CN108462410A - A kind of Dual-Servo Motor intermittent delivery mechanism keeps the control method with tension - Google Patents
A kind of Dual-Servo Motor intermittent delivery mechanism keeps the control method with tension Download PDFInfo
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- CN108462410A CN108462410A CN201810443151.2A CN201810443151A CN108462410A CN 108462410 A CN108462410 A CN 108462410A CN 201810443151 A CN201810443151 A CN 201810443151A CN 108462410 A CN108462410 A CN 108462410A
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- 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
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- 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
- H02P5/52—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 additionally providing control of relative angular displacement
- H02P5/56—Speed and position comparison between the motors by electrical means
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
Abstract
A kind of Dual-Servo Motor intermittent delivery mechanism keeps the control method with tension, the torque-feedback closed loop and Displacement Feedback closed loop having using servo motor, actual torque and the structure of actual displacement signal can be fed back to, since there are tension values between major-minor two rubber rollers, the torque numerical value that two servo motors are fed back is compared, it can get the tensioning degree of film, when the gap of the two is more than default value, the adjustment of default value is carried out to the displacement signal of auxiliary rubber roller output in the third period, the adjustment numerical value carries out increase adjustment on the displacement data of original setting, and continuous progress dynamic contrast is carried out using multithreading and is added up, adjustment, with the in-phase synchronization that can keep two rubber rollers, to obtain metastable tension, bag making quality can be improved.
Description
Technical field：
The invention belongs to Bag Making Machine machinery field, Bag Making Machine carries out bag body feedstock transportation, needs using between Dual-Servo Motor
Have a rest operation, and two groups of delivering rubber rollers holdings synchronize same phase, and in particular to be that a kind of Dual-Servo Motor intermittent delivery mechanism is protected
Hold the control method of same tension.
Background technology：
In Bag Making Machine industry, be all conveyed using coiled continuous membrane body, and by cut-out and Welding mechanism into
Row bag making acts, and due to there is movement film feeding and stopping two actions of cut-out, the wheel group of feeding does not move not instead of continuously, interval
Movement, feeding slave wheel group act a cycle, stop a cycle, constantly repeatedly start-stop.It is equipped with two within the system
Group rubber roller is separately connected main rubber roller and auxiliary rubber roller using two servo motors, while being sent out to two servo motors identical
Drive signal keeps the feeding constant tension between two rubber rollers, but due to rubber roller product manufacturing precision and the mistake of membrane body thickness
Difference and servo motor are different to the reaction sensitivity of signal, and two groups of rubber rollers can not possibly be always maintained at identical phase to obtain
Feeding constant tension causes the product quality of bag making to go wrong.
Invention content：
The Dual-Servo Motor intermittent delivery mechanism of drawbacks described above can be overcome to keep same the object of the present invention is to provide a kind of
The control method of tension.
The technical scheme adopted by the invention to solve the technical problem is that：A kind of Dual-Servo Motor intermittent delivery mechanism holding
With the control method of tension, Dual-Servo Motor intermittent delivery mechanism includes main servo motor, auxiliary servo motor and control machine
Structure, the main servo motor are drivingly connected the main rubber roller of a pair of of synchronous operation, and the auxiliary servo motor is drivingly connected one
To the auxiliary rubber roller of synchronous operation, control mechanism control connection main servo motor, auxiliary servo motor, key is institute
The control method stated includes：1) each action cycle is divided into multiple periods；2) in first period, main servo motor,
After auxiliary servo motor receives the displacement control signal that control mechanism is sent out, it is carried out at the same time action, and after action, it is main
Servo motor and auxiliary servo motor all feed back a torque signals to control mechanism；3) control mechanism is at subsequent first
Between section compare the gaps of the torque signals of auxiliary servo motor and the torque signals of main servo motor, when the power of auxiliary servo motor
Square signal be more than or not as good as the torque signals of main servo motor preset ratio numerical value when, then at subsequent second
The displacement that period carries out auxiliary servo motor displacement control signal is reduced or is increased adjustment, moves control signal
Displacement proportional numerical value proportional numerical value of torque signals compared with is identical；If the fiducial value is not up to preset ratio numerical value, then
It is adjusted without displacement signal in subsequent second period, and the gap numerical value is carried out in subsequent second period
It is cumulative, when the numerical value subsequently repeatedly added up reaches preset proportional numerical value, then in subsequent time period to auxiliary servo electricity
The displacement of machine is adjusted, and adjustment amount is to increase or reduce preset ratio numerical value；4) after carrying out displacement adjustment, under
One step continues torque signals comparison and judges, is continuously dynamically adjusted, until the end cycle；The control
Mechanism includes servo controller and motion controller, and servo controller provides the calculating comparison of torque signals, and motion controller carries
For controlling the output of signal.
Each action cycle is divided into 8~15 periods, preferably 10,11 or 12 periods, also may be used
With the time using each period period, preferably 8,10 or 12ms are divided for 5~15ms.
In the step 3), after carrying out displacement adjustment, one or more torque displacement being calculated is folded
Dosage numerical value and preset proportional numerical value have one beyond numerical quantity, this is accumulated to beyond numerical quantity in next calculating step
It is calculated, until the end cycle.
The preset ratio numerical value of the torque signals being compared is 5%~15%, preferably 10%；Described
The preset ratio numerical value of displacement signal adjustment is 5%~15%, preferably 10%.
There are two to judge process for described this method, i.e., is all fed back in first period, second period
The size of torque judges, and carries out displacement calculation and adjustment respectively in the subsequent period, and for the power of the judgement process
When moment ratio example is not up to default value, then it is transferred to other one in subsequent time period without action and by the result and judges
Process merges.
The feedback signal gatherer process to torque is at least ten that equal time difference is obtained within the period
Numerical value, and average computation is carried out to multiple numerical value of acquisition, the average obtained is the torque-feedback numerical value of the period.
The Dual-Servo Motor intermittent delivery mechanism of the present invention keeps the control method with tension, has using servo motor
Torque-feedback closed loop and Displacement Feedback closed loop can feed back to actual torque and the structure of actual displacement signal, due to
There are tension values between major-minor two rubber rollers, are compared to the torque numerical value that two servo motors are fed back, and can get thin
The tensioning degree of film, it is defeated to auxiliary rubber roller in the third period when gap of the two is more than default value (such as 10%)
The displacement signal gone out carries out the adjustment of default value (10%), which carries out increase tune on the displacement data of original setting
It is whole, and using multithreading carry out it is continuous carry out dynamic contrast and accumulative, adjustment, have can keep two rubber rollers with identical
Step, to obtain metastable tension, can be improved bag making quality.
Description of the drawings：
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the main cots displacement signal of structure of the invention and torque signals schematic diagram；
Fig. 3 is that structure of the invention assists cots displacement signal and torque signals schematic diagram.
Specific implementation mode：
As shown in Figure 1 to Figure 3, a kind of Dual-Servo Motor intermittent delivery mechanism keeps the control method with tension, double servos
Motor intermittent delivery mechanism includes main servo motor, auxiliary servo motor and control mechanism, and main servo motor driving connects
The main rubber roller of a pair of of synchronous operation is connect, the auxiliary servo motor is drivingly connected the auxiliary rubber roller of a pair of of synchronous operation, described
Control mechanism control connection main servo motor, auxiliary servo motor, key is that the control method includes：It 1) will be each
Action cycle is divided into multiple periods；2) in first period, main servo motor, auxiliary servo motor receive control mechanism
After the displacement control signal sent out, it is carried out at the same time action, and after action, main servo motor and auxiliary servo motor are all anti-
A torque signals are presented to control mechanism；3) control mechanism compares the torque of auxiliary servo motor in subsequent first period
The gap of signal and the torque signals of main servo motor, when the torque signals of auxiliary servo motor are more than or not as good as main servo
When the preset ratio numerical value of the torque signals of motor, then in subsequent second period to auxiliary servo motor into line position
The displacement for moving control signal is reduced or is increased adjustment, is moved the displacement proportional numerical value for controlling signal torque compared with and is believed
Number proportional numerical value it is identical；If the fiducial value is not up to preset ratio numerical value, then subsequent second period without
Displacement signal adjusts, and the gap numerical value is added up in subsequent second period, when the numerical value subsequently repeatedly added up
When reaching preset proportional numerical value, then the displacement of auxiliary servo motor is adjusted in subsequent time period, adjustment amount
To increase or reducing preset ratio numerical value；4) after carrying out displacement adjustment, continue torque signals pair in next step
Than judging, continuously dynamically adjusted, until the end cycle；The control mechanism includes servo controller and movement
Controller, servo controller provide the calculating comparison of torque signals, and motion controller provides the output of control signal.
Displacement signal waveform in each period is into the known waveform shape being calculated excessively, by this waveform point
At multiple periods, for each period tool there are one the displacement angle determined, control mechanism sends out the displacement angle signal
To servo motor, position control is carried out.
Each action cycle is divided into 8~15 periods, preferably 10,11 or 12 periods, also may be used
With the time using each period period, preferably 8,10 or 12ms are divided for 5~15ms.Wave in Fig. 2 and Fig. 3
Shape is that the entire period of motion is divided into 10 periods, is detected calculating and judges adjustment, each period is 12ms.
The whole cycle of the figure is 120ms, i.e., startup per minute stops 250 times, startup, the period for stopping respectively accounting for a 120ms.
The signal of Fig. 2 similar sine waves therein is the displacement control signal of main rubber roller, and the figure of middle part sawtooth pattern is power
The signal of square feedback, the signal of similar sine wave be the displacement control signal for assisting rubber roller after adjustment, middle part sawtooth pattern in Fig. 3
Figure be torque-feedback signal.
Peace river motion controller MP3300 and peace 7 series of servo of river ∑ can be used in servo controller in the present invention, and can
Proface touch screens are configured, touch-control control is carried out.It can also use instead according to demand
So-called phase controlling refers to, is rotated according to specified speed command, while according to the speed, internal calculation should
The rotation position of movement, and keep the position.By the way that the control is used for multiple axis, the rotation position that Z can be continuously maintained each axis is closed
Speed control is carried out while being (phase difference), the mechanical component of continuous action can be made to synchronize operation.In Bag Making Machine industry
In, since membrane body does not move not instead of continuously, intermittent movement, feeding servo action a cycle.Stop a cycle, constantly weight
Multiple start and stop start and stop.
In the step 3), after carrying out displacement adjustment, one or more torque displacement being calculated is folded
Dosage numerical value and preset proportional numerical value have one beyond numerical quantity, this is accumulated to beyond numerical quantity in next calculating step
It is calculated, until the end cycle.
The preset ratio numerical value of the torque signals being compared is 5%~15%, preferably 10%；Described
The preset ratio numerical value of displacement signal adjustment is 5%~15%, preferably 10%.When the force feedback numerical value of auxiliary rubber roller is too late
Main rubber roller force feedback numerical value 10% or when more than 10%, carry out carrying out 10% to displacement signal in subsequent time period
Adjustment, exceeds or the part not as good as 10% is accumulated to next part and is calculated.
There are two to judge process for described this method, i.e., is all fed back in first period, second period
The size of torque judges, and carries out displacement calculation and adjustment respectively in the subsequent period, and for the power of the judgement process
When moment ratio example is not up to default value, then it is transferred to other one in subsequent time period without action and by the result and judges
Process merges.
As improved embodiment, three either four test processes, multiple processes can be arranged in described this method
Continuous operation, and carry out result cross-combining and carry out PID (proportional integral differential) calculating, auxiliary rubber roller is carried out dynamic
Adjustment follow-up, to keep the constant tension between main rubber roller.
The feedback signal gatherer process to torque is at least ten that equal time difference is obtained within the period
Numerical value, and average computation is carried out to multiple numerical value of acquisition, the average obtained is the torque-feedback numerical value of the period.Make
For preferred preparation method, the numerical value of the numerical value and the last one acquisition that remove first acquisition can be taken, then to other numbers
Value carries out average calculating.It method is obtained as better, can obtain 10 or more numerical value, for example 20 are counted
It calculates.
Concrete operations need according to different materials, thickness film needed for matched tension value, within a period of motion,
The moment values of the main rubber roller servo motor of continuous dynamic acquisition, compare with membrane tension setting value, continuous dynamic by PID control
State modification auxiliary rubber roller servo settings, keep constant tension between two servos.On two servo curves, each point of curve
Identical (locking phase) is set, membrane tension is identical.
Claims (6)
1. a kind of Dual-Servo Motor intermittent delivery mechanism keeps the control method with tension, Dual-Servo Motor intermittent delivery mechanism packet
Main servo motor, auxiliary servo motor and control mechanism are included, the main servo motor is drivingly connected the master of a pair of of synchronous operation
Rubber roller, the auxiliary servo motor are drivingly connected the auxiliary rubber roller of a pair of of synchronous operation, control mechanism control connection
Main servo motor, auxiliary servo motor, it is characterised in that the control method includes：1) each action cycle is divided into multiple
Period；2) in first period, main servo motor, auxiliary servo motor receive the Bit andits control letter that control mechanism is sent out
After number, it is carried out at the same time action, and after action, main servo motor and auxiliary servo motor all feed back a torque signals and arrive
Control mechanism；3) control mechanism compares the torque signals and main servo motor of auxiliary servo motor in subsequent first period
Torque signals gap, when the torque signals of auxiliary servo motor be more than or not as good as main servo motor torque signals
When preset ratio numerical value, then the displacement of displacement control signal is carried out to auxiliary servo motor in subsequent second period
Amount is reduced or is increased adjustment, moves the proportional numerical value phase of displacement proportional numerical value torque signals compared with of control signal
Together；If the fiducial value is not up to preset ratio numerical value, then adjusted without displacement signal in subsequent second period, and
The gap numerical value is added up in subsequent second period, when the numerical value subsequently repeatedly added up reaches preset proportional numbers
When value, then the displacement of auxiliary servo motor is adjusted in subsequent time period, adjustment amount is to increase or reduce in advance
If proportional numerical value；4) after carrying out displacement adjustment, continue torque signals comparison in next step and judge, it is continuous to carry out
Dynamic adjustment, until the end cycle；The control mechanism includes servo controller and motion controller, servo controller
The calculating comparison of torque signals is provided, motion controller provides the output of control signal.
2. Dual-Servo Motor intermittent delivery mechanism according to claim 1 keeps the control method with tension, feature to exist
It is divided into 8~15 periods in each action cycle, preferably 10,11 or 12 periods, can also uses
Time of each period divides period, preferably 8,10 or 12ms for 5~15ms.
3. Dual-Servo Motor intermittent delivery mechanism according to claim 1 keeps the control method with tension, feature to exist
In the step 3), after carrying out displacement adjustment, the displacement superposed amount number of one or more torque that is calculated
It is worth with preset proportional numerical value there are one beyond numerical quantity, this is accumulated to beyond numerical quantity in next calculating step and is counted
It calculates, until the end cycle.
4. Dual-Servo Motor intermittent delivery mechanism according to claim 3 keeps the control method with tension, feature to exist
In the torque signals being compared preset ratio numerical value be 5%~15%, preferably 10%；The displacement letter
Number adjustment preset ratio numerical value be 5%~15%, preferably 10%.
5. Dual-Servo Motor intermittent delivery mechanism according to claim 4 keeps the control method with tension, feature to exist
In described this method, there are two to judge process, i.e., all carries out feedback moment in first period, second period
Size judges, and carries out displacement calculation and adjustment respectively in the subsequent period, and for the proportion of torque of the judgement process
Not up to default value when, then subsequent time period without action and by the result be transferred to other judgement process into
Row merges.
6. Dual-Servo Motor intermittent delivery mechanism according to claim 4 keeps the control method with tension, feature to exist
In at least ten numerical value that the feedback signal gatherer process to torque is the acquisition equal time difference within the period, and
Average computation is carried out to multiple numerical value of acquisition, the average obtained is the torque-feedback numerical value of the period.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810443151.2A CN108462410B (en) | 2018-05-10 | 2018-05-10 | Control method for keeping same tension of double-servo-motor intermittent conveying mechanism |
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| CN201810443151.2A CN108462410B (en) | 2018-05-10 | 2018-05-10 | Control method for keeping same tension of double-servo-motor intermittent conveying mechanism |
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| CN108462410A true CN108462410A (en) | 2018-08-28 |
| CN108462410B CN108462410B (en) | 2019-12-13 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005212946A (en) * | 2004-01-28 | 2005-08-11 | Kyocera Corp | Tension control method and device for carrier sheet |
| CN101422961A (en) * | 2008-11-10 | 2009-05-06 | 大连橡胶塑料机械股份有限公司 | Tension control system of plastic packaging film production line |
| CN202463132U (en) * | 2011-12-28 | 2012-10-03 | 珠海市拱北生龙纸业有限公司 | Secondary tension control device of rotary press |
| JP6287329B2 (en) * | 2014-02-27 | 2018-03-07 | セイコーエプソン株式会社 | Image recording apparatus and sheet conveying method |
-
2018
- 2018-05-10 CN CN201810443151.2A patent/CN108462410B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005212946A (en) * | 2004-01-28 | 2005-08-11 | Kyocera Corp | Tension control method and device for carrier sheet |
| CN101422961A (en) * | 2008-11-10 | 2009-05-06 | 大连橡胶塑料机械股份有限公司 | Tension control system of plastic packaging film production line |
| CN202463132U (en) * | 2011-12-28 | 2012-10-03 | 珠海市拱北生龙纸业有限公司 | Secondary tension control device of rotary press |
| JP6287329B2 (en) * | 2014-02-27 | 2018-03-07 | セイコーエプソン株式会社 | Image recording apparatus and sheet conveying method |
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| CN108462410B (en) | 2019-12-13 |
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