CN104709748A - FPGA-based thin film rolling tension control system and method - Google Patents
FPGA-based thin film rolling tension control system and method Download PDFInfo
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- CN104709748A CN104709748A CN201510012805.2A CN201510012805A CN104709748A CN 104709748 A CN104709748 A CN 104709748A CN 201510012805 A CN201510012805 A CN 201510012805A CN 104709748 A CN104709748 A CN 104709748A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H23/00—Registering, tensioning, smoothing or guiding webs
- B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
- B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
- B65H23/195—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations
- B65H23/1955—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations and controlling web tension
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2301/00—Handling processes for sheets or webs
- B65H2301/40—Type of handling process
- B65H2301/41—Winding, unwinding
- B65H2301/414—Winding
- B65H2301/4143—Performing winding process
Abstract
The invention discloses an FPGA-based thin film rolling tension control system and method. The system comprises a tension signal collection module, a thin film rolling tension control module, a thin film rolling module and an upper computer operation panel. A programmable logic device FPGA controls a chip to achieve a fuzzy PID control algorithm, the speed controlled quantity of a brushless direct current motor is obtained, a double closed-loop control algorithm of the brushless direct current motor is combined, then signals are controlled to be correspondingly changed and adjusted when tension changes in the rolling process of a thin film, and constant control over the tension in the rolling process of the thin film can be achieved through real-time collection of tension of the thin film by utilization of the fuzzy PID control algorithm; the development cost is low, the integration level of the system is high, the steady state performance is good, the response speed is high, the control precision is high, and adaptability is high.
Description
Technical field
The invention belongs to the Multi-layer co-extrusion blow molding machine technical field of plastics industry, be specifically related to a kind of film take-up tension control system based on FPGA and method.
Background technology
Blow molding technique is a kind of important mode of plastics molding process, and the proportion of its plastic product produced shared by plastic product is increasing.And the production that domestic use Multi-layer blown film equipment carries out film is also comparatively general.In film manufacturing processes, last procedure carries out rolling to the film produced, and the quality of film take-up quality directly affects following process quality.And the precision reliability of tension control system and rapidity directly affect the quality of film and final batch effect in film take-up process.And the principal element affecting film take-up quality is the tension force in film take-up process, overtension, can cause deformation of thin membrane, even can make film breaks; Tension force is too small, can cause occurring fold, injustice in film take-up process, time serious, can cause film loose winding, cannot complete rolling, and tension force controls unstable, also can cause the phenomenons such as shearing length instability.So, memberane stress size to fit to be maintained in film take-up, and remain constant, difficult point and crucial be just to design a set of high-precision tension control system to keep the stable of tension force on film.
Film take-up primarily of nip rolls, deflector roll, jockey pulley, wind-up roll composition as shown in Figure 1.The film produced enters rolling-up mechanism by nip rolls, and guide via deflector roll, jockey pulley carries out tension detect, is finally film roll by wind-up roll rolling.Linear differential between nip rolls and wind-up roll, determines the size of tension force on film.In wrapup procedure, the general speed of nip rolls that keeps is constant, regulates the speed of wind-up roll, and then regulates the tension force in film take-up process.Therefore, the direct object that tension control system controls is the rotating speed of wind-up roll, keeps the linear differential of wind-up roll and nip rolls constant.
At present, the tension control system kind of Multi-layer blown film equipment is a lot, the many of application adopts high-end PLC as controller abroad, using frequency converter and variable-frequency motor as actr, directly tension force detected with tension pick-up and feed back to controller, the tension control system of formation.Control policy adopts traditional PID control algorithm, and by choosing Proportional coefficient K p, integral coefficient Ki, differential coefficient Kd controls.PID control method is simple with its algorithm, robustness good, reliability is high and be widely used.But in tension system, usually have a lot of disturbing factor, the coil diameter of wind-up roll, the linear velocity of wind-up roll, moment changed in the moment, thus tension system be one non-linear, time become system, its accurate math modeling cannot be set up.Although when given tension force, during by the parameter adjustment of PID control process to suitable value, under certain condition, can meet the demands, but, but when outer condition changes, just need to readjust controling parameters, automatic control can not be realized, waste time and energy like this, and there will be unstable situation in the course of the work, be difficult to reach very high control accuracy.Meanwhile, existing tension control system, adopts PLC etc. to control, in order to improve control accuracy, most employing be the equipment of import, this just makes the cost of equipment greatly improve, and its control effects is unstable, cost is high, and control cycle is long, very high to the requirement of operating personal.Therefore, change the control method that film take-up tension force controls, realize Real-time Collection and response fast to film take-up tension force, the stability contorting realizing film take-up tension force becomes design film winding tension control system problem demanding prompt solution.
Summary of the invention
The object of the invention is to the deficiency overcoming existing control method, a kind of film take-up tension control system based on FPGA and method are provided, the method is a kind of system of closed loop fuzzy Adaptive PID Control, adopt fuzzy control to combine with traditional PID control the tension control method formed, there is the advantages such as algorithm is simple, real-time, robustness is good, steady-state behaviour is good.
In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:
Based on a film take-up tension control system of FPGA, comprise the tension signal acquisition module for detecting film take-up tension force, with FPGA control chip film take-up tension force control module, with the film take-up module of brshless DC motor and for initialization system initial value and for memberane stress display upper computer guidance panel;
The mouth of tension signal acquisition module is connected with the signal input part of film take-up tension force control module, film take-up tension force control module respectively with film take-up module and upper computer guidance panel mutual; FPGA control chip is used for realizing fuzzy-adaptation PID control and brshless DC motor double-closed-loop control.
Described film take-up tension force control module comprises for the A/D change-over circuit of switching film winding tension signal, for carrying out with upper computer guidance panel the communication circuit, FPGA control chip and the brshless DC motor control module for controlling wind-up roll rolling speed that communicate; Wherein, the input end of A/D change-over circuit is connected with the mouth of tension signal acquisition module, the mouth of A/D change-over circuit is connected with the signal input part of FPGA control chip, and brshless DC motor control module interacts with FPGA control chip and film take-up module respectively.
Described tension signal acquisition module comprises tension pick-up and signal conditioning circuit; The signal output part of tension pick-up is connected with the FPGA control chip in film take-up tension force control module by A/D change-over circuit.
Described brshless DC motor control mould comprise current detection circuit for detecting brshless DC motor electric current, for detect Brushless DC Motor Position position detecting circuit and for driving driving circuit and the three-phase bridge type converter of brshless DC motor; The input end of brushless direct current motor drive circuit is connected with 6 road PWM mouths of FPGA control chip, the mouth of brushless direct current motor drive circuit connects with the input end of three-phase bridge type converter, the mouth of three-phase bridge circuit connects with the input end of brshless DC motor and current detection circuit simultaneously, the input end of position detecting circuit is connected with brshless DC motor, and the signal output part of current detection circuit and position detecting circuit connects with the signal input part of FPGA control chip.
Described FPGA control chip comprises fuzzy controller, brshless DC motor double closed-loop control system and the PWM output module for exporting PWM ripple; Wherein, fuzzy controller is used for realizing motor speed setting; Brshless DC motor double closed-loop control system is for realizing PI speed regulable control and the PI current regulation control of brshless DC motor double-closed-loop control;
Storing fuzzy control look-up table in the ROM of FPGA control chip, being cured to being used for realizing the Fuzzy PID of motor speed setting, the PI speed regulable control algorithm being used for realizing brshless DC motor double-closed-loop control, PI current regulation control algorithm and PWM ripple output algorithm in FPGA by VHDL.
Described fuzzy control look-up table uses Matlab instrument to carry out Simulink emulation to system mathematic model, determining quantizing factor, basic domain, fuzzy domain, set up fuzzy control rule table according to expertise and artificial debugging, carry out fuzzy reasoning and inquiry obtains after adopting gravity model appoach ambiguity solution.
Described film take-up tension force control module also comprises the reset circuit for realizing reset operation, the clock circuit for reference signal.
Described film take-up module comprises for film and the reel be arranged on wind-up roll and the brshless DC motor for controlling drum speed; The output shaft of brshless DC motor is connected with the rotating shaft of reel.
Based on a film take-up tension control method of FPGA, comprise the following steps:
A) system initialization
By PC control panel input film take-up tension value and control algorithm initial value;
B) acquisition of signal
Tension signal acquisition module gathers the tension value in film take-up process on film;
C) adjustment of output is controlled
Realized by the fuzzy controller in FPGA control chip and brshless DC motor double closed-loop control system, by step b) in the tension value that collects be converted to the tension signal of digital quantity by A/D, be input in fuzzy controller, with step a) in the setting tension value that inputs compare, treated device calculates tension force deviation e and deviation variation rate ec wherein ec=de/dt; E and ec fuzzy quantization is drawn encoded radio E, Ec, the fuzzy control look-up table inquiry be input in ROM obtains correction amount kp, Δ ki, the Δ kd of pid parameter, then in conjunction with PID initial parameter value, PID after online self-tuning is adjusted tri-parameters, Kp, Ki, Kd after adjusting are input to the calculating of incremental timestamp algorithm, obtain brshless DC motor speed setting value; The brshless DC motor actual speed value that speed setting value and position detecting circuit for brushless direct current dynamo obtain, obtains velocity deviation v through process, is input to speed PI algoritic module, calculates the current reference value of brshless DC motor; The brshless DC motor three-phase actual current value that brshless DC motor current reference value and brshless DC motor current detection circuit obtain calculates current deviation, exports controlling quantity through PI algorithm, then obtains 6 road PWM ripples through PWM controller output;
D) control signal exports
6 road PWM ripples export to three-phase bridge type converter through brushless direct current motor drive circuit, control cut-offfing of power tube, thus the speed realizing brshless DC motor regulates, brshless DC motor drives wind-up roll, regulate the rotating speed of wind-up roll, realize the constant control of film take-up tension force;
E) step b is repeated) ~ d), if the tension value of setting changes, then system can regulate rolling speed automatically, finally realizes film take-up tension force in the fluctuation range of settings and permission, remains stable.
Compared with prior art, the present invention has following beneficial effect:
The present invention is based on the film take-up tension control system of FPGA using FPGA as kernel control chip, cost of development is low, time-to-market is short, and adopt VHDL language to solidify in FPGA by intelligent temperature control algorithm, greatly improve the integrated level of system, improve parallel data processing ability, also farthest improve the confidentiality of Blown-film line stability and intellectual property; Adopt brshless DC motor as actr, the features such as its good speed adjustment features, speed-regulating range width and adjusting speed accuracy are high, fast response time, stable, quality is light, control film take-up speed by Direct driver wind-up roll, greatly improve rapidity and the stability of tension control system.
Further, the present invention adopts MATLAB off-line calculation, the mode of tabling look-up online realizes fuzzy inferior, fuzzy control is simplified greatly, and the calculated amount of FPGA is reduced greatly, reduce programming difficulty and shorten the design cycle, accelerate the speed of real time system control simultaneously, improve system response time.
The present invention is based on the film take-up tension control method of FPGA, Fuzzy PID is adopted to carry out tension force control, can according to varying environment Online Auto-tuning PID process control parameters, improve control system robustness, system is conformed and the change of different parameters, actv. controls film take-up tension force, improves control accuracy and the stability of system; Fuzzy PID realizes by this system on FPGA, and implementation procedure is simply efficient, is easy to hardware parallel realization, improves control system speed of response, improves the integrated level of control system simultaneously.Meanwhile, adopt brshless DC motor to replace variable-frequency motor as actr, improve the speed of response of actr, the speed of response of the greatly possible system that improves.
Accompanying drawing explanation
Fig. 1 is film take-up sketch;
Fig. 2 is the block diagram of system of tension control system;
Fig. 3 is Fuzzy Adaptive PID Control algorithm principle figure;
Fig. 4 is fuzzy reasoning unit composition frame chart;
Fig. 5 is control system main flow chart;
Fig. 6 is control system sub-process figure.
Wherein, 1 is wind-up roll, and 2 is deflector roll, and 3 is film, and 4 is tension pick-up, and 5 is jockey pulley, and 6 is deflector roll, and 7 is wind-up roll, and 8 is friction roll.
Detailed description of the invention
For making object of the present invention and technical scheme clearly understand, below in conjunction with drawings and embodiments, the present invention is described in further detail.At this, the specific embodiment of the present invention and explanation thereof are for explaining the present invention, not as a limitation of the invention.
See Fig. 2, a kind of film take-up tension control system based on FPGA of the present invention, it is a kind of system of closed loop fuzzy Adaptive PID Control, this control system comprises the tension signal acquisition module for detecting film take-up tension force, the film take-up tension force control module with FPGA control chip, with the film take-up module of brshless DC motor and for initialization system initial value and for memberane stress display upper computer guidance panel.Wherein, the mouth of tension signal acquisition module is connected with the signal input part of film take-up tension force control module, film take-up tension force control module is mutual with film take-up module and upper computer guidance panel respectively, and FPGA control chip is used for realizing Fuzzy PID and brshless DC motor double-closed-loop control algorithm.
Tension signal acquisition module comprises tension pick-up and signal conditioning circuit; The measurement range of tensile requirements is 0-20KG, and survey precision is ± 1.5KG, and the tension pick-up of selection is Mitsubishi LX-30TD tension pick-up, and its measurement range is 30KG, and output voltage is 0 ~ 10V, and precision is 5mV/N, can meet the demands.The signal output part of tension signal acquisition module is connected with the A/D change-over circuit in film take-up tension force control module.
Film take-up tension force control module comprises for the A/D change-over circuit of switching film winding tension signal, for carrying out with upper computer guidance panel the communication circuit, FPGA control chip and the brshless DC motor control module for controlling wind-up roll rolling speed that communicate; Wherein, the input end of A/D change-over circuit is connected with the mouth of tension signal acquisition module, the mouth of A/D change-over circuit is connected with the signal input part of FPGA control chip, and brshless DC motor control module interacts with FPGA control chip and film take-up module respectively.
The present invention adopts 16 AD7656 to carry out tension signal A/D conversion.Adopt XC6SLX9-3TQG144I as FPGA main control chip, it have 102 I/O ports, 1430 configurable logic blocks, 9152 logical blocks, up to 90K distributed memory and 576K block internal memory, its abundant Resources on Chip is very applicable to complicated control algorithm and controlling functions is integrated on monolithic FPGA, can meet tension force demand for control.
Brshless DC motor control mould comprise current detection circuit for detecting brshless DC motor electric current, for detect Brushless DC Motor Position position detecting circuit, for driving driving circuit and the three-phase bridge type converter of brshless DC motor; The input end of brushless direct current motor drive circuit is connected with 6 road PWM mouths of FPGA control chip, the mouth of brushless direct current motor drive circuit connects with the input end of three-phase bridge type converter, the mouth of three-phase bridge circuit connects with the input end of brshless DC motor and current detection circuit simultaneously, the input end of position detecting circuit is connected with brshless DC motor, and the signal output part of current detection circuit and position detecting circuit connects with the signal input part of FPGA control chip.
The voltage directly exported due to FPGA is 3.3V, can not Direct driver brshless DC motor, needs interpolation driving circuit based on on-off element, selects metal-oxide-semiconductor as on-off element here, and what this example was selected is IRF4905MOS pipe.
Current detection circuit of the present invention selects model to be the three phase current that ACS712 Hall current sensor detects brshless DC motor, and carries out the A/D conversion of current signal with ADS8341.
FPGA control chip comprises Fuzzy PID for realizing motor speed setting, for realizing the PI speed regulable control algorithm of brshless DC motor double-closed-loop control and PI current regulation control algorithm, for exporting the PWM output module of PWM ripple; Store in the ROM of PGA control chip by the emulation of MATLAB instrument and the fuzzy control look-up table that obtains of off-line calculation, by VHDL (hardware description language), Fuzzy PID, brshless DC motor double-closed-loop control algorithm and PWM ripple output algorithm are cured in FPGA.Film take-up tension force control module also comprises the reset circuit for realizing reset operation, the clock circuit for reference signal.Film take-up module comprises the reel (being arranged on wind-up roll) for film, for controlling the brshless DC motor of drum speed.
Fuzzy PID design and FPGA sheet realize:
Fuzzy principle of design is with reference to Fig. 3, according to the actual tension value setting deviation e that calculates of tension value and and deviation variation rate ec, be input to and in the defuzzification interface in fuzzy reasoning unit composition frame chart as shown in Figure 4, the exact value obtained carried out fuzzy quantization and draw encoded radio E, Ec, then inference machine carries out by gravity model appoach correction amount kp, Δ ki, the Δ kd that ambiguity solution exports pid parameter by anti fuzzy method interface after obtaining fuzzy control quantity according to the fuzzy control rule table in knowledge base; Pid parameter after online self-tuning is adjusted, then inputs conventional PID controllers by Kp, Ki, the Kd after adjusting.
First this example by calculating, obtains the system mathematic model be similar to, and then use the math modeling of Simulink emulation tool to system to emulate, step comprises:
1. determine the structure of fuzzy controller, input and output linguistic variable, basic domain and membership function;
2. pair deviation and deviation variation rate carry out fuzzy quantization and set up fuzzy control rule table, ask for output variable fuzzy subset;
3. adopting goes gravity model appoach to carry out defuzzification, obtains the correction amount kp of pid parameter, Δ ki, Δ kd, Online Auto-tuning PID parameter, input PID controller, obtains exporting controlling quantity.
Fuzzy control look-up table is obtained by Matlab tool queries, and carry out certain amendment in conjunction with actual conditions, final control table is stored in the ROM of FPGA with the form of .mif, the correction amount kp obtaining pid parameter by tabling look-up online, Δ ki, Δ kd, obtain exporting controlling quantity finally by incremental timestamp device.Then using the setting value of this controlling quantity as speed PI, compare with the velocity amplitude of reality, obtain difference, carry out the settings that PI calculates current PI, compare with the current value of reality and obtain current differential, carry out PI calculating, obtain the dutycycle of PWM, export and control motor, finally realize the control of memberane stress.
This example adopts the output of hardware description language (VHDL) programming realization Fuzzy PID, speed PI algorithm, current PI algorithm and PWM controlling quantity, finally by download program in control chip, the sheet achieving control algorithm is changed.
This system specific works flow process as shown in Figure 5 and Figure 6, comprises step:
A) system initialization, by PC control panel input film take-up tension value and control algorithm initial value; If initialization completes, proceed the operation of next step, if do not completed, again carry out initialization operation, until initialization completes;
B) tension signal acquisition module gathers the tension value in film take-up process on film, if gathered, has then been input to A/D change-over circuit and carries out A/D conversion, if do not have collection to complete, then proceeded tension force collection, until gathered;
C) adjustment of output is controlled, realized by the fuzzy controller in FPGA control chip and brshless DC motor double closed-loop control system, by step b) in the tension signal that collects be converted to the tension signal of digital quantity by A/D, be input in Fuzzy PID module, according to tension force setting value and step a) the middle setting tension value inputted, treated device calculates tension force deviation e and deviation variation rate ec wherein ec=de/dt; E and ec fuzzy quantization is drawn encoded radio E, Ec, the fuzzy control look-up table inquiry be input in ROM obtains correction amount kp, Δ ki, the Δ kd of pid parameter, then in conjunction with PID initial parameter value, PID after online self-tuning is adjusted tri-parameters, Kp, Ki, Kd after adjusting are input to the calculating of incremental timestamp algorithm, obtain brshless DC motor speed setting value; The brshless DC motor actual speed value that speed setting value and position detecting circuit for brushless direct current dynamo obtain, obtains velocity deviation v through process, is input to speed PI algoritic module, calculates the current reference value of brshless DC motor; The brshless DC motor three-phase actual current value that brshless DC motor current reference value and brshless DC motor current detection circuit obtain calculates current deviation, exports controlling quantity through PI algorithm, then obtains 6 road PWM ripples through PWM controller output.
Fuzzy control look-up table uses Matlab instrument to carry out Simulink emulation to system mathematic model, determining quantizing factor, basic domain, fuzzy domain, fuzzy control rule table is set up according to expertise and artificial debugging, carry out fuzzy reasoning and inquiry obtains after adopting gravity model appoach ambiguity solution, fuzzy domination structure block diagram as shown in Figure 3.This control table is stored in the ROM of FPGA control chip with the form of .mif, by off-line calculation, the mode of tabling look-up online, the calculated amount of fuzzy process simplification FPGA control chip can be made greatly to reduce, improve the speed of real time system control, reduce programming difficulty and reduce the design cycle;
D) control signal exports, 6 road PWM ripples export to three-phase bridge type converter through brushless direct current motor drive circuit, control cut-offfing of power tube, thus the speed realizing brshless DC motor regulates, brshless DC motor drives wind-up roll, regulate the rotating speed of wind-up roll, realize the constant control of film take-up tension force.
E) step b is repeated) ~ d), if the tension value of setting changes, then system can regulate rolling speed automatically, finally realizes film take-up tension force in the fluctuation range of settings and permission, remains stable.
Native system is in real time to tension value, and speed and current value carry out detecting, calculating, and real-time regulates the tension force of film, to maintain the constant control of tension force.
Above content is only and technological thought of the present invention is described; protection scope of the present invention can not be limited with this; every technological thought proposed according to the present invention, any change that technical scheme basis is done, within the protection domain all falling into claims of the present invention.
Claims (9)
1., based on a film take-up tension control system of FPGA, it is characterized in that: comprise the tension signal acquisition module for detecting film take-up tension force, with FPGA control chip film take-up tension force control module, with the film take-up module of brshless DC motor and for initialization system initial value and for memberane stress display upper computer guidance panel;
The mouth of tension signal acquisition module is connected with the signal input part of film take-up tension force control module, film take-up tension force control module respectively with film take-up module and upper computer guidance panel mutual; FPGA control chip is used for realizing fuzzy-adaptation PID control and brshless DC motor double-closed-loop control.
2. the film take-up tension control system based on FPGA according to claim 1, is characterized in that: described film take-up tension force control module comprises for the A/D change-over circuit of switching film winding tension signal, for carrying out with upper computer guidance panel the communication circuit, FPGA control chip and the brshless DC motor control module for controlling wind-up roll rolling speed that communicate; Wherein, the input end of A/D change-over circuit is connected with the mouth of tension signal acquisition module, the mouth of A/D change-over circuit is connected with the signal input part of FPGA control chip, and brshless DC motor control module interacts with FPGA control chip and film take-up module respectively.
3. the film take-up tension control system based on FPGA according to claim 1 and 2, is characterized in that: described tension signal acquisition module comprises tension pick-up and signal conditioning circuit; The signal output part of tension pick-up is connected with the FPGA control chip in film take-up tension force control module by A/D change-over circuit.
4. the film take-up tension control system based on FPGA according to claim 2, is characterized in that: described brshless DC motor control mould comprise current detection circuit for detecting brshless DC motor electric current, for detect Brushless DC Motor Position position detecting circuit and for driving driving circuit and the three-phase bridge type converter of brshless DC motor; The input end of brushless direct current motor drive circuit is connected with 6 road PWM mouths of FPGA control chip, the mouth of brushless direct current motor drive circuit connects with the input end of three-phase bridge type converter, the mouth of three-phase bridge circuit connects with the input end of brshless DC motor and current detection circuit simultaneously, the input end of position detecting circuit is connected with brshless DC motor, and the signal output part of current detection circuit and position detecting circuit connects with the signal input part of FPGA control chip.
5. the film take-up tension control system based on FPGA according to claim 1 and 2, is characterized in that: described FPGA control chip comprises fuzzy controller, brshless DC motor double closed-loop control system and the PWM output module for exporting PWM ripple; Wherein, fuzzy controller is used for realizing motor speed setting; Brshless DC motor double closed-loop control system is for realizing PI speed regulable control and the PI current regulation control of brshless DC motor double-closed-loop control;
Storing fuzzy control look-up table in the ROM of FPGA control chip, being cured to being used for realizing the Fuzzy PID of motor speed setting, the PI speed regulable control algorithm being used for realizing brshless DC motor double-closed-loop control, PI current regulation control algorithm and PWM ripple output algorithm in FPGA by VHDL.
6. the film take-up tension control system based on FPGA according to claim 5, it is characterized in that: described fuzzy control look-up table uses Matlab instrument to carry out Simulink emulation to system mathematic model, determining quantizing factor, basic domain, fuzzy domain, set up fuzzy control rule table according to expertise and artificial debugging, carry out fuzzy reasoning and inquiry obtains after adopting gravity model appoach ambiguity solution.
7. the film take-up tension control system based on FPGA according to claim 1 and 2, is characterized in that: described film take-up tension force control module also comprises the reset circuit for realizing reset operation, the clock circuit for reference signal.
8. the film take-up tension control system based on FPGA according to claim 1 and 2, is characterized in that: described film take-up module comprises for film and the reel be arranged on wind-up roll and the brshless DC motor for controlling drum speed; The output shaft of brshless DC motor is connected with the rotating shaft of reel.
9. the film take-up tension control method based on FPGA of control system as claimed in claim 6, is characterized in that, comprise the following steps:
A) system initialization
By PC control panel input film take-up tension value and control algorithm initial value;
B) acquisition of signal
Tension signal acquisition module gathers the tension value in film take-up process on film;
C) adjustment of output is controlled
Realized by the fuzzy controller in FPGA control chip and brshless DC motor double closed-loop control system, by step b) in the tension value that collects be converted to the tension signal of digital quantity by A/D, be input in fuzzy controller, with step a) in the setting tension value that inputs compare, treated device calculates tension force deviation e and deviation variation rate ec wherein ec=de/dt; E and ec fuzzy quantization is drawn encoded radio E, Ec, the fuzzy control look-up table inquiry be input in ROM obtains correction amount kp, Δ ki, the Δ kd of pid parameter, then in conjunction with PID initial parameter value, PID after online self-tuning is adjusted tri-parameters, Kp, Ki, Kd after adjusting are input to the calculating of incremental timestamp algorithm, obtain brshless DC motor speed setting value; The brshless DC motor actual speed value that speed setting value and position detecting circuit for brushless direct current dynamo obtain, obtains velocity deviation v through process, is input to speed PI algoritic module, calculates the current reference value of brshless DC motor; The brshless DC motor three-phase actual current value that brshless DC motor current reference value and brshless DC motor current detection circuit obtain calculates current deviation, exports controlling quantity through PI algorithm, then obtains 6 road PWM ripples through PWM controller output;
D) control signal exports
6 road PWM ripples export to three-phase bridge type converter through brushless direct current motor drive circuit, control cut-offfing of power tube, thus the speed realizing brshless DC motor regulates, brshless DC motor drives wind-up roll, regulate the rotating speed of wind-up roll, realize the constant control of film take-up tension force;
E) step b is repeated) ~ d), if the tension value of setting changes, then system can regulate rolling speed automatically, finally realizes film take-up tension force in the fluctuation range of settings and permission, remains stable.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105429524A (en) * | 2015-12-15 | 2016-03-23 | 李哲 | FPGA-based brushless direct current motor speed regulating system |
| CN105584886A (en) * | 2015-11-23 | 2016-05-18 | 国家电网公司 | Controlling method of ship cable winch driving system |
| CN107068389A (en) * | 2017-06-17 | 2017-08-18 | 丹凤县荣毅电子有限公司 | It is a kind of for the Winder of inductance and around line compensation method |
| CN107366002A (en) * | 2016-05-12 | 2017-11-21 | 鞍钢股份有限公司 | A kind of tension control method for cleaning the thin material of unit production annealing |
| CN107755170A (en) * | 2017-10-17 | 2018-03-06 | 苏州大学 | One kind automation coating unit |
| CN108448897A (en) * | 2018-03-29 | 2018-08-24 | 华南理工大学 | High dynamic performance fuzzy PID control method for LLC resonant converter |
| CN108622707A (en) * | 2018-03-20 | 2018-10-09 | 武汉科技大学 | The distributed tracking error Controlling model construction method of flexible parent metal reel system |
| CN109489261A (en) * | 2018-12-05 | 2019-03-19 | 江苏恒创软件有限公司 | A kind of hot-blast stove Intellectualized controller that can be monitored in real time |
| CN109639207A (en) * | 2018-12-29 | 2019-04-16 | 宝鸡文理学院 | Synchronous motor energy-saving fuzzy controller method |
| CN109709799A (en) * | 2018-12-29 | 2019-05-03 | 西安西驰电气股份有限公司 | A kind of PID Optimization Method of Fuzzy Control for power retractable volume |
| CN109732686A (en) * | 2019-02-26 | 2019-05-10 | 深圳市富邦精密机械科技有限公司 | Digital die-cutting machine and its materials and parts tighten control method, apparatus and system |
| CN110054014A (en) * | 2019-04-28 | 2019-07-26 | 湖北江升新材料有限公司 | A kind of rim charge tension control system, control method and rim charge winder |
| CN110723594A (en) * | 2019-10-14 | 2020-01-24 | 上海宇航系统工程研究所 | Rope tying tension control device and method |
| CN110817549A (en) * | 2019-10-30 | 2020-02-21 | 苏州安驰控制系统有限公司 | Winding control method, device and system and computer storage medium |
| CN111074392A (en) * | 2019-12-31 | 2020-04-28 | 西门子工厂自动化工程有限公司 | Spinning frame spindle rotating speed control method and control system |
| CN113291927A (en) * | 2021-05-25 | 2021-08-24 | 湖州师范学院 | Control method and device for single yarn finishing integrated device, product and storage medium |
| CN114153139A (en) * | 2021-11-25 | 2022-03-08 | 天津市英贝特航天科技有限公司 | Method and device for controlling parallelism of thin film in imprinting equipment |
| CN116216401A (en) * | 2023-05-10 | 2023-06-06 | 广州市普理司科技有限公司 | Tension control system of digital printer |
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2015
- 2015-01-09 CN CN201510012805.2A patent/CN104709748B/en not_active Expired - Fee Related
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| CN105584886B (en) * | 2015-11-23 | 2018-11-23 | 国网河北省电力有限公司沧州供电分公司 | A kind of control method of shipboard cable winch drive system |
| CN105584886A (en) * | 2015-11-23 | 2016-05-18 | 国家电网公司 | Controlling method of ship cable winch driving system |
| CN105429524A (en) * | 2015-12-15 | 2016-03-23 | 李哲 | FPGA-based brushless direct current motor speed regulating system |
| CN107366002A (en) * | 2016-05-12 | 2017-11-21 | 鞍钢股份有限公司 | A kind of tension control method for cleaning the thin material of unit production annealing |
| CN107068389A (en) * | 2017-06-17 | 2017-08-18 | 丹凤县荣毅电子有限公司 | It is a kind of for the Winder of inductance and around line compensation method |
| CN107068389B (en) * | 2017-06-17 | 2018-11-06 | 丹凤县荣毅电子有限公司 | It is a kind of for the bobbin winder device of inductance and around line compensation method |
| CN107755170A (en) * | 2017-10-17 | 2018-03-06 | 苏州大学 | One kind automation coating unit |
| CN107755170B (en) * | 2017-10-17 | 2023-11-28 | 苏州大学 | Automatic change coating device |
| CN108622707B (en) * | 2018-03-20 | 2020-12-01 | 武汉科技大学 | Method for constructing distributed following error control model of flexible substrate winding system |
| CN108622707A (en) * | 2018-03-20 | 2018-10-09 | 武汉科技大学 | The distributed tracking error Controlling model construction method of flexible parent metal reel system |
| CN108448897B (en) * | 2018-03-29 | 2020-05-22 | 华南理工大学 | High-dynamic-performance fuzzy PID control method for LLC resonant converter |
| CN108448897A (en) * | 2018-03-29 | 2018-08-24 | 华南理工大学 | High dynamic performance fuzzy PID control method for LLC resonant converter |
| CN109489261A (en) * | 2018-12-05 | 2019-03-19 | 江苏恒创软件有限公司 | A kind of hot-blast stove Intellectualized controller that can be monitored in real time |
| CN109639207A (en) * | 2018-12-29 | 2019-04-16 | 宝鸡文理学院 | Synchronous motor energy-saving fuzzy controller method |
| CN109709799A (en) * | 2018-12-29 | 2019-05-03 | 西安西驰电气股份有限公司 | A kind of PID Optimization Method of Fuzzy Control for power retractable volume |
| CN109732686A (en) * | 2019-02-26 | 2019-05-10 | 深圳市富邦精密机械科技有限公司 | Digital die-cutting machine and its materials and parts tighten control method, apparatus and system |
| CN110054014A (en) * | 2019-04-28 | 2019-07-26 | 湖北江升新材料有限公司 | A kind of rim charge tension control system, control method and rim charge winder |
| CN110054014B (en) * | 2019-04-28 | 2024-03-26 | 湖北江升新材料有限公司 | Rim charge tension control system, control method and rim charge winding machine |
| CN110723594A (en) * | 2019-10-14 | 2020-01-24 | 上海宇航系统工程研究所 | Rope tying tension control device and method |
| CN110817549A (en) * | 2019-10-30 | 2020-02-21 | 苏州安驰控制系统有限公司 | Winding control method, device and system and computer storage medium |
| CN110817549B (en) * | 2019-10-30 | 2022-02-08 | 苏州安驰控制系统有限公司 | Winding control method, device and system and computer storage medium |
| CN111074392A (en) * | 2019-12-31 | 2020-04-28 | 西门子工厂自动化工程有限公司 | Spinning frame spindle rotating speed control method and control system |
| CN113291927A (en) * | 2021-05-25 | 2021-08-24 | 湖州师范学院 | Control method and device for single yarn finishing integrated device, product and storage medium |
| CN114153139A (en) * | 2021-11-25 | 2022-03-08 | 天津市英贝特航天科技有限公司 | Method and device for controlling parallelism of thin film in imprinting equipment |
| CN116216401A (en) * | 2023-05-10 | 2023-06-06 | 广州市普理司科技有限公司 | Tension control system of digital printer |
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