CN104291085A - Method of controlling power balance among multiple driving points of sealing-tape machine - Google Patents

Method of controlling power balance among multiple driving points of sealing-tape machine Download PDF

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Publication number
CN104291085A
CN104291085A CN201410393749.7A CN201410393749A CN104291085A CN 104291085 A CN104291085 A CN 104291085A CN 201410393749 A CN201410393749 A CN 201410393749A CN 104291085 A CN104291085 A CN 104291085A
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CN
China
Prior art keywords
motor
torque
sealing
tape machine
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201410393749.7A
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Chinese (zh)
Inventor
杨更新
李佳宁
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BEIJING TTSF TECHNOLOGY Co Ltd
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BEIJING TTSF TECHNOLOGY Co Ltd
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Publication date
Application filed by BEIJING TTSF TECHNOLOGY Co Ltd filed Critical BEIJING TTSF TECHNOLOGY Co Ltd
Priority to CN201410393749.7A priority Critical patent/CN104291085A/en
Publication of CN104291085A publication Critical patent/CN104291085A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00Control devices, e.g. for safety, warning or fault-correcting

Abstract

The invention discloses a method of controlling power balance among multiple driving points of a sealing-tape machine. The method mainly comprises the steps of selecting a reference motor, conducting torque regulation and processing including torque comparison, torque deviation calculation, torque amplitude limiting and torque biasing based on the selected reference motor, and setting input conditions of a motor based on a torque regulation and processing result. By means of the method of controlling power balance among the multiple driving points of the sealing-tape machine, the defects of large labor amount, low production efficiency, short service life of the sealing-tape machine and the like in the prior art can be overcome, so that the advantages of small labor amount, high production efficiency and long service life of the sealing-tape machine are achieved.

Description

The control method of a kind of sealing-tape machine many drive points dynamic equilibrium
Technical field
The present invention relates to the electric automatization control part in modernization transport field, particularly, relate to the control method of a kind of sealing-tape machine many drive points dynamic equilibrium.
Background technology
Along with the expansion of industrial production scale, also increasing to the demand of short distance modernization transport, along with the length of the sealing-tape machine in short-distance transport increases, be the overall tension force of balanced sealing-tape machine, need to increase more drive points, excessive by the exert oneself localised tension avoiding single-point to exert oneself causing of multiple spot.If but the motor of each point is exerted oneself overbalance in multiple spot, sealing-tape machine localised tension also can be caused excessive and cause the excessive and motor overload of localised tension to stop, sealing-tape machine cannot run.
At present for making each point drive out force balance, employing be master-slave control method, be that using a certain motor in many motors as benchmark motor, other motor output torque follows benchmark motor, rotating speed does not control on the basis using electric-driving installation.This method can ensure that each drive point ideally goes out force balance.
But because midway breakdown of equipment is stopped in actual production, the situation of the sealing-tape machine load material lack of balance that often runs into distribution, as shown in Figure 1,1 be benchmark motor, 2 is that two motors under control Driving Torque are identical from motor.When the first equivalent load material 3 is less, the second equivalent load material 4 is larger; sealing-tape machine is as a kind of elastomeric viscous body; after again starting, due to load needs can not be met from motor 2 Driving Torque, motor 2 speed is caused to be in the stopped status exported without speed.Benchmark motor 1 continues to rotate, and causing sealing-tape machine upper and lower surface tension imbalance, for preventing sealing-tape machine mechanical breakdown, having to out of service.After artificial treatment material, again run.So, cause huge manpower consumption, reduce production efficiency and impact is caused on the sealing-tape machine life-span.
Realizing in process of the present invention, contriver finds at least to exist in prior art the defect such as manual labor amount is large, production efficiency is low and sealing-tape machine service life is short.
Summary of the invention
The object of the invention is to, for the problems referred to above, propose the control method of a kind of sealing-tape machine many drive points dynamic equilibrium, to realize, manual labor amount is little, production efficiency is high and the advantage of sealing-tape machine long service life.
For achieving the above object, the technical solution used in the present invention is: the control method of a kind of sealing-tape machine many drive points dynamic equilibrium, mainly comprises:
A, selected reference motor;
B, based on selected reference motor, carry out comprising the torque adjustment process of torque ratio compared with, torque deviation calculating, torque amplitude limit and torque offset;
C, result based on torque adjustment process, arrange the input condition of motor.
Further, described step a, specifically comprises:
Choose a certain motor as benchmark motor, this benchmark motor carries out speed control by the requirement of sealing-tape machine linear velocity, except load, does not have other added influence factor;
The quantity from motor corresponding to described motor is one or more.
Further, in stepb, described torque ratio compared with operation, specifically comprise:
By the torque feedback of benchmark motor with compare from the torque feedback of motor, take out the difference of two torque feedback;
The extraction of feedback is transmitted by analog quantity or digital quantity, and the comparator as difference comparsion can be analog quantity or digital quantity mode.
Further, in stepb, the operation that described torque deviation calculates, specifically comprises:
Carry out PID arithmetic to two fed back difference, its ratio, integration, differential parameter adjust according to practical condition.PID arithmetic device can be analog quantity in prior art or digital quantity arithmetic and logic unit.
Further, in stepb, the operation of described torque amplitude limit, specifically comprises:
Deviation calculates and exports floating saturation: excessive for preventing exporting intervention impact, carries out output amplitude restriction to the output of PID; Amplitude limit amount is fixed value or float value;
Float value refers to that amplitude limit amount carries out positive correlation change according to sealing-tape machine linear velocity setting value, and this positive correlation change comprises ratio change and curvilinear motion.
Further, in stepb, the operation of described torque offset, specifically comprises:
Output valve after amplitude limit is biased given value as the speed from motor, carries out speed adjustment to from motor.
Further, in step c, described input condition, specifically comprises:
When adopting the velocity deviation of application system to carry out torque adjustment, should not drop at sealing-tape machine start-up period;
After each motor needs to enter the low-speed stable stage by respective load, drop into application system.
The control method of sealing-tape machine many drive points dynamic equilibrium of various embodiments of the present invention, owing to mainly comprising: selected with reference to motor; Based on selected reference motor, carry out comprising the torque adjustment process of torque ratio compared with, torque deviation calculating, torque amplitude limit and torque offset; Based on the result of torque adjustment process, the input condition of motor is set; At operational process, the dynamic equilibrium of each drive point sealing-tape machine can be ensured; Thus can to overcome in prior art that manual labor amount is large, production efficiency is low and defect that sealing-tape machine service life is short, to realize, manual labor amount is little, production efficiency is high and the advantage of sealing-tape machine long service life.
Other features and advantages of the present invention will be set forth in the following description, and, partly become apparent from specification sheets, or understand by implementing the present invention.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for specification sheets, together with embodiments of the present invention for explaining the present invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is sealing-tape machine many drive points operating diagram in prior art;
Fig. 2 is sealing-tape machine many drive points dynamic equilibrium control logic figure in the control method of sealing-tape machine many drive points of the present invention dynamic equilibrium.
By reference to the accompanying drawings 1, in the embodiment of the present invention, Reference numeral is as follows:
1-benchmark motor; 2-is from motor; 3-first equivalent load material; 4-second equivalent load material.
By reference to the accompanying drawings 2, in the embodiment of the present invention, Reference numeral is as follows:
1-benchmark Electrified Transmission mechanism; 2-First Speed Setting signal; 3-First Speed feedback signal; 4-first torque output signal; 5-is from Electrified Transmission mechanism; 6-second speed feedback signal; 7-speed is biased Setting signal; 8-second speed Setting signal; 9-second torque output signal; 10-PID arithmetic and logic unit; 11-clipper.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein is only for instruction and explanation of the present invention, is not intended to limit the present invention.
For solving the defect that prior art exists, according to the embodiment of the present invention, as shown in Figure 2, provide the control method of a kind of sealing-tape machine many drive points dynamic equilibrium, at operational process, ensure the dynamic equilibrium of each drive point sealing-tape machine, importantly, the problem effectively can solve the motor stalling in parking restart procedure, cannot starting.
Technical scheme of the present invention, comprises the following steps:
(1) selected with reference to motor: choose a certain motor as benchmark motor, this motor carries out speed control by the requirement of sealing-tape machine linear velocity, except load, does not have other added influence factor.Motor and electric-driving installation can be AC drawing system or the DC trailing system of prior art.Can be one or more from motor.
(2) carry out torque ratio comparatively: by the torque feedback of benchmark motor with compare from the torque feedback of motor, take out the difference of two torque feedback.The extraction of feedback is transmitted by the analog quantity of prior art or digital quantity, and the comparator as difference comparsion can be analog quantity or digital quantity mode.
(3) carry out torque deviation calculating: carry out PID arithmetic to two fed back difference, its ratio, integration, differential parameter adjust according to practical condition.PID arithmetic device can be analog quantity in prior art or digital quantity arithmetic and logic unit.
(4) deviation calculates and exports floating saturation: excessive for preventing exporting intervention impact, carries out output amplitude restriction to the output of PID.Amplitude limit amount can be fixed value or float value.Float value refers to that amplitude limit amount carries out positive correlation change according to sealing-tape machine linear velocity setting value, and can be ratio change, also can be curvilinear motion.
(5) rotating speed is biased: the output valve after amplitude limit is biased given value as the speed from motor, carries out speed adjustment to from motor.
(6) drop into condition: because native system is that application speed deviation carries out torque adjustment, therefore should not drop at sealing-tape machine start-up period.After each motor needs to enter the low-speed stable stage by respective load, drop into native system.
Such as, see Fig. 2, technical scheme of the present invention, specifically can comprise the following steps:
(1) in Fig. 2, Electrified Transmission 1 is as benchmark transmission, and Electrified Transmission 5 is as from transmission.2 and 8 be respective speed preset, 3 and 6 be respective velocity feedback, 4 and 9 export for each self-torque.
(2) 4 in Fig. 2 and 9 is carried out subtraction, export and enter PID arithmetic device 10.
(3) adjusted by the PID arithmetic device in Fig. 2 10 pairs of control process ratios, integration, differential parameters.
(4) carry out amplitude limit to the output of PID arithmetic device 10 in Fig. 2, amplitude limit value can be fixed value (± 2%-± 10%), also can be the proportional limit amplitude be proportionate with sealing-tape machine linear velocity.
(5) the output valve of Fig. 2 clipper 11 is biased given 7 as the speed from motor electrical drive control system device (namely from Electrified Transmission mechanism 5).
(6) start-up period blocks PID regulating control, opens regulating control and regulate when running to low speed (2%-5%).
Compared with prior art, technical scheme of the present invention, solve motor when the many drive points of sealing-tape machine drive and go out force unbalance weighing apparatus, sealing-tape machine tension force is unbalanced, has ensured that sealing-tape machine normally works, has extended the sealing-tape machine life-span.
Last it is noted that the foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, although with reference to previous embodiment to invention has been detailed description, for a person skilled in the art, it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (7)

1. a control method for sealing-tape machine many drive points dynamic equilibrium, is characterized in that, mainly comprises:
A, selected reference motor;
B, based on selected reference motor, carry out comprising the torque adjustment process of torque ratio compared with, torque deviation calculating, torque amplitude limit and torque offset;
C, result based on torque adjustment process, arrange the input condition of motor.
2. the control method of sealing-tape machine many drive points according to claim 1 dynamic equilibrium, is characterized in that, described step a, specifically comprises:
Choose a certain motor as benchmark motor, this benchmark motor carries out speed control by the requirement of sealing-tape machine linear velocity, except load, does not have other added influence factor;
The quantity from motor corresponding to described motor is one or more.
3. the control method of sealing-tape machine many drive points according to claim 2 dynamic equilibrium, is characterized in that, in stepb, described torque ratio compared with operation, specifically comprise:
By the torque feedback of benchmark motor with compare from the torque feedback of motor, take out the difference of two torque feedback;
The extraction of feedback is transmitted by analog quantity or digital quantity, and the comparator as difference comparsion can be analog quantity or digital quantity mode.
4. the control method of sealing-tape machine many drive points according to claim 3 dynamic equilibrium, is characterized in that, in stepb, the operation that described torque deviation calculates, specifically comprises:
Carry out PID arithmetic to two fed back difference, its ratio, integration, differential parameter adjust according to practical condition.PID arithmetic device can be analog quantity in prior art or digital quantity arithmetic and logic unit.
5. the control method of sealing-tape machine many drive points according to claim 4 dynamic equilibrium, is characterized in that, in stepb, the operation of described torque amplitude limit, specifically comprises:
Deviation calculates and exports floating saturation: excessive for preventing exporting intervention impact, carries out output amplitude restriction to the output of PID; Amplitude limit amount is fixed value or float value;
Float value refers to that amplitude limit amount carries out positive correlation change according to sealing-tape machine linear velocity setting value, and this positive correlation change comprises ratio change and curvilinear motion.
6. the control method of sealing-tape machine many drive points according to claim 5 dynamic equilibrium, is characterized in that, in stepb, the operation of described torque offset, specifically comprises:
Output valve after amplitude limit is biased given value as the speed from motor, carries out speed adjustment to from motor.
7. the control method of the sealing-tape machine many drive points dynamic equilibrium according to any one of claim 2-6, is characterized in that, in step c, described input condition, specifically comprises:
When adopting the velocity deviation of application system to carry out torque adjustment, should not drop at sealing-tape machine start-up period;
After each motor needs to enter the low-speed stable stage by respective load, drop into application system.
CN201410393749.7A 2014-08-12 2014-08-12 Method of controlling power balance among multiple driving points of sealing-tape machine Pending CN104291085A (en)

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Application Number Priority Date Filing Date Title
CN201410393749.7A CN104291085A (en) 2014-08-12 2014-08-12 Method of controlling power balance among multiple driving points of sealing-tape machine

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Application Number Priority Date Filing Date Title
CN201410393749.7A CN104291085A (en) 2014-08-12 2014-08-12 Method of controlling power balance among multiple driving points of sealing-tape machine

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110182545A (en) * 2019-04-12 2019-08-30 中煤科工集团上海有限公司 Driving power balance control method in a kind of adhesive tape head
CN110958983A (en) * 2017-07-31 2020-04-03 日本电产三协株式会社 Conveying mechanism, medium processing apparatus provided with the conveying mechanism, and conveying method

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54107058A (en) * 1978-02-07 1979-08-22 Tsubakimoto Chain Co Method of and device for setting speed of conveyor
CN101169656A (en) * 2007-12-03 2008-04-30 中冶南方工程技术有限公司 Converter tilting electric transmission and control system
CN201592898U (en) * 2010-01-29 2010-09-29 国投新登郑州煤业有限公司 Variable-frequent mining belt conveying system based on current closed loop control
CN202508593U (en) * 2012-03-22 2012-10-31 郑州大学 Extra long distance belt conveyor variable frequency drive control system
CN103112702A (en) * 2013-03-12 2013-05-22 山东新风光电子科技发展有限公司 Constant voltage frequency ratio control system and constant voltage frequency ratio control method of multi-motor driving belt conveyor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54107058A (en) * 1978-02-07 1979-08-22 Tsubakimoto Chain Co Method of and device for setting speed of conveyor
CN101169656A (en) * 2007-12-03 2008-04-30 中冶南方工程技术有限公司 Converter tilting electric transmission and control system
CN201592898U (en) * 2010-01-29 2010-09-29 国投新登郑州煤业有限公司 Variable-frequent mining belt conveying system based on current closed loop control
CN202508593U (en) * 2012-03-22 2012-10-31 郑州大学 Extra long distance belt conveyor variable frequency drive control system
CN103112702A (en) * 2013-03-12 2013-05-22 山东新风光电子科技发展有限公司 Constant voltage frequency ratio control system and constant voltage frequency ratio control method of multi-motor driving belt conveyor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110958983A (en) * 2017-07-31 2020-04-03 日本电产三协株式会社 Conveying mechanism, medium processing apparatus provided with the conveying mechanism, and conveying method
CN110182545A (en) * 2019-04-12 2019-08-30 中煤科工集团上海有限公司 Driving power balance control method in a kind of adhesive tape head

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