CN106391738A - Transmission speed adaptive adjustment method and system of multi-pass metal processing system - Google Patents
Transmission speed adaptive adjustment method and system of multi-pass metal processing system Download PDFInfo
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- CN106391738A CN106391738A CN201611047492.5A CN201611047492A CN106391738A CN 106391738 A CN106391738 A CN 106391738A CN 201611047492 A CN201611047492 A CN 201611047492A CN 106391738 A CN106391738 A CN 106391738A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C1/00—Manufacture of metal sheets, metal wire, metal rods, metal tubes by drawing
- B21C1/02—Drawing metal wire or like flexible metallic material by drawing machines or apparatus in which the drawing action is effected by drums
- B21C1/12—Regulating or controlling speed of drawing drums, e.g. to influence tension; Drives; Stop or relief mechanisms
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Abstract
The invention relates to a transmission speed adaptive adjustment method and system of a multi-pass metal processing system. The adjustment method comprises the steps of determining the current output quantity of corresponding PID control of a motor of the pass according to the current input quantity of the PID control of the motor of any pass except the first pass or the last pass; judging whether the fluctuations of the current output quantity and the current input quantity of the PID control of the motor of the pass are stabilized within respective set ranges and the stabilization time exceeds the set time; and if the judgment is established, determining the current speed coefficient of the motor of any pass except the first pass or the last pass, updating the speed coefficient, which is stored in the system, of the system of the pass by using the current speed coefficient, and calculating the real-time speed of the motor of the pass. According to the transmission speed adaptive adjustment method and system, the influence of large disturbance of system parameters on the speed of the motor is avoided, the influence of the output quantity of the PID control on the speed of the motor is effectively reduced, and the stability and response capability of the whole system are increased.
Description
Technical field
The present invention relates to a kind of transmission speed adaptive regulation method of multi-pass metal working system and system, belong to many
Passage metal drawing rolling technique system of processing adaptive-feedrate adjustment technical field.
Background technology
In wire strands and sheet material class manufacture field, generally adopt the specialty process equipment such as wire drawing machine, milling train to thread, excellent
The metal material such as shape and tabular carries out drawing and rolling.During the control design case of professional process equipment, all follow " metal fortune
Dynamic second flow is equal " principle.For example drawing wiry is processed, in tinsel, minor diameter is drawn to by major diameter
During, draw volume within the unit interval for the metallicses shutting out identical from forward and backward road.But, because tinsel is in drawing
During its diameter from large to small, that is, wire section amasss and diminishes, the speed that the speed that Ze Hou road drives is driven with front road
Ratio need to be square product of forward and backward road wire diameter ratio, just can accurately be controlled.
Fig. 1 gives the control process of motor speed between eight passages in the tinsel course of processing, in this control process,
The swing arm position bypassing before processing mold is entered as the given source of PID control using tinsel, is passed with the tension force being connected with swing arm
Tension force wiry measured by sensor, as the feedback sources of PID control, is adjusted controlling to the speed of system each passage motor
System.In system of processing normal course of operation, when the speed using the present speed of last a time motor as whole control system
Degree reference value, according to the principle recursion forward of " movement of metallic second flow is equal ", determines motor in above seven passages successively
Control speed.Wherein, when using the present speed of last a time motor as reference value, the speed of other each passage motors
Control method is：
Vi'=Vi+1/ρi″+PIDOi
Wherein, Vi' for the i-th passage motor real-time speed, Vi+1For the present speed of i+1 passage motor, ρi" it is i-th
The system speed coefficient of passage motor, PIDOiCurrent output for the PID control of the i-th passage motor.
In above-mentioned control process, the motor of each passage is defeated according to the speed of adjacent passage motor and PID control
Output carries out implementing adjustment, is finally reached system balancing.When the parameter fluctuation of any a time makes this passage motor speed send out
During changing, before it, the speed of each passage motor is required to adjust accordingly, to ensure the normal operation of whole system.But
It is that, because system needs real-time update pid parameter to adjust participation amount, the participation amount that pid parameter is adjusted is larger, each passage motor speed
Degree adjusts frequently, and the stability of system and capability of fast response are poor.
Therefore, how while avoiding having influence on system running state due to parameter fluctuation, reduce pid parameter and adjust
Participation amount, reduce the regulating frequency of each passage motor speed, improve the operation stability of system and responding ability, become metal
Mainly studying a question during the control design case of silk and sheet material class process equipment.
Content of the invention
It is an object of the invention to provide a kind of transmission speed adaptive regulation method of multi-pass metal working system and be
System, for solving the participation amount in the conventional control design process of tinsel and sheet material class process equipment, adjusting due to pid parameter
Larger, and lead to the poor problem of system stability.
For solving above-mentioned technical problem, the invention provides a kind of transmission speed self adaptation of multi-pass metal working system
Control method, including below scheme：
Method scheme one：Comprise the following steps
Step 1, current according to any a time motor PID control of other in addition to the most front a time or last a time
Input quantity obtains the current output of the corresponding PID control of this passage motor, when the present speed with the most front a time motor is made
On the basis of be worth when, remove the most front a time motor, when using the present speed of last a time motor as reference value, remove
A time motor afterwards；
Step 2, judges whether the current output fluctuation of this passage motor PID control and input quantity fluctuation stablize respective
Set point is interior and stabilization time all exceedes setting time；
Step 3, if meeting the condition of step 2, when using the present speed of the most front a time motor as reference value, obtains
The present speed of this passage motor and its present speed of front a time motor, calculate the present speed system of this passage motor
Number；When using the present speed of last a time motor as reference value, obtain this passage motor present speed and one thereafter
The present speed of secondary motor, calculates the present speed coefficient of this passage motor；
Step 4, this passage system speed coefficient being stored up with the present speed coefficient update Installed System Memory of this passage motor, when
During using the present speed of the most front a time motor as reference value, according to the current output of this passage motor PID control, previous
The system speed coefficient of the present speed of passage motor and this passage motor calculates the real-time speed of this passage motor, when with
When the present speed of a time motor is as reference value afterwards, according to current output, rear a time of this passage motor PID control
The system speed coefficient of the present speed of motor and this passage motor calculates the real-time speed of this passage motor.
Method scheme two：On the basis of method scheme one, the setting of the current output fluctuation of this passage motor PID control
Determining scope is ± 25%, and the set point of the current input quantity fluctuation of this passage motor PID control is 25%～75%, this passage
The current input quantity fluctuation of motor PID control and current output fluctuated stable setting time for 2 seconds.
Method scheme three, four：On the basis of method scheme one or two, when working as with the most front a time motor in step 3
When front speed is as reference value, the computing formula of the present speed coefficient of other each passage motors in addition to the most front a time
For：
ρi'=Vi-1/Vi
Wherein, ρi' for the i-th passage motor present speed coefficient, Vi-1For the present speed of the i-th -1 passage motor, ViFor
The present speed of the i-th passage motor；
Other each passages when using the present speed of last a time motor as reference value, in addition to last a time
The computing formula of the present speed coefficient of motor is：
ρi'=Vi+1/Vi
Wherein, ρi' for the i-th passage motor present speed coefficient, Vi+1For the present speed of i+1 passage motor, ViFor
The present speed of the i-th passage motor.
Method scheme five, six：On the basis of method scheme one or two, when working as with the most front a time motor in step 4
When front speed is as reference value, the method for control speed of other each passage motors in addition to the most front a time is：
Vi'=Vi-1/ρi″+PIDOi
Wherein, Vi' for the i-th passage motor real-time speed, Vi-1For the present speed of the i-th -1 passage motor, ρi" it is i-th
The system speed coefficient of passage motor, PIDOiCurrent output for the PID control of the i-th passage motor；
Other each passages when using the present speed of last a time motor as reference value, in addition to last a time
The method for control speed of motor is：
Vi'=Vi+1/ρi″+PIDOi
Wherein, Vi' for the i-th passage motor real-time speed, Vi+1For the present speed of i+1 passage motor, ρi" it is i-th
The system speed coefficient of passage motor, PIDOiCurrent output for the PID control of the i-th passage motor.
Method scheme seven, eight：On the basis of method scheme one or two, when the present speed with the most front a time motor is made
On the basis of when being worth, the initial velocity of the most front a time motor is setting value, and the initial velocity of other any a time motors is it
The initial velocity of front a time motor and the ratio of the initial velocity coefficient of this passage motor；When working as with last a time motor
When front speed is as reference value, the initial velocity of last a time motor is setting value, other any a time motors initial
Speed is the ratio of the initial velocity coefficient of the initial velocity of a time motor and this passage motor thereafter；Wherein this passage motor
Initial velocity coefficient determined according to the equal principle of movement of metallic second flow.
Present invention also offers a kind of transmission speed self-adaption regulation system of multi-pass metal working system, including following
Scheme：
System schema one：This system includes at least three intermetallic composite coating passages, when with the current speed of the most front a time motor
When degree is as reference value, the method for control speed of other each passage motors in addition to the most front a time is：
Vi'=Vi-1/ρi″+PIDOi
Wherein, Vi' for the i-th passage motor real-time speed, Vi-1For the present speed of the i-th -1 passage motor, ρi" it is i-th
The system speed coefficient of passage motor, PIDOiCurrent output for the PID control of the i-th passage motor；
Other each passage motors when using the speed of last a time motor as reference value, in addition to last a time
Method for control speed be：
Vi'=Vi+1/ρi″+PIDOi
Wherein, Vi' for the i-th passage motor real-time speed, Vi+1For the present speed of i+1 passage motor, ρi" it is i-th
The system speed coefficient of passage motor, PIDOiCurrent output for the PID control of the i-th passage motor；
Any a time real-time judge this passage motor PID control in addition to the most front a time or last a time current
Whether output fluctuation stablizes in respective set point with input quantity fluctuation and stabilization time all exceedes setting time；Ruo Bendao
The current output fluctuation of secondary motor PID control is stablized in respective set point with input quantity fluctuation and stabilization time all exceedes
Setting time, when using the present speed of the most front a time motor as reference value, obtain this passage motor present speed and
The present speed of its front a time motor, calculates the present speed coefficient of this passage motor；When with last a time motor
When present speed is as reference value, obtains the present speed of this passage motor and the present speed of a time motor thereafter, calculate
Go out the present speed coefficient of this passage motor；This passage system with the present speed coefficient update Installed System Memory storage of this passage motor
System velocity coeffficient.
System schema two：On the basis of system schema one, the setting of the current output fluctuation of this passage motor PID control
Determining scope is ± 25%, and the set point of the current input quantity fluctuation of this passage motor PID control is 25%～75%, this passage
The current input quantity fluctuation of motor PID control and current output fluctuated stable setting time for 2 seconds.
System schema three, four：On the basis of system schema one or two, when the present speed with the most front a time motor is made
On the basis of be worth when, the computing formula of the present speed coefficient of other each passage motors in addition to the most front a time is：
ρi'=Vi-1/Vi
Wherein, ρi' for the i-th passage motor present speed coefficient, Vi-1For the present speed of the i-th -1 passage motor, ViFor
The present speed of the i-th passage motor；
Other each passages when using the present speed of last a time motor as reference value, in addition to last a time
The computing formula of the present speed coefficient of motor is：
ρi'=Vi+1/Vi
Wherein, ρi' for the i-th passage motor present speed coefficient, Vi+1For the present speed of i+1 passage motor, ViFor
The present speed of the i-th passage motor.
System schema five, six：On the basis of system schema one or two, when the present speed with the most front a time motor is made
On the basis of when being worth, the initial velocity of the most front a time motor is setting value, and the initial velocity of other any a time motors is it
The initial velocity of front a time motor and the ratio of the initial velocity coefficient of this passage motor；When working as with last a time motor
When front speed is as reference value, the initial velocity of last a time motor is setting value, other any a time motors initial
Speed is the ratio of the initial velocity coefficient of the initial velocity of a time motor and this passage motor thereafter；Wherein this passage motor
Initial velocity coefficient determined according to the equal principle of movement of metallic second flow.
The invention has the beneficial effects as follows：
PID control according to other the arbitrary passage motors judging in addition to last a time or the most front a time motor work as
Whether the fluctuation of front input quantity and current output meets imposes a condition, only in the case that satisfaction imposes a condition, motor be
System velocity coeffficient is just updated, and is then come real with the current output of the electric system velocity coeffficient after updating and PID control
The speed adjustment of existing motor controls, and due to decreasing the impact to motor speed for the PID control output, motor was being carried out every time
A short-period steady-state operating condition can be entered after speed adjustment, accordingly improve stability and the response energy of whole system
Power.
Brief description
Fig. 1 is the control structure block diagram of motor speed between eight passages in prior art；
Fig. 2 is the functional module of motor speed PID arithmetic between eight passages；
Fig. 3 is the control structure block diagram 1 of motor speed between eight passages；
Fig. 4 is the control structure block diagram 2 of motor speed between eight passages.
Specific embodiment
The present invention will be further described in detail below in conjunction with the accompanying drawings.
In the tinsel course of processing, tinsel first bypasses a tensioned sensing of connection after the drawing of per pass reel
The swing arm of device, enters back into wire-drawing die, enters next road reel after the processing of wire-drawing die.Tinsel passes through wire drawing every time
After mould, all once tube reducing processes, this process follows " movement of metallic second flow is equal " principle.Carry between below with eight passages
As a example moving the control process of corresponding motor speed of each spool turns, transmission speed adaptive regulation method is situated between in detail
Continue.
The transmission speed adaptive regulation method embodiment 1 of multi-pass metal working system：
In an initial condition, the duplicate ratio of the import and export diameter according to each passage wire-drawing die, calculates each passage electricity
The initial velocity coefficient of machineFor example：If the inlet diameter of certain passage wire-drawing die is 2.8mm, outlet diameter is 2.6mm, then
The initial velocity coefficient of this passage motor
Initial velocity with the 8th passage motorAs the initial velocity reference value of whole control system, by calculating
The above initial velocity coefficient of the individual passage motor in i-th (1≤i≤7)Calculate the initial velocity of motor in each passage successivelySpecifically, motor initial velocity in i-th (1≤i≤7) passage in addition to last a timeComputational methods be：
Wherein,For the initial velocity of i+1 passage motor,For the initial velocity of the i-th passage motor,For the i-th road
The initial velocity coefficient of secondary motor.
During tinsel normal process, the position of swing arm bypassing before wire-drawing die is entered as PID using tinsel
Control given source, the tension force wiry measured by the tension pick-up being connected with using in swing arm as the feedback sources of PID control,
The speed of system each passage motor is adjusted.Fig. 2 gives functional module FB51 of motor PID arithmetic between eight passages,
Wherein DB1.DBW0-DBW14 is the input value of PID control, that is, correspond to the tension force wiry measured by each tension pick-up,
DB1.DBW16-DBW30 is the output valve of PID control.When using the present speed of last a time motor as reference value, that is, with
The present speed V of the 8th passage motor8As whole control system Velocity Reference value when, in other each passages motor speed
The control block diagram of degree is as shown in figure 3, specifically include following steps：
Step 1, obtains this according to the current input quantity of any a time motor PID control of other in addition to last a time
The current output of the corresponding PID control of passage motor.
Step 2, judges whether the current output fluctuation of this passage motor PID control and input quantity fluctuation stablize respective
Set point is interior and stabilization time all exceedes setting time.
In the present embodiment, the set point of the current output fluctuation of this passage motor PID control is ± 25%, that is, originally
The difference of the output of motor PID control of the current output of passage motor PID control and the setting of this passage is set with this passage
The ratio of the fixed output of motor PID control is in the range of -25%～25%；Set when tinsel enter wire-drawing die before around
When the swing arm crossed is located at the centre position of amplitude of fluctuation, PID input quantity fluctuates as 50%, then this passage motor PID control is current
Input quantity fluctuation set point be 25%～75%, even with this swing arm be located at amplitude of fluctuation centre position when PID defeated
Enter value on the basis of amount fluctuation, then the scope that PID input quantity fluctuates up and down is -25%～25%；This passage motor PID control work as
The fluctuation of front input quantity and the stable setting time of current output fluctuation are 2 seconds, that is, the input quantity of this passage motor PID control and
The fluctuation of output is held time at least 2 seconds in the range of respective setting.
Certainly, in different machining production lines it is also possible to as needed to the output of each passage motor PID control and
The time of the fluctuation range of output and two fluctuation maintenances is suitably adjusted.
Step 3, if meeting the condition of step 2, obtains the current of this passage motor present speed and a time motor thereafter
Speed, calculates the present speed coefficient of this passage motor.
Wherein, the present speed coefficient of this passage motor is the motor present speed of a time and this passage after this passage
The ratio of motor present speed.Specifically, the present speed coefficient of i-th (1≤i≤7) the passage motor in addition to last a time
ρi' computing formula be：
ρi'=Vi+1/Vi
Wherein, ViFor the present speed of the i-th passage motor, Vi+1The present speed of i+1 passage motor.
Step 4, with this passage system speed coefficient of the present speed coefficient update Installed System Memory storage of this passage motor, root
System speed according to the current output of this passage motor PID control, the present speed of rear a time motor and this passage motor
Degree coefficient calculates the real-time speed of this passage motor.
Specifically, the real-time speed V of i-th (1≤i≤7) the passage motor in addition to last a timei' computing formula be：
Vi'=Vi+1/ρi″+PIDOi
Wherein, Vi+1For the present speed of i+1 passage motor, ρi" for the system speed coefficient of the i-th passage motor, PIDOi
Current output for the PID control of the i-th passage motor.
In addition, above-mentioned control process not only can apply to machining control process wiry, can equally be well applied to metal
The roll control process of plate.
The transmission speed adaptive regulation method embodiment 2 of multi-pass metal working system：
In an initial condition, the computational methods of the initial velocity coefficient of each passage motor are referring to control method embodiment 1,
Here is omitted.
Initial velocity with first passage motorAs the initial velocity reference value of whole control system, by calculating
The initial velocity coefficient of the individual passage motor in i-th (2≤i≤8) nextCalculate the initial velocity of motor in each passage successivelySpecifically, motor initial velocity in i-th (2≤i≤8) passage in addition to the most front a timeComputational methods be：
Wherein,For the initial velocity of the i-th -1 passage motor,For the initial velocity of the i-th passage motor,For the i-th road
The initial velocity coefficient of secondary motor.
During tinsel normal process, the position of swing arm bypassing before wire-drawing die is entered as PID using tinsel
Control given source, the tension force wiry measured by the tension pick-up being connected with using in swing arm as the feedback sources of PID control,
The speed of system each passage motor is adjusted.When with the present speed V of the first passage motor1As whole control system
Velocity Reference value, in other each passages, the control block diagram of motor speed is as shown in figure 4, specifically include following steps：
Step 1, obtains this according to the current input quantity of any a time motor PID control of other in addition to the most front a time
The current output of the corresponding PID control of passage motor.
Step 2, judges whether the current output fluctuation of this passage motor PID control and input quantity fluctuation stablize respective
Set point is interior and stabilization time all exceedes setting time.
In the present embodiment, the set point of the current output fluctuation of this passage motor PID control is ± 25%, that is, originally
The difference of the output of motor PID control of the current output of passage motor PID control and the setting of this passage is set with this passage
The ratio of the fixed output of motor PID control is in the range of -25%～25%；Set when tinsel enter wire-drawing die before around
When the swing arm crossed is located at the centre position of amplitude of fluctuation, PID input quantity fluctuates as 50%, then this passage motor PID control is current
Input quantity fluctuation set point be 25%～75%, even with this swing arm be located at amplitude of fluctuation centre position when PID defeated
Enter value on the basis of amount fluctuation, then the scope that PID input quantity fluctuates up and down is -25%～25%；This passage motor PID control work as
The fluctuation of front input quantity and the stable setting time of current output fluctuation are 2 seconds, that is, the input quantity of this passage motor PID control and
The fluctuation of output is held time at least 2 seconds in the range of respective setting.
Certainly, in different machining production lines it is also possible to as needed to the output of each passage motor PID control and
The time of the fluctuation range of output and two fluctuation maintenances is suitably adjusted.
Step 3, if meeting the condition of step 2, obtains the current of this passage motor present speed and its front a time motor
Speed, calculates the present speed coefficient of this passage motor.
Wherein, the present speed coefficient of this passage motor is the motor present speed of a time and this passage electricity before this passage
The ratio of the present speed of machine.Specifically, the present speed coefficient of i-th (2≤i≤8) the passage motor in addition to the most front a time
ρi' computing formula be：
ρi'=Vi-1/Vi
Wherein, ViFor the present speed of the i-th passage motor, Vi-1Present speed for the i-th -1 passage motor.
Step 4, with this passage system speed coefficient of the present speed coefficient update Installed System Memory storage of this passage motor, root
System speed according to the current output of this passage motor PID control, the present speed of front a time motor and this passage motor
Degree coefficient calculates the real-time speed of this passage motor.
Specifically, the real-time speed V of i-th (2≤i≤8) the passage motor in addition to the most front a timei' computing formula be：
Vi'=Vi-1/ρi″+PIDOi
Wherein, Vi-1For the present speed of the i-th -1 passage motor, ρi" for the system speed coefficient of the i-th passage motor, PIDOi
Current output for the PID control of the i-th passage motor.
In addition, above-mentioned control process not only can apply to machining control process wiry, can equally be well applied to metal
The roll control process of plate.
The transmission speed self-adaption regulation system embodiment 1 of multi-pass metal working system：
This system includes eight intermetallic composite coating passages, during using the speed of the 8th passage motor as reference value, except last
The real-time speed V of i-th (1≤i≤7) the passage motor outside passagei' computing formula be：
Vi'=Vi+1/ρi″+PIDOi
Wherein, Vi+1For the present speed of i+1 passage motor, ρi" for the system speed coefficient of the i-th passage motor, PIDOi
Current output for the PID control of the i-th passage motor.
Before each passage motor updates its own system velocity coeffficient and speed, first determine whether that this passage motor PID is controlled
Whether the current output fluctuation of system and input quantity fluctuation stablize in respective set point and when stabilization time all exceedes setting
Between.If the current output fluctuation of this passage motor PID control and input quantity fluctuation range and two fluctuations are in the scope setting
The time of interior maintenance meets condition, then obtain the present speed of this passage motor present speed and a time motor thereafter, calculates
Go out the present speed coefficient of this passage motor, and this passage of the present speed coefficient update Installed System Memory storage with this passage motor
System speed coefficient, and accordingly update the speed of this passage motor；If being unsatisfactory for above-mentioned condition, this passage of Installed System Memory storage
System speed coefficient is not updated, and this passage motor operates according to existing speed.
Wherein, the present speed coefficient of this passage motor is the motor present speed of a time and this passage after this passage
The ratio of motor present speed.Specifically, the present speed coefficient of i-th (1≤i≤7) the passage motor in addition to last a time
ρi' computing formula be：
ρi'=Vi+1/Vi
Wherein, ViFor the present speed of the i-th passage motor, Vi+1The present speed of i+1 passage motor.
In the present embodiment, the set point of the current output fluctuation of this passage motor PID control is ± 25%, that is, originally
The difference of the output of motor PID control of the current output of passage motor PID control and the setting of this passage is set with this passage
The ratio of the fixed output of motor PID control is in the range of -25%～25%；Set when tinsel enter wire-drawing die before around
When the swing arm crossed is located at the centre position of amplitude of fluctuation, PID input quantity fluctuates as 50%, then this passage motor PID control is current
Input quantity fluctuation set point be 25%～75%, even with this swing arm be located at amplitude of fluctuation centre position when PID defeated
Enter value on the basis of amount fluctuation, then the proportion that PID input quantity fluctuates up and down is -25%～25%；This passage motor PID control
The fluctuation of current input quantity and the stable setting time of current output fluctuation be 2 seconds, i.e. the input of this passage motor PID control
The fluctuation of amount and output is held time at least 2 seconds in the range of respective setting.
In addition, in an initial condition, the duplicate ratio of the import and export diameter according to each passage wire-drawing die, calculates each road
The initial velocity coefficient of secondary motorFor example：If the inlet diameter of certain passage wire-drawing die is 2.8mm, outlet diameter is
2.6mm, then the initial velocity coefficient of this passage motor
Initial velocity with the 8th passage motorAs the initial velocity reference value of whole control system, by calculating
The above initial velocity coefficient of the individual passage motor in i-th (1≤i≤7)Calculate the initial velocity of motor in each passage successivelySpecifically, motor initial velocity in i-th (1≤i≤7) passage in addition to last a timeComputational methods be：
Wherein,For the initial velocity of i+1 passage motor,For the initial velocity of the i-th passage motor,For i-th
The initial velocity coefficient of passage motor.
The transmission speed self-adaption regulation system of above-mentioned multi-pass metal working system not only can carry out wiry adding
Work control process, can equally be well applied to the roll control process of metallic plate.
The transmission speed self-adaption regulation system embodiment 2 of multi-pass metal working system：
This system includes eight intermetallic composite coating passages, during using the speed of the first passage motor as reference value, except first
The real-time speed V of secondary outer i-th (2≤i≤8) passage motori' computing formula be：
Vi'=Vi-1/ρi″+PIDOi
Wherein, Vi-1For the present speed of the i-th -1 passage motor, ρi" for the system speed coefficient of the i-th passage motor, that is, the
The present speed of i-1 passage motor and the ratio of the i-th passage motor present speed, PIDOiPID control for the i-th passage motor
Current output.
Before each passage motor updates its own system velocity coeffficient and speed, first determine whether that this passage motor PID is controlled
Whether the current output fluctuation of system and input quantity fluctuation stablize in respective set point and when stabilization time all exceedes setting
Between.If the current output fluctuation of this passage motor PID control and input quantity fluctuation range and two fluctuations are in the scope setting
The time of interior maintenance meets condition, then obtain this passage motor present speed and its present speed of front a time motor, calculates
Go out the present speed coefficient of this passage motor, and this passage of the present speed coefficient update Installed System Memory storage with this passage motor
System speed coefficient, and accordingly update the speed of this passage motor；If being unsatisfactory for above-mentioned condition, this passage of Installed System Memory storage
System speed coefficient is not updated, and this passage motor operates according to existing speed.
Specifically, the present speed coefficient ρ of i-th (2≤i≤8) the passage motor in addition to the most front a timei' calculating public
Formula is：
ρi'=Vi-1/Vi
Wherein, ViFor the present speed of the i-th passage motor, Vi-1Present speed for the i-th -1 passage motor.
In the present embodiment, the set point of the current output fluctuation of this passage motor PID control is ± 25%, that is, originally
The difference of the output of motor PID control of the current output of passage motor PID control and the setting of this passage is set with this passage
The ratio of the fixed output of motor PID control is in the range of -25%～25%；Set when tinsel enter wire-drawing die before around
When the swing arm crossed is located at the centre position of amplitude of fluctuation, PID input quantity fluctuates as 50%, then this passage motor PID control is current
Input quantity fluctuation set point be 25%～75%, even with this swing arm be located at amplitude of fluctuation centre position when PID defeated
Enter value on the basis of amount fluctuation, then the proportion that PID input quantity fluctuates up and down is -25%～25%；This passage motor PID control
The stable setting time of current input quantity fluctuation be 2 seconds, i.e. the fluctuation of the input quantity of this passage motor PID control and output
Hold time at least 2 seconds in the range of respective setting.
In addition, in an initial condition, the duplicate ratio of the import and export diameter according to each passage wire-drawing die, calculates each road
The initial velocity coefficient of secondary motorFor example：If the inlet diameter of certain passage wire-drawing die is 2.8MM, outlet diameter is
2.6MM, then the initial velocity coefficient of this passage motor
Initial velocity with first passage motorAs the Velocity Reference value of whole control system, after calculating
The initial velocity coefficient of the individual passage motor in i-th (2≤i≤8)Calculate the initial velocity of motor in each passage successively
Specifically, motor initial velocity in i-th (2≤i≤8) passage in addition to the most front a timeComputational methods be：
Wherein,For the initial velocity of the i-th -1 passage motor,For the initial velocity of the i-th passage motor, ρiFor the i-th road
The initial velocity coefficient of secondary motor.
The transmission speed self-adaption regulation system of above-mentioned multi-pass metal working system not only can carry out wiry adding
Work control process, can equally be well applied to the roll control process of metallic plate.
Claims (9)
1. a kind of transmission speed adaptive regulation method of multi-pass metal working system is it is characterised in that comprise the following steps：
Step 1, according to the current input of any a time motor PID control of other in addition to the most front a time or last a time
Amount obtains the current output of the corresponding PID control of this passage motor, when using the present speed of the most front a time motor as base
During quasi- value, remove the most front a time motor, when using the present speed of last a time motor as reference value, remove last
Passage motor；
Step 2, judges that the current output fluctuation of this passage motor PID control and input quantity fluctuate whether to stablize and set respective
In the range of and stabilization time all exceed setting time；
Step 3, if meeting the condition of step 2, when using the present speed of the most front a time motor as reference value, obtains this road
The present speed of secondary motor and its present speed of front a time motor, calculate the present speed coefficient of this passage motor；When
During using the present speed of last a time motor as reference value, obtain this passage motor present speed and a time motor thereafter
Present speed, calculate the present speed coefficient of this passage motor；
Step 4, with this passage system speed coefficient of the present speed coefficient update Installed System Memory storage of this passage motor, when with
When the present speed of front a time motor is as reference value, according to current output, front a time of this passage motor PID control
The system speed coefficient of the present speed of motor and this passage motor calculates the real-time speed of this passage motor, when with last
When the present speed of passage motor is as reference value, according to current output, rear a time motor of this passage motor PID control
Present speed and the system speed coefficient of this passage motor calculate the real-time speed of this passage motor.
2. the transmission speed adaptive regulation method of multi-pass metal working system according to claim 1, its feature exists
It is ± 25% in the set point of the current output fluctuation of, this passage motor PID control, the working as of this passage motor PID control
The set point of front input quantity fluctuation is 25%～75%, and the current input quantity of this passage motor PID control fluctuates and currently defeated
The stable setting time of output fluctuation is 2 seconds.
3. the transmission speed adaptive regulation method of multi-pass metal working system according to claim 1 and 2, its feature
Be, in step 3 when using the present speed of the most front a time motor as reference value, in addition to the most front a time other each
The computing formula of the present speed coefficient of passage motor is：
ρ′i=Vi-1/Vi
Wherein, ρ 'iFor the present speed coefficient of the i-th passage motor, Vi-1For the present speed of the i-th -1 passage motor, ViFor the i-th road
The present speed of secondary motor；
Other each passage motors when using the present speed of last a time motor as reference value, in addition to last a time
The computing formula of present speed coefficient be：
ρ′i=Vi+1/Vi
Wherein, ρ 'iFor the present speed coefficient of the i-th passage motor, Vi+1For the present speed of i+1 passage motor, ViFor the i-th road
The present speed of secondary motor.
4. the transmission speed adaptive regulation method of multi-pass metal working system according to claim 1 and 2, its feature
Be, in step 4 when using the present speed of the most front a time motor as reference value, in addition to the most front a time other each
The method for control speed of passage motor is：
V′i=Vi-1/ρ″i+PIDOi
Wherein, V 'iFor the real-time speed of the i-th passage motor, Vi-1For the present speed of the i-th -1 passage motor, ρ "iFor the i-th passage
The system speed coefficient of motor, PIDOiCurrent output for the PID control of the i-th passage motor；
Other each passage motors when using the present speed of last a time motor as reference value, in addition to last a time
Method for control speed be：
V′i=Vi+1/ρ″i+PIDOi
Wherein, Vi' for the i-th passage motor real-time speed, Vi+1For the present speed of i+1 passage motor, ρ "iFor the i-th passage
The system speed coefficient of motor, PIDOiCurrent output for the PID control of the i-th passage motor.
5. the transmission speed adaptive regulation method of multi-pass metal working system according to claim 1 and 2, its feature
It is, when using the present speed of the most front a time motor as reference value, the initial velocity of the most front a time motor is to set
Value, the initial velocity of other any a time motors is the initial speed with this passage motor for the initial velocity of its front a time motor
The ratio of degree coefficient；When using the present speed of last a time motor as reference value, the initial speed of last a time motor
Spend for setting value, the initial velocity of other any a time motors is the initial velocity of a time motor and this passage motor thereafter
Initial velocity coefficient ratio；The initial velocity coefficient of wherein this passage motor is according to the equal principle of movement of metallic second flow
Determine.
6. a kind of transmission speed self-adaption regulation system of multi-pass metal working system, including at least three intermetallic composite coating roads
Other each passage motors secondary, when using the present speed of the most front a time motor as reference value, in addition to the most front a time
Method for control speed be：
V′i=Vi-1/ρ″i+PIDOi
Wherein, V 'iFor the real-time speed of the i-th passage motor, Vi-1For the present speed of the i-th -1 passage motor, ρ "iFor the i-th passage
The system speed coefficient of motor, PIDOiCurrent output for the PID control of the i-th passage motor；
When using the speed of last a time motor as reference value, the speed of other each passage motors in addition to last a time
Spending control method is：
V′i=Vi+1/ρ″i+PIDOi
Wherein, V 'iFor the real-time speed of the i-th passage motor, Vi+1For the present speed of i+1 passage motor, ρ "iFor the i-th passage
The system speed coefficient of motor, PIDOiCurrent output for the PID control of the i-th passage motor；
It is characterized in that, any a time real-time judge this passage motor PID control in addition to the most front a time or last a time
Whether the current output fluctuation of system and input quantity fluctuation stablize in respective set point and when stabilization time all exceedes setting
Between；If the current output fluctuation of this passage motor PID control and input quantity fluctuation are stable in respective set point and stable
Time all exceedes setting time, when using the present speed of the most front a time motor as reference value, obtains this passage motor
Present speed and its present speed of front a time motor, calculate the present speed coefficient of this passage motor；When with last
When the present speed of passage motor is as reference value, obtain the present speed of this passage motor and the current of a time motor thereafter
Speed, calculates the present speed coefficient of this passage motor；Present speed coefficient update Installed System Memory storage with this passage motor
This passage system speed coefficient.
7. the transmission speed self-adaption regulation system of multi-pass metal working system according to claim 6, its feature exists
It is ± 25% in the set point of the current output fluctuation of, this passage motor PID control, the working as of this passage motor PID control
The set point of front input quantity fluctuation is 25%～75%, and the current input quantity of this passage motor PID control fluctuates and currently defeated
The stable setting time of output fluctuation is 2 seconds.
8. the transmission speed self-adaption regulation system of the multi-pass metal working system according to claim 6 or 7, its feature
It is, other each passage electricity when using the present speed of the most front a time motor as reference value, in addition to the most front a time
The computing formula of the present speed coefficient of machine is：
ρ′i=Vi-1/Vi
Wherein, ρ 'iFor the present speed coefficient of the i-th passage motor, Vi-1For the present speed of the i-th -1 passage motor, ViFor the i-th road
The present speed of secondary motor；
Other each passage motors when using the present speed of last a time motor as reference value, in addition to last a time
The computing formula of present speed coefficient be：
ρ′i=Vi+1/Vi
Wherein, ρ 'iFor the present speed coefficient of the i-th passage motor, Vi+1For the present speed of i+1 passage motor, ViFor the i-th road
The present speed of secondary motor.
9. the transmission speed self-adaption regulation system of the multi-pass metal working system according to claim 6 or 7, its feature
It is, when using the present speed of the most front a time motor as reference value, the initial velocity of the most front a time motor is to set
Value, the initial velocity of other any a time motors is the initial speed with this passage motor for the initial velocity of its front a time motor
The ratio of degree coefficient；When using the present speed of last a time motor as reference value, the initial speed of last a time motor
Spend for setting value, the initial velocity of other any a time motors is the initial velocity of a time motor and this passage motor thereafter
Initial velocity coefficient ratio；The initial velocity coefficient of wherein this passage motor is according to the equal principle of movement of metallic second flow
Determine.
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| CN2840129Y (en) * | 2005-04-15 | 2006-11-22 | 浙江工业大学 | Multi-step linking equipment controller for producing metal products |
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| EP0698572A1 (en) * | 1994-08-27 | 1996-02-28 | Licentia Patent-Verwaltungs-GmbH | Method for the control of web velocities in a device for the transport or the drawing of a web material |
| CN2840129Y (en) * | 2005-04-15 | 2006-11-22 | 浙江工业大学 | Multi-step linking equipment controller for producing metal products |
| CN1728530A (en) * | 2005-04-28 | 2006-02-01 | 浙江工业大学 | Multi-track linkage device |
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