CN109375587B - Control system and control method of stretch-bending straightening machine - Google Patents
Control system and control method of stretch-bending straightening machine Download PDFInfo
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- CN109375587B CN109375587B CN201811473835.3A CN201811473835A CN109375587B CN 109375587 B CN109375587 B CN 109375587B CN 201811473835 A CN201811473835 A CN 201811473835A CN 109375587 B CN109375587 B CN 109375587B
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
- G05B19/4163—Adaptive control of feed or cutting velocity
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D1/00—Straightening, restoring form or removing local distortions of sheet metal or specific articles made therefrom; Stretching sheet metal combined with rolling
- B21D1/02—Straightening, restoring form or removing local distortions of sheet metal or specific articles made therefrom; Stretching sheet metal combined with rolling by rollers
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36521—Select by combination of detected force, acceleration, speed, work rate
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Sewing Machines And Sewing (AREA)
Abstract
In order to solve the problem that the tension roller is corroded due to the fact that the sewing joint in the existing stretch bending straightening machine scratches the squeezing roller and the sewing joint brings water onto the tension roller, a control system and a control method of the stretch bending straightening machine are provided, and the control system and the control method belong to the field of control of the stretch bending straightening machine. The invention comprises the following steps: the drying device is arranged between the last drying roller and the first tension roller in the moving process of the stretch bending straightener; the main controller is used for positioning the position of the coiled material sewing joint, sending a lifting control signal when the sewing joint moves to the position of the wringing roller, and sending a falling control signal when the sewing joint leaves the position of the wringing roller; when the sewing joint moves to the drying device, controlling the stretch bending straightener machine train to stop moving forward, drying the sewing joint by the drying device, and starting the machine train after the set time is over; and the drying roller controller is used for controlling the drying roller to lift up from the coiled material according to the lifting control signal and controlling the drying roller to fall onto the coiled material according to the falling control signal.
Description
Technical Field
The invention relates to a control system, in particular to a control system of a stretch bending straightening machine, and belongs to the field of control of stretch bending straightening machines.
Background
A stretch bending straightener is important production equipment, and a coiled material is subjected to correction of shape defects due to repeated bending for many times when passing between an upper row of rollers and a lower row of rollers which are staggered mutually. At the in-process of stretch bending straightening, need sew up the joint of two coiled materials, after the sewing machine is sewed up, when sewing up the joint and passing through subsequent wringing roller, if wringing roller is in the pressure state, sewing up the joint and can make wringing roller surface produce the mar when passing through wringing roller, wearing and tearing wringing roller, and the wringing roller of wearing and tearing also can produce the influence to the product surface, so need often roll replacement, seriously influence production time. If lift up the crowded dry roller and make the seam connect to pass through, seam connects behind the cleaning machine, can deposit a large amount of water in connecting, if can make the tension roll produce the corruption with hosepipe to the tension roll, influence product quality.
Disclosure of Invention
The invention aims to solve the problems that a tension roller is corroded due to the fact that a sewing joint scratches a drying roller and the sewing joint brings water to the tension roller, and provides a control system and a control method of a stretch bending straightening machine.
The invention discloses a control system of a stretch bending straightener, which comprises a main controller, a drying roll controller and a drying device A23;
the drying device A23 is arranged between the last wringing roller and the first tension roller in the moving process of the stretch bending straightener;
the main controller is used for controlling the speed and frequency of each motor of the stretch bending straightener, starting and stopping a stretch bending straightener machine train and positioning the position of a coiled material sewing joint, sending a lifting control signal when the sewing joint moves to the positions of the squeezing rollers A2, A5, A6 and A7, and sending a falling control signal when the sewing joint leaves the positions of the squeezing rollers A2, A5, A6 and A7; the device is also used for controlling the stretch bending straightener machine train to stop advancing when the sewing joint moves to the drying device A23, the drying device A23 dries the sewing joint, and the machine train is started after the set time is over;
and the drying roller controller is used for controlling the drying rollers A2, A5, A6 and A7 to lift from the coiled material according to a lifting control signal of the main controller, and controlling the drying rollers A2, A5, A6 and A7 to fall on the coiled material according to a falling control signal of the main controller.
Preferably, the main controller, which positions the position of the stitch-bonding of the web, comprises:
when the sewing machine sews the joints of the two coiled materials, timing is started to obtain the advancing time of the machine train of the stretch bending straightening machine, and then the real-time positions of the sewing joints are obtained according to the speed of the machine train to realize positioning.
Preferably, the main controller obtains the train advance time of the stretch-bending straightener by using an interrupt calculation program:
obtaining the current interruption times, and multiplying the current interruption times by the interruption time, namely the machine train advancing time of the bend straightening machine;
the run time of each cycle interrupt is shorter than the interrupt cycle interval.
Preferably, the main controller obtains the starting time of the frequency converter of the sewing machine in the machine train advancing time of the stretch bending straightener as half of the actual time.
Preferably, the controller system further comprises a plurality of frequency converters, and each frequency converter is used for carrying out frequency conversion and speed regulation on one motor of the stretch bending straightener;
the main controller controls a plurality of frequency converters to give speed when the stretch bending straightener line stops and starts, and the specific process comprises the following steps:
when stopping suddenly, executing a sudden stop cycle until the sudden stop is realized, wherein the sudden stop cycle comprises the following steps:
setting a zero speed, selecting the zero speed, reducing the speed according to the selected zero speed, combining speed feedback, a speed upper limit value and a speed lower limit value, carrying out speed amplitude limiting to obtain a speed set value, adding the speed set value to a motor, and obtaining speed feedback from the motor;
when starting, executing a starting cycle until stable starting, wherein the starting cycle comprises:
setting speed, selecting set speed, raising speed according to the selected speed, combining speed feedback, speed upper limit value and speed lower limit value, making speed amplitude limitation to obtain speed set value, adding said speed set value to motor, and obtaining speed feedback from motor.
The invention also provides a control method of the stretch bending straightening machine, which comprises the following steps:
s1, arranging a drying device A23 between the last wringing roller and the first tension roller in the moving process of the stretch bending straightener;
s2, controlling the start of a stretch bending straightener train and controlling the speed and frequency of each motor of the stretch bending straightener;
s3, positioning the position of the seaming joint of the coiled material, controlling the wringing rollers A2, A5, A6 and A7 to be lifted from the coiled material when the seaming joint moves to the positions of the wringing rollers A2, A5, A6 and A7, and controlling the wringing rollers A2, A5, A6 and A7 to fall onto the coiled material when the seaming joint leaves the positions of the wringing rollers A2, A5, A6 and A7;
and S4, when the sewing joint moves to the drying device A23, controlling the stretch bending straightener machine train to stop moving forward, drying the sewing joint by the drying device A23, and starting the machine train after the set time is over.
Preferably, the positioning of the position of the stitch-bonding of the webs comprises:
when the sewing machine sews the joints of the two coiled materials, timing is started to obtain the advancing time of the machine train of the stretch bending straightening machine, and then the real-time positions of the sewing joints are obtained according to the speed of the machine train to realize positioning.
Preferably, the main controller obtains the train advance time of the stretch-bending straightener by using an interrupt calculation program:
obtaining the current interruption times, and multiplying the current interruption times by the interruption time, namely the machine train advancing time of the bend straightening machine;
the run time of each cycle interrupt is shorter than the interrupt cycle interval.
Preferably, the main controller obtains the starting time of the frequency converter of the sewing machine in the machine train advancing time of the stretch bending straightener as half of the actual time.
Preferably, the stretch bending straightener further comprises a plurality of frequency converters, and each frequency converter is used for carrying out frequency conversion and speed regulation on one motor of the stretch bending straightener;
controlling a plurality of frequency converters to carry out speed setting when a stretch bending straightening machine line stops and starts, wherein the specific process comprises
When stopping suddenly, executing a sudden stop cycle until the sudden stop is realized, wherein the sudden stop cycle comprises the following steps:
setting a zero speed, selecting the zero speed, reducing the speed according to the selected zero speed, combining speed feedback, a speed upper limit value and a speed lower limit value, carrying out speed amplitude limiting to obtain a speed set value, adding the speed set value to a motor, and obtaining speed feedback from the motor;
when starting, executing a starting cycle until stable starting, wherein the starting cycle comprises:
setting speed, selecting set speed, raising speed according to the selected speed, combining speed feedback, speed upper limit value and speed lower limit value, making speed amplitude limitation to obtain speed set value, adding said speed set value to motor, and obtaining speed feedback from motor.
The invention has the advantages that the sewing joint is positioned, the squeezing rollers A2, A5, A6 and A7 are lifted in time according to the position of the sewing joint in the advancing process of the train and stopped at the designated position, and the sewing joint is dried by the dryer, so that the problem that the tension roller is corroded due to the fact that the sewing joint in the stretch bending straightening machine scratches the squeezing rollers and the sewing joint brings water onto the tension roller. In addition, the invention optimizes the control of the start and stop of the motor, and optimizes the control of starting and accelerating and stopping and decelerating.
Drawings
FIG. 1 is a schematic diagram of the speed optimization principle of train start and stop of the present invention;
FIG. 2 is a schematic diagram showing the control principle of the 1950mm thick strip stretch-bending straightener in the embodiment of the present invention;
FIG. 3 is a single line diagram of a transmission of the control system in an embodiment of the present invention;
FIG. 4 is a waveform diagram of a periodic interrupt of the CPU interrupt routine according to the embodiment of the present invention.
Detailed Description
The present embodiment will be described with reference to fig. 1 to 4, and the control system of the stretch-bending leveler according to the present embodiment includes a main controller, a squeeze roll controller, and a drying apparatus a 23;
the drying device A23 of the embodiment is arranged between the last wringing roller and the first tension roller in the moving process of the stretch bending straightener;
the main controller is used for controlling the speed and frequency of each motor of the stretch bending straightener, starting and stopping a stretch bending straightener machine train and positioning the position of a coiled material sewing joint, sending a lifting control signal when the sewing joint moves to the positions of the squeezing rollers A2, A5, A6 and A7, and sending a falling control signal when the sewing joint leaves the positions of the squeezing rollers A2, A5, A6 and A7; the device is also used for controlling the stretch bending straightener machine train to stop advancing when the sewing joint moves to the drying device A23, the drying device A23 dries the sewing joint, and the machine train is started after the set time is over;
and the drying roller controller is used for controlling the drying rollers A2, A5, A6 and A7 to lift from the coiled material according to a lifting control signal of the main controller, and controlling the drying rollers A2, A5, A6 and A7 to fall on the coiled material according to a falling control signal of the main controller.
The embodiment positions the sewing joints, realizes timely lifting of the squeezing rollers A2, A5, A6 and A7 according to the positions of the sewing joints in the advancing process of the train, stops at the designated positions, and dries the sewing joints by using the dryer, thereby solving the problem that the sewing joints in the stretch bending straightener scratch the squeezing rollers A2, A5, A6 and A7 and the sewing joints bring water onto the tension rollers so that the tension rollers are corroded.
In this embodiment, when positioning the seam joint, the position of the seam joint may be monitored by a visual camera or sensed by other sensors, and in a preferred embodiment, the main controller of this embodiment positions the position of the seam joint of the roll material, including:
when the sewing machine sews the joints of the two coiled materials, timing is started to obtain the advancing time of the machine train of the stretch bending straightening machine, and then the real-time positions of the sewing joints are obtained according to the speed of the machine train to realize positioning.
In the embodiment, when the sewing joint is positioned, the advancing time of the machine train is obtained, and the advancing time is multiplied by the speed of the machine train to obtain the position of the sewing joint, so that the sewing joint can be positioned without adding any electrical hardware equipment (such as a sensor), and the cost is saved.
In a preferred embodiment, the main controller of the present embodiment obtains the train advance time of the stretch bender by using an interrupt calculation program:
obtaining the current interruption times, and multiplying the current interruption times by the interruption time, namely the machine train advancing time of the bend straightening machine;
the run time of each cycle interrupt is shorter than the interrupt cycle interval.
In a preferred embodiment, the main controller of the present embodiment obtains the start time of the frequency converter of the sewing machine in the machine train forward time of the stretch bending straightener as half of the actual time.
Because the starting of the frequency converter of the sewing machine is linearly accelerated, half of the starting time of the frequency converter can be subtracted, and more accurate advancing distance is obtained.
In a preferred embodiment, the controller system further comprises a plurality of frequency converters, and each frequency converter is used for carrying out frequency conversion and speed regulation on one motor of the stretch bending straightener;
the main controller controls a plurality of frequency converters to give speed when the stretch bending straightener line stops and starts, and as shown in fig. 1, the specific process comprises the following steps:
when stopping suddenly, executing a sudden stop cycle until the sudden stop is realized, wherein the sudden stop cycle comprises the following steps:
setting a zero speed, selecting the zero speed, reducing the speed according to the selected zero speed, combining speed feedback, a speed upper limit value and a speed lower limit value, carrying out speed amplitude limiting to obtain a speed set value, adding the speed set value to a motor, and obtaining speed feedback from the motor;
at startup, a startup loop is executed until stable startup, as shown in fig. 1, the startup loop includes:
setting speed, selecting set speed, raising speed according to the selected speed, combining speed feedback, speed upper limit value and speed lower limit value, making speed amplitude limitation to obtain speed set value, adding said speed set value to motor, and obtaining speed feedback from motor.
The embodiment optimizes the control of starting and stopping the motor, and optimizes the control of starting and accelerating the vehicle and stopping and decelerating the vehicle.
The embodiment also provides a control method of the stretch bending straightening machine, which comprises the following steps:
s1, arranging a drying device A23 between the last wringing roller and the first tension roller in the moving process of the stretch bending straightener;
s2, controlling the start of a stretch bending straightener train and controlling the speed and frequency of each motor of the stretch bending straightener;
s3, positioning the position of the seaming joint of the coiled material, controlling the wringing rollers A2, A5, A6 and A7 to be lifted from the coiled material when the seaming joint moves to the positions of the wringing rollers A2, A5, A6 and A7, and controlling the wringing rollers A2, A5, A6 and A7 to fall onto the coiled material when the seaming joint leaves the positions of the wringing rollers A2, A5, A6 and A7;
and S4, when the sewing joint moves to the drying device A23, controlling the stretch bending straightener machine train to stop moving forward, drying the sewing joint by the drying device A23, and starting the machine train after the set time is over.
In a preferred embodiment, the positioning of the position of the stitch bonds of the webs comprises:
when the sewing machine sews the joints of the two coiled materials, timing is started to obtain the advancing time of the machine train of the stretch bending straightening machine, and then the real-time positions of the sewing joints are obtained according to the speed of the machine train to realize positioning.
In a preferred embodiment, the main controller obtains the train advance time of the stretch bending straightener by using an interrupt calculation program:
obtaining the current interruption times, and multiplying the current interruption times by the interruption time, namely the machine train advancing time of the bend straightening machine;
the run time of each cycle interrupt is shorter than the interrupt cycle interval.
In a preferred embodiment, the main controller obtains the starting time of the frequency converter of the sewing machine in the machine train advancing time of the stretch bending straightener to be half of the actual time.
In a preferred embodiment, the stretch bending straightener further comprises a plurality of frequency converters, and each frequency converter is used for carrying out frequency conversion and speed regulation on one motor of the stretch bending straightener;
when a stretch bending straightening machine train stops and starts, a plurality of frequency converters are controlled to give speed, and the specific process comprises the following steps:
when stopping suddenly, executing a sudden stop cycle until the sudden stop is realized, wherein the sudden stop cycle comprises the following steps:
setting a zero speed, selecting the zero speed, reducing the speed according to the selected zero speed, combining speed feedback, a speed upper limit value and a speed lower limit value, carrying out speed amplitude limiting to obtain a speed set value, adding the speed set value to a motor, and obtaining speed feedback from the motor;
when starting, executing a starting cycle until stable starting, wherein the starting cycle comprises:
setting speed, selecting set speed, raising speed according to the selected speed, combining speed feedback, speed upper limit value and speed lower limit value, making speed amplitude limitation to obtain speed set value, adding said speed set value to motor, and obtaining speed feedback from motor.
The specific embodiment is as follows: as shown in fig. 2, taking 1950mm thick strip stretch bending straightener as an example, the stretch bending straightener comprises an uncoiler a1, a sewing machine a22, a first wringing roller a2, a high pressure brushing first steering roller A3, a high pressure brushing second steering roller a4, a second wringing roller A5, a third wringing roller A6, a fourth wringing roller a7, a disc shear A8, a scrap chopper a9, a drying device a23, an inlet first tension roller a10, an inlet second tension roller a11, an inlet third tension roller a12, an inlet fourth tension roller a13, a first straightening roller a14, a second straightening roller a15, a third straightening roller a16, an outlet first tension roller a17, an outlet second tension roller a18, an outlet third tension roller a19, an outlet fourth tension roller a20, a21, a coiling table 800 and an inverter;
the inlet fourth tension roller A13 and the outlet first tension roller A17 are respectively controlled by two motors, an uncoiler A1, a first wringing roller A2, a high-pressure brushing first steering roller A3, a high-pressure brushing second steering roller A4, a second wringing roller A5, a third wringing roller A6, a fourth wringing roller A7, a disc shear A8, an edge crusher A9, an inlet first tension roller A10, an inlet second tension roller A11, an inlet third tension roller A12, a first straightening roller A14, a second straightening roller A15, a third straightening roller A16, an outlet second tension roller A18, an outlet third tension roller A19, an outlet fourth tension roller A20 and a coiler A21 are respectively controlled by one motor, and 23 motors are respectively controlled by 23 ACS800 inverters;
the transmission arrangement of the uncoiler A1, the first wringing roller A2, the high-pressure brushing first steering roller A3, the high-pressure brushing second steering roller A4, the second wringing roller A5, the third wringing roller A6, the fourth wringing roller A7, the disc shear A8, the edge crusher A9, the inlet first tension roller A10, the inlet second tension roller A11, the inlet third tension roller A12, the inlet fourth tension roller A13, the first straightening roller A14, the second straightening roller A15, the third straightening roller A16, the outlet first tension roller A17, the outlet second tension roller A18, the outlet third tension roller A19, the outlet fourth tension roller A20 and the coiler A21 is shown in FIG. 3;
the technical parameters of the 1950mm thick strip stretch bending straightener are shown in the first table:
technical parameter table for 1950mm thick belt stretch bending straightening machine
Description of the function of the transmission:
uncoiler a1, its function: an uncoiler is used to carry and uncoil the coil while providing an entry initial tension at the time of withdrawal.
The structural form is as follows: the uncoiler is of a cantilever expanding shaft type;
composition and description: the uncoiler comprises a transmission motor, a coupler, a pneumatic disc brake, a speed reducer, an expansion and contraction scroll, a side support, a sliding base, a compression roller device and the like; a transmission motor: is driven by an alternating current motor and is connected with a reduction box through a gear coupling with a brake.
The squeezing roller has the following functions: the first wringing roller A2 is arranged at the inlet of the high-pressure cleaning device and plays a role in pinching the strip and guiding the strip with the elevation; the structural form is as follows: the two rollers swing to be in the following formula;
tension roller, effect: the inlet and outlet tension for providing stretch bending straightening has the following structural form: eight tension rollers are adopted for configuration, and alternating current motors are respectively driven.
The coiling machine has the following functions: the coiling machine is used for bearing and coiling the coiled material and simultaneously providing outlet initial tension when being pulled and corrected, and the structure form is as follows: the recoiling machine is a cantilever expanding shaft type; composition and description: the coiling machine comprises drive motor, shaft coupling, pneumatic disc brake, floating speed reducer, harmomegathus spool, side support, sliding bottom, compression roller device etc. drive motor: is driven by an alternating current motor and is connected with a reduction box through a gear coupling with a brake.
The control principle of each part of the transmission is as follows:
an uncoiler: direct torque control is employed.
Squeezing a roller: and (4) controlling the speed.
Inlet fourth tension roller: speed control, speed equals the speed of the exit first tension roll multiplied by the elongation.
Entrance other tension roller: the torque generated by the inlet fourth tension roller speed ring is sent to the other three tension rollers.
Exit first tension roll: speed control, the linear speed of the first tension roller at the outlet is defined as the linear speed of the train.
And (4) other tension rollers at the outlet: the torque generated by the exit first tension roller speed loop is sent down to the other three tension rollers.
In order to meet the requirement of accurate positioning, the squeezing roller is lifted in time in the advancing process of the sewing joint, and the functions are ensured to be realized through design and repeated simulation test of a program and fine adjustment in the later period.
The implementation mode has the characteristics and advantages that: equipment is not added, and mechanical transformation is not needed; compared with the addition of the positioning rod, the method has the advantages of saving investment, no need of other construction and no need of machine halt, and can greatly reduce the transformation cost.
The suture joint positioning process provided by the present embodiment:
since the sewing machine needs to sew three times, after the first sewing, the first wringing roller a2 is lifted, and when the sewing joint leaves the position of the first wringing roller a2, the first wringing roller a2 falls down, and in this way, the sewing joint passes through the second wringing roller a5 to the fourth wringing roller a7 in sequence. The suture joint was stopped at a position corresponding to the drying device a23, and drying was performed. The train continues to advance and the stitch bonds pass over tension rollers.
The control system of the present embodiment is composed of:
1. the transmission electric control scheme is as follows:
the whole train is subjected to transmission control through 23 alternating current asynchronous motors, and the frequency of the motors is converted by adopting a frequency converter ACS800 so as to realize stepless speed regulation at the same time. This process is closed loop controlled by a frequency converter.
The control system of the embodiment comprises a CPU1, a total frequency converter 2, a first optical fiber adapter 3, a second optical fiber adapter 4, a third optical fiber adapter 5 and 23 frequency converters;
the control signal output end of the CPU1 is connected with the control signal input end of the total frequency converter 2;
the signal output end of the main frequency converter 2 is respectively connected with the signal input ends of 23 frequency converters through a first optical fiber adapter 3, a second optical fiber adapter 4 and a third optical fiber adapter 5;
2. train start-stop control
The start and stop of the train are signaled by the CPU1, processed by the main converter 2, and executed by the ACS800 converter.
The transmission part of the stretch bending straightener consists of a rectifying unit and twenty-three inverting units, each inverting and rectifying unit is controlled by an RMIO board, and each RMIO board is provided with an ROCO communication module. The ROCO module is provided with two optical fiber channels of CH0 and CH1, and the CH0 is responsible for communicating with the main frequency converter 2; CH1 is responsible for communicating with the drive debugging tool ControlBuilder. The control mode of the motor is V/F control.
Program in CPU 1:
two programs, an operating system program and a user program, are run in the S7 series PLC.
The operating system program is a program that is fixed in the CPU and provides a set of system running and scheduling mechanisms. The operating system mainly accomplishes the following work:
and (3) starting the treatment: warm and warm start
Refreshing an incoming process map table and an outgoing process map table
Invoking a user program
Detecting interrupts and invoking interrupt programs
Detecting and handling errors
Managing storage areas
Communication with programming devices and other devices
A user program is a program written by the user himself in order to accomplish a specific automation task. Generally, the user program needs to do the following:
warm start and warm start initialization work
Processing process data
Response to an interrupt
Handling of exceptions and errors
The operating system processes the bottom system level task, a platform is established for PLC application, a set of calling mechanism of a user program is provided, and the user program completes the automatic task of the user on the platform.
4. Function of block
Tissue mass OB:
in the CPU, the user program is composed of various program modules such as a startup program, a main program, and various interrupt response programs, and these modules are realized in STEP7 in the form of OB. OB is a user block directly called by the operating system, OB is associated with different CPU types, and the CPU type for 1950mm thick stretch bend leveling is CPU 315-2 DP. OB1 is a main program block corresponding to loop execution, which is the backbone of the STEP7 program.
OB35 is one of the cycle interrupt organization blocks, S7 can provide 9 cycle interrupt organization blocks (OB30 OB38) at most, and specifically, the technical index of the PLC-CPU determines which cycle interrupt organization blocks can support (for example, CPU 315-2DP, which supports only OB35 and CPU 317-2PN-DP can support OB32, OB33, OB34, OB 354 cycle interrupts). OB35 is only the most typical one cycle interruption of a tissue block.
The parameters associated with the periodic interruption are the time interval, the priority level and the Phase offset.
Since the time intervals of the respective period interrupts are integer multiples, it is possible to start different period interrupts OB at the same point, and it is also possible to cause a time error (the period time is exceeded).
Phase offset m × basic clock pulse (default 1ms)
It is required that 0< m < n, n is the periodic interruption time interval coefficient.
The time comparison between the periodic interruptions OB38 (without phase offset) and OB37 (with phase offset, m is 5) in fig. 4 shows that OB38 is 8ms (n is 8) and OB37 is 16ms (n is 16).
It must be ensured that the running time of each cycle interrupt is shorter than the interrupt cycle time interval. If the program of the periodic interruption has not been completely executed because the interval time has been exceeded, a time error interrupt OB80 is initiated, causing the erroneous periodic interruption to resume execution after OB 80.
Function FC and function block FB
Both FC and FB are program modules written by the user himself, and can be called by the other program blocks OB, FC and FB. Like functions in other programming languages, the FC/FB also carries parameters, which are given by name called form parameters, and the specific values given to the form parameters at call time are the actual parameters.
The essential difference between FC and FB is that FC does not have its own memory area, and FB has its own memory area, i.e. background DB, and when calling any FB, one background DB must be specified.
5. Process decomposition
Since the sewing machine needs to sew about three times, the first wringing roller is lifted after the first sewing of the sewing machine.
The program is a starting signal, the trigger condition is the motion of the sewing machine, and the first wringing roller is lifted after the program is started.
The train advances, calculating the real-time suture joint position:
when the train advances, the travel displacement is equal to the travel speed multiplied by the travel time, the travel speed is set by the operator, and the travel time is calculated by the CPU, as can be seen from the calculation formula S ═ vt. And due to the precision requirement of the sewing joint, the more accurate the calculation time is, the better. In the STEP7 program, the scan cycle of the OB block is 100ms, and the scan cycle of the FC block is 300ms, so time calculation can be performed using the scan cycle of OB 35;
by using the interruption characteristic of OB35, the number of interruptions can be recorded, and the forward time of the train can be accurately calculated by multiplying the number of interruptions by one interruption time, namely 100 ms. After the train advancing time is obtained, the train speed is multiplied, and then the advancing distance of the sewing joint, namely the position of the sewing joint, can be obtained. When the stitch joint calculation program is started, MD302 is cleared, the forward time of the computer string is started, and the forward time is used for calculation. Because the starting of the frequency converter is linear acceleration, half of the starting time of the frequency converter can be subtracted to obtain more accurate advancing distance.
The distance between the position of the sewing machine and the drying device A23 is 12m, the initial set value is 12m, and the change is carried out according to the later debugging effect. In the drying device A23, the water in the sewing joint is dried so as not to enter the tension roller to corrode the tension roller.
The train continues to advance and the stitch bonds pass over tension rollers.
The implementation mode has clear thought, clear target, simple equipment system and convenient maintenance, and is suitable for production and process requirements; when the train advances, the travel displacement is equal to the travel speed multiplied by the travel time, the travel speed is set by the operator, and the travel time is calculated by the CPU, according to the calculation formula S ═ vt. In the STEP7 program, the scan cycle of the OB block is 100ms, and the scan cycle of the FC block is 300ms, so time calculation can be performed using the scan cycle of OB35, and an interrupt calculation program is added to OB 35.
By using the interruption characteristic of OB35, the number of interruptions can be recorded, and the forward time of the train can be accurately calculated by multiplying the number of interruptions by one interruption time, namely 100 ms.
After the train advancing time is obtained, the train speed is multiplied, and then the advancing distance of the sewing joint, namely the position of the sewing joint, can be obtained. When the stitch joint calculation program is started, the MD302 is cleared, the forward time of the computer array is started, and the position of the stitch joint can be calculated by multiplying the forward time calculation by the forward set speed
It should be noted that, because the start of the frequency converter is linear acceleration, the acceleration distance can be calculated and added into the calculation formula to obtain a more accurate advance distance.
Claims (8)
1. A control system of a stretch bending straightener is characterized by comprising a main controller, a drying roll controller and a drying device;
the drying device is arranged between the last wringing roller and the first tension roller in the moving process of the stretch bending straightener;
the main controller is used for controlling the speed and frequency of each motor of the stretch bending straightener, starting and stopping of a stretch bending straightener machine line and positioning the position of a coiled material sewing joint, sending a lifting control signal when the sewing joint moves to the position of the drying roller and sending a falling control signal when the sewing joint leaves the position of the drying roller; the device is also used for controlling the stretch bending straightener machine train to stop advancing when the sewing joint moves to the drying device, the drying device dries the sewing joint, and the machine train is started after the set time is over;
the drying roller controller is used for controlling the drying roller to lift from the coiled material according to the lifting control signal of the main controller and controlling the drying roller to fall on the coiled material according to the falling control signal of the main controller;
the control system also comprises a plurality of frequency converters, and each frequency converter is used for carrying out frequency conversion and speed regulation on one motor of the stretch bending straightener;
the main controller controls a plurality of frequency converters to give speed when the stretch bending straightener line stops and starts, and the specific process comprises the following steps:
when stopping suddenly, executing a sudden stop cycle until the sudden stop is realized, wherein the sudden stop cycle comprises the following steps: setting a zero speed, selecting the zero speed, reducing the speed according to the selected zero speed, combining speed feedback, a speed upper limit value and a speed lower limit value, carrying out speed amplitude limiting to obtain a speed set value, adding the speed set value to a motor, and obtaining speed feedback from the motor;
when starting, executing a starting cycle until stable starting, wherein the starting cycle comprises: setting speed, selecting set speed, raising speed according to the selected speed, combining speed feedback, speed upper limit value and speed lower limit value, making speed amplitude limitation to obtain speed set value, adding said speed set value to motor, and obtaining speed feedback from motor.
2. The control system of a stretch bend straightener of claim 1, wherein the main controller, positioning the position of the coil seam splice, comprises:
when the sewing machine sews the joints of the two coiled materials, timing is started to obtain the advancing time of the machine train of the stretch bending straightening machine, and then the real-time positions of the sewing joints are obtained according to the speed of the machine train to realize positioning.
3. The control system of a stretch bender according to claim 2, wherein said main controller uses an interrupt computer to obtain the train advance time of the stretch bender:
obtaining the current interruption times, and multiplying the current interruption times by the interruption time, namely the machine train advancing time of the bend straightening machine;
the run time of each cycle interrupt is shorter than the interrupt cycle interval.
4. The control system of a stretch-bending straightener as claimed in claim 3, wherein the main controller obtains the start time of the frequency converter of the stitching machine in the forward time of the train of the stretch-bending straightener as half of the actual time.
5. A control method of a stretch bending straightener is characterized by comprising the following steps:
s1, arranging a drying device between the last wringing roller and the first tension roller in the advancing process of the stretch bending straightener;
s2, controlling the start of a stretch bending straightener train and controlling the speed and frequency of each motor of the stretch bending straightener;
s3, positioning the position of the coil sewing joint, controlling the drying roller to lift from the coil when the sewing joint moves to the drying roller, and controlling the drying roller to fall on the coil when the sewing joint leaves the drying roller;
s4, when the sewing joint moves to the drying device, controlling the stretch bending straightener machine train to stop advancing, drying the sewing joint by the drying device, and starting the machine train after the set time is over;
the stretch bending straightener also comprises a plurality of frequency converters, and one frequency converter is used for carrying out frequency conversion and speed regulation on one motor of the stretch bending straightener;
when the stretch bending straightening machine train stops and starts, the process of controlling the multiple frequency converters to carry out speed setting comprises the following steps:
when stopping suddenly, executing a sudden stop cycle until the sudden stop is realized, wherein the sudden stop cycle comprises the following steps:
setting a zero speed, selecting the zero speed, reducing the speed according to the selected zero speed, combining speed feedback, a speed upper limit value and a speed lower limit value, carrying out speed amplitude limiting to obtain a speed set value, adding the speed set value to a motor, and obtaining speed feedback from the motor;
when starting, executing a starting cycle until stable starting, wherein the starting cycle comprises:
setting speed, selecting set speed, raising speed according to the selected speed, combining speed feedback, speed upper limit value and speed lower limit value, making speed amplitude limitation to obtain speed set value, adding said speed set value to motor, and obtaining speed feedback from motor.
6. The method of controlling a stretch bender according to claim 5, wherein said positioning of the position of the stitch-bonded joint of the web comprises:
when the sewing machine sews the joints of the two coiled materials, timing is started to obtain the advancing time of the machine train of the stretch bending straightening machine, and then the real-time positions of the sewing joints are obtained according to the speed of the machine train to realize positioning.
7. The control method of a stretch-bending straightener as claimed in claim 6, wherein the obtained train forward time of the stretch-bending straightener is half of the actual time of the start-up time of the frequency converter of the stitching machine:
obtaining the current interruption times, and multiplying the current interruption times by the interruption time, namely the machine train advancing time of the stretch bending straightener;
the run time of each cycle interrupt is shorter than the interrupt cycle interval.
8. The method of controlling a stretch bender according to claim 7, wherein said obtained train advance time of the stretch bender minus half of the startup time of the frequency converter of the stitcher.
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| CN102240676B (en) * | 2011-05-11 | 2013-07-03 | 北京科技大学 | Rolling device for preparing high-toughness high-formability magnesium alloy sheet strip coil |
| CN104190753A (en) * | 2014-08-07 | 2014-12-10 | 陕西启源科技发展有限责任公司 | Pure tension straightener |
| CN106755936A (en) * | 2016-12-28 | 2017-05-31 | 西南铝业（集团）有限责任公司 | A kind of band with suture mouth enters stove method and air cushion furnace |
| CN106670261B (en) * | 2016-12-30 | 2018-11-23 | 天津市富仁板带有限公司 | A kind of stretch bending-straightening machine |
| CN206854401U (en) * | 2017-06-12 | 2018-01-09 | 山东邹平长城能源科技有限公司 | A kind of stretch bending-straightening machine |
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