APC functional block of the specific embodiment of the invention is controlled curve;
Fig. 3 is roll gap positioning control curve map in the round base bloomer automatic Steel Rolling process of the specific embodiment of the invention;
Fig. 4 is the APC functional block control flow chart of the specific embodiment of the invention.
Embodiment
Contrast accompanying drawing below, by the description to embodiment, to the specific embodiment of the present invention as related control system, mutual annexation, and implementation method, be described in further detail, to help those skilled in the art to have more complete, accurate and deep understanding to inventive concept of the present invention, technical scheme.
Circle base bloomer is depressed, front and back manipulator and front and back tilting finger motor are selected transducer drive, adopts the speed closed loop vector controlled pattern with incremental encoder, has guaranteed kinematic train dynamic response index and velocity control accuracy.The physical location of equipment is detected by absolute value encoder and gathers through PLC module, and the automated location that positioning control is worked out in PLC is controlled (APC) software functional block and completed.Between PLC and frequency-converter device, by Profibus-DP net, carry out exchanges data.Positioning control structure as shown in Figure 1.
APC functional block is formal parameter piece, for different gear trains, calls different background data pieces.The argument table of functional block has defined statement and the data type of each variable, has also just directly determined the content and structure of its background data piece.In the argument table of APC functional block, mainly input, output parameter have: location opening flag, location end mark, target location, physical location, stop distance D
1, low speed distance D
2, deceleration distance D
3, high-speed target speed V
h, slower-velocity target speed V
l, motor acceleration a
1, deceleration by motor a
2with speed preset V
r.Wherein, D
1accuracy rating addition by braking distance and permission forms; V
hshould meet the technological requirement of equipment fast moving; V
lshould meet equipment steadily and the requirement of accurate stopping; a
1and a
2technological requirement in the time of should meeting equipment acceleration, deceleration.D
1, D
2, V
h, V
l, a
1, a
2need rule of thumb or debugging situation is given fixed value in advance, attention must make D
2> D
1.
The rotating speed of motor passes through the given V of APC functional block output speed by PLC
rcontrol, it controls curve as shown in Figure 2.
The automated location control function block of design is according to target location setting value S in the present invention
rwith actual position value S
fcalculated difference Δ S, the residing region of judgment device physical location provides corresponding speed preset V
r, V
rthere are three sections of target velocity: V
h, V
land zero-speed, when changing, presses this speed preset motor acceleration value a
1, a
2oblique wave is changed to corresponding target velocity.But situation more complicated often in actual applications, is often that this target location and last target location are more approaching, and the adjustment amount of position is little, and motor does not also accelerate to V from zero
hjust need to slow down, therefore according to the given V of current actual speed
rwith slower-velocity target speed V
laccurately calculate deceleration distance D
3, D wherein
3and V
rin Positioning Process, calculate in real time, its value was synchronously upgraded in each scan period of PLC.Again according to D
1, D
2, D
3value combination and Δ S comparison, accurately send and slow down and parking order, guarantees the positioning precision of controlled device.
The key that automated location is controlled (APC) is speed preset V
rwith deceleration distance D
3calculating
1. speed preset calculates
In APC functional block, first according to target location, set S
rwith physical location S
fcalculating location deviation delta S=|S
f-S
r|, according to Δ S, provide corresponding target velocity; Then judge the direction of target velocity, work as S
r>=S
ftime, from trend front signal, target velocity is for just, on the contrary target velocity is for negative.Motor in acceleration, deceleration process, the velocity variations of PLC in each scan period
t is the PLC scan period.
With forward, be given as example, as can be seen from Figure 2, can be divided into 3 sections below according to large young pathbreaker's target velocity of Δ S.
(1) as Δ S > D
2+ D
3time, target velocity is high speed V
h.
If speed preset V now
r< V
h, press on acceleration a1 slope that to rise output given, i.e. the speed preset of current scan period of PLC
V
R＝V
R′+ΔV＝V
R′+a
1T
In formula, V
r' be the PLC speed preset in upper one scan cycle.
If V now
rreach V
h, V
r=V
hand keep output, motor not to before deceleration point always in high-speed cruising state.
(2) work as D
1≤ Δ S≤D
2+ D
3time, target velocity is low speed V
l.
If V now
r> V
l, by retarded velocity a
2slope decline output is given,
V
R＝V
R′-ΔV＝V
R′-a
2T
If V now
rreach V
l, V
r=V
land keep output, motor not to before halt in slow running.
(3) as Δ S≤D
1time, target velocity is zero.
If V now
r> 0, by retarded velocity a
2slope decline output is given until V
r=0, motor deceleration is to zero, and physical location arrives in the accuracy rating of target positions specify.
APC functional block provides speed preset according to the size of Δ S, by frequency converter, removes driving motor, and the position of controlled device is regulated, then PLC gathers actual position value again in the next performance period, compare, then export, so circulation is until reach target location.Its control flow as shown in Figure 4.Can be according to a
1and a
2set frequency converter to rising, the fall time (acceleration, the deceleration time of frequency converter speed preset from zero-speed to maximum speed) of ramp function generator in routing, principle is that the acceleration, deceleration degree of being converted out by ramp time must not be less than a
1and a
2.
2. deceleration distance calculates
Situation more complicated often in actual applications, is often that this target location and last target location are more approaching, and the adjustment amount of position is little, and motor does not also accelerate to V from zero
hjust need to slow down, but in order position to be fixed on to target location, low speed V sending after ceasing and desisting order
lstable speed operation's section must guarantee to exist, and when motor, when high regime is moved, reduces speed now just very important for accurate location like this, so the accurate calculating of deceleration distance is key one step that guarantees positioning control accuracy.Utilize speed preset V
rwith low speed V
l, can determine deceleration distance.
t is the PLC scan period
ΔV＝a
2T
∴
Low speed V
lafter determining, in like manner can calculate the braking distance of parking, add accuracy rating and just can determine stop distance D1, this value need to be in debug process accurate assignment.
Professional can also further recognize, the execution step of describing in conjunction with embodiment disclosed herein, can realize with electronic hardware, computer software or the combination of the two, these functions are carried out with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can specifically should be used for realizing described function with distinct methods to each, but this realization should not thought and exceeds scope of the present invention.
The present invention is not limited to above-mentioned specific embodiment; do not departing under spirit of the present invention and real situation thereof; those of ordinary skill in the art can make according to the present invention various corresponding changes and distortion; these are tackled mutually the modification that the present invention carries out or are equal to replacement, and it all should be encompassed in the middle of the scope of claim protection of the present invention.
Claims (8)
1. justify an automated location control method in base bloomer automated system, it is characterized in that: the method comprises the following steps:
Step 1, PLC module gather the physical location S of gear train by absolute value encoder
f;
The automated location control function block of step 2, PLC is according to target location setting value S
rwith actual position value S
fcalculated difference Δ S, the residing region of judgment device physical location provides corresponding speed preset V
r;
Step 3, PLC calculate speed preset V
rby transducer drive motor, device location is regulated;
Step 4, PLC perform step one again in the next performance period, until reach target location, stop.
2. control method according to claim 1, is characterized in that: the speed preset V of described step 2
rcalculate, comprise lower step:
Step 1, as Δ S > D
2+ D
3time, target velocity is high speed V
h; If speed preset V now
r< V
h, press acceleration a
1on slope, rise output given, i.e. the speed preset V of current scan period of PLC
r=V
r'+Δ V=V
r'+a
1t, wherein, D
2for low speed distance, D
3for deceleration distance, V
r' be the PLC speed preset in upper one scan cycle, T is the PLC scan period, a
1for motor acceleration; Work as V
rreach V
h, V
r=V
hand keep output, motor not to before deceleration point always in high-speed cruising state;
Step 2, work as D
1≤ Δ S≤D
2+ D
3time, target velocity is low speed V
l; If V now
r> V
l, by deceleration acceleration a
2slope decline output is given, i.e. V
r=V
r'-Δ V=V
r'-a
2t; Work as V
rreach V
l, V
r=V
land keep output, motor not to before halt in slow running, a wherein
2acceleration during for motor deceleration;
Step 3, as Δ S≤D
1time, target velocity is zero; If V now
r> 0, presses a
2slope decline output is given until V
r=0, motor deceleration is to zero, and physical location arrives in the accuracy rating of target positions specify.
3. control method according to claim 2, is characterized in that: described deceleration distance
4. control method according to claim 2, is characterized in that: described D
1accuracy rating addition by braking distance and permission forms.
5. control method according to claim 2, is characterized in that: described V
rthere are three sections of target velocity: V
h, V
land zero-speed, when this speed preset changes by motor acceleration value a
1, a
2oblique wave is changed to corresponding target velocity.
6. control method according to claim 2, is characterized in that: the direction of described target velocity, and when working as S
r>=S
ftime, from trend front signal, target velocity is for just, on the contrary target velocity is for negative.
7. control method according to claim 2, is characterized in that: described deceleration distance D
3with speed preset V
rin Positioning Process, calculate in real time, its value was synchronously upgraded in each scan period of PLC.
8. control method according to claim 1, is characterized in that: between PLC and frequency-converter device, by Profibus-DP net, carry out exchanges data.
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|---|---|---|---|
| CN201410362931.6A CN104133490A (en) | 2014-07-28 | 2014-07-28 | Automatic position control method in automatic system of round billet roughing mill |
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|---|---|---|---|
| CN201410362931.6A CN104133490A (en) | 2014-07-28 | 2014-07-28 | Automatic position control method in automatic system of round billet roughing mill |
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ID=51806205
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| CN106868289A (en) * | 2017-03-16 | 2017-06-20 | 北京民静科技有限责任公司 | A kind of heat-treatment furnace steel plate position tracking and controlling method and system |
| CN107807681A (en) * | 2017-11-16 | 2018-03-16 | 山信软件股份有限公司 | A kind of drive apparatus automatic positioning method and device based on encoder |
| CN109814613A (en) * | 2019-01-23 | 2019-05-28 | 唐山钢铁集团微尔自动化有限公司 | A kind of control of device action and localization method |
| CN110142451A (en) * | 2019-06-13 | 2019-08-20 | 首钢京唐钢铁联合有限责任公司 | A kind of adaptive flying shear position control method and device based on sheared length |
| CN110687913A (en) * | 2019-11-14 | 2020-01-14 | 万向新元绿柱石（天津）科技有限公司 | Position measuring device |
| CN110788165A (en) * | 2019-10-31 | 2020-02-14 | 中冶陕压重工设备有限公司 | Rapid calibration control system and control method for roll gap of seven-roll straightener |
| CN111299332A (en) * | 2020-03-02 | 2020-06-19 | 马鞍山钢铁股份有限公司 | Dynamic pressure lower position control method of cogging mill |
| CN111330980A (en) * | 2020-03-02 | 2020-06-26 | 马鞍山钢铁股份有限公司 | Non-band-type brake position maintaining control method for cogging mill pusher |
| CN112923115A (en) * | 2021-01-28 | 2021-06-08 | 深圳万讯自控股份有限公司 | Electric actuator and positioning control method thereof, valve control system and storage medium |
| CN114035623A (en) * | 2021-09-23 | 2022-02-11 | 西门子工厂自动化工程有限公司 | Method and device for controlling reciprocating motion of equipment and computer readable medium |
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| CN104971951A (en) * | 2015-05-26 | 2015-10-14 | 中冶南方工程技术有限公司 | Transmission speed control method and system for reversible mill |
| CN105204526A (en) * | 2015-09-02 | 2015-12-30 | 安徽旭辰达电子科技有限公司 | Intelligent high-precision pan-tilt control system |
| CN105204526B (en) * | 2015-09-02 | 2018-04-03 | 安徽旭辰达电子科技有限公司 | A kind of high-precision cloud platform control system of intelligence |
| CN106868289A (en) * | 2017-03-16 | 2017-06-20 | 北京民静科技有限责任公司 | A kind of heat-treatment furnace steel plate position tracking and controlling method and system |
| CN106868289B (en) * | 2017-03-16 | 2018-09-28 | 北京民静科技有限责任公司 | A kind of heat-treatment furnace steel plate position tracking and controlling method and system |
| CN107807681A (en) * | 2017-11-16 | 2018-03-16 | 山信软件股份有限公司 | A kind of drive apparatus automatic positioning method and device based on encoder |
| CN109814613A (en) * | 2019-01-23 | 2019-05-28 | 唐山钢铁集团微尔自动化有限公司 | A kind of control of device action and localization method |
| CN110142451A (en) * | 2019-06-13 | 2019-08-20 | 首钢京唐钢铁联合有限责任公司 | A kind of adaptive flying shear position control method and device based on sheared length |
| CN110788165A (en) * | 2019-10-31 | 2020-02-14 | 中冶陕压重工设备有限公司 | Rapid calibration control system and control method for roll gap of seven-roll straightener |
| CN110788165B (en) * | 2019-10-31 | 2021-04-27 | 中冶陕压重工设备有限公司 | Rapid calibration control system and control method for roll gap of seven-roll straightener |
| CN110687913A (en) * | 2019-11-14 | 2020-01-14 | 万向新元绿柱石（天津）科技有限公司 | Position measuring device |
| CN111299332A (en) * | 2020-03-02 | 2020-06-19 | 马鞍山钢铁股份有限公司 | Dynamic pressure lower position control method of cogging mill |
| CN111330980A (en) * | 2020-03-02 | 2020-06-26 | 马鞍山钢铁股份有限公司 | Non-band-type brake position maintaining control method for cogging mill pusher |
| CN111299332B (en) * | 2020-03-02 | 2021-07-13 | 马鞍山钢铁股份有限公司 | Dynamic pressure lower position control method of cogging mill |
| CN111330980B (en) * | 2020-03-02 | 2022-01-25 | 马鞍山钢铁股份有限公司 | Non-band-type brake position maintaining control method for cogging mill pusher |
| CN112923115A (en) * | 2021-01-28 | 2021-06-08 | 深圳万讯自控股份有限公司 | Electric actuator and positioning control method thereof, valve control system and storage medium |
| CN112923115B (en) * | 2021-01-28 | 2022-12-16 | 深圳万讯自控股份有限公司 | Electric actuator and positioning control method thereof, valve control system and storage medium |
| CN114035623A (en) * | 2021-09-23 | 2022-02-11 | 西门子工厂自动化工程有限公司 | Method and device for controlling reciprocating motion of equipment and computer readable medium |
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Application publication date: 20141105 |