CN107052444A - Flying shear control method based on vector controller - Google Patents
Flying shear control method based on vector controller Download PDFInfo
- Publication number
- CN107052444A CN107052444A CN201611183478.8A CN201611183478A CN107052444A CN 107052444 A CN107052444 A CN 107052444A CN 201611183478 A CN201611183478 A CN 201611183478A CN 107052444 A CN107052444 A CN 107052444A
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- China
- Prior art keywords
- cutting edge
- flying shear
- speed
- vector
- vector controller
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D36/00—Control arrangements specially adapted for machines for shearing or similar cutting, or for sawing, stock which the latter is travelling otherwise than in the direction of the cut
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D25/00—Machines or arrangements for shearing stock while the latter is travelling otherwise than in the direction of the cut
- B23D25/02—Flying shearing machines
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
Abstract
The present invention provides a kind of flying shear control method based on vector controller, it uses flying shear vector motor to carry out speed control to flying shear vector controller with flying shear incremental encoder, and speed control is carried out to feeding roller vector controller using feeding roller vector motor and feeding roller incremental encoder；Velocity close-loop control is carried out to PLC system using flying shear vector controller and feeding roller vector controller；Position-force control is carried out to PLC system with flying shear absolute value encoder using measurement roller incremental encoder, reach the purpose that velocity location closed loop in pairs is carried out to PLC system, i.e. can be before cutting edge reaches shearing point, according to cutting edge position deviation and the difference amendment cutting edge speed of band sheared length deviation, so as to ensure shear precision, production requirement is met, and significantly reduces the cost of equipment.
Description
Technical field
The present invention relates to field of electrical control, and in particular to a kind of flying shear control method based on vector controller.
Background technology
The groundwork of cross shearing unit is that the band finished through cold rolling mill is cut into head, aligning, crosscutting, pile plate.It is main
Equipment is wanted to have uncoiler, straightener, flying shear, belt feeder, sheet piler platform etc..Flying shear is key equipment therein, and it is ensureing cutting edge
In the case of coordinating with the speed sync of machine row miscellaneous equipment and band, the scale of the band in translation on request is carried out high-precision
The shearing of degree.Its technological process is：Upper volume → uncoiling → feeding → aligning → shearing → belt output；When feeding roller feeding forward
When, flying shear is sheared according to setting length to feeding.
It is special to meet product as the continuous upgrading of industrial automation and the technique of automated production become increasingly complex
The requirement of profile and technique, some motion controllers constitute servo-drive system to flying shear blade using servomotor and servo controller
Velocity location be controlled, but servo system control scheme cost of implementation is higher, and control difficulty is big, because market is constantly competing
Strive, tender price is forced down, therefore severe economic situation proposes the requirement of cost control to industry.
The content of the invention
For above mentioned problem, the present invention propose it is a kind of ensure shear precision, and can reduce equipment cost based on
The flying shear control method of vector controller.
The present invention provides a kind of flying shear control method based on vector controller, the method for controlling torque of the rotating speed step
Comprise the following steps：
S1, speed control carried out to flying shear vector controller using flying shear vector motor and flying shear incremental encoder, adopted
Speed control is carried out to feeding roller vector controller with feeding roller vector motor and feeding roller incremental encoder；
S2, velocity close-loop control carried out to PLC system using flying shear vector controller and feeding roller vector controller；
S3, using measurement roller incremental encoder and flying shear absolute value encoder to PLC system progress position-force control.
It is preferred that, the speed of the flying shear vector motor and feeding roller vector motor is controlled by PLC.
It is preferred that, before cutting edge reaches shearing point, according to cutting edge position deviation and the difference of band sheared length deviation
Correct cutting edge speed.
The correction formula of the cutting edge speed is：
Wherein, the L is the sheared length that band is set, and X is the current length passed through of band, Y0It is cutting edge circular motion
Girth, Y is the current displacement of cutting edge, VLFor strip actual speed, VrFor cutting edge the process at the uniform velocity put is accelerated to from wait position
In current spot speed, a is the acceleration of cutting edge.
It is preferred that, when cutting edge is accelerated to from wait position at the uniform velocity to be put, during cutting edge accelerates at the uniform velocity point from wait position
Current spot speed Vr1It is as follows with position relationship：
When cutting edge is from when at the uniform velocity point decelerates to shearing point, cutting edge decelerates to current spot speed during shearing point from the uniform velocity point
Spend Vr2It is as follows with position relationship：
Wherein, a1For cutting edge the acceleration at the uniform velocity put is accelerated to from wait position；S3For cutting edge from deceleration point to wait position away from
From；a3Be cutting edge from deceleration point to wait position acceleration；SYBe cutting edge from deceleration point to wait position real-time displacement.
The present invention provides a kind of method for controlling torque of rotating speed step, and it is by the flying shear servomotor in original equipment and flies
Servo controller is cut, is changed into present general vector motor and vector frequency converter, is sweared by flying shear vector controller and feeding roller
Amount controller carries out velocity close-loop control to PLC system；And measurement roller incremental encoder and flying shear absolute value encoder pair
PLC system carries out position-force control, reaches the purpose that velocity location closed loop in pairs is carried out to PLC system, i.e., can be in cutting edge
Before arrival shearing point, according to cutting edge position deviation and the difference amendment cutting edge speed of band sheared length deviation, so as to ensure
Shear precision, meets production requirement, and significantly reduce the cost of equipment.
Brief description of the drawings
Fig. 1 is the layout of equipment of the flying shear control method of the present invention based on vector controller；
Fig. 2 replaces SERVO CONTROL shear effect figure with vector controlled；
Fig. 3 is corresponding speed control curve figure when sheared length L is less than Δ L；
Fig. 4 is corresponding speed control curve figure when sheared length L is more than Δ L.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in figure 1, the present invention provides a kind of flying shear control method based on vector controller, turn of the rotating speed step
Square control method comprises the following steps：
S1, speed control carried out to flying shear vector controller using flying shear vector motor and flying shear incremental encoder, adopted
Speed control is carried out to feeding roller vector controller with feeding roller vector motor and feeding roller incremental encoder；Wherein, it is described
The speed of flying shear vector motor and feeding roller vector motor is controlled by PLC.
S2, velocity close-loop control carried out to PLC system using flying shear vector controller and feeding roller vector controller；
S3, using measurement roller incremental encoder and flying shear absolute value encoder to PLC system progress position-force control.
The cutting edge of the flying shear from wait position reach shearing point between need by three Ge Jie areas, i.e. accelerating region, at the uniform velocity area,
Deceleration area, to ensure shear precision, that is, needs before cutting edge reaches shearing point, is grown according to cutting edge position deviation and band shearing
Spend the difference amendment cutting edge speed of deviation.
If L is the sheared length that band is set, X is the current length passed through of band, Y0It is the girth of cutting edge circular motion,
Y is the current displacement of cutting edge, VLFor strip actual speed, VrFor the current spot speed of cutting edge, a is the acceleration of cutting edge, a1To cut
Sword accelerates to the acceleration at the uniform velocity put, S from wait position3Be cutting edge from deceleration point to wait position distance, a3It is cutting edge from deceleration point
To the acceleration for waiting position, SYBe cutting edge from deceleration point to wait position real-time displacement, D be cutting edge tactical diameter, R is radius, π
D is synchronous shear length, and t is cutting edge current point to time time at the uniform velocity put, t1For cutting edge at the uniform velocity point is accelerated to from wait position
Time, S1For cutting edge the distance at the uniform velocity put, t are accelerated to from wait position2It is cutting edge from the uniform velocity putting shearing point time, S2For cutting edge
From the distance at the uniform velocity put to shearing point, a3Be cutting edge from deceleration point to wait position acceleration, VrmaxFor the maximum line speeds of cutting edge
Degree.
L-X-S2=VL*t1 (1)
VL=Vr+a1t (2)
2a1((L-X)-(Y0- Y))=(VL-Vr)2 (6)
The correction formula for finally obtaining the cutting edge speed is：
Then when cutting edge is accelerated to from wait position at the uniform velocity to be put, current point during cutting edge accelerates at the uniform velocity point from wait position
Speed Vr1It is as follows with position relationship：
When cutting edge is from when at the uniform velocity point decelerates to shearing point, cutting edge decelerates to current spot speed during shearing point from the uniform velocity point
Spend Vr2It is as follows with position relationship：
Further, for different sheared lengths, corresponding speed control curve is different, and the cutting edge speed VrWith
Critical shear length Δ L relations are as follows：
Therefore it is crucial to find critical shear length Δ L.
a1t1=vrmax (12)
a3t3=vrmax (13)
Then critical length
If sheared length L is less than Δ L, it is not used in waiting position to stop；
If sheared length L is equal to Δ L, need to wait the position residence time to be 0ms；
If sheared length L is more than Δ L, position is waited to stop；
The present invention provides a kind of method for controlling torque of rotating speed step, and it is by the flying shear servomotor in original equipment and flies
Servo controller is cut, is changed into present general vector motor and vector frequency converter, is sweared by flying shear vector controller and feeding roller
Amount controller carries out velocity close-loop control to PLC system；And measurement roller incremental encoder and flying shear absolute value encoder pair
PLC system carries out position-force control, reaches the purpose that velocity location closed loop in pairs is carried out to PLC system, i.e., can be in cutting edge
Before arrival shearing point, according to cutting edge position deviation and the difference amendment cutting edge speed of band sheared length deviation, so as to ensure
Shear precision, meets production requirement, and significantly reduce the cost of equipment.
Following table lists tradition and Innovation-based Economy of the present invention and accuracy comparison：
Above-described embodiment is preferably embodiment, but embodiments of the present invention are not by above-described embodiment of the invention
Limitation, other any Spirit Essences without departing from the present invention and the change made under principle, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (4)
1. a kind of flying shear control method based on vector controller, it is characterised in that the method for controlling torque of the rotating speed step
Comprise the following steps：
S1, speed control carried out to flying shear vector controller using flying shear vector motor and flying shear incremental encoder, using sending
Expect that roller vector motor carries out speed control with feeding roller incremental encoder to feeding roller vector controller；
S2, velocity close-loop control carried out to PLC system using flying shear vector controller and feeding roller vector controller；
S3, using measurement roller incremental encoder and flying shear absolute value encoder to PLC system progress position-force control.
2. the flying shear control method based on vector controller according to claim 1, it is characterised in that the flying shear vector electricity
The speed of machine and feeding roller vector motor is controlled by PLC.
3. the flying shear control method based on vector controller according to claim 2, it is characterised in that reach and shear in cutting edge
Before point, according to cutting edge position deviation and the difference amendment cutting edge speed of band sheared length deviation.
The correction formula of the cutting edge speed is：
Wherein, the L is the sheared length that band is set, and X is the current length passed through of band, Y0It is the week of cutting edge circular motion
Long, Y is the current displacement of cutting edge, VLFor strip actual speed, VrFor cutting edge from wait position accelerate at the uniform velocity point during when
Preceding spot speed, a is the acceleration of cutting edge.
4. the flying shear control method based on vector controller according to claim 3, it is characterised in that
When cutting edge is accelerated to from wait position at the uniform velocity to be put, cutting edge current spot speed V during accelerating at the uniform velocity point from wait positionr1
It is as follows with position relationship：
When cutting edge is from when at the uniform velocity point decelerates to shearing point, cutting edge decelerates to current spot speed V during shearing point from the uniform velocity pointr2
It is as follows with position relationship：
Wherein, a1For cutting edge the acceleration at the uniform velocity put is accelerated to from wait position；S3Be cutting edge from deceleration point to wait position distance；
a3Be cutting edge from deceleration point to wait position acceleration；SYBe cutting edge from deceleration point to wait position real-time displacement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611183478.8A CN107052444A (en) | 2016-12-20 | 2016-12-20 | Flying shear control method based on vector controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611183478.8A CN107052444A (en) | 2016-12-20 | 2016-12-20 | Flying shear control method based on vector controller |
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| CN107052444A true CN107052444A (en) | 2017-08-18 |
Family
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| CN201611183478.8A Pending CN107052444A (en) | 2016-12-20 | 2016-12-20 | Flying shear control method based on vector controller |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107570786A (en) * | 2017-09-14 | 2018-01-12 | 阳春新钢铁有限责任公司 | A kind of flying shear control system and method |
| CN110497248A (en) * | 2019-08-30 | 2019-11-26 | 攀钢集团攀枝花钢钒有限公司 | Flying shear scale shear precision real-time detecting system and method |
| CN110883101A (en) * | 2019-10-23 | 2020-03-17 | 首钢集团有限公司 | Method and device for controlling thickness of strip steel |
| CN114932265A (en) * | 2022-06-15 | 2022-08-23 | 中冶南方工程技术有限公司 | Flying shear control method and system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107570786A (en) * | 2017-09-14 | 2018-01-12 | 阳春新钢铁有限责任公司 | A kind of flying shear control system and method |
| CN110497248A (en) * | 2019-08-30 | 2019-11-26 | 攀钢集团攀枝花钢钒有限公司 | Flying shear scale shear precision real-time detecting system and method |
| CN110883101A (en) * | 2019-10-23 | 2020-03-17 | 首钢集团有限公司 | Method and device for controlling thickness of strip steel |
| CN114932265A (en) * | 2022-06-15 | 2022-08-23 | 中冶南方工程技术有限公司 | Flying shear control method and system |
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Application publication date: 20170818 |
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| RJ01 | Rejection of invention patent application after publication |