CN109261745B - Movement and positioning control method for coil conveying trolley at inlet of galvanizing production line - Google Patents
Movement and positioning control method for coil conveying trolley at inlet of galvanizing production line Download PDFInfo
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- CN109261745B CN109261745B CN201810990120.9A CN201810990120A CN109261745B CN 109261745 B CN109261745 B CN 109261745B CN 201810990120 A CN201810990120 A CN 201810990120A CN 109261745 B CN109261745 B CN 109261745B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 41
- 238000005246 galvanizing Methods 0.000 title claims abstract description 16
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims abstract description 15
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005097 cold rolling Methods 0.000 abstract description 2
- 238000002054 transplantation Methods 0.000 abstract description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
- B21C47/24—Transferring coils to or from winding apparatus or to or from operative position therein; Preventing uncoiling during transfer
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C2/00—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor
- C23C2/003—Apparatus
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C2/00—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor
- C23C2/04—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor characterised by the coating material
- C23C2/06—Zinc or cadmium or alloys based thereon
-
- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C2/00—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor
- C23C2/34—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor characterised by the shape of the material to be treated
- C23C2/36—Elongated material
- C23C2/40—Plates; Strips
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Organic Chemistry (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Coating With Molten Metal (AREA)
Abstract
The invention relates to a movement and positioning control method for an inlet coil conveying trolley of a galvanizing production line, and belongs to the technical field of control of cold rolling galvanizing treatment lines. The technical scheme is as follows: a trolley position control function block is added in a control system of a galvanizing production line; taking an automatic control command, a manual forward and backward command, a target position set value and a position actual value for controlling the movement positioning of the trolley as input variables, and taking an output command, movement high and low speed setting, a forward and backward command, an actual output speed, a position OK signal, a position alarm signal and a movement ending signal as output signals; the transverse movement displacement of the trolley is measured by a laser range finder, and the lifting movement displacement of the trolley is measured by a pull rope encoder. The invention has the beneficial effects that: through the control mode that integrates, only need do corresponding configuration just can guarantee dolly moving accuracy and stability to the input of function block, output, modularization thinking is convenient transplantation, control accuracy.
Description
Technical Field
The invention relates to a movement and positioning control method for an inlet coil conveying trolley of a galvanizing production line, and belongs to the technical field of control of cold rolling galvanizing production lines.
Background
An inlet coil conveying trolley of a galvanizing production line is one of important devices at an inlet of the galvanizing production line. The main function is to convey the steel coil from the far-end saddle to the near-end saddle of the uncoiler, namely to rewind, and convey the steel coil on the near-end saddle of the uncoiler to the uncoiler, namely to wind. The prior art of the two processes has two modes of automation and manual operation, the coil conveying trolley is generally driven by hydraulic pressure, the movement speed of the trolley is controlled by a proportional valve, the programming control method of the prior art needs to compile complicated programs for controlling the speed, accelerating and decelerating control and positioning control of each trolley, the problem of inaccurate positioning control exists, and the technical problem of how to control the movement and accurate positioning of the trolley is to be solved urgently in the field.
Disclosure of Invention
The invention aims to provide a movement and positioning control method for an inlet coil conveying trolley of a galvanizing production line, which is suitable for controlling all coil conveying trolleys, has the advantages of accurate positioning, wide applicability and convenient application and solves the problems in the prior art.
The technical scheme of the invention is as follows:
a movement and positioning control method for a coil conveying trolley at an inlet of a galvanizing production line is characterized in that a laser range finder is used for collecting transverse displacement of the trolley, a stay cord encoder is used for collecting longitudinal displacement of the trolley, and the movement and accurate positioning of the trolley are controlled by simply configuring input and output of a function block.
The method comprises the following specific steps: a trolley position control functional block 'CAR _ POS _ CTRL' is added in a control system of a galvanizing production line; taking an automatic control command, a manual forward and backward command, a target position set value and a position actual value for controlling the movement positioning of the trolley as input variables, and taking an output command, movement high and low speed setting, a forward and backward command, an actual output speed, a position OK signal, a position alarm signal and a movement ending signal as output signals; the transverse movement displacement of the trolley is measured by a laser range finder, and the lifting movement displacement of the trolley is measured by a pull rope encoder.
The functions of all variables of the trolley motion control are integrated on one function block (the trolley position control function block), so that the trolley motion programming control is simple and the positioning is accurate. The trolley position control function block adopts a modular programming mode.
The trolley position control function block is internally used for performing open loop feedback control, position deviation calculation, acceleration and deceleration distance comparison and speed regulation, and controlling an output speed variable.
And when the enabling of the trolley position control function block is 1, the trolley is manually controlled, a control signal is designed to advance or retreat, and the set manual speed is output, wherein the advancing is a forward speed, and the retreating is a reverse speed. If no signal exists during the forward movement or the backward movement, the output speed of the trolley is changed to 0, and the trolley stops moving. The trolley is automatically controlled, an input signal of the automatic control is 1, the set position and the actual position are compared, if the difference between the set position and the actual position is a positive value and is greater than the set minimum deviation value, the trolley is controlled to move forwards, the forward speed is output, when the deviation is less than a middle set value, the speed is reduced to the slow set speed, the output speed is zero after the deviation is less than the deviation set value, the forward running signal is stopped, the trolley reaches the designated position, and the position OK signal is 1. If the difference between the set position and the actual position is a negative value and the absolute value is less than the minimum set deviation, controlling the trolley to retreat and outputting negative speed, when the deviation is less than a middle set value, reducing the speed to the slow set speed until the output speed is zero after the deviation is less than the set deviation value, stopping the reverse running signal, enabling the trolley to reach the designated position, setting the position OK signal to be 1, and setting the motion ending signal to be 1.
The invention has the beneficial effects that: through the control mode that integrates, only need do corresponding configuration just can guarantee dolly moving accuracy and stability to the input of function block, output, modularization thinking is convenient transplantation, control accuracy.
Drawings
FIG. 1 is a schematic diagram of a control function block for controlling the movement of a trolley according to an embodiment of the present invention;
the figures are labeled as follows: the control method comprises the following steps of 1, controlling a function block enabling switch, 2, automatically controlling a trolley, 3, controlling the trolley forwards, 4, controlling the trolley backwards, 5, moving a target position of the trolley, 6, the current actual position of the trolley, 7, the system cycle time, 8, moving output commands, 9, high-speed moving control commands, 10, low-speed moving control commands, 11, advancing output commands of the trolley, 12, retreating output commands of the trolley, 13, namely a hydraulic proportional valve, the output speed of the trolley, 14, position OK signals, 15, position alarm signals and 16, and finishing movement signals.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings.
A movement and positioning control method for a coil conveying trolley at an inlet of a galvanizing production line is characterized in that a laser range finder is used for collecting transverse displacement of the trolley, a stay cord encoder is used for collecting longitudinal displacement of the trolley, and the movement and accurate positioning of the trolley are controlled by simply configuring input and output of a function block.
The forward and backward commands of the trolley control, the opening of a speed control valve, the trolley position information and other variables are integrated on a functional block CAR _ POS _ CTRL, and the inside of the functional block is subjected to open-loop feedback control, position deviation calculation, acceleration and deceleration distance comparison and speed adjustment to control output speed variables. Specifically, under the condition that the function block enables to be 1, the trolley is manually controlled, a control signal is designed to advance or retreat, and the set manual speed is output, wherein the advancing is the forward speed, and the retreating is the reverse speed. If no signal exists during the forward movement or the backward movement, the output speed of the trolley is changed to 0, and the trolley stops moving. The trolley is automatically controlled, an input signal of the automatic control is 1, the set position and the actual position are compared, if the difference between the set position and the actual position is a positive value and is greater than the set minimum deviation value, the trolley is controlled to move forwards, the forward speed is output, when the deviation is less than a middle set value, the speed is reduced to the slow set speed, the output speed is zero after the deviation is less than the deviation set value, the forward running signal is stopped, the trolley reaches the designated position, and the position OK signal is 1. If the difference between the set position and the actual position is a negative value and the absolute value is less than the minimum set deviation, the trolley is controlled to retreat and output negative speed, when the deviation is less than a middle set value, the speed is reduced to the slow set speed until the output speed is zero after the deviation is less than the set deviation value, the reverse running signal is stopped, the trolley reaches the designated position, and the position OK signal is 1.
Referring to fig. 1, the method of the present invention is illustrated as controlling the lateral displacement carriage to move from the 100CM position to the 500CM position.
The CAR _ POS _ CTRL function block is configured, the laser range finder is used to measure the advance and retreat displacement of the cart as the position input variable, i.e., 6 'FILD _ IN _ POS', and the automatic operation command, the manual advance and retreat command, the target position set value 500, and the like of the cart are integrated into input signals. The valve command for controlling forward and backward movements, the opening of the proportional valve, and the like are output signals. When the automatic running command is 1 after configuration, the trolley automatically accelerates to a high speed to move to a position close to 500CM, decelerates and finally stops at the position of 500CM, and the error is within 10 CM.
For controlling the longitudinal position of the trolley, a 'CAR _ POS _ CTRL' functional block is configured, the lifting displacement of the trolley is measured by adopting a stay cord encoder to serve as a position input variable, namely 6 'FILD _ IN _ POS', and other control is carried out according to the transverse position, and only the transverse variable needs to be changed into the longitudinal variable.
Claims (2)
1. A movement and positioning control method for an inlet coil conveying trolley of a galvanizing production line is characterized by comprising the following steps: the transverse displacement of the trolley is collected by a laser range finder, the longitudinal displacement of the trolley is collected by a stay cord encoder, a trolley position control function block is added in a galvanizing production line control system, and the movement control and accurate positioning of the trolley are achieved by simply configuring the input and output of the function block;
the method comprises the following specific steps: taking an automatic control command, a manual forward and backward command, a target position set value and a position actual value for controlling the movement positioning of the trolley as input variables, and taking an output command, movement high and low speed setting, a forward and backward command, an actual output speed, a position OK signal, a position alarm signal and a movement ending signal as output signals; measuring the transverse movement displacement of the trolley by using a laser range finder, and measuring the longitudinal displacement of the trolley by using a pull rope encoder;
the trolley position control function block performs open loop feedback control, position deviation calculation, acceleration and deceleration distance comparison and speed regulation inside the trolley position control function block, and controls an output speed variable; under the condition that the enabling of the trolley position control function block is 1, manually controlling the trolley, designing a control signal for advancing or retreating, and outputting a set manual speed, wherein the advancing is a forward speed, and the retreating is a reverse speed; if no signal exists during the forward movement or the backward movement, the output speed of the trolley is changed to 0, and the trolley stops moving; the trolley is automatically controlled, an input signal of the automatic control is 1, the set position and the actual position are compared, if the difference between the set position and the actual position is a positive value and is greater than the set minimum deviation value, the trolley is controlled to move forwards, the forward speed is output, when the deviation is less than a middle set value, the speed is reduced to the slow set speed, the output speed is zero after the deviation is less than the set minimum deviation value, the forward running signal is stopped, the trolley reaches the designated position, and the position OK signal is 1; if the difference between the set position and the actual position is a negative value and the absolute value is greater than the set minimum deviation value, controlling the trolley to retreat and outputting negative speed, when the absolute value of the deviation is less than a middle set value, reducing the speed to the slow set speed until the output speed is zero after the absolute value of the deviation is less than the set minimum deviation value, stopping the reverse running signal, enabling the trolley to reach the designated position, setting the position OK signal to be 1, and setting the motion ending signal to be 1.
2. The movement and positioning control method for the coil conveying trolley at the inlet of the galvanizing production line according to claim 1, characterized in that: the trolley position control function block adopts a modular programming mode.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810990120.9A CN109261745B (en) | 2018-08-28 | 2018-08-28 | Movement and positioning control method for coil conveying trolley at inlet of galvanizing production line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810990120.9A CN109261745B (en) | 2018-08-28 | 2018-08-28 | Movement and positioning control method for coil conveying trolley at inlet of galvanizing production line |
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| Publication Number | Publication Date |
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| CN109261745A CN109261745A (en) | 2019-01-25 |
| CN109261745B true CN109261745B (en) | 2021-04-06 |
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| CN201810990120.9A Active CN109261745B (en) | 2018-08-28 | 2018-08-28 | Movement and positioning control method for coil conveying trolley at inlet of galvanizing production line |
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| CN113085918A (en) * | 2021-03-31 | 2021-07-09 | 天津一重电气自动化有限公司 | Intelligent steel coil transportation system based on power supply of trolley lines |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1125646A (en) * | 1994-12-29 | 1996-07-03 | 鞍山钢铁公司 | Position control system for reciprocating moving trolley of rolling mill |
| JP4090710B2 (en) * | 2001-06-21 | 2008-05-28 | 株式会社不二鉄工所 | Winding control method |
| JP5758080B2 (en) * | 2010-02-16 | 2015-08-05 | 新日鐵住金株式会社 | Coil carrier cart and coil carrier method |
| CN103316958B (en) * | 2013-06-27 | 2015-02-25 | 中冶陕压重工设备有限公司 | Double protection control method for upward coiling process of steel coiling vehicle |
| CN203627356U (en) * | 2013-12-16 | 2014-06-04 | 山东能源机械集团乾元不锈钢制造有限公司 | Speed control device for steel coil trolley |
| CN105259925B (en) * | 2015-10-28 | 2017-10-27 | 北京佰能电气技术有限公司 | Volume positioner and method are unloaded in one kind collection volume station coiling |
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