CN108566124A - A kind of material volume bilateral driving control system and material volume equipment - Google Patents
A kind of material volume bilateral driving control system and material volume equipment Download PDFInfo
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- CN108566124A CN108566124A CN201810289361.0A CN201810289361A CN108566124A CN 108566124 A CN108566124 A CN 108566124A CN 201810289361 A CN201810289361 A CN 201810289361A CN 108566124 A CN108566124 A CN 108566124A
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- 239000000463 material Substances 0.000 title claims abstract description 64
- 230000002146 bilateral effect Effects 0.000 title claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims abstract description 44
- 238000004891 communication Methods 0.000 claims abstract description 7
- 230000005611 electricity Effects 0.000 claims description 7
- 241000208340 Araliaceae Species 0.000 claims description 3
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 3
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 3
- 235000008434 ginseng Nutrition 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000004804 winding Methods 0.000 description 4
- 239000011248 coating agent Substances 0.000 description 3
- 238000000576 coating method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000007639 printing Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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- 235000013399 edible fruits Nutrition 0.000 description 1
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Classifications
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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
- H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
Abstract
A kind of material volume bilateral driving control system of present invention offer and material volume equipment, control system include computer, motion controller, driver, encoder, DC power supply and motor；Computer is connect with motion controller, and carries out hardware configuration to each electric components by debugging software；DC power supply is connect with motion controller, for providing power supply to each electric components；Motion controller is connect with driver, for and driver real-time data communication, and pass through driver control motor operation；Driver is connected with motor, is used for driving motor；Encoder is set on motor, and is connected with driver, the running speed for detecting motor, and running speed is fed back to driver；Using the above scheme so that the operation of material volume control system is more steady, safe and reliable.
Description
Technical field
The invention belongs to print and coating apparatus technical field, and in particular to a kind of material volume bilateral driving control system and material
Roll up equipment.
Background technology
Existing material volume equipment, big material volume are driven using unilateral motor, and due to secund stress, unilateral refill is easily ground
There are the single motors of the security risk of mechanical wounding, the big installation inconvenience of single motor volume, high power high current there is electricity for damage
Security risk in terms of gas；Currently also have using two-side motor type of drive, mainly there is torque control mode and speed sync control
Mode processed；When using torque control mode, when the material volume of large winding diameter large rotating inertia just starts, it will appear stepping from the motor of side
Formula jitter phenomenon, only just can be steady after arrival certain speed；When two-side motor driving is using synchronous velocity control mode, high speed
Both sides motor is due to the difference of the mechanical property of itself when operation, it is difficult to accomplish absolute speed sync, meeting is variant, can be mutual
It influences, motor overload is caused to be alarmed；And the existing most of control mode of material volume equipment does not have counting-rate-difference feedback to monitor ring in real time
Section.
Based on technical problem present in above-mentioned material volume equipment, there has been no relevant solutions；Therefore there is an urgent need to seek
Effective scheme is sought to solve the above problems..
Invention content
The purpose of the present invention is shortcomings present in view of the above technology, propose a kind of material volume bilateral drive control system
System and material volume equipment, it is intended to solve the problems, such as existing material volume control system fluctuation of service.
The present invention provides a kind of material volume bilateral driving control system, includes computer, motion controller, driver, coding
Device, DC power supply and motor；Computer is connect with motion controller, and is carried out firmly to each electric components by debugging software
Part configuration；DC power supply is connect with motion controller, for providing power supply to each electric components；Motion controller and driving
Device connects, for and driver real-time data communication, and pass through driver control motor operation；Driver is connected with motor, is used
In driving motor；Encoder is set on motor, and is connected with driver, the running speed for detecting motor, and will operation
Speed feedback is to driver.
Further, motor includes main side motor and from side motor；Driver includes main side driver and is driven from side
Dynamic device；Encoder includes main side encoder and from side encoder；Main side driver is connected with main side motor；Main side encoder is set
It is placed on the motor of main side, and is connected with main side driver；It is connected from side driver with from side motor；From side encoder be set to from
On the motor of side, and connected with from side driver.
Further, further include having power module；Power module is connected with motion controller with driver respectively；Power supply mould
Block provides DC power supply by common DC bus to driver.
Further, further include thering is Motor torque to give module, parameter adjuster and main side motor speed to give module；
Motor torque gives module and is connected with parameter adjuster；Parameter adjuster and main side motor speed give module respectively and move
Controller connects；Motor torque gives module and is used to obtain the torque of motor and is overlapped to obtain torque by parameter adjuster
Difference；Main side motor speed gives module and is used to obtain the rotating speed of main side motor, and is superimposed to obtain from side motor with torque difference
Rotating speed drive from side motor.
Further, it includes that main side Motor torque gives module and given from side Motor torque that Motor torque, which gives module,
Module；Parameter adjuster includes main side parameter adjuster and from side parameter adjuster；Main side Motor torque gives module and is set to
On the motor of main side, and connected with main side parameter adjuster；From side Motor torque give module be set to from the motor of side, and and from
Side parameter adjuster connection.
Further, further include have rotating speed filter module, rotation speeds setting module, rotary speed comparator, speed discrepancy comparator with
And the module that reports an error；Rotating speed filter module is connected with motion controller, and the running speed of motor is obtained for receiving encoder；Rotating speed
Setting module is connected with motion controller, for receiving the rotating speed from side motor；Rotary speed comparator is connected with motion controller, is used
In the motor operation rotating speed of comparison coder acquisition and from the rotating speed of side motor, and obtains rotating speed and compare the time；Speed discrepancy compares
Device is connected with rotary speed comparator, for obtaining motor operation rotating speed and reporting an error in module from the speed discrepancy of side motor, and reporting an error.
Further, further include having function generator and time delay module；Time delay module is connected to speed discrepancy comparator and turns
Between fast comparator, function generator is connected with time delay module；When rotating speed compares rotating speed tolerance threshold of the time beyond setting,
Function generator activates, and connects time delay module and exports speed discrepancy.
Further, the module that reports an error is connected with parameter adjuster, motion controller according to speed discrepancy adjusting parameter adjuster,
So that motor is in best running speed.
The present invention also provides a kind of material volume equipment, include material volume bilateral driving control system, material volume bilateral drive control
System is material volume bilateral driving control system described above.
Further, further include having main side motor, from side motor and material volume；Main side motor is set on the holder of main side,
For driving main side to expect spindle nose；From side, motor is set to from side stand, expects spindle nose for driving from side；Material volume is clamped in main side
Between expecting spindle nose and expecting spindle nose from side.
By using above technical scheme so that existing material volume apparatus control system operation is more steady, safe；Make winner
The dynamic equilibrium being optimal from the rotating speed and torque of side motor, meets the service requirement of large winding diameter large rotating inertia material volume；Make
Existing paper printing and Paper Coating equipment are obtained by using this material volume drive control mode, operation effect well can be reached
Fruit.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Below with reference to attached drawing, the invention will be further described：
Fig. 1 is a kind of material volume bilateral driving control system structural schematic diagram of the present invention；
Fig. 2 is a kind of material volume bilateral driving control system torque of the present invention and rotational speed regulation schematic diagram；
Fig. 3 is that a kind of material volume bilateral driving control system of the present invention feeds back comparison schematic diagram；
Fig. 4 is a kind of material volume machine structural schematic diagram of the present invention.
In figure：21, main side motor B1；23, from side motor B1；28, from side axle head；29, main side spindle nose；30, material volume.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1 to Figure 3, the present invention provides a kind of material volume bilateral driving control system, includes computer, movement control
Device, driver, encoder, DC power supply, motor and power module processed；Computer pc is connect with motion controller, and passes through tune
It tries software and hardware configuration is carried out to each electric components, specially：IP address is set on computer and motion controller setting exists
In the same domain, by ICP/IP protocol, communication is attached with the form of Ethernet.System group is carried out by debugging software
State selectes the electric components that whole system needs are used in motion controller, and assigns corresponding communication interface, passes through
Drive-CLiQ cables connect motion controller and each electric components；DC power supply is connect with motion controller,
For giving each electric components to provide DC power supply, which is preferably 24V DC power supplies；Motion controller passes through
Drive-CLiQ cables are connect with driver, for and driver real-time data communication, and pass through the fortune of driver control motor
Row；Driver is connected with motor, is run for driving motor；Encoder is set on motor, and is connected with driver, for examining
The running speed of measured motor, and actual running speed is fed back into driver；Power module respectively with motion controller and driving
Device connects, and power module is in a manner of common DC bus to driver for DC power supply；Specifically, DC power supply is to each electrical
Component provides direct current 24V and controls power supply, only the working power of component；And power module is that the three-phase 380V of power grid is handed over
Galvanic electricity source is rectified into the DC power supply of 540V or so, DC power supply is provided to servo-driver, straight inside servo-driver
Galvanic electricity source drives servo motor being reverse into AC power；Using the above scheme so that the operation of material volume control system is more flat
Surely, safe and reliable.
Preferably, in conjunction with said program, as shown in Figure 1 to Figure 3, in the present embodiment, motor is servo motor, includes
Main side motor and from side motor；Driver includes main side driver and from side driver；Encoder includes main side encoder
With from side encoder；Main side driver is connected with main side motor；Main side encoder is set on the motor of main side, and is driven with main side
Device connects；It is connected from side driver with from side motor；From side, encoder is set to from the motor of side, and and is connected from side driver
It connects；It main side driver and is connect with motion controller from side driver by Drive-CLiQ cables.
Preferably, further include having Motor torque to cover half in the present embodiment as shown in Figure 1 to Figure 3 in conjunction with said program
Block, parameter adjuster and the main sides B1 motor speed give module；Motor torque gives module, parameter adjuster and the main sides B1
Motor speed gives module and is integrated into motion controller, is attached by Drive-CLiQ cables and driving, with ginseng
Digital independent is carried out between several modes and driver and is given, and different parameters corresponds to different functions；Motor torque is given
Module is connected with parameter adjuster；Parameter adjuster and the main sides B1 motor speed give module and connect respectively with motion controller
It connects；The given module of Motor torque, which is used to obtain the torque parameter of motor and optimizes superposition by parameter adjuster, obtains torque
Difference；The main sides B1 motor speed gives the rotating speed that module is used to obtain main side motor, and is superimposed to obtain from side electricity with torque difference
The rotating speed of machine drives from side motor；Specifically, Motor torque give module include main side Motor torque give module and from
Side Motor torque gives module；Parameter adjuster includes main side parameter adjuster and from side parameter adjuster；Main side Motor torque
Given module is set on the motor of main side, and is connected with main side parameter adjuster；From side Motor torque give module be set to from
On the motor of side, and connected with from side parameter adjuster；Main side Motor torque gives the torque ginseng that module is used to obtain main side motor
Number gives module from side Motor torque and is used to obtain the torque parameter from side motor；And by the torque parameter of main side motor and from
The torque parameter of side motor optimizes superposition by parameter adjuster and obtains main side motor and from the torque difference of side motor；Again
Torque difference is added on the actual running speed of main side motor, according to calculate gained from side motor operation need rotating speed come
It drives from side motor operation.
Preferably, further include thering is rotating speed filter module, rotating speed to set as shown in figure 3, in the present embodiment in conjunction with said program
Cover half block, rotary speed comparator, speed discrepancy comparator and the module that reports an error；Rotating speed filter module is connected with motion controller, is used for
Receive the running speed that encoder obtains motor；Rotation speeds setting module is connected with motion controller, for receiving from side motor
Torque difference is added on the actual running speed of main side motor from the rotating speed of side motor, that is, above-mentioned, according to meter by rotating speed herein
Calculate rotating speed of the gained from side motor operation；Rotary speed comparator is connected with motion controller, the motor obtained for comparison coder
Running speed and rotating speed from side motor, and obtain rotating speed and compare the time；Speed discrepancy comparator is connected with rotary speed comparator, is used for
It obtains motor operation rotating speed and speed discrepancy from side motor and reports an error in module reporting an error, and be shown in and report an error in module；Into one
Step ground, motion controller is according to the speed discrepancy adjusting parameter adjuster of the display that reports an error, so that the running speed that motor is optimal
Operational effect, best running speed is main side motor and drives the torque of material volume approximately the same from side motor, between two motors
There is no interaction force；Speed discrepancy comparator obtains speed discrepancy, and motion controller, motion controller are fed back in the form of parameter
According to rotating speed difference come Optimal Parameters adjuster, in the module that reports an error when rotating speed difference be more than setting value when, can drive report an error it is aobvious
Show module.
Preferably, further include having function generator and prolonging in the present embodiment as shown in Figure 1 to Figure 3 in conjunction with said program
When module；Time delay module is connected between speed discrepancy comparator and rotary speed comparator, and function generator is connected with time delay module；
When rotating speed compares rotating speed tolerance threshold of the time beyond setting, under function generator activation condition, time delay module output is connected
Speed discrepancy；Motion controller is according to speed discrepancy adjusting parameter adjuster, so that the running speed that motor is optimal.
Using above scheme, by under torque compensation and counting-rate-difference feedback control mode, the material volume of large winding diameter large rotating inertia
Can very smoothly even accelerations startup, the dynamic that the running speed of principal and subordinate side motor and torque are optimal in low high-speed cruising
Balance, the system performance are more stablized.
Correspondingly, in conjunction with said program, the present invention also provides a kind of material volume equipment, include material volume bilateral drive control
System, material volume bilateral driving control system are material volume bilateral driving control system described above.
Preferably, in conjunction with said program, as shown in figure 4, in the present embodiment, material volume equipment include main side motor 21, from
Side motor 23 and material volume 30；Main side motor 21 is set on the holder of main side, is set to from side stand from side motor 23；Main side
Motor 21 drive main side expect spindle nose 29, from side motor 23 drive from side axle head 28, material volume 30 be set to main side material spindle nose 29 and from
It between side axle head 28, and is clamped by way of two spindle nose pneumatic jacks, with both sides motor while to drive material volume.
The torque compensation and counting-rate-difference feedback control mode that the present invention uses are the two-side motors based on motion controller platform
Servo-drive, motion controller carry out real-time communication, the confession of servo-driver by Drive-CLiQ cables and servo-driver
Electricity uses power module common DC bus mode, DC bus-bar voltage to stablize and with energy back, passes through debugging software with computer
System configuration is carried out to each hardware；By using torque compensation and counting-rate-difference feedback control mode, according to virtual principal velocity to master
From the identical speed of service of side motor, the actual motion torque of principal and subordinate side motor is monitored, obtained by the difference in torque of principal and subordinate side motor,
It is handled using parameter adjuster and the rotating speed of main side motor is overlapped processing, show that the operation needed from side motor turns；From
Side motor obtains actual speed feedback value by motor rotary encoder, and given rotating speed is monitored in real time by counting-rate-difference feedback
Link carrys out Optimal Parameters adjuster, and it is big to meet large winding diameter for the dynamic equilibrium for making the rotating speed of principal and subordinate side motor and torque be optimal
The service requirement of rotary inertia material volume；So that existing paper printing and Paper Coating equipment are by using this material volume drive control
Mode can reach good operational effect.
The above, only presently preferred embodiments of the present invention not do limitation in any form to the present invention.It is any ripe
Those skilled in the art is known, without departing from the scope of the technical proposal of the invention, all using technology contents described above
Many possible changes and modifications are made to technical solution of the present invention, or are revised as the equivalent embodiment of equivalent variations.Therefore, all
It is the content without departing from technical solution of the present invention, any change modification made to the above embodiment of technology according to the present invention,
Equivalent variations and modification belong to the protection domain of the technical program.
Claims (10)
1. a kind of material volume bilateral driving control system, which is characterized in that include computer, motion controller, driver, coding
Device, DC power supply and motor；
The computer is connect with the motion controller, and carries out hardware configuration to each electric components by debugging software；
The DC power supply is connect with the motion controller, for providing power supply to each electric components；
The motion controller is connect with the driver, for and the driver real-time data communication, and pass through the drive
Dynamic device controls the motor operation；
The driver is connected with the motor, for driving the motor；
The encoder is set on the motor, and is connected with the driver, the running speed for detecting the motor,
And the running speed is fed back into the driver.
2. material volume bilateral driving control system according to claim 1, which is characterized in that the motor includes main side electricity
Machine and from side motor；The driver includes main side driver and from side driver；The encoder includes main side coding
Device and from side encoder；The main side driver is connected with the main side motor；The main side encoder is set to the main side
On motor, and connected with the main side driver；It is described to be connected from side driver from side motor with described；It is described from side encoder
It is connected from side driver from the motor of side, and with described described in being set to.
3. material volume bilateral driving control system according to claim 1, which is characterized in that further include having power module；Institute
Power module is stated to connect with the motion controller with the driver respectively；The power module is by common DC bus to institute
It states driver and DC power supply is provided.
4. material volume bilateral driving control system according to claim 2, which is characterized in that further include having Motor torque given
Module, parameter adjuster and main side motor speed give module；The Motor torque gives module and the parameter adjuster
Connection；The parameter adjuster and the main side motor speed give module and are connected respectively with the motion controller；It is described
Motor torque gives module and is used to obtain the torque of the motor and is overlapped to obtain difference in torque by the parameter adjuster
Value；The main side motor speed gives module and is used to obtain the rotating speed of main side motor, and is superimposed with the torque difference to obtain institute
It is described from side motor to drive to state the rotating speed from side motor.
5. material volume bilateral driving control system according to claim 4, which is characterized in that the Motor torque gives module
Include that main side Motor torque gives module and gives module from side Motor torque；The parameter adjuster includes main side parameter tune
Save device and from side parameter adjuster；The main side Motor torque give module be set on the main side motor, and with the master
Side parameter adjuster connection；It is described to give module from side Motor torque and be set to described from the motor of side, and join from side with described
Number adjuster connection.
6. material volume bilateral driving control system according to claim 4, which is characterized in that further include thering is rotating speed to filter mould
Block, rotation speeds setting module, rotary speed comparator, speed discrepancy comparator and the module that reports an error；
The rotating speed filter module is connected with the motion controller, and the operation of the motor is obtained for receiving the encoder
Rotating speed；
The rotation speeds setting module is connected with the motion controller, for receiving the rotating speed from side motor；
The rotary speed comparator is connected with the motion controller, and the motor operation obtained for the encoder turns
The fast and rotating speed from side motor, and obtain rotating speed and compare the time；
The speed discrepancy comparator is connected with the rotary speed comparator, for obtain the motor operation rotating speed and it is described from side electricity
The speed discrepancy of machine, and report an error in the module that reports an error.
7. material volume bilateral driving control system according to claim 6, which is characterized in that further include have function generator and
Time delay module；The time delay module is connected between the speed discrepancy comparator and the rotary speed comparator, and the function occurs
Device is connected with the time delay module；When the rotating speed compares rotating speed tolerance threshold of the time beyond setting, the function occurs
Device activates, and connects the time delay module output speed discrepancy.
8. material volume bilateral driving control system according to claim 6, which is characterized in that module and the ginseng of reporting an error
Number adjuster connection, the motion controller adjusts the parameter adjuster according to the speed discrepancy, so that the motor is in
Best running speed.
9. a kind of material volume equipment includes material volume bilateral driving control system, which is characterized in that the material volume bilateral drive control
System is 1 to 8 any one of them material volume bilateral driving control system of the claims.
10. material volume equipment according to claim 9, which is characterized in that further include having main side motor, from side motor and material
Volume；The main side motor is set on the holder of main side, for driving main side to expect spindle nose；It is described to be set to from side motor from side stand
On, expect spindle nose for driving from side；The material volume is clamped between the main side material spindle nose and the material spindle nose from side.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810289361.0A CN108566124A (en) | 2018-03-30 | 2018-03-30 | A kind of material volume bilateral driving control system and material volume equipment |
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| CN201810289361.0A CN108566124A (en) | 2018-03-30 | 2018-03-30 | A kind of material volume bilateral driving control system and material volume equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110901416A (en) * | 2019-12-25 | 2020-03-24 | 傲基科技股份有限公司 | Compensation system and compensation method based on double-motor rotating speed difference |
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| CN106253757A (en) * | 2016-08-24 | 2016-12-21 | 中国重型机械研究院股份公司 | Hot-rolling mill high power DC transmission and control system |
| CN206573927U (en) * | 2017-03-13 | 2017-10-20 | 北京航天拓扑高科技有限责任公司 | A kind of shuttle traveling control device |
| CN208174590U (en) * | 2018-03-30 | 2018-11-30 | 宁波欣达印刷机器有限公司 | A kind of material volume bilateral driving control system and material volume equipment |
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| CN110901416A (en) * | 2019-12-25 | 2020-03-24 | 傲基科技股份有限公司 | Compensation system and compensation method based on double-motor rotating speed difference |
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