CN107437905A - Motor speed automatic synchronization control methods before and after a kind of thermal straightening machine - Google Patents
Motor speed automatic synchronization control methods before and after a kind of thermal straightening machine Download PDFInfo
- Publication number
- CN107437905A CN107437905A CN201710804188.9A CN201710804188A CN107437905A CN 107437905 A CN107437905 A CN 107437905A CN 201710804188 A CN201710804188 A CN 201710804188A CN 107437905 A CN107437905 A CN 107437905A
- Authority
- CN
- China
- Prior art keywords
- motor speed
- deviation
- straightening machine
- thermal straightening
- actual value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
- H02P5/51—Direct ratio control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D1/00—Straightening, restoring form or removing local distortions of sheet metal or specific articles made therefrom; Stretching sheet metal combined with rolling
- B21D1/02—Straightening, restoring form or removing local distortions of sheet metal or specific articles made therefrom; Stretching sheet metal combined with rolling by rollers
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses motor speed automatic synchronization control methods before and after a kind of thermal straightening machine, comprise the following steps：(1) deviation of the front and rear motor speed actual value drawn by subtraction link；(2) motor speed compensation is carried out by add operation link：The deviation is added to by the motor speed Setting signal of small electromotor, to carrying out lifting/reducing compensation by the motor speed Setting signal of small electromotor, so that motor speed Setting signal increase/reduction by small electromotor, deviation between front and rear motor speed actual value is reduced with this, untill the deviation is eliminated；The present invention can realize before and after thermal straightening machine that motor speed is synchronous and automatically control that stability is strong, and has rapidity and accuracy concurrently；Drastically increase the production efficiency and the quality of production of thermal straightening machine；Suitable for current most of thermal straightening machine equipment, applicability is extensive, application easy to spread.
Description
Technical field
Motor speed is automatic before and after producing line control method, more particularly to a kind of thermal straightening machine the present invention relates to steel plate rolling
Synchronization Control method.
Background technology
In plate rolling production line, thermal straightening machine is one of visual plant therein, and thermal straightening machine is usually 11
Roller straightener, by 2 asynchronous motors, (motor model is：YPT450-6/315kW, 380V, 599A, 35Hz, 674 rev/min) pass through
Reductor, distributor box drive 11 smoothing rolls, and make upper and lower smoothing roll direction of rotation on the contrary, to obtain the line of equidirectional
Speed；Smoothing roll is grouped schematic diagram as shown in figure 1, upper straightening roll even numbers is numbered, and lower smoothing roll odd number is numbered, wherein, 1# motors
5 smoothing rolls (the 5th smoothing roll of 1-) are driven by 1# reductors and distributor box, 2# motors pass through 2# reductors and distributor box
6 smoothing rolls (the 11st smoothing roll of 6-) are driven, the phenomenon for stretching or forcing into submission to prevent steel plate from occurring in straightening process will
Ask the rotating speed of 1#, 2# motor always consistent in straightening process, that is, require the linear velocity of each smoothing roll in straightening process
Always consistent (each aligning roller diameter is identical).Cause is during steel plates straightening, because surface of steel plate temperature has differences
Reason, motor load is changed, cause the rotating speed of thermal straightening machine 1#, 2# motor difference occur, to steel plate formed stretching or
The phenomenon forced into submission, influence steel plates straightening quality；To prevent the rotating speed of thermal straightening machine 1#, 2# motor from difference occur, typically now institute
Control method is that upper level controller is sent to the frequency converter identical rotational speed setup letter of thermal straightening machine 1#, 2# motor
Number, due to being had differences in the load of same time, thermal straightening machine 1#, 2# motor, therefore, so doing can not actually protect
Card is identical in the rotary speed actual value of same time thermal straightening machine 1#, 2# motor；To solve this problem it is necessary in thermal straightening machine
Automatic synchronization control is carried out to the forward and backward motor speed of thermal straightening machine in control system.
The content of the invention
Goal of the invention：In order to solve the problems, such as that prior art is present, it is an object of the invention to provide one kind effectively to unite
One motor speed actual value, to improve motor speed automatic synchronization control before and after the thermal straightening machine of Plate Production quality and production efficiency
Preparation method.
Technical scheme：Motor speed automatic synchronization control methods, comprise the following steps before and after a kind of thermal straightening machine：
(1) deviation before and after being calculated by subtraction link between motor speed actual value：
Front and rear motor speed actual value is measured by thermal straightening machine motor incremental encoder, after subtraction, forms heat
Deviation before and after straightener between motor speed actual value；
(2) motor speed compensation is carried out by add operation link：
Deviation between motor speed actual value is added to by the motor speed Setting signal of small electromotor, to being mended
The motor speed Setting signal for repaying motor carries out lifting compensation or reduces compensation so that is given by the motor speed of small electromotor
Signal increases or reduced, and reduces deviation between front and rear motor speed actual value with this, untill the deviation is eliminated.
Between the subtraction link and add operation link, in addition to amplitude limit link：
Input using the deviation between the front and rear motor speed actual value that subtraction link is calculated as limiter；
The expression formula of the limiter is：
As X >=LU, Y=LU；
As LL ＜ X ＜ LU, Y=X；
As X≤LL, Y=LL；
Wherein, X is input, and Y is output end, and LU is upper limit magnitude, and LL is that Lower Limit Amplitude is preferable, is transported in the subtraction
Calculate between link and add operation link, in addition to amplitude limit link：
Deviation between 1#, 2# motor speed actual value that subtraction link is calculated is as the defeated of limiter
Enter；The expression formula of the limiter is：
As X >=LU, Y=LU；
As LL ＜ X ＜ LU, Y=X；
As X≤LL, Y=LL；
Wherein, X is input, and Y is output end, and LU is upper limit magnitude, and LL is Lower Limit Amplitude.
Further preferably, between the subtraction link and amplitude limit link, in addition to proportion adjustment link：
By the deviation between thermal straightening machine 1#, 2# motor speed actual value, as the set-point of proportional controller, the ratio
Example adjuster expression formula be：
Y=K (W-X)
Wherein, W is set-point, and X is value of feedback, and W-X is the input deviation of proportional controller, and K is scaling multiple, K
＞ 0, Y are output end.
The scaling multiple K is set to 1；Scaling multiple K is set to 1 and is expressed as accurate compensation, with rotating speed departure
Directly compensate；As K puts too big, overcompensation may be caused；As K puts too small, undercompensation may be caused.
The feedback value X of the proportional controller is set to 0；Generally, the W of proportional controller is as given side, and X is as feedback
End, W-X is deviation；Because by the deviation between front and rear motor speed actual value, as proportional controller given, (W is defeated
Enter deviation), therefore, the feedback value X of proportional controller is set to 0.
Beneficial effect：Compared with prior art, the present invention has following significant advantage：Electricity before and after thermal straightening machine can be realized
Machine rotary speed actual value is synchronous to be automatically controlled, and stability is strong, and has rapidity and accuracy concurrently；Drastically increase thermal straightening machine
Production efficiency and the quality of production；Suitable for current most of thermal straightening machine equipment, applicability is extensive, easily promotes.
Brief description of the drawings
Fig. 1 is that smoothing roll is grouped schematic diagram；
Fig. 2 is the forward and backward motor speed automatic synchronization control block diagram of thermal straightening machine of use ratio adjuster；
Fig. 3 is the forward and backward motor speed automatic synchronization control block diagram of thermal straightening machine after simplifying.
Embodiment
Technical scheme is described further with reference to the accompanying drawings and examples.
Embodiment one
Use ratio adjuster carries out synchronization automatically to the forward and backward motor of thermal straightening machine, and the control block diagram of the program is such as
Shown in Fig. 2, for convenience of description, the input of each link, output end are indicated with letter in figure, and the program has used subtraction fortune
Calculate link, proportional controller, add operation link and limiter, input X1, X2 and Y points of output end in subtraction link
Biao Shi not minuend, subtrahend and difference；The expression formula of proportional controller is：Y=K (W-X), wherein, W is set-point, and X is feedback
Value, W-X are the input deviation of proportional controller, and K is that scaling multiple is set to 1 (usual K ＞ 0), and Y is output end, and ratio is put
Big multiple K is set to 1 and is expressed as accurate compensation, is directly compensated with rotating speed departure；As K puts too big, benefit may be caused
Repay；As K puts too small, undercompensation may be caused；The expression formula of limiter is：1. as X >=LU, Y=LU, 2. as LL ＜ X ＜
During LU, Y=X, 3. as X≤LL, Y=LL, wherein, X is input, and Y is output end, and LU is upper limit magnitude, and LL is lower amplitude limit
Value；Input X1, X2 and output end Y in add operation link represent respectively summand, addend with and.Pass through thermal straightening machine 1#
The 1# motor speed actual values that the incremental encoder of motor measures, with being measured by the incremental encoder of thermal straightening machine 2# motors
After 2# motor speeds actual value carries out subtraction, the deviation between formation thermal straightening machine 1#, 2# motor speed actual value, as
The set-point of proportional controller, due to by deviation the giving as proportional controller between 1#, 2# motor speed actual value
Fixed, therefore, the feedback value X of proportional controller is set to 0 in Fig. 2, and generally, the W of proportional controller is as given side, and X is as feedback
End, W-X is deviation；Because by the deviation between 1#, 2# motor speed actual value, as proportional controller given, (W is
Input deviation), therefore, the feedback value X of proportional controller is set to 0, is to have done a processing herein, and normal conditions are had any different.
The deviation, as compensation rate, is superimposed after proportional controller amplifies with 2# motor speed Setting signals, generation compensation
2# motor speed Setting signals afterwards, pass through the accurate compensation to 2# motor speed Setting signals so that thermal straightening machine 2# motors
Rotating speed follows the change of 1# motor speeds all the time in straightening process, and reaching makes the forward and backward motor speed of thermal straightening machine carry out automatically
Synchronous purpose.Because steel plates straightening process is more of short duration, for rapidity, and once deviation eliminates, compensation is removed immediately
Requirement, the adjuster that the program uses is proportional controller.
Control process, it is generally the case that the rotational speed setup signal of thermal straightening machine 1#, 2# motor is just, to work as thermal straightening machine
During 1# motor speed actual value ＞ 2# motor speed actual values, represent that 2# motor speeds are slower, 1#, 2# motor speed now is real
Deviation ＞ 0 between actual value, after proportional controller amplifies, it is added on 2# motor speed Setting signals, to 2# motor speeds
Setting signal carries out lifting compensation so that 2# motor speeds Setting signal increases, actual this reduces 1#, 2# motor speed
Deviation between value, untill the deviation is eliminated；When thermal straightening machine 2# motor speed actual value ＞ 1# motor speed actual values
When, then it represents that 2# motor speeds are very fast, the deviation ＜ 0 between 1#, 2# motor speed actual value now, 1#, 2# motor speed
Deviation between actual value is added on 2# motor speed Setting signals after proportional controller amplifies, 2# motor speeds is given
Determine the compensation that signal is reduced so that 2# motor speeds reduce, and make the deviation between 1#, 2# motor speed actual value now
Absolute value reduces, untill the deviation is eliminated.Embodiment one makes 2# motor speeds real on the basis of 1# motor speed actual values
Actual value follows the change of 1# motor speed actual values all the time during steel plates straightening, reaches the forward and backward motor speed of thermal straightening machine
Carry out the purpose of automatic synchronization control.Similarly, the control structure return rectify operation (i.e. 1#, 2# motor while invert) when, also may be used
Realize the automatic synchronization of the forward and backward motor speed of thermal straightening machine.
So that ABB frequency converters and rated speed are 674 revs/min of thermal straightening machine motor as an example, thermal straightening machine motor it is specified
Rotating speed is 674 revs/min, and corresponding 100% rated speed gives, and for accurate control, ABB frequency converters are quantified as 20000 units,
The then corresponding 20000 ÷ 674=29.67 units of 1 rev/min of rotating speed, corresponding 29.67 ÷ 674=4.4% rated speeds give；For
Overcompensation is automatically prevented from, limiter has been used before compensation, the amount of generally compensating for gives no more than 10% rated speed, such as uses
During ABB frequency converters, the upper and lower amplitude limit of limiter, LU is set to 2000, LL and is set to -2000；Such as 1# motor speed actual values
And the deviation of 2# motor speed actual values is 2 revs/min, compensation rate now is 2 × 29.67=59.34 units, and compensation rate is corresponding
2 revs/min, with the progress of control process, the deviation of 1# motor speeds actual value and 2# motor speed actual values reduces, until disappearing
Except deviation；As long as benchmark motor and being occurred rotary speed actual value deviation between the motor of compensating rotational speed, i.e., automatically to being turned by compensation
The rotational speed setup signal of the motor of speed compensates, until deviation is eliminated, untill automatic disassembling compensates.
Embodiment two
Embodiment two is simplified on the basis of embodiment one, eliminates the proportional controller in scheme one, and reach
The effect same with scheme one has been arrived, has simplified control block diagram.The forward and backward motor speed automatic synchronization control of thermal straightening machine after simplification
Block diagram processed is as shown in figure 3, direct by benchmark motor and the rotary speed actual value deviation occurred between the motor of compensating rotational speed in Fig. 3
As the compensation rate of rotational speed setup signal, by being superimposed after limiter with by the motor speed Setting signal of compensating rotational speed, generation
The motor speed Setting signal by compensating rotational speed after compensation.The control process and control effect of embodiment two and the phase of embodiment one
Together.
Implementation method：For the thermal straightening machine control system using high-grade programmable automatic controller, usable top grade can
The functional block of each link is combined, connected in corresponding scheme each above in programming automatic controller programming software, can be real
The automatic horizontal adjustment function of each scheme more than now.SIMADYN D programmable automatic controllers or TDC such as Siemens Company can
Automatic controller is programmed, in its CFC graphical programming software, there is each corresponding functional block of link in each scheme of the above, is adjusted
With these functional blocks, it is combined, connects, can weaves into the control program of each scheme more than realizing.
For the straightener control system using PLC, the dependent instruction in PLC programming softwares can be used to be programmed,
The forward and backward motor speed automatic synchronization control program of thermal straightening machine of each scheme more than realizing can be weaved into.
Above control program be equally applicable to using 2 motor-driven 7 roller straighteners or use 2 motor-driven 9
The forward and backward motor speed automatic synchronization control of roller straightener.
As described above, although the present invention has been stated and illustrated with reference to specific preferred embodiment, but it must not be explained
For to the limitation of itself of the invention., can be right under the premise of the spirit and scope of the present invention that appended claims define are not departed from
Various changes can be made in the form and details for it.
Claims (5)
1. motor speed automatic synchronization control methods before and after a kind of thermal straightening machine, it is characterised in that comprise the following steps：
(1) deviation before and after being calculated by subtraction link between motor speed actual value：
Front and rear motor speed actual value is measured by thermal straightening machine motor incremental encoder, after subtraction, forms thermal straightening
Deviation before and after machine between motor speed actual value；
(2) motor speed compensation is carried out by add operation link：
Deviation between motor speed actual value is added to by the motor speed Setting signal of small electromotor, to by compensation electricity
The motor speed Setting signal of machine carries out lifting compensation or reduces compensation so that by the motor speed Setting signal of small electromotor
Increase reduces, and reduces deviation between front and rear motor speed actual value with this, untill the deviation is eliminated.
2. motor speed automatic synchronization control methods before and after thermal straightening machine according to claim 1, it is characterised in that：Described
Between subtraction link and add operation link, in addition to amplitude limit link：
Input using the deviation between the front and rear motor speed actual value that subtraction link is calculated as limiter；It is described
The expression formula of limiter is：
As X >=LU, Y=LU；
As LL ＜ X ＜ LU, Y=X；
As X≤LL, Y=LL；
Wherein, X is input, and Y is output end, and LU is upper limit magnitude, and LL is Lower Limit Amplitude.
3. motor speed automatic synchronization control methods before and after thermal straightening machine according to claim 2, it is characterised in that：
Between the subtraction link and amplitude limit link, in addition to proportion adjustment link：
By the deviation between motor speed actual value before and after thermal straightening machine, as the set-point of proportional controller, the ratio is adjusted
Section device expression formula be：
Y=K (W-X)
Wherein, W is set-point, and X is value of feedback, and W-X is the input deviation of proportional controller, and K is scaling multiple, K ＞ 0, Y
For output end.
4. motor speed automatic synchronization control methods before and after thermal straightening machine according to claim 3, it is characterised in that：The ratio
Example multiplication factor K is set to 1.
5. motor speed automatic synchronization control methods before and after thermal straightening machine according to claim 3, it is characterised in that：The ratio
The feedback value X of example adjuster is set to 0.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710804188.9A CN107437905A (en) | 2017-09-08 | 2017-09-08 | Motor speed automatic synchronization control methods before and after a kind of thermal straightening machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710804188.9A CN107437905A (en) | 2017-09-08 | 2017-09-08 | Motor speed automatic synchronization control methods before and after a kind of thermal straightening machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107437905A true CN107437905A (en) | 2017-12-05 |
Family
ID=60461589
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710804188.9A Pending CN107437905A (en) | 2017-09-08 | 2017-09-08 | Motor speed automatic synchronization control methods before and after a kind of thermal straightening machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107437905A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113751535A (en) * | 2021-07-30 | 2021-12-07 | 泰安华鲁锻压机床有限公司 | Four-wheel drive confluence straightener driving device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101602080A (en) * | 2009-06-11 | 2009-12-16 | 南京钢铁股份有限公司 | Plate rolling production line straightener front and back end automatic horizontal-adjusting method |
| CN102355176A (en) * | 2011-09-16 | 2012-02-15 | 苏州生物医学工程技术研究所 | Dual-motor synchronous control system and implementation method |
| CN102857171A (en) * | 2012-09-20 | 2013-01-02 | 北京合康亿盛变频科技股份有限公司 | Multi-motor synchronous control system |
| CN103490678A (en) * | 2013-10-17 | 2014-01-01 | 双峰格雷斯海姆医药玻璃（丹阳）有限公司 | Synchronous control method and system of host and slave computers |
-
2017
- 2017-09-08 CN CN201710804188.9A patent/CN107437905A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101602080A (en) * | 2009-06-11 | 2009-12-16 | 南京钢铁股份有限公司 | Plate rolling production line straightener front and back end automatic horizontal-adjusting method |
| CN102355176A (en) * | 2011-09-16 | 2012-02-15 | 苏州生物医学工程技术研究所 | Dual-motor synchronous control system and implementation method |
| CN102857171A (en) * | 2012-09-20 | 2013-01-02 | 北京合康亿盛变频科技股份有限公司 | Multi-motor synchronous control system |
| CN103490678A (en) * | 2013-10-17 | 2014-01-01 | 双峰格雷斯海姆医药玻璃（丹阳）有限公司 | Synchronous control method and system of host and slave computers |
Non-Patent Citations (1)
| Title |
|---|
| 黄磊: "《基于双电机驱动系统的间隙消除技术研究》", 《中国优秀硕士学位论文全文数据库（工程科技I辑）》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113751535A (en) * | 2021-07-30 | 2021-12-07 | 泰安华鲁锻压机床有限公司 | Four-wheel drive confluence straightener driving device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104858242B (en) | A kind of negative deviation of steel bar with rib monitoring system and minus deviation detect computational methods | |
| CN103072841A (en) | Tension roll control device for plate and strip processing line and tension control method | |
| CN109731929B (en) | Hydraulic loop control method based on pole allocation method | |
| CN104117554A (en) | Automatic control system and method for high-precision straightening machine | |
| CN107199247A (en) | A kind of five Stands Cold Tandem Mill lacks the control method of frame rolling | |
| CN107983778A (en) | One kind is weighed milling method | |
| CN107437905A (en) | Motor speed automatic synchronization control methods before and after a kind of thermal straightening machine | |
| CN106111929A (en) | A kind of round billet continuous casting straightening motor load dynamically distributes control system and control method thereof | |
| CN106391760B (en) | A kind of straightening process for clapboard | |
| Radionov et al. | Controlling the electric drives of the reversing rolling stand rolls of a rolling mill to form a curvature at the workpiece front end | |
| CN108107849A (en) | A kind of automatic Control System For Hot Strip Mill Line | |
| CN104841697B (en) | Bilateral scissors shear history is automatically prevented from the control method of Plate transferring deviation | |
| CN101602080B (en) | Front and rear end automatic horizontal-adjusting method of straightening machine in medium steel plate rolling production line | |
| Khramshin et al. | Method of reduction of an edging and horizontal rolls electromechanical systems interrelation in universal stand of a rolling mill | |
| CN204613713U (en) | A kind of negative deviation of steel bar with rib monitoring system | |
| CN206028330U (en) | Cast interchange frequency conversion double -drive device of roll | |
| CN110408771B (en) | Annealing furnace process transition control method and device with temperature | |
| CN103521830B (en) | The control method of a kind of mode fling shear and control device | |
| CN102989781A (en) | Automatic control technology for head positioning of laying head of high-speed wire mill | |
| CN105327948A (en) | Control method for continuous rolling of wire rods and bars | |
| CN110508623B (en) | Control method for inhibiting oscillation of finishing elongation rate | |
| CN102688895B (en) | Steel ingot cone elimination rolling control method for heavy plate mill | |
| CN206425511U (en) | A kind of drawing-correcting machine for flat blank continuous casting control device | |
| Liu | The Control System of Modular rolling mill in high-speed bar production line | |
| CN108089550A (en) | A kind of five rack cold continuous rolling milling train electric control systems based on day erection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171205 |