CN105353788A - Liquid crystal glass substrate transport vibration damping and suppressing control method - Google Patents
Liquid crystal glass substrate transport vibration damping and suppressing control method Download PDFInfo
- Publication number
- CN105353788A CN105353788A CN201510897271.6A CN201510897271A CN105353788A CN 105353788 A CN105353788 A CN 105353788A CN 201510897271 A CN201510897271 A CN 201510897271A CN 105353788 A CN105353788 A CN 105353788A
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- servomotor
- acceleration
- liquid crystal
- crystal glass
- transport
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a liquid crystal glass substrate transport vibration damping and suppressing control method. Through adjustment of the acceleration of a servo motor in a liquid crystal glass substrate device based on a transport distance and an object transport speed, the acceleration of the servo motor changes in sine wave shape. Because the change curve of the motion acceleration of the servo motor has a sine wave shape, the stability of the motor motion is effectively raised, and vibration damping effect is realized; in addition, through setting of an adaptability tune mode, a mechanical resonance inhibition filter and a trap wave wave-shaped selection, the resonance is eliminated. The problem of vibration in the transport process of the liquid crystal glass substrate is solved; the production efficiency is raised; and the product fraction defective is reduced. The operation is more simple and convenient; the liquid crystal glass substrate transport is more rapid and safer.
Description
Technical field
The present invention relates to liquid crystal glass base transport loading field, but specifically relating to a kind of liquid crystal glass base transport vibration damping shakes control method.
Background technology
Because current liquid crystal glass base size is comparatively large and thickness is partially thin, be generally only 0.3mm, and running load can reach 1 ton, cause glass breaking so as easy as rolling off a log in mobile transportation due to vibration.In the process of liquid crystal glass base transport, often run into servomotor owing to running up vibrative phenomenon, this can reduce industrial production efficiency, and serious meeting produces potential safety hazard, so be necessary to take adequate measures to avoid the appearance of this situation.When mainly servomotor normally runs the source of current vibration, and traditional acceleration and deceleration method easily causes vibration.
Summary of the invention
Goal of the invention: the object of the invention is to for the deficiencies in the prior art, provides a kind of simple to operation, the control method but effectiveness in vibration suppression significant crystal glass substrate transport vibration damping shakes.
Technical scheme: but a kind of liquid crystal glass base transport vibration damping shakes control method, according to the acceleration of the servomotor in the target velocity adjustment transport liquid crystal glass base equipment of transportation range and transport, makes the acceleration of servomotor be that sine wave shape changes.
Further, the acceleration change of described servomotor is divided into 7 sections, comprise the accelerated motion section that acceleration at the uniform velocity increases successively, uniformly accelerated motion section, the accelerated motion section that acceleration at the uniform velocity reduces, uniform motion section, the retarded motion section that acceleration at the uniform velocity increases, the retarded motion section that uniformly retarded motion section and speed at the uniform velocity reduce.
Further, also comprise the tuning adjustment of adaptability is carried out to servomotor work; Tuning method of adjustment is first set a servomotor operating frequency range and the tuning regulation time of adaptability; Then control servomotor to start working, also Real-Time Monitoring is carried out to the frequency of servomotor, if the frequency of the servomotor monitored, within the operating frequency range of setting, exits the tuning adjustment of adaptability; If the frequency of the servomotor monitored is not within the operating frequency range of setting, then the frequency regulating servomotor is set by increasing response; If now there is not vibration or abnormal sound, then rejudge the frequency of now servomotor whether within the working range of setting; If now there is vibration or abnormal sound in servomotor, continue to perform adaptability tuning, after the tuning regulation time of predetermined adaptability, tuning adjustment can terminate automatically, if now servomotor still has vibration or abnormal sound, reduce response until vibration or extraordinary noise solve, utilize Mechanical Analyzer simultaneously, manually wave filter is set, finally reach target response.The vibration of mechanical end can be suppressed so further.
Further, the servomotor frequency of operation of described setting is 10Hz-4500Hz.
Beneficial effect: compared with prior art, the change curve that the present invention controls the acceleration of motion of servomotor is sinusoidal waveform, effectively improves the stationarity of motor movement, thus can reach the effect of vibration damping; In addition, by the selection of setting adaptability tuning mode, mechanical resonance suppressing filter and notch shape, resonance is eliminated; The invention solves the vibration problem in liquid crystal glass base transportation, improve production efficiency, reduce the fraction defective of product.Operate more simple and convenient, to make liquid crystal glass base transport more fast, safety.
Accompanying drawing explanation
Fig. 1 is liquid crystal glass base conveying arrangement schematic diagram of the present invention;
But Fig. 2 is sine wave curve vibration damping of the present invention to shake figure;
Fig. 3 is method flow schematic diagram provided by the invention;
Fig. 4 is the schematic flow sheet of the tuning method of adjustment of adaptability.
Embodiment
Below technical solution of the present invention is described in detail, but protection scope of the present invention is not limited to described embodiment.
As shown in Figure 1, liquid crystal glass base is placed in card casket 5, belt is driven to carry out the loading transport of liquid crystal glass base by servomotor 4, liquid crystal glass base to be transported at limes superiors sensor 1 by belt and transports between smallest limit sensor 3, all first to get back to origin sensor 2 place before each transport to position, then move, if card casket 5 touches any one limit sensor in limes superiors sensor 1 or smallest limit sensor 3, servomotor 4 will stop motion.Wherein Mitsubishi's servomotor of servomotor 4 employing, model is HG-SR102B.
In liquid crystal glass base transportation, mainly according to the acceleration of the servomotor in the target velocity adjustment transport liquid crystal glass base equipment of transportation range and transport, the acceleration of servomotor is made be that sine wave shape changes.Wherein, as shown in Figure 2, the acceleration change curve of servomotor mainly comprises 7 stages: comprise the accelerated motion section that acceleration at the uniform velocity increases successively, uniformly accelerated motion section, the accelerated motion section that acceleration at the uniform velocity reduces, uniform motion section, the retarded motion section that acceleration at the uniform velocity increases, the retarded motion section that uniformly retarded motion section and acceleration at the uniform velocity reduce.Wherein, the time that the servomotor in 7 stages runs is identical, and sine wave shape acceleration and deceleration can control the speed of servomotor and acceleration, effectively can inhibit the vibration of servomotor.
As shown in Figure 3, the concrete control method that wherein servomotor acceleration change controls in real time comprises the following steps:
Step 1: setting acceleration J, peak acceleration A
maxwith object run speed V
3; Generally, J gets 5000mm/s
3, A
maxget 1000mm/s
2, V
3get 300mm/s.
Step 2: according to the acceleration J of setting in step 1, peak acceleration A
maxwith object run speed V
3the instantaneous velocity V that the accelerated motion section that calculating acceleration respectively at the uniform velocity increases terminates
1, the instantaneous velocity V that terminates of uniformly accelerated motion section
2, the instantaneous velocity V that terminates of the retarded motion section that at the uniform velocity increases of acceleration
4, the instantaneous velocity V that terminates of uniformly retarded motion section
5and deceleration area shift value S
r; Speed district shift value S
rthe theoretical shift value of the retarded motion section liquid crystal board motion that the retarded motion section that being at the uniform velocity increases from acceleration at the uniform velocity reduces to speed.
Wherein, 0 ~ t
1period, servomotor is in the accelerated motion that acceleration at the uniform velocity increases, and acceleration is at the uniform velocity increased to maximal value A from 0
max, speed is from 0 to V
1, wherein acceleration is J=A
max/ t
1.Work as A
maxtime constant, J becomes large, t
1will diminish, then raising speed is fast, and impact will become large; On the contrary, J diminishes, t
1will become large, raising speed is slack-off, and impact will diminish.Acceleration A=dV/dt=Jt, at the instantaneous velocity of this one-phase
due to dS
1=V
idt, so the displacement of 0 ~ t1 period
wherein: t ∈ (0, t
1); V
i1∈ (0, V
1),
T
1~ t
2period, servomotor is in uniform acceleration motion, and speed V is from V
1start, and with A
maxthe even acceleration of acceleration rises to V
2till.At the instantaneous velocity V of this one-phase
i2=V
1+ Jt
1t, t
1~ t
2the displacement of period
wherein t ∈ (t
1, t
2); V
i2∈ (V
1, V
2), V
2=V
1+ A
maxt
2.
T
2~ t
3period, servomotor is in the accelerated motion period that acceleration at the uniform velocity reduces, and speed is accelerated to rise to subtract, slow-paced close to V
3, controlled device can being made like this when running up, can not vibration be produced.At the instantaneous velocity of this one-phase
T
2~ t
3the displacement of period
Wherein: t ∈ (t
2, t
3),
v
i3∈ (V
2, V
3).
T
3~ t
4period, servomotor is in the uniform motion period, with V
3for the at the uniform velocity section that speed is run.At the instantaneous velocity V of this one-phase
i4=V
3; t
3~ t
4the displacement S of period
4=V
3t.Wherein: t ∈ (t
3, t
4).
T
4~ t
5period, servomotor is in the retarded motion period that acceleration at the uniform velocity increases, and speed is from V
3start, dropping to acceleration with acceleration J fluctuating acceleration is-A
max, velocity amplitude is to V
4.At the instantaneous velocity of this one-phase
t
4~ t
5the shift value of period
wherein: t ∈ (t
4, t
5); V
i4∈ (V
3, V
4),
T
5~ t
6period, servomotor is in the uniformly retarded motion period, and speed is from V
4start, with-A
maxuniform acceleration is decelerated to V
5.At the instantaneous velocity V of this one-phase
i6=V
4-Jt
6t; t
5~ t
6the shift value of period
wherein: t ∈ (t
5, t
6), V
i5∈ (V
4, V
5), V
5=V
4-Jt
6 2.
T
6~ t
7period, servomotor is in the retarded motion period that acceleration at the uniform velocity reduces, and speed is from V
5start to subtract acceleration to decline, until speed is 0.At the instantaneous velocity of this one-phase
t
6~ t
7the shift value of period
Wherein: t ∈ (t
6, t
7),
V
i6∈(0,V
5)。
Step 3: control servomotor accelerated motion, the acceleration of servomotor motion increases gradually according to acceleration J, until acceleration arrives peak acceleration A
max; Simultaneously to the instantaneous velocity V of servomotor motion
ithe displacement run with crystal liquid substrate is monitored in real time, mainly according to the instantaneous velocity V of servomotor motion
icontrol the acceleration of servomotor; If V
i< V
1and shift value surplus Δ S > S
r, proceed step 3; If V
i> V
3or Δ S < S
r; Forward step 9 to control servomotor and carry out the retarded motion that acceleration at the uniform velocity reduces, if V
i>=V
1and Δ S > S
r, then forward step 3 control servomotor to and carry out uniformly accelerated motion.
Step 4: to the instantaneous velocity V of servomotor motion
ithe displacement run with crystal liquid substrate is monitored in real time, and control servomotor and carry out uniformly accelerated motion, acceleration is constant in peak acceleration A
max; If V
i< V
2and Δ S > S
r, continue step 4; If Δ S < is S
ror V
i>=V
3, enter step 7 and control servomotor and carry out uniformly retarded motion; If V
3> V
i> V
2, enter step 5 and control servomotor and carry out the accelerated motion that acceleration at the uniform velocity reduces.
Step 5: to the instantaneous velocity V of servomotor motion
ithe displacement run with crystal liquid substrate is monitored in real time, and control servomotor carries out the accelerated motion that acceleration at the uniform velocity reduces.If V
i< V
3and Δ S > S
r, continue step 5; If V
i> V
3and Δ S < S
r, enter step 7 and control servomotor and carry out the retarded motion that acceleration at the uniform velocity increases; If V
i>=V
3, enter step 6 and control servomotor and carry out uniform motion.
Step 6: to the instantaneous velocity V of servomotor motion
ithe displacement run with crystal liquid substrate is monitored in real time, controls servomotor and carries out uniform motion.If Δ S < is S
ror due to speed multiplying power change V
i> V
3, proceed to step 7 and control servo and carry out the retarded motion that acceleration at the uniform velocity increases.If V
i< V
3; Proceed to step 5 to control servomotor and carry out the accelerated motion that acceleration at the uniform velocity reduces; Otherwise, continue step 6.
Step 7: to the instantaneous velocity V of servomotor motion
ithe displacement run with crystal liquid substrate is monitored in real time, and control servomotor carries out the retarded motion that acceleration at the uniform velocity increases.If V
i> V
4, continue step 7; If V
i< V
4, enter step 8 and control servomotor and carry out uniformly retarded motion.
Step 8: to the instantaneous velocity V of servomotor motion
ithe displacement run with crystal liquid substrate is monitored in real time, controls servomotor and carries out uniformly retarded motion.If V
i> V
5, continue step 8; If V
i< V
5, proceed to step 9 and control servomotor and carry out the retarded motion that acceleration at the uniform velocity reduces.
Step 9: control servomotor carries out the retarded motion that acceleration at the uniform velocity reduces.If V
i> 0, continues step 9; If Δ S=0, servomotor quits work.
In order to suppress the vibration of mechanical end further, while the acceleration of servomotor is controlled, also according to the frequency of the servomotor detected, the tuning adjustment of adaptability is carried out to servomotor work.Method of adjustment as shown in Figure 4, first sets a servomotor operating frequency range; Operating frequency range is preferably 10Hz-4500Hz.Then control servomotor to start working, also Real-Time Monitoring is carried out to the frequency of servomotor, if the frequency of the servomotor monitored, within the operating frequency range of setting, exits the tuning adjustment of adaptability; If the frequency of the servomotor monitored is not within the operating frequency range of setting, then the frequency regulating servomotor is set by increasing response; If now there is not vibration or abnormal sound, then rejudge the frequency of now servomotor whether within the working range of setting; If now there is vibration or abnormal sound, continue to perform adaptability tuning, after the schedule time, tuning meeting terminates automatically, whether observation vibration or extraordinary noise solve, as unresolved, reduce response until vibration or extraordinary noise solve, utilize Mechanical Analyzer simultaneously, manually wave filter is set, finally reach target response.
Wherein, increase response setting can infer mechanical load ratio of inertias under normal circumstances mainly through the tuning adjustment of adaptability, then the most suitable gain of setting automatically, wherein, comprise the load inertia moment ratio/load weight ratio of servomotor, model loop gain, position loop gain, speed ring gain and rate integrating to compensate;
Model loop gain, be decided by the parameter of the response that speed command is corresponding, when increasing model loop gain, Adaptive change for speed command also improves, but when increasing excessive, easily toning is there is, setting value × (1/4 ~ 1/8)/(the corresponding load inertia ratio of 1+ servomotor) of the roughly standard≤speeds control gain of model loop ride gain when adjusting; Wherein, the scope 0-65535 of the setting value of speeds control gain.
Position loop gain, this parameter determines that position loop circuit disturbs corresponding response, during the gain of expanded position ring, the response corresponding with interference also uprises, but when too expanding, mechanical system is easily vibrated, setting value × (1/4 ~ 1/8)/(the corresponding load inertia ratio of 1+ servomotor) of the roughly standard≤speeds control gain of position loop gain;
Speed ring gain, determine the parameter of the response of speed ring circuit, when increasing the setting of this value, response also becomes large, but during excessive setting, mechanical system is easily vibrated.The following formula of response frequency of actual speed circuit:
Speed ring response frequency (Hz)=speed ring gain set-point/(the load inertia ratio that 1+ is corresponding with servomotor) × 2 π;
Rate integrating compensates, in order to eliminate the permanent deviation of and instruction response, speed control circuit adoption rate integration control, the time constant of this integration control of rate integrating compensation making, during increase setting value, response is deteriorated, but when load inertia is larger or mechanical system has vibration factor to exist, when not increasing to a certain degree, mechanical system is easy to vibrate, and adopts following formula:
Rate integrating compensation settings (ms) >=(2000 ~ 3000)/speeds control gain set-point/(the corresponding load inertia of 1+ servomotor is than setting value), wherein, the scope of speeds control gain set-point is 0-65535, and taking the corresponding load inertia of motor is 0-300 than the scope of setting value.
When mechanical system has a fixing resonance point, improve constantly the response of servo-drive system, may due to its resonant frequency, mechanical system can resonate.Use mechanical resonance suppressing filter and the tuning adjustment of adaptability, the resonance of mechanical system can be suppressed.When mechanical resonance is failed to understand, can by the blanketing frequency gradually of order from high to low.Blanketing frequency when vibrating minimum is exactly optimal setting.The contact degree of depth is more dark wider, and the effect that mechanical resonance suppresses is better.
Claims (4)
1. but liquid crystal glass base transport vibration damping shakes control method, it is characterized in that: according to the acceleration of the servomotor in the target velocity adjustment transport liquid crystal glass base equipment of transportation range and transport, make the acceleration of servomotor be that sine wave shape changes.
2. but liquid crystal glass base according to claim 1 transport vibration damping shakes control method, it is characterized in that: the acceleration change of described servomotor is divided into 7 sections, comprise the accelerated motion section that acceleration at the uniform velocity increases successively, uniformly accelerated motion section, the accelerated motion section that acceleration at the uniform velocity reduces, uniform motion section, the retarded motion section that acceleration at the uniform velocity increases, the retarded motion section that uniformly retarded motion section and speed at the uniform velocity reduce.
3. but liquid crystal glass base according to claim 1 transport vibration damping shakes control method, it is characterized in that: also comprise and carry out the tuning adjustment of adaptability to servomotor work; Tuning method of adjustment is first set a servomotor operating frequency range and the tuning regulation time of adaptability; Then control servomotor to start working, also Real-Time Monitoring is carried out to the frequency of servomotor, if the frequency of the servomotor monitored, within the operating frequency range of setting, exits the tuning adjustment of adaptability; If the frequency of the servomotor monitored is not within the operating frequency range of setting, then the frequency regulating servomotor is set by increasing response; If now there is not vibration or abnormal sound, then rejudge the frequency of now servomotor whether within the working range of setting; If now there is vibration or abnormal sound in servomotor, continue to perform adaptability tuning, after the tuning regulation time of predetermined adaptability, tuning adjustment can terminate automatically, if now servomotor still has vibration or abnormal sound, reduce response until vibration or extraordinary noise solve, utilize Mechanical Analyzer simultaneously, manually wave filter is set, finally reach target response.
4. but liquid crystal glass base according to claim 3 transport vibration damping shakes control method, it is characterized in that: the servomotor frequency of operation of described setting is 10Hz-4500Hz.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510897271.6A CN105353788B (en) | 2015-12-08 | 2015-12-08 | A kind of liquid crystal glass base transports vibration damping vibration suppression control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510897271.6A CN105353788B (en) | 2015-12-08 | 2015-12-08 | A kind of liquid crystal glass base transports vibration damping vibration suppression control method |
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| Publication Number | Publication Date |
|---|---|
| CN105353788A true CN105353788A (en) | 2016-02-24 |
| CN105353788B CN105353788B (en) | 2018-05-08 |
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ID=55329775
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510897271.6A Active CN105353788B (en) | 2015-12-08 | 2015-12-08 | A kind of liquid crystal glass base transports vibration damping vibration suppression control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107202835A (en) * | 2017-07-06 | 2017-09-26 | 中山大学 | A kind of glass curtain wall adhesive structure damage monitoring system and monitoring method |
| CN107314792A (en) * | 2017-07-06 | 2017-11-03 | 中山大学 | A kind of glass curtain wall safety monitoring system and monitoring method |
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| CN1971457A (en) * | 2005-11-25 | 2007-05-30 | 中国科学院沈阳计算技术研究所有限公司 | Speed control method used for numerical control machine |
| CN101130413A (en) * | 2006-08-22 | 2008-02-27 | 西安交通大学 | Method for controlling speed increase and reduction of high speed positioning movement of paper pulling device of paper cutter |
| CN103713581A (en) * | 2013-12-12 | 2014-04-09 | 南京工程学院 | Method for realizing S curve acceleration and deceleration of motion control system |
| CN104221278A (en) * | 2012-04-27 | 2014-12-17 | 株式会社日立产机系统 | Electric motor control device and method for automatically adjusting same |
-
2015
- 2015-12-08 CN CN201510897271.6A patent/CN105353788B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01191910A (en) * | 1988-01-27 | 1989-08-02 | Omron Tateisi Electron Co | Acceleration/deceleration control method for traveling object |
| CN1971457A (en) * | 2005-11-25 | 2007-05-30 | 中国科学院沈阳计算技术研究所有限公司 | Speed control method used for numerical control machine |
| CN101130413A (en) * | 2006-08-22 | 2008-02-27 | 西安交通大学 | Method for controlling speed increase and reduction of high speed positioning movement of paper pulling device of paper cutter |
| CN104221278A (en) * | 2012-04-27 | 2014-12-17 | 株式会社日立产机系统 | Electric motor control device and method for automatically adjusting same |
| CN103713581A (en) * | 2013-12-12 | 2014-04-09 | 南京工程学院 | Method for realizing S curve acceleration and deceleration of motion control system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107202835A (en) * | 2017-07-06 | 2017-09-26 | 中山大学 | A kind of glass curtain wall adhesive structure damage monitoring system and monitoring method |
| CN107314792A (en) * | 2017-07-06 | 2017-11-03 | 中山大学 | A kind of glass curtain wall safety monitoring system and monitoring method |
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| Publication number | Publication date |
|---|---|
| CN105353788B (en) | 2018-05-08 |
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