CN108383373B - System parameter setting method in optical fiber drawing tower - Google Patents
System parameter setting method in optical fiber drawing tower Download PDFInfo
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Abstract
The invention discloses a system parameter setting method in an optical fiber drawing tower, which relates to the field of optical fiber drawing tower system control and comprises the following steps: according to the working conditions of the system in the optical fiber drawing tower, a differential equation of a designated component in the system is established by utilizing feedback, feedforward and parameters to be set, and a time domain expression of the system is obtained. And performing Laplace transformation on the differential equation to obtain an S-domain expression of the system. And determining a control block diagram of the system according to the S-domain expression. And setting parameters according to an attenuation curve method. The method for setting the system parameters in the optical fiber drawing tower can improve the control effect, improve the production efficiency and reduce the human intervention.
Description
Technical Field
The invention relates to the field of optical fiber drawing tower system control, in particular to a system parameter setting method in an optical fiber drawing tower.
Background
The optical fiber drawing tower mainly comprises an optical fiber take-up machine, a main tractor, a coating system, an optical fiber screening machine and the like. The main tractor is provided with a control system, and the optical fiber screening machine is provided with a follow-up system of a tension end of the optical fiber screening machine, a follow-up system of a pay-off end of the optical fiber screening machine and a follow-up system of the tension end of the optical fiber screening machine.
Referring to fig. 1, an optical fiber take-up machine is an important device at the process end of an optical fiber drawing tower, and whether the device can stably operate directly relates to the production efficiency of a production line. The optical fiber take-up machine comprises a main traction wheel and a take-up wheel, wherein the speed of the base man take-up wheel is matched with the speed of the main traction wheel. The dancing wheel and the take-up wheel provide deviation signals through the dancing wheel, and the speed which the take-up wheel should have is calculated through a PID algorithm. The speed of the main traction wheel is constantly changing, which requires the speed of the take-up reel to track the main traction wheel from time to time. If the tracking is not good, the optical fiber is broken, and the working efficiency is influenced. Therefore, the link is an important link and a difficult point of the whole wire drawing tower.
Referring to FIG. 5, the main tractor system is an important component of an optical fiber draw tower and functions as a top-down mechanism throughout the draw tower. The preform rod which is sintered to a molten state by a drawing furnace is drawn into an optical fiber and sent to a take-up system. The quality of the working performance of the main traction system directly influences the quality of the optical fiber and the working stability of the take-up system. If the main pulling system does not work well, the fiber diameter of the fiber will fluctuate relatively much (minor fluctuations are allowed). The large fluctuation of the fiber diameter is not allowed in the process, and the geometric parameters and the optical conduction performance of the optical fiber are influenced. The main tractor system consists of a main tractor, a diameter gauge, a wire drawing furnace and a preform rod feeding system. And providing a deviation signal through the difference value of the actual wire diameter measured by the wire diameter instrument and the set wire diameter. The optical fiber main tractor enables the rotating speed of a main traction motor and the rotating speed of a preform feeding motor to be coordinated through a PID algorithm, and if the main traction motor and the preform feeding motor are not matched well, the optical fiber diameter is enabled to fluctuate greatly, and further technological parameters are affected.
Referring to fig. 9, a coating system is an important device in an optical fiber drawing tower process, the coating system coats a bare optical fiber with a layer of protective resin to protect the optical fiber, and whether the device can operate stably is directly related to the production efficiency of a production line. The coating system consists of a coater, a pressure controller (PC valve) and a pressure sensor, the output P3 of which follows the set pressure P1, with a deviation signal being provided by the pressure sensor. If tracking is not good, resin on the surface of the optical fiber is not uniform, and geometric and physical properties of the optical fiber are affected. Therefore, the link is an important link and a difficult point of the whole wire drawing tower.
Referring to fig. 13, the optical fiber screening machine is an important device for detecting the tension of the optical fiber, and whether the device can operate stably is directly related to the production efficiency of the production line. The optical fiber screening machine comprises a paying-off wheel 1, a first dancing wheel 2, a paying-off traction wheel 3, a tension wheel 4, a take-up traction wheel 5, a second dancing wheel 6 and a take-up wheel 7 which are sequentially connected through a traction rope 8; the paying-off wheel 1 can rotate along with the paying-off traction wheel 3, and the first dancing wheel 2 can move along the traction rope 8 between the paying-off wheel 1 and the paying-off traction wheel 3; the take-up traction wheel 5 can rotate along with the pay-off traction wheel 3, and the tension wheel 4 can generate tension along a traction rope 8 between the pay-off wheel 1 and the pay-off traction wheel 3; the take-up pulley 7 can rotate along with the take-up traction pulley 5, and the second dancing pulley 6 can move on the traction rope 8 between the take-up pulley 7 and the take-up traction pulley 5; the PID controller controls the driving device to enable the paying-off traction wheel to rotate, so that the paying-off wheel is driven to rotate along with the paying-off traction wheel, the taking-up traction wheel rotates along with the paying-off traction wheel, and the taking-up wheel rotates along with the taking-up traction wheel; and collecting position deviation signals of the first dancing wheel, the second dancing wheel and the tension wheel. The paying-off traction wheel slowly increases the speed from 0, other wheels of the optical fiber screening machine follow the speed, the production speed is kept after the stable production speed is 1800m/min, the speed is slowly reduced when the required length of the optical fiber is reached, and the production process is finished until the speed is reduced to 0. If the fiber strength is not sufficiently broken during the production process, the disc fails to produce. Therefore, the tension pulley is set to a tension of typically 9 n, i.e. the fiber breaks when the tension of the optical fiber is lower than 9 n. In order to ensure that the whole wire winding process is carried out stably and orderly, the speeds of the wheels of the optical fiber screening machine must be perfectly matched.
For the take-up pulley 7, the take-up traction wheel 5 is tracked through a PID algorithm, and if the tracking is not good, the optical fiber is broken, so that the working efficiency is influenced. For the pay-off wheel 1, the pay-off traction wheel 3 is tracked through a PID algorithm, and if the tracking is not good, the optical fiber is broken, so that the working efficiency is influenced. In addition, the take-up traction wheel 5 also tracks the pay-off traction wheel 3 through a PID algorithm, and if the tracking is not good, the optical fiber is broken, so that the working efficiency is influenced.
At present, the PID algorithm described above adopts an empirical design method, and lacks a theoretical basis, and the parameters are often tried and collected, and the effect is often unsatisfactory.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a system parameter setting method in an optical fiber drawing tower, which can improve the control effect, improve the production efficiency and reduce the human intervention.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
a method for setting system parameters in an optical fiber drawing tower comprises the following steps:
according to the working conditions of a system in an optical fiber drawing tower, establishing a differential equation of a designated component in the system by using feedback, feedforward and parameters to be set to obtain a time domain expression of the system;
performing Laplace transformation on the differential equation to obtain an S-domain expression of the system;
determining a control block diagram of the system according to the S domain expression; and
and setting the parameters according to an attenuation curve method.
On the basis of the technical scheme, the parameters to be set comprise a proportional coefficient and an integral coefficient.
On the basis of the technical scheme, the step of setting the parameters by the attenuation curve method specifically comprises the following steps:
setting the integral time of the regulator to the maximum value to enable the integral coefficient to be 0, enabling the proportional coefficient to take a smaller preset value, and operating the system;
after the system is stabilized, performing set value step disturbance, observing the response of the system, observing the attenuation ratio of a curve, increasing or decreasing the proportionality coefficient until the system is attenuated by a preset proportion, recording the proportionality coefficient at the moment, and obtaining an attenuation period from the curve;
and obtaining the relation between the integration time and the attenuation period according to an empirical formula, determining the size of the integration time, and solving an integration coefficient.
On the basis of the technical scheme, the response of the system is observed, if the response attenuation of the system is faster than a preset speed, the proportionality coefficient is increased, otherwise, the proportionality coefficient is decreased.
On the basis of the technical scheme, the system is a follow-up system of the optical fiber take-up machine, the specified part of the follow-up system of the optical fiber take-up machine comprises a main traction wheel and a take-up wheel, and the parameter to be set comprises a proportionality coefficient, an integral coefficient and a feedforward coefficient;
the time domain expression of the follow-up system of the optical fiber take-up machine is as follows,
V2(t)＝k1V1(t)+kpe(t)+ki∫e(t)dt；
L’(t)＝k2∫[V2(t)–V1(t)]dt；
e(t)＝L0’(t)–L’(t)；
in the formula, V1(t) is the speed of rotation of the main traction sheave, V2(t) is the rotation speed of the take-up pulley, L' (t) is the actual fiber diameter, L0' (t) is a set fiber diameter, e (t) is a deviation signal, k1Is a feedforward coefficient, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k1、k2、kpAnd kiAre all larger than 0;
the S domain expression of the follow-up system of the optical fiber take-up machine is as follows,
V2(s)＝k1V1(s)+kpE(s)+(ki/s)E(s)＝Gr(s)V1(s)+G1(s)E(s)；
L’(s)＝(k2/s)[V2(s)-V1(s)]＝H(s)[V2(s)-V1(s)]；
E(s)＝L0’(s)–L’(s)；
where s is the differential operator after Ralsh transformation, Gr(s) is the transfer function of the feedforward channel, and Gr(s) k1，G1(s) and G2(s) is the transfer function of the forward path, G1(s)＝kp+ki/s，G2(s) ═ 1, H(s) is the transfer function of the feedback channel, H(s) ═ k2/s；
In the step of setting the parameters according to the attenuation curve method, the proportional coefficient is increased or decreased until the follow-up system of the optical fiber take-up machine attenuates by 4:1, and k at the moment is recordedpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.5Ts, and k is further obtainedi＝kp/TI；
K is obtained from the ratio of the wheel diameter R1 of the main traction wheel and the wheel diameter R2 of the take-up pulley1＝R1/R2。
On the basis of the technical scheme, the system is a control system of a main tractor, designated parts of the control system of the main tractor comprise the main tractor, a diameter gauge, a wire drawing furnace and a preform rod feeding device, and the parameters to be set comprise a proportionality coefficient and an integral coefficient;
the time domain expression of the control system of the main tractor is as follows,
V4(t)＝kpe(t)+ki∫e(t)dt；
L’(t)＝k2∫[k1V3(t)–V4(t)]dt；
e(t)＝L’(t)–L0’(t)；
in the formula, V3(t) preform feed motor speed, V4(t) is the main tractor motor speed, L' (t) is the actual fiber diameter, L0' (t) is a set fiber diameter, e (t) is a deviation signal, k1Is a feedforward coefficient, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k1、k2、kpAnd kiAre all larger than 0;
the S-domain expression of the control system of the primary tractor is,
V4(s)＝kpE(s)+(ki/s)E(s)＝G1(s)E(s)；
L’(s)＝(k2/s)[k1V3(s)-V4(s)]＝H(s)[Gr(s)V3(s)-V4(s)]；
E(s)＝L’(s)–L0’(s)；
where s is the differential operator after Ralsh transformation, Gr(s) is the transfer function of the feedforward channel, and Gr(s) k1，G1(s) is the transfer function of the forward path, G1(s)＝kp+kiH(s) is the transfer function of the feedback channel, h(s) k2/s；
In the step of setting the parameters according to the attenuation curve method, the proportional coefficient is increased or decreased until the control system of the main tractor generates 4:1 attenuation, and k at the moment is recordedpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.5Ts, and k is further obtainedi＝kp/TI。
On the basis of the technical scheme, the system is a coating system, designated parts of the coating system comprise a coating device, a pressure controller and a pressure sensor, and the parameters to be set comprise a proportional coefficient and an integral coefficient;
the time domain expression of the coating system is,
P3(t)＝P1(t)+kpe(t)+ki∫e(t)dt；
P2(t)＝1/k2P3(t)；
e(t)＝P1(t)–P2(t)；
in the formula, P1(t) is a set pressure value, P2(t) is the actual pressure value, P, obtained by the pressure sensor3(t) is the output value of the pressure controller, e (t) is the deviation signal, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k2、kpAnd kiAre all larger than 0;
the S-domain expression of the coating system is,
P3(s)＝P1(s)+kpE(s)+(ki/s)E(s)＝P1(s)+G1(s)E(s)；
P2(s)＝1/k2P3(s)＝H(s)P3(s)；
E(s)＝P1(s)–P2(s)；
wherein s is a differential operator after Laplace transformation, G1(s) is the transfer function of the forward path, G1(s)＝kp+kiH(s) is the transfer function of the feedback channel, h(s) 1/k2；
In the step of setting the parameters according to the attenuation curve method, the coating system is attenuated by 5:1 by increasing or decreasing the proportionality coefficient, and k at the moment is recordedpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.6Ts, and k is further obtainedi＝kp/TI。
On the basis of the technical scheme, the system is a follow-up system of the take-up end of the optical fiber screening machine, the specified parts of the follow-up system of the take-up end of the optical fiber screening machine comprise a take-up wheel of the optical fiber screening machine, a take-up traction wheel of the optical fiber screening machine and a dancing wheel, and the parameters to be set comprise a proportionality coefficient, an integral coefficient and a feedforward coefficient;
the time domain expression of the follow-up system at the take-up end of the optical fiber screening machine is as follows,
V6(t)＝k1V5(t)+kpe(t)+ki∫e(t)dt；
L(t)＝k2∫[V6(t)–V5(t)]dt；
e(t)＝L0(t)–L(t)；
in the formula, V5(t) is the rotating speed of the take-up traction wheel of the optical fiber screening machine, V6(t) is the rotation speed of the take-up pulley of the optical fiber screening machine, L (t) is the actual position of the dancing wheel, L0(t) the intermediate position of the dancing wheel, e (t) a deviation signal, k1Is a feedforward coefficient, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k1、k2、kpAnd kiAre all larger than 0;
the S-domain expression of the follow-up system at the take-up end of the optical fiber screening machine is as follows,
V6(s)＝k1V5(s)+kpE(s)+(ki/s)E(s)＝Gr(s)V5(s)+G1(s)E(s)；
L(s)＝(k2/s)[V6(s)-V5(s)]＝H(s)[V6(s)-V5(s)]；
E(s)＝L0(s)–L(s)；
where s is the differential operator after Ralsh transformation, Gr(s) is the transfer function of the feedforward channel, and Gr(s) k1，G1(s) and G2(s) is the transfer function of the forward path, G1(s)＝kp+ki/s，G2(s) ═ 1, H(s) is the transfer function of the feedback channel, H(s) ═ k2/s；
In the step of setting the parameters according to the attenuation curve method, the proportion coefficient is increased or decreased until the servo system at the take-up end of the optical fiber screening machine is attenuated by 4:1, and k at the moment is recordedpAnd obtaining the decay period Ts from the curve;
and taking the integral time TI as 0 according to an empirical formula.5Ts, and further find ki＝kp/TI；
K is obtained according to the ratio of the wheel diameter R3 of the take-up traction wheel of the optical fiber screening machine to the wheel diameter R4 of the take-up wheel of the optical fiber screening machine1＝R3/R4。
On the basis of the technical scheme, the system is a follow-up system of the pay-off end of the optical fiber screening machine, the specified parts of the follow-up system of the pay-off end of the optical fiber screening machine comprise an pay-off wheel of the optical fiber screening machine, a pay-off traction wheel of the optical fiber screening machine and a dancing wheel, and the parameters to be set comprise a proportionality coefficient, an integral coefficient and a feedforward coefficient;
the time domain expression of the follow-up system at the pay-off end of the optical fiber screening machine is as follows,
V8(t)＝k1V7(t)+kpe(t)+ki∫e(t)dt；
L(t)＝k2∫[V8(t)–V7(t)]dt；
e(t)＝L0(t)–L(t)；
in the formula, V7(t) is the rotation speed, V, of the pay-off traction wheel of the optical fiber screening machine8(t) the rotation speed of the pay-off wheel of the optical fiber screening machine, L (t) the actual position of the dancing wheel, L0(t) the intermediate position of the dancing wheel, e (t) a deviation signal, k1Is a feedforward coefficient, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k1、k2、kpAnd kiAre all larger than 0;
the S-domain expression of the follow-up system at the pay-off end of the optical fiber screening machine is as follows,
V8(s)＝k1V7(s)+kpE(s)+(ki/s)E(s)＝Gr(s)V7(s)+G1(s)E(s)；
L(s)＝(k2/s)[V8(s)-V7(s)]＝H(s)[V8(s)-V7(s)]；
E(s)＝L0(s)–L(s)；
where s is the differential operator after Ralsh transformation, Gr(s) is the transfer function of the feedforward channel, and Gr(s) k1，G1(s) and G2(s) is the transfer function of the forward path, G1(s)＝kp+ki/s，G2(s) ═ 1, H(s) is the transfer function of the feedback channel, H(s) ═ k2/s；
In the step of setting the parameters according to the attenuation curve method, the proportion coefficient is increased or decreased until the follow-up system at the pay-off end of the optical fiber screening machine generates 4:1 attenuation, and k at the moment is recordedpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.5Ts, and k is further obtainedi＝kp/TI；
K is obtained according to the ratio of the wheel diameter R5 of the pay-off traction wheel of the optical fiber screening machine to the wheel diameter R6 of the pay-off wheel of the optical fiber screening machine1＝R5/R6。
On the basis of the technical scheme, the system is a follow-up system at the tension end of the optical fiber screening machine, the specified parts of the follow-up system at the tension end of the optical fiber screening machine comprise an optical fiber screening machine pay-off traction wheel, an optical fiber screening machine take-up traction wheel and a tension wheel, and the parameters to be set comprise a proportionality coefficient, an integral coefficient and a feed-forward coefficient;
the time domain expression of the follow-up system at the tension end of the optical fiber screening machine is as follows,
V5(t)＝k1V7(t)+kpe(t)+ki∫e(t)dt；
F(t)＝k2∫[V5(t)–V7(t)]dt；
e(t)＝F0(t)–F(t)；
in the formula, V7(t) is the rotation speed, V, of the pay-off traction wheel of the optical fiber screening machine5(t) is the rotating speed of the take-up traction wheel of the optical fiber screening machine, F (t) is the actual detection tension of the tension wheel, F0(t) is the set tension of the tension pulley, e (t) is the deviation signal, k1Is a feedforward coefficient, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k1、k2、kpAnd kiAre all larger than 0;
the S-domain expression of the follow-up system at the tension end of the optical fiber screening machine is as follows,
V5(s)＝k1V7(s)+kpE(s)+(ki/s)E(s)＝Gr(s)V7(s)+G1(s)E(s)；
F(s)＝k2[V5(s)-V7(s)]＝H(s)[V5(s)-V7(s)]；
E(s)＝F0(s)–F(s)；
where s is the differential operator after Ralsh transformation, Gr(s) is the transfer function of the feedforward channel, and Gr(s) k1，G1(s) and G2(s) is the transfer function of the forward path, G1(s)＝kp+ki/s，G2(s) ═ 1, H(s) is the transfer function of the feedback channel, H(s) ═ k2；
In the step of setting the parameters according to the attenuation curve method, the proportion coefficient is increased or decreased until the follow-up system at the tension end of the optical fiber screening machine is attenuated by 8:1, and k at the moment is recordedpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.5Ts, and k is further obtainedi＝kp/TI；
K is obtained from E ═ F/A)/(Δ L/L)1Wherein E is the Young modulus of the optical fiber, F is the tension on the optical fiber, A is the cross-sectional area of the optical fiber, L is the length of the optical fiber between the pay-off traction wheel of the optical fiber screening machine and the take-up traction wheel of the optical fiber screening machine, and Delta L is the length increment of the optical fiber when the speed difference exists between the pay-off traction wheel of the optical fiber screening machine and the take-up traction wheel of the optical fiber screening machine.
Compared with the prior art, the invention has the advantages that:
the system parameter setting method in the optical fiber drawing tower utilizes feedback and feedforward to design a closed-loop control system and set the parameters, meets the requirements of stability, accuracy and rapidity, and comprehensively improves the production efficiency. And the optimal setting parameter is obtained by an attenuation curve method, so that the control effect is obviously improved.
Drawings
Fig. 1 is a schematic structural diagram of a servo system of an optical fiber take-up machine in embodiment 1 of the present invention;
fig. 2 is a control block diagram of a servo system of the optical fiber take-up machine in embodiment 1 of the present invention;
fig. 3 is a root trace diagram of a servo system of the optical fiber take-up machine in embodiment 1 of the present invention;
FIG. 4 is a damped oscillation diagram of the servo system of the optical fiber take-up machine in embodiment 1 of the present invention;
FIG. 5 is a schematic illustration of the control system of the primary tractor of embodiment 2 of the present invention;
FIG. 6 is a control block diagram of the control system of the primary tractor of embodiment 2 of the present invention;
FIG. 7 is a root trace diagram of the control system of the primary tractor of example 2 of the present invention;
FIG. 8 is a damped oscillatory diagram of the control system of the main tractor of embodiment 2 of the present invention;
FIG. 9 is a schematic view showing the structure of a coating system in example 3 of the present invention;
FIG. 10 is a control block diagram of a coating system in embodiment 3 of the present invention;
FIG. 11 is a plot of the root trace of the coating system of example 3 of the present invention;
FIG. 12 is a graph of the ringing of the coating system of example 3 of the present invention;
fig. 13 is a schematic structural diagram of a cable take-off end of the optical fiber screening machine in embodiment 4 of the present invention;
fig. 14 is a control block diagram of a follower system at the take-up end of the optical fiber screening machine in embodiment 4 of the present invention;
fig. 15 is a root trace diagram of the terminating end of the optical fiber screening machine in embodiment 4 of the present invention;
FIG. 16 is a damped oscillation diagram of the take-up end of the optical fiber screening machine in embodiment 4 of the present invention;
FIG. 17 is a schematic structural diagram of a pay-off end of the optical fiber screening machine in embodiment 5 of the present invention;
FIG. 18 is a control block diagram of a follower system at the pay-off end of the optical fiber screening machine in embodiment 5 of the present invention;
FIG. 19 is a trace diagram of the root of the pay-off end of the optical fiber screening machine in embodiment 5 of the present invention;
FIG. 20 is a graph of the damped oscillations of the pay-off end of the fiber screening machine in example 5 of the present invention;
FIG. 21 is a schematic structural diagram of a tension end of an optical fiber screening machine in example 6 of the present invention;
FIG. 22 is a control block diagram of a follow-up system for the tension end of the optical fiber screening machine in embodiment 6 of the present invention;
FIG. 23 is a trace plot of the tension end of the fiber screening machine of example 6 in accordance with the present invention;
FIG. 24 is a graph of the damped oscillations of the tension end of the fiber screening machine of example 6 in accordance with the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The invention provides a system parameter setting method in an optical fiber drawing tower, which comprises the following steps:
s1, establishing a differential equation of a designated component in a system by utilizing feedback, feedforward and parameters to be set according to working conditions of the system in an optical fiber drawing tower to obtain a time domain expression of the system;
generally speaking, the parameters to be set include a proportionality coefficient and an integral coefficient, and the parameters to be set are reasonably designed according to the working conditions of a system in the optical fiber drawing tower.
S2, performing Laplace transformation on the differential equation to obtain an S domain expression of the system;
s3, determining a control block diagram of the system according to the S domain expression; and
and S4, setting parameters according to an attenuation curve method.
The step of setting the parameters by the attenuation curve method specifically comprises the following steps: setting the integral time of the regulator to the maximum value to enable the integral coefficient to be 0, enabling the proportional coefficient to take a smaller preset value, and operating the system;
and after the system is stabilized, performing step disturbance on a set value, observing the response of the system, observing the attenuation ratio of the curve, increasing or decreasing the proportionality coefficient until the system is attenuated by a preset proportion, recording the proportionality coefficient at the moment, and obtaining the attenuation period from the curve. Specifically, the response of the system is observed, and if the response attenuation of the system is faster than a preset speed, the proportionality coefficient is increased, otherwise, the proportionality coefficient is decreased.
And obtaining the relation between the integration time and the attenuation period according to an empirical formula, determining the size of the integration time, and solving an integration coefficient.
The following examples are further illustrative.
Example 1:
referring to fig. 1, the system is a follow-up system of the optical fiber take-up machine, the designated parts of the follow-up system of the optical fiber take-up machine comprise a main traction wheel and a take-up wheel, and the parameters to be set comprise a proportionality coefficient, an integral coefficient and a feedforward coefficient;
the time domain expression of the follow-up system of the optical fiber take-up machine is as follows,
V2(t)＝k1V1(t)+kpe(t)+ki∫e(t)dt；
L(t)＝k2∫[V2(t)–V1(t)]dt；
e(t)＝L0(t)–L(t)；
in the formula, V1(t) is the speed of rotation of the main traction sheave, V2(t) the speed of rotation of the take-up reel, L (t) the actual position of the dancing wheel, L0(t) the intermediate position of the dancing wheel, e (t) a deviation signal, k1Is a feedforward coefficient, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k1、k2、kpAnd kiAre all larger than 0;
the expression of the S domain of the follow-up system of the optical fiber take-up machine is as follows,
V2(s)＝k1V1(s)+kpE(s)+(ki/s)E(s)＝Gr(s)V1(s)+G1(s)E(s)；
L(s)＝(k2/s)[V2(s)-V1(s)]＝H(s)[V2(s)-V1(s)]；
E(s)＝L0(s)–L(s)；
where s is the differential operator after Ralsh transformation, Gr(s) is the transfer function of the feedforward channel, and Gr(s) k1，G1(s) and G2(s) is the transfer function of the forward path, G1(s)＝kp+ki/s，G2(s) ═ 1, H(s) is the transfer function of the feedback channel, H(s) ═ k2/s；
Referring to fig. 2, a control block diagram of the follower system of the optical fiber take-up machine can be obtained.
In the step of setting parameters according to the attenuation curve method, the system is stable through the Laus criterion. The root trajectory of the system is shown in fig. 3. The decay curve method is a closed loop setting method, and test data come from the decaying oscillation of the system.
Specifically, referring to fig. 4, in this embodiment, the step disturbance on the set value refers to V1(t) making an abrupt change in the value and then observing the response of the follower system of the fiber take-up machine. Recording k at the moment until the following system of the optical fiber take-up machine shows 4:1 attenuation by increasing or decreasing the proportionality coefficientpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.5Ts, and k is further obtainedi＝kp/TI；
K is obtained from the ratio of the wheel diameter R1 of the main traction wheel and the wheel diameter R2 of the take-up pulley1R1/R2. In addition, since the value of L (t) can be directly measured by a potentiometer, k is measured2The exact value need not be known.
In the embodiment, the feedback and feedforward are utilized to design the closed-loop control system and set the parameters of the closed-loop control system, so that the motor of the optical fiber take-up machine can accurately follow the main traction wheel, the stability, the accuracy and the rapidity are met, and the production efficiency is comprehensively improved. And the optimal setting parameter is obtained by an attenuation curve method, so that the control effect is obviously improved.
Example 2:
referring to fig. 5, the system is a control system of a main tractor, designated components of the control system of the main tractor include the main tractor, a caliper, a drawing furnace and a preform rod feeding device, and parameters to be set include a proportionality coefficient and an integral coefficient;
the time domain expression of the control system of the primary tractor is,
V4(t)＝kpe(t)+ki∫e(t)dt；
L’(t)＝k2∫[k1V3(t)–V4(t)]dt；
e(t)＝L’(t)–L0’(t)；
in the formula, V3(t) preform feed motor speed, V4(t) is the main tractor motor speed, L' (t) is the actual fiber diameter, L0' (t) is a set fiber diameter, e (t) is a deviation signal, k1Is a feedforward coefficient, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k1、k2、kpAnd kiAre all larger than 0;
the S-domain expression for the control system of the primary tractor is,
V4(s)＝kpE(s)+(ki/s)E(s)；
L’(s)＝(k2/s)[k1V3(s)-V4(s)]＝H(s)[Gr(s)V3(s)-V4(s)]；
E(s)＝L’(s)–L0’(s)；
where s is the differential operator after Ralsh transformation, Gr(s) is the transfer function of the feedforward channel, and Gr(s) k1，G1(s) is the transfer function of the forward path, G1(s)＝kp+kiH(s) is the transfer function of the feedback channel, h(s) k2/s；
Referring now to FIG. 6, a control diagram of the control system of the primary tractor may thus be obtained.
In the step of setting parameters according to the attenuation curve method, the system is stable through the Laus criterion. The root trajectory of the system is shown in fig. 7. The attenuation curve method is a closed loop setting method, test data come from the attenuation oscillation of a system, a wire diameter instrument can display real-time data on a screen of an upper computer through a PLC (programmable logic controller), and the upper computer has a history recording function and can clearly display the change rule of the wire diameter. The operability is very strong.
Specifically, referring to fig. 8, in this embodiment, the step disturbance on the set value refers to L0' (t) is subjected to an abrupt change and the response of the control system of the main tractor is observed. Recording k at the time of 4:1 decay of the main tractor control system by increasing or decreasing the scaling factorpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.5Ts, and k is further obtainedi＝kpand/TI. In addition, since the value of L' (t) can be directly measured by a caliper, k is1、k2The exact value need not be known.
In the embodiment, a closed-loop control system is designed by utilizing feedback and feedforward and parameters of the closed-loop control system are set, so that the rotating speed of a main traction motor and the rotating speed of a preform rod feeding motor are coordinated, the stability, the accuracy and the rapidity are met, and the production efficiency is comprehensively improved. And the optimal setting parameter is obtained by an attenuation curve method, so that the control effect is obviously improved.
Example 3:
referring to fig. 9, the system is a coating system, the designated components of the coating system include a coater, a pressure controller and a pressure sensor, and the parameters to be set include a proportionality coefficient and an integral coefficient;
the time domain expression of the coating system is,
P3(t)＝P1(t)+kpe(t)+ki∫e(t)dt；
P2(t)＝1/k2P3(t)；
e(t)＝P1(t)–P2(t)；
in the formula, P1(t) is a set pressure value, P2(t) is the actual pressure value, P, obtained by the pressure sensor3(t) is the output value of the pressure controller, e (t) is the deviation signal, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k2、kpAnd kiAre all larger than 0;
the S-domain expression for the coating system is,
P3(s)＝P1(s)+kpE(s)+(ki/s)E(s)＝P1(s)+G1(s)E(s)；
P2(s)＝1/k2P3(s)＝H(s)P3(s)；
E(s)＝P1(s)–P2(s)；
wherein s is a differential operator after Laplace transformation, G1(s) is the transfer function of the forward path, G1(s)＝kp+kiH(s) is the transfer function of the feedback channel, h(s) 1/k2；
Referring to fig. 10, a control block diagram of the coating system may thus be obtained.
In the step of setting parameters according to the attenuation curve method, the system is stable through the Laus criterion. The root trajectory of the system is shown in fig. 11. The decay curve method is a closed loop setting method, and test data come from the decaying oscillation of the system.
Specifically, referring to fig. 12, the step disturbance of the set value in this embodiment refers to P1(t) a mutation is made and the response of the coating system is observed. Until 5:1 decay of the coating system occurs by increasing or decreasing the scaling factor, the k at that time is recordedpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.6Ts, and k is further obtainedi＝kp/TI。
In the embodiment, a closed-loop control system is designed by utilizing feedback and feedforward and parameters of the closed-loop control system are set, so that the rotating speed of a main traction motor and the rotating speed of a preform rod feeding motor are coordinated, the stability, the accuracy and the rapidity are met, and the production efficiency is comprehensively improved. And the optimal setting parameter is obtained by an attenuation curve method, so that the control effect is obviously improved.
Example 4:
referring to fig. 13, the system is a follow-up system of the take-up end of the optical fiber screening machine, the designated parts of the follow-up system of the take-up end of the optical fiber screening machine include a take-up wheel of the optical fiber screening machine, a take-up traction wheel of the optical fiber screening machine and a dancing wheel, and the parameters to be set include a proportionality coefficient, an integral coefficient and a feedforward coefficient;
the time domain expression of the follow-up system at the take-up end of the optical fiber screening machine is as follows,
V6(t)＝k1V5(t)+kpe(t)+ki∫e(t)dt；
L(t)＝k2∫[V6(t)–V5(t)]dt；
e(t)＝L0(t)–L(t)；
in the formula, V5(t) is the rotating speed of the take-up traction wheel of the optical fiber screening machine, V6(t) is the rotation speed of the take-up pulley of the optical fiber screening machine, L (t) is the actual position of the dancing wheel, L0(t) the intermediate position of the dancing wheel, e (t) a deviation signal, k1Is a feedforward coefficient, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k1、k2、kpAnd kiAre all larger than 0;
the S domain expression of the follow-up system at the take-up end of the optical fiber screening machine is as follows,
V6(s)＝k1V5(s)+kpE(s)+(ki/s)E(s)＝Gr(s)V5(s)+G1(s)E(s)；
L(s)＝(k2/s)[V6(s)-V5(s)]＝H(s)[V6(s)-V5(s)]；
E(s)＝L0(s)–L(s)；
where s is the differential operator after Ralsh transformation, Gr(s) is the transfer function of the feedforward channel, and Gr(s) k1，G1(s) and G2(s) is the transfer function of the forward path, G1(s)＝kp+ki/s，G2(s) ═ 1, H(s) is the transfer function of the feedback channel, H(s) ═ k2/s；
Referring to fig. 14, a control block diagram of a follow-up system of the take-up end of the optical fiber screening machine can be obtained.
In the step of setting parameters according to the attenuation curve method, the system is stable through the Laus criterion. The root trajectory of the system is shown in fig. 15. The decay curve method is a closed loop setting method, and test data come from the decaying oscillation of the system.
Specifically, referring to fig. 16, the step disturbance of the set value in the present embodiment refers to V5(t) making a sudden change in value and then observing the response of the follow-up system at the take-up end of the fiber screening machine. Increasing or decreasing the proportionality coefficient until the servo system at the take-up end of the optical fiber screening machine is attenuated by 4:1, and recording k at the momentpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.5Ts, and k is further obtainedi＝kp/TI；
K is obtained according to the ratio of the wheel diameter R3 of the take-up traction wheel of the optical fiber screening machine to the wheel diameter R4 of the take-up wheel of the optical fiber screening machine1R3/R4. In addition, since the value of L (t) can be directly measured by the position sensor, k2The exact value need not be known.
In the embodiment, the closed-loop control system is designed by utilizing feedback and feedforward and parameters of the closed-loop control system are set, so that the take-up pulley 7 of the optical fiber screening machine can accurately follow up the take-up traction wheel 5 of the optical fiber screening machine, the stability, the accuracy and the rapidity are met, and the production efficiency is comprehensively improved. And the optimal setting parameter is obtained by an attenuation curve method, so that the control effect is obviously improved.
Example 5:
referring to fig. 17, the system is a follow-up system of the pay-off end of the optical fiber screening machine, the designated parts of the follow-up system of the pay-off end of the optical fiber screening machine include a pay-off wheel of the optical fiber screening machine, a pay-off traction wheel of the optical fiber screening machine and a dancing wheel, and the parameters to be set include a proportionality coefficient, an integral coefficient and a feedforward coefficient;
the time domain expression of the follow-up system at the pay-off end of the optical fiber screening machine is as follows,
V8(t)＝k1V7(t)+kpe(t)+ki∫e(t)dt；
L(t)＝k2∫[V8(t)–V7(t)]dt；
e(t)＝L0(t)–L(t)；
in the formula, V7(t) is the rotation speed, V, of the pay-off traction wheel of the optical fiber screening machine8(t) the rotation speed of the pay-off wheel of the optical fiber screening machine, L (t) the actual position of the dancing wheel, L0(t) the intermediate position of the dancing wheel, e (t) a deviation signal, k1Is a feedforward coefficient, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k1、k2、kpAnd kiAre all larger than 0;
the S domain expression of the following system at the pay-off end of the optical fiber screening machine is as follows,
V8(s)＝k1V7(s)+kpE(s)+(ki/s)E(s)＝Gr(s)V7(s)+G1(s)E(s)；
L(s)＝(k2/s)[V8(s)-V7(s)]＝H(s)[V8(s)-V7(s)]；
E(s)＝L0(s)–L(s)；
where s is the differential operator after Ralsh transformation, Gr(s) is the transfer function of the feedforward channel, and Gr(s) k1，G1(s) and G2(s) is the transfer function of the forward path, G1(s)＝kp+ki/s，G2(s) ═ 1, H(s) is the transfer function of the feedback channel, H(s) ═ k2/s；
Referring to fig. 18, a control block diagram of a follow-up system of the take-up end of the optical fiber screening machine can be obtained.
In the step of setting parameters according to the attenuation curve method, the system is stable through the Laus criterion. The root trajectory of the system is shown in fig. 19. The decay curve method is a closed loop setting method, and test data come from the decaying oscillation of the system.
Specifically, referring to fig. 20, the step disturbance of the set value in this embodiment refers to V7(t) making a sudden change in value and observing the response of the follower system at the pay-off end of the fiber screening machine. Increasing or decreasing the proportionality coefficient until the 4:1 attenuation of the follow-up system at the pay-off end of the optical fiber screening machine occurs, and recording the k at the momentpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.5Ts, and k is further obtainedi＝kp/TI；
K is obtained according to the ratio of the wheel diameter R5 of the pay-off traction wheel of the optical fiber screening machine to the wheel diameter R6 of the pay-off wheel of the optical fiber screening machine1R5/R6. In addition, since the value of L (t) can be directly measured by the position sensor, k2The exact value need not be known.
In the embodiment, a closed-loop control system is designed by utilizing feedback and feedforward and parameters of the closed-loop control system are set, so that the paying-off wheel 1 of the optical fiber screening machine can accurately follow the paying-off traction wheel 3 of the optical fiber screening machine, the stability, the accuracy and the rapidity are met, and the production efficiency is comprehensively improved. And the optimal setting parameter is obtained by an attenuation curve method, so that the control effect is obviously improved.
Example 6:
referring to fig. 21, the system is a follow-up system at the tension end of the optical fiber screening machine, the designated components of the follow-up system at the tension end of the optical fiber screening machine include a pay-off traction wheel of the optical fiber screening machine, a take-up traction wheel of the optical fiber screening machine and a tension wheel, and the parameters to be set include a proportionality coefficient, an integral coefficient and a feed-forward coefficient;
the time domain expression of the follow-up system at the tension end of the optical fiber screening machine is as follows,
V5(t)＝k1V7(t)+kpe(t)+ki∫e(t)dt；
F(t)＝k2∫[V5(t)–V7(t)]dt；
e(t)＝F0(t)–F(t)；
in the formula, V7(t) is the rotation speed, V, of the pay-off traction wheel of the optical fiber screening machine5(t) is the rotating speed of the take-up traction wheel of the optical fiber screening machine, F (t) is the actual detection tension of the tension wheel, F0(t) is the set tension of the tension pulley, e (t) is the deviation signal, k1Is a feedforward coefficient, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k1、k2、kpAnd kiAre all larger than 0;
the S-domain expression of the follow-up system at the tension end of the optical fiber screening machine is as follows,
V5(s)＝k1V7(s)+kpE(s)+(ki/s)E(s)＝Gr(s)V7(s)+G1(s)E(s)；
F(s)＝k2[V5(s)-V7(s)]＝H(s)[V5(s)-V7(s)]；
E(s)＝F0(s)–F(s)；
where s is the differential operator after Ralsh transformation, Gr(s) is the transfer function of the feedforward channel, and Gr(s) k1，G1(s) and G2(s) is the transfer function of the forward path, G1(s)＝kp+ki/s，G2(s) ═ 1, H(s) is the transfer function of the feedback channel, H(s) ═ k2；
Referring to fig. 22, a control block diagram of the follow-up system of the tension end of the optical fiber screening machine can be obtained.
In the step of setting parameters according to the attenuation curve method, the system is stable through the Laus criterion. The root trajectory of the system is shown in fig. 23. The decay curve method is a closed loop setting method, and test data come from the decaying oscillation of the system.
Specifically, referring to fig. 24, the step disturbance of the set value in the present embodiment refers to V7(t) making a sudden change in value and then observing the response of the follower system at the tension end of the fiber screening machine. Increasing or decreasing the proportionality coefficient until the following system at the tension end of the optical fiber screening machine has 8:1 attenuation, and recording k at the momentpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.5Ts, and k is further obtainedi＝kp/TI；
K is obtained from E ═ F/A)/(Δ L/L)1Wherein E is Young modulus of the optical fiber, F is tension on the optical fiber, A is cross-sectional area of the optical fiber, L is length of the optical fiber between a pay-off traction wheel of the optical fiber screening machine and a take-up traction wheel of the optical fiber screening machine, and Delta L is length of the optical fiber when speed difference exists between the pay-off traction wheel of the optical fiber screening machine and the take-up traction wheel of the optical fiber screening machineAnd (4) increasing. In particular, the length of the material increases in direct proportion to the rate of speed increase across the material. So that the tension F and V on the optical fiber5-V7Is in direct proportion. In addition, since the value of F (t) can be directly measured by the tension sensor, k2The exact value need not be known.
In the embodiment, the closed-loop control system is designed by utilizing feedback and feedforward and parameters of the closed-loop control system are set, so that the take-up traction wheel 5 of the optical fiber screening machine can accurately follow the pay-off traction wheel 3 of the optical fiber screening machine, the stability, the accuracy and the rapidity are met, and the production efficiency is comprehensively improved. And the optimal setting parameter is obtained by an attenuation curve method, so that the control effect is obviously improved.
The present invention is not limited to the above-described embodiments, and it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements are also considered to be within the scope of the present invention. Those not described in detail in this specification are within the skill of the art.
Claims (9)
1. A method for setting system parameters in an optical fiber drawing tower is characterized by comprising the following steps:
according to the working conditions of a system in an optical fiber drawing tower, establishing a differential equation of a designated component in the system by using feedback, feedforward and parameters to be set to obtain a time domain expression of the system;
performing Laplace transformation on the differential equation to obtain an S-domain expression of the system;
determining a control block diagram of the system according to the S domain expression; and
setting the parameters according to an attenuation curve method;
the system comprises a follow-up system of the optical fiber take-up machine, a control system of a main tractor, a coating system, a follow-up system of a take-up end of the optical fiber screening machine, a follow-up system of a pay-off end of the optical fiber screening machine and a follow-up system of a tension end of the optical fiber screening machine;
when the system is a follow-up system of the optical fiber take-up machine, the specified component of the follow-up system of the optical fiber take-up machine comprises a main traction wheel and a take-up wheel, and the parameter to be set comprises a proportionality coefficient, an integral coefficient and a feedforward coefficient;
when the system is a control system of a main tractor, the designated parts of the control system of the main tractor comprise the main tractor, a diameter gauge, a drawing furnace and a preform rod feeding device, and the parameters to be set comprise a proportionality coefficient and an integral coefficient;
when the system is a coating system, the specified components of the coating system comprise a coating device, a pressure controller and a pressure sensor, and the parameters to be set comprise a proportionality coefficient and an integral coefficient;
when the system is a follow-up system of the take-up end of the optical fiber screening machine, the specified parts of the follow-up system of the take-up end of the optical fiber screening machine comprise a take-up wheel of the optical fiber screening machine, a take-up traction wheel of the optical fiber screening machine and a dancing wheel, and the parameters to be set comprise a proportionality coefficient, an integral coefficient and a feedforward coefficient;
when the system is a follow-up system of the pay-off end of the optical fiber screening machine, the specified parts of the follow-up system of the pay-off end of the optical fiber screening machine comprise an pay-off wheel of the optical fiber screening machine, a pay-off traction wheel of the optical fiber screening machine and a dancing wheel, and the parameters to be set comprise a proportionality coefficient, an integral coefficient and a feedforward coefficient;
when the system is a follow-up system of the tension end of the optical fiber screening machine, the designated parts of the follow-up system of the tension end of the optical fiber screening machine comprise an optical fiber screening machine pay-off traction wheel, an optical fiber screening machine take-up traction wheel and a tension wheel, and the parameters to be set comprise a proportionality coefficient, an integral coefficient and a feedforward coefficient.
2. The method for setting system parameters in an optical fiber drawing tower according to claim 1, wherein the step of setting the parameters by an attenuation curve method specifically comprises:
setting the integral time of the regulator to the maximum value to enable the integral coefficient to be 0, enabling the proportional coefficient to take a smaller preset value, and operating the system;
after the system is stabilized, performing set value step disturbance, observing the response of the system, observing the attenuation ratio of a curve, increasing or decreasing the proportionality coefficient until the system is attenuated by a preset proportion, recording the proportionality coefficient at the moment, and obtaining an attenuation period from the curve;
and obtaining the relation between the integration time and the attenuation period according to an empirical formula, determining the size of the integration time, and solving an integration coefficient.
3. The method of claim 2, wherein the system parameter setting method comprises: and observing the response of the system, if the response attenuation of the system is faster than a preset speed, increasing the proportionality coefficient, otherwise, decreasing the proportionality coefficient.
4. The method of claim 2, wherein the system parameter setting method comprises:
when the system is a follow-up system of the optical fiber take-up machine, the time domain expression of the follow-up system of the optical fiber take-up machine is as follows,
V2(t)＝k1V1(t)+kpe(t)+ki∫e(t)dt；
L’(t)＝k2∫[V2(t)–V1(t)]dt；
e(t)＝L0’(t)–L’(t)；
in the formula, V1(t) is the speed of rotation of the main traction sheave, V2(t) is the rotation speed of the take-up pulley, L' (t) is the actual fiber diameter, L0' (t) is a set fiber diameter, e (t) is a deviation signal, k1Is a feedforward coefficient, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k1、k2、kpAnd kiAre all larger than 0;
the S domain expression of the follow-up system of the optical fiber take-up machine is as follows,
V2(s)＝k1V1(s)+kpE(s)+(ki/s)E(s)＝Gr(s)V1(s)+G1(s)E(s)；
L’(s)＝(k2/s)[V2(s)-V1(s)]＝H(s)[V2(s)-V1(s)]；
E(s)＝L0’(s)–L’(s)；
where s is the differential operator after Ralsh transformation, Gr(s) is the transfer function of the feedforward channel, and Gr(s) k1，G1(s) and G2(s) is the transfer function of the forward path, G1(s)＝kp+ki/s，G2(s) ═ 1, H(s) is the transfer function of the feedback channel, H(s) ═ k2/s；
In the step of setting the parameters according to the attenuation curve method, the proportional coefficient is increased or decreased until the follow-up system of the optical fiber take-up machine attenuates by 4:1, and k at the moment is recordedpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.5Ts, and k is further obtainedi＝kp/TI；
K is obtained from the ratio of the wheel diameter R1 of the main traction wheel and the wheel diameter R2 of the take-up pulley1＝R1/R2。
5. The method of claim 2, wherein the system parameter setting method comprises:
when the system is the control system of the main tractor, the time domain expression of the control system of the main tractor is,
V4(t)＝kpe(t)+ki∫e(t)dt；
L’(t)＝k2∫[k1V3(t)–V4(t)]dt；
e(t)＝L’(t)–L0’(t)；
in the formula, V3(t) preform feed motor speed, V4(t) is the main tractor motor speed, L' (t) is the actual fiber diameter, L0' (t) is a set fiber diameter, e (t) is a deviation signal, k1Is a feedforward coefficient, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k1、k2、kpAnd kiAre all larger than 0;
the S-domain expression of the control system of the primary tractor is,
V4(s)＝kpE(s)+(ki/s)E(s)＝G1(s)E(s)；
L’(s)＝(k2/s)[k1V3(s)-V4(s)]＝H(s)[Gr(s)V3(s)-V4(s)]；
E(s)＝L’(s)–L0’(s)；
where s is the differential operator after Ralsh transformation, Gr(s) is the transfer function of the feedforward channel, and Gr(s) k1，G1(s) is the transfer function of the forward path, G1(s)＝kp+kiH(s) is the transfer function of the feedback channel, h(s) k2/s；
In the step of setting the parameters according to the attenuation curve method, the proportional coefficient is increased or decreased until the control system of the main tractor generates 4:1 attenuation, and k at the moment is recordedpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.5Ts, and k is further obtainedi＝kp/TI。
6. The method of claim 2, wherein the system parameter setting method comprises:
when the system is a coating system, the temporal expression of the coating system is,
P3(t)＝P1(t)+kpe(t)+ki∫e(t)dt；
P2(t)＝1/k2P3(t)；
e(t)＝P1(t)–P2(t)；
in the formula, P1(t) is a set pressure value, P2(t) is the actual pressure value, P, obtained by the pressure sensor3(t) is the output value of the pressure controller, e (t) is the deviation signal, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k2、kpAnd kiAre all larger than 0;
the S-domain expression of the coating system is,
P3(s)＝P1(s)+kpE(s)+(ki/s)E(s)＝P1(s)+G1(s)E(s)；
P2(s)＝1/k2P3(s)＝H(s)P3(s)；
E(s)＝P1(s)–P2(s)；
wherein s is a differential operator after Laplace transformation, G1(s) is the transfer function of the forward path, G1(s)＝kp+kiH(s) is the transfer function of the feedback channel, h(s) 1/k2；
In the step of setting the parameters according to the attenuation curve method, the coating system is attenuated by 5:1 by increasing or decreasing the proportionality coefficient, and k at the moment is recordedpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.6Ts, and k is further obtainedi＝kp/TI。
7. The method of claim 2, wherein the system parameter setting method comprises:
when the system is a follow-up system at the take-up end of the optical fiber screening machine, the time domain expression of the follow-up system at the take-up end of the optical fiber screening machine is as follows,
V6(t)＝k1V5(t)+kpe(t)+ki∫e(t)dt；
L(t)＝k2∫[V6(t)–V5(t)]dt；
e(t)＝L0(t)–L(t)；
in the formula, V5(t) is the rotating speed of the take-up traction wheel of the optical fiber screening machine, V6(t) is the rotation speed of the take-up pulley of the optical fiber screening machine, L (t) is the actual position of the dancing wheel, L0(t) the intermediate position of the dancing wheel, e (t) a deviation signal, k1Is a feedforward coefficient, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k1、k2、kpAnd kiAre all larger than 0;
the S-domain expression of the follow-up system at the take-up end of the optical fiber screening machine is as follows,
V6(s)＝k1V5(s)+kpE(s)+(ki/s)E(s)＝Gr(s)V5(s)+G1(s)E(s)；
L(s)＝(k2/s)[V6(s)-V5(s)]＝H(s)[V6(s)-V5(s)]；
E(s)＝L0(s)–L(s)；
where s is the differential operator after Ralsh transformation, Gr(s) is the transfer function of the feedforward channel, and Gr(s) k1，G1(s) and G2(s) is the transfer function of the forward path, G1(s)＝kp+ki/s，G2(s) ═ 1, H(s) is the transfer function of the feedback channel, H(s) ═ k2/s；
In the step of setting the parameters according to the attenuation curve method, the proportion coefficient is increased or decreased until the servo system at the take-up end of the optical fiber screening machine is attenuated by 4:1, and k at the moment is recordedpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.5Ts, and k is further obtainedi＝kp/TI；
K is obtained according to the ratio of the wheel diameter R3 of the take-up traction wheel of the optical fiber screening machine to the wheel diameter R4 of the take-up wheel of the optical fiber screening machine1＝R3/R4。
8. The method of claim 2, wherein the system parameter setting method comprises:
when the system is a follow-up system of the pay-off end of the optical fiber screening machine, the time domain expression of the follow-up system of the pay-off end of the optical fiber screening machine is as follows,
V8(t)＝k1V7(t)+kpe(t)+ki∫e(t)dt；
L(t)＝k2∫[V8(t)–V7(t)]dt；
e(t)＝L0(t)–L(t)；
in the formula, V7(t) is the rotation speed, V, of the pay-off traction wheel of the optical fiber screening machine8(t) the rotation speed of the pay-off wheel of the optical fiber screening machine, L (t) the actual position of the dancing wheel, L0(t) the intermediate position of the dancing wheel, e (t) a deviation signal, k1Is a feedforward coefficient, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k1、k2、kpAnd kiAre all larger than 0;
the S-domain expression of the follow-up system at the pay-off end of the optical fiber screening machine is as follows,
V8(s)＝k1V7(s)+kpE(s)+(ki/s)E(s)＝Gr(s)V7(s)+G1(s)E(s)；
L(s)＝(k2/s)[V8(s)-V7(s)]＝H(s)[V8(s)-V7(s)]；
E(s)＝L0(s)–L(s)；
where s is the differential operator after Ralsh transformation, Gr(s) is the transfer function of the feedforward channel, and Gr(s) k1，G1(s) and G2(s) is the transfer function of the forward path, G1(s)＝kp+ki/s，G2(s) ═ 1, H(s) is the transfer function of the feedback channel, H(s) ═ k2/s；
In the step of setting the parameters according to the attenuation curve method, the proportion coefficient is increased or decreased until the follow-up system at the pay-off end of the optical fiber screening machine generates 4:1 attenuation, and k at the moment is recordedpAnd obtaining the decay period Ts from the curve;
according to an empirical formula, the integral time TI is 0.5Ts, and k is further obtainedi＝kp/TI；
K is obtained according to the ratio of the wheel diameter R5 of the pay-off traction wheel of the optical fiber screening machine to the wheel diameter R6 of the pay-off wheel of the optical fiber screening machine1＝R5/R6。
9. The method of claim 2, wherein the system parameter setting method comprises:
when the system is a follow-up system at the tension end of the optical fiber screening machine, the time domain expression of the follow-up system at the tension end of the optical fiber screening machine is as follows,
V5(t)＝k1V7(t)+kpe(t)+ki∫e(t)dt；
F(t)＝k2∫[V5(t)–V7(t)]dt；
e(t)＝F0(t)–F(t)；
in the formula, V7(t) is the rotation speed, V, of the pay-off traction wheel of the optical fiber screening machine5(t) is the rotating speed of the take-up traction wheel of the optical fiber screening machine, F (t) is the actual detection tension of the tension wheel, F0(t) is the set tension of the tension pulley, e (t) is the deviation signal, k1Is a feedforward coefficient, k2Is a middle coefficient, kpIs a proportionality coefficient, kiIs an integral coefficient, and k1、k2、kpAnd kiAre all larger than 0;
the S-domain expression of the follow-up system at the tension end of the optical fiber screening machine is as follows,
V5(s)＝k1V7(s)+kpE(s)+(ki/s)E(s)＝Gr(s)V7(s)+G1(s)E(s)；
F(s)＝k2[V5(s)-V7(s)]＝H(s)[V5(s)-V7(s)]；
E(s)＝F0(s)–F(s)；
where s is the differential operator after Ralsh transformation, Gr(s) is the transfer function of the feedforward channel, and Gr(s) k1，G1(s) and G2(s) is the transfer function of the forward path, G1(s)＝kp+ki/s，G2(s) ═ 1, H(s) is the transfer function of the feedback channel, H(s) ═ k2；
In the step of setting the parameters according to the attenuation curve method, the proportion coefficient is increased or decreased until the follow-up system at the tension end of the optical fiber screening machine is attenuated by 8:1, and k at the moment is recordedpAnd from the curveObtaining the attenuation period Ts;
according to an empirical formula, the integral time TI is 0.5Ts, and k is further obtainedi＝kp/TI；
K is obtained from E ═ F/A)/(Δ L/L)1Wherein E is the Young modulus of the optical fiber, F is the tension on the optical fiber, A is the cross-sectional area of the optical fiber, L is the length of the optical fiber between the pay-off traction wheel of the optical fiber screening machine and the take-up traction wheel of the optical fiber screening machine, and Delta L is the length increment of the optical fiber when the speed difference exists between the pay-off traction wheel of the optical fiber screening machine and the take-up traction wheel of the optical fiber screening machine.
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