CN108845490A - A kind of identical tension of Tension Adjustable, which synchronizes, unreels control system - Google Patents
A kind of identical tension of Tension Adjustable, which synchronizes, unreels control system Download PDFInfo
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- CN108845490A CN108845490A CN201810655658.4A CN201810655658A CN108845490A CN 108845490 A CN108845490 A CN 108845490A CN 201810655658 A CN201810655658 A CN 201810655658A CN 108845490 A CN108845490 A CN 108845490A
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- 238000005070 sampling Methods 0.000 claims description 37
- 238000000034 method Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 14
- 230000010354 integration Effects 0.000 claims description 8
- 101100505320 Caenorhabditis elegans gpa-16 gene Proteins 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 238000007639 printing Methods 0.000 description 15
- 239000004744 fabric Substances 0.000 description 8
- 230000008859 change Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000004753 textile Substances 0.000 description 3
- 230000009699 differential effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000009941 weaving Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000007646 gravure printing Methods 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
It is synchronized the invention discloses a kind of identical tension of Tension Adjustable and unreels control system, controlled by pid control mode, it is characterised in that its control principle is based on following functional equation：Mn=MPn+MIn+MDnMPn=KC* (SPn-PVn) MIn=KC*TS/TI* (SPn-PVn)+MXMDn=KC*TD/TS* ((SPn-PVn)-(SPn-1-PVn-1)).
Description
Technical field
The present invention relates to weaving digit printing apparatus fields more particularly to a kind of identical tension of Tension Adjustable to synchronize and unreel control
System processed.
Background technique
It in existing continuous high speed textile printing, is unreeled including what is used in gravure printing, is generally adopted by floating
Roller provides fixed tension, then the angular deviation swung according to dancer, and adjustment unreels speed sync in stamp speed, and in number
Stamp field, there are no according to fabric types and printing technology needs, real-time online sets the control form of unwinding tension, originally
Dancer offer tension unreels form, can only manually adjust dancer counterweight size by rule of thumb, realize the change of unwinding tension,
Actual tension size can not learn that the tension adjusted every time is also inconsistent, admittedly process stabilizing can not be accomplished by unreeling.
With the development of textile printing industry, digit printing equipment is more more and more universal in textile printing industrial application, especially
It is the application in stamp of continuous high-speed number weaving loom, cloth type is more and more, for different fabrics, unreels
Tension is likely to difference, be guaranteeing unreel speed sync under the premise of print speed, and that realizes unwinding tension can be online
Setting is adjusted in real time, and tension force is accurate, and adjustment responds rapidly after there is deviation, to avoid because of tension mismatch or tension not
, it caused cloth pasting out-of-flatness or significantly deviates, guarantees to unreel before stamp reliable and stable.
In steady-state operation, traditional system control is controlled using PID mode, is adjusted and is exported by PID controller
Value, makes to unreel speed and print speed deviation zero, deviation is setting value (required operating point) and process variable (real work
Point) difference.The principle of PID control is based on following equation, and output M (t) is the function of proportional, integral term and differential term：
M (t)=proportional+integral term+differential term
Proportional=K C*e；
0 ∫ t e dt of integral term=K C；
Differential term=KC*de/dt；
Finally obtain：
0 ∫ t e dt+Minitial+KC*de/dt of M (t)=K C*e+K C
Wherein：
The circuit M (t) exports (function of time), and value is that control servo motor is calculated in the function of time
Driving unreel speed
Kc loop gain
The circuit e deviation (difference of setting value and process variable)
The initial value of the circuit Minitial output
De/dt is circuit deviation e time differential
The control function is executed in digital computer, it is necessary to continuous function is quantified as to the periodic sampling of deviation,
And output is then calculated, the corresponding equation that digital computer solution is based on is as follows：
M n=proportional+integral term+differential term
Proportional=K c*e n；
Integral term=K I*1 ∑ n+M initial；
Differential term=KD* (en-en-1)；
Finally obtain：
M n=K c*e n+K I*1 ∑ n+M initial+KD* (en-en-1)
Wherein：
The calculated value that circuit exports when Mn sampling time n
Kc loop gain
Circuit deviation when en sampling time n
Primary Ioops deviation before en-1 (when sampling time n-1)
The proportionality constant of KI integral term
The initial value of the circuit Minitial output
The proportionality constant of KD differential term
M (t) is the belt operational formula of Time Continuous, and because PLC is the period to actual tension sampling, the time is not to connect
It is continuous, Gu needing on the basis of M (t), it is converted into Mn, the value control servo motor of Mn is calculated in acquisition time n function
Driving unreels speed, it is therefore an objective to optimize PLC algorithm and be drawn.
From the formula as can be seen that integral term be from the function for sampling all bias terms of present sample for the first time, it is micro-
Subitem is present sample and the preceding function once sampled, and proportional is only the function of present sample, in digital computer, is deposited
Store up bias term all samplings it is both not practical, also It is not necessary to.
Summary of the invention
It is synchronized the invention discloses a kind of identical tension of Tension Adjustable and unreels control system, to solve the prior art not
Foot.
To solve the above problems, the technical solution of the invention is as follows：
A kind of identical tension of Tension Adjustable, which synchronizes, unreels control system, is controlled by pid control mode, and control is former
Reason is based on following functional equation：
Mn=MPn+MIn+MDn
MPn=KC* (SPn-PVn)
MIn=KC*TS/TI* (SPn-PVn)+MX
MDn=KC*TD/TS* ((SPn-PVn)-(SPn-1-PVn-1)) is wherein：
The calculated value that circuit exports when Mn sampling time n, value are control servo motor in acquisition time n function
The driving calculated unreels speed；
The proportional term value that circuit exports when MPn sampling time n, abbreviation proportional；
The integral entry value of the sampling time circuit MIn output, abbreviation integral term；
The differential entry value that circuit exports when MDn sampling time n, abbreviation differential term；
KC loop gain
The value of setting value when SPn sampling time n
The value of process variable when PVn sampling time n
The TS loops sample time
The TI time of integration (the also referred to as time of integration or reset)
Integral entry value (also referred to as integrate and/or bias) when MX sampling time n-1
The differential period (also referred to as derivative time or rate) in the circuit TD
The value of setting value when SPn-1 sampling time n-1
The value of process variable when PVn-1 sampling time n-1
The MDn=K C*T D/T S* (PV n-1-PV n).
The error of the value of the SPn is ± 2KG.
The beneficial effects of the invention are as follows：This system accurately detects the actual tension of current fabric by tension sensor,
Comparison setting tension and actual tension numerical bias size go control work feed roller speed according to deviation, enable actual tension effective
Promptly to setting tension adjustment, final actual tension is equal to setting tension, and feed preparation unit roller speed sync is held in tail band speed, printing
It is continuous to stablize.
Specific embodiment
Specific embodiments of the present invention will be described in further detail below.
System of the invention is controlled by pid control mode, and control principle is based on following functional equation：
Mn=MPn+MIn+MDn
MPn=KC* (SPn-PVn)
MIn=KC*TS/TI* (SPn-PVn)+MX
MDn=KC*TD/TS* ((SPn-PVn)-(SPn-1-PVn-1))
Wherein：
The calculated value that circuit exports when Mn sampling time n, value are control servo motor in acquisition time n function
The driving calculated unreels speed；
The proportional term value that circuit exports when MPn sampling time n, abbreviation proportional；
The integral entry value of the sampling time circuit MIn output, abbreviation integral term；
The differential entry value that circuit exports when MDn sampling time n, abbreviation differential term；
KC loop gain
The value of setting value when SPn sampling time n
The value of process variable when PVn sampling time n
The TS loops sample time
The TI time of integration (the also referred to as time of integration or reset)
Integral entry value (also referred to as integrate and/or bias) when MX sampling time n-1
The differential period (also referred to as derivative time or rate) in the circuit TD
The value of setting value when SPn-1 sampling time n-1
The value of process variable when PVn-1 sampling time n-1
The MDn=K C*T D/T S* (PV n-1-PV n).
The error of the value of the SPn is ± 2KG.
In practical applications, the value of setting value when proportional MPn is loop gain KC and sampling time n.When SPn and sampling
Between n when process variable value PVn deviation product, wherein loop gain KC control output calculate sensitivity, deviation be to
The difference of setting value (SPn) and process variable value (PVn) when determining sampling time n.
Integral term MIn and/or biasing (MX) are the sum of all preceding values of integral term, after MIn has been calculated every time, using can
Adjustment or the MIn value limited update biasing, and the initial value of biasing is typically set to the output valve before the output of first time counter circuit,
Integral term MIn further includes several constants：(pid loop recalculates the period of output valve by loop gain KC, loops sample time TS
Time), the time of integration or reset TI (for control integral term output calculate in influence time)
Differential term MDn is proportional to change of error, to avoid causing differential action activation to cause due to set point change
Spline smoothing or jump occur for output, it is assumed that setting value is constant SPn=SPn-1, in this way, by the variation of calculating process variable and
It is not the variation of deviation, it is necessary to save process variable rather than deviation, be used for next computing differential item, be sampled in first time
When, the value of PVn-1 is initialized as being equal to PVn.
The selection of circuit control may be needed only in many control systems using one or two kinds of loop control schemes, example
Such as, use ratio item MPn or integral term NIn may only be needed to control, it can be required to select by setting constant parameter value
Circuit Control Cooling.If you do not need to integral action (PID does not have " I " in calculating), then it is specified to should be time of integration TI (reset)
Infinitely large quantity INF.Even if not using integral action, the value of integral term may also be not zero, this is because integral and MX have just
Initial value.If you do not need to the differential action (PID does not have " D " in calculating), then should be derivative time (rate) designated value 0.0.
If you do not need to proportional action (PID does not have " P " in calculating), but I or ID is needed to control, then it should be gain designated value
0.0.Since loop gain is a coefficient in the equation for calculate integral term and differential term, if loop gain is set as being worth
0.0, it will be to loop gain use value 1.0 when calculating integral term and differential term.
The operation linear velocity of printing machine unreels technique and requires to guarantee in the speed regulating section of 1m/min -60m/min
Linear velocity and printing machine speed sync are unreeled, also to realize the tension stability unreeled in preset size, such as directly with above-mentioned PID
Algorithm uses tension as setting value SPn, returns using the real-time strain of tension sensor feedback as real process variable PVn to set
Road output M (t) be output unreel linear velocity, when unreel speed be greater than printing machine speed when, actual tension can persistently become smaller, instead
Become larger, then pass through PID arithmetic output M (t) control, over time, can make actual tension PVn gradually close to
Power be setting value SPn, when PVn and SPn deviation very little, even without deviation in the case where, unreel speed and stamp speed also reach
Synchronization is arrived.
However, the speed adjustable range of printing machine is bigger (1m/min -60m/min) in practice, in order to synchronize print
Flower machine speed, circuit output M (t) can cover the output of 1m/min -60m/min, then in order to make up PVn and SPn deviation, warp
Cross instantaneous M (t) value obtained after PID arithmetic, may and the current actual speed of printing machine have biggish deviation, Wo Menzhi
Road, when printing machine and work feed speed have deviation, the tension of cloth will generate variation, and speed difference is bigger, and tension variation is more violent,
Therefore, in work feed startup stage, the tension of work feed is possible to have violent elastic variation repeatedly, causes before the stabilization sub stage
Production technology cannot be effectively ensured.
In order to make circuit output M (t) can more rapidly, more stably synchronize stamp speed, therefore the actual time line of printing machine
Speed takes a lesser speed regulating section (0.9-1.1 times) as the operating range of output M (t), i.e. Mn, that is to say, that passes through
The work feed roller speed driven after PID arithmetic is only run under the 0.9-1.1 speed of printing machine, ensure that work feed speed and print
The synchronization of flower machine speed, in addition because speed difference between the two is very small, then actual tension during PID adjustment
PVn can stablize and be adjusted to rapidly setting tension SPn, reach technique requirement.
It is verified through the fact, which can be in synchronous stamp velocity interval (1m/min -60m/min), practical
In setting tension SPn ± 2KG and long-time steady operation, the value of Mn is to control servo motor in acquisition for tension PVn control
Between the driving calculated of n function unreel speed, with the secondary synchronism for unreeling speed while solving cloth feeding mechanism and stamp speed, with
And cloth tension precise control stability.
Above-mentioned specific embodiment is the preferred embodiment of the present invention, can not be limited the invention, and others are appointed
The change or other equivalent substitute modes what is made without departing from technical solution of the present invention, are included in protection of the invention
Within the scope of.
Claims (3)
1. a kind of identical tension of Tension Adjustable, which synchronizes, unreels control system, controlled by pid control mode, it is characterised in that
Its control principle is based on following functional equation：
Mn=MPn+MIn+MDn
MPn=KC* (SPn-PVn)
MIn=KC*TS/TI* (SPn-PVn)+MX
MDn=KC*TD/TS* ((SPn-PVn)-(SPn-1-PVn-1))
Wherein：
The calculated value that circuit exports when Mn sampling time n, value are the drive for controlling servo motor and calculating in acquisition time n function
It is dynamic to unreel speed；
The proportional term value that circuit exports when MPn sampling time n, abbreviation proportional；
The integral entry value of the sampling time circuit MIn output, abbreviation integral term；
The differential entry value that circuit exports when MDn sampling time n, abbreviation differential term；
KC loop gain
The value of setting value when SPn sampling time n
The value of process variable when PVn sampling time n
The TS loops sample time
The TI time of integration (the also referred to as time of integration or reset)
Integral entry value (also referred to as integrate and/or bias) when MX sampling time n-1
The differential period (also referred to as derivative time or rate) in the circuit TD
The value of setting value when SPn-1 sampling time n-1
The value of process variable when PVn-1 sampling time n-1.
2. the identical tension of Tension Adjustable according to claim 1, which synchronizes, unreels control system, it is characterised in that：Described
MDn=KC*TD/TS* (PVn-1-PVn).
3. the identical tension of Tension Adjustable according to claim 1, which synchronizes, unreels control system, it is characterised in that：Described
The error of the value of SPn is ± 2KG.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038761A (en) * | 2019-12-30 | 2020-04-21 | 季华实验室 | Lagging tension control method |
| CN112066529A (en) * | 2020-08-12 | 2020-12-11 | 正大食品企业（秦皇岛）有限公司 | PID frequency conversion intelligent control air volume adjusting method for air handling unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111038761A (en) * | 2019-12-30 | 2020-04-21 | 季华实验室 | Lagging tension control method |
| CN112066529A (en) * | 2020-08-12 | 2020-12-11 | 正大食品企业（秦皇岛）有限公司 | PID frequency conversion intelligent control air volume adjusting method for air handling unit |
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Application publication date: 20181120 |