CN109484919A - Concentric type stranding machine laying tension control method and system - Google Patents
Concentric type stranding machine laying tension control method and system Download PDFInfo
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- CN109484919A CN109484919A CN201710822270.4A CN201710822270A CN109484919A CN 109484919 A CN109484919 A CN 109484919A CN 201710822270 A CN201710822270 A CN 201710822270A CN 109484919 A CN109484919 A CN 109484919A
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- tension
- revolving speed
- displacement
- pid
- speed
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
- B65H59/38—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension
- B65H59/384—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension using electronic means
- B65H59/387—Regulating unwinding speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
- B65H59/40—Applications of tension indicators
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/02—Stranding-up
- H01B13/0207—Details; Auxiliary devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
- B65H2701/341—Handled filamentary material electric cords or electric power cables in a manufacturing process
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Ropes Or Cables (AREA)
Abstract
The invention discloses a kind of concentric type stranding machine laying tension control method and control system, which includes: to detect cable in the displacement of preset；Calculate tension motor feed forward velocity；Displacement is obtained into output valve through PID effect output with preset reference displacement；Output valve and tension motor feed forward velocity is superimposed, generate the revolving speed of unwrapping wire disk-drive motor.Change in displacement by detection cable in preset can determine the tension variation of cable, output quantity is obtained using PID effect, the control of the revolving speed of unwrapping wire disk-drive motor is carried out in conjunction with feedforward control, it can guarantee the timeliness and control precision of control, revolving speed is avoided to deviate, to guarantee that cable releases tension stability.
Description
Technical field
The present invention relates to concentric type stranding machine technical field, in particular to a kind of concentric type stranding machine laying tension controlling party
Method.Moreover, it relates to a kind of concentric type stranding machine laying tension control system.
Background technique
Wire cable core usually first carries out unwrapping wire by paying off system, puts during being twisted on concentric type stranding machine
Linear system system releases core through tenslator, enters back into twisted wire system and carries out process.
In Wire cable core stranding process, core release tension be influence wire and cable quality principal element it
One, it is desirable that core is released even tension and stablized.And since in existing concentric type stranding machine, the control precision of tension detecting apparatus is not
Height not can guarantee cable strain and stablize, and be affected to the twisted of cable especially in starting operation and stopping.
Therefore, how to guarantee that cable releases tension stability, be a technical problem that technical personnel in the field need to solve at present.
Summary of the invention
In view of this, can guarantee the object of the present invention is to provide a kind of concentric type stranding machine laying tension control method
Cable releases tension stability.It is a further object of the present invention to provide a kind of concentric type stranding machine laying tension control systems, can
Guarantee that cable releases tension stability.
To achieve the above object, the invention provides the following technical scheme:
A kind of concentric type stranding machine laying tension control method, comprising:
Cable is detected in the displacement of preset；
Calculate tension motor feed forward velocity；
The displacement is obtained into output valve through PID effect output with preset reference displacement；
The output valve and the tension motor feed forward velocity is superimposed, generate the revolving speed of unwrapping wire disk-drive motor.
Preferably, the calculating tension motor feed forward velocity specifically includes:
It calculates monofilament according to traction linear speed, twisting pitch, twisted outer diameter, monofilament outer diameter and goes out linear velocity, according to the monofilament
Linear velocity, all-wing aircraft linear velocity obtain the tension motor feed forward velocity out.
Preferably, comprising:
The revolving speed of the unwrapping wire disk-drive motor is obtained in real time；
Judge that the affiliated pre-set velocity interval of the revolving speed, the pre-set velocity interval include in presetting low speed section, presetting
Fast section and default high speed section；
When the revolving speed is in the default low speed section, sets the first pre-set tension pid parameter and be used as and work as toe-out
Power pid parameter；
When the revolving speed is in the default middling speed section, sets the second pre-set tension pid parameter and be used as and work as toe-out
Power pid parameter；
When the revolving speed is in the default high speed section, sets the third pre-set tension pid parameter and be used as and work as toe-out
Power pid parameter.
Preferably, further includes:
The draw drum current operation inertia is calculated according to the deposit amount of draw drum middle line, controls and makes in conjunction with the revolving speed
Proportioning valve auxiliary brake in dynamic system.
A kind of concentric type stranding machine laying tension control system, comprising:
Displacement detector, for detecting cable in the displacement of preset；
Computing module, for calculating tension motor feed forward velocity；
PID module, for the displacement to be obtained output valve through PID effect output with preset reference displacement；
Frequency converter, for the output valve and the tension motor feed forward velocity is superimposed, generation unwrapping wire dish driving electricity
The revolving speed of machine.
Preferably, the PID module is built in the frequency converter.
Preferably, institute's displacement sensing device includes analog quantity displacement sensor.
Preferably, the unwrapping wire disk-drive motor is high dynamic response AC permanent magnet synchronous motor.
Preferably, comprising:
Speed detector, for obtaining the revolving speed of the unwrapping wire disk-drive motor in real time；
Judgment means, for judging that the affiliated pre-set velocity interval of the revolving speed, the pre-set velocity interval are low including presetting
Fast section, default middling speed section and default high speed section；
When the revolving speed is in the default low speed section, the PID module sets the first pre-set tension pid parameter
As current tensile pid parameter；
When the revolving speed is in the default middling speed section, the PID module sets the second pre-set tension pid parameter
As current tensile pid parameter；
When the revolving speed is in the default high speed section, the PID module sets the third pre-set tension pid parameter
As current tensile pid parameter.
Preferably, further includes:
Controller, for calculating the draw drum current operation inertia, in conjunction with institute according to the deposit amount of draw drum middle line
State the proportioning valve auxiliary brake in revolving speed control braking system.
In control method provided by the invention, the change in displacement by detection cable in preset can determine of cable
Power variation obtains output quantity using PID effect, the control of the revolving speed of unwrapping wire disk-drive motor is carried out in conjunction with feedforward control, can
To guarantee the timeliness and control precision of control, revolving speed is avoided to deviate, to guarantee that cable releases tension stability.
Control system provided by the invention can guarantee that cable releases tension stability.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the flow chart of control method provided by the present invention；
Fig. 2 is the schematic diagram of control method provided by the present invention；
Fig. 3 is the structure chart of concentric type stranding machine applied by control method provided by the present invention.
In Fig. 2 and Fig. 3,1- unwrapping wire disk-drive motor, 2- draw drum, 3- twists body all-wing aircraft, 4- spring, 5- wedge block, and 6- is slow
Rush wire storage mechanism, 7- analog quantity displacement sensor, 8- guide wheel, 9- cable.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Core of the invention is to provide a kind of concentric type stranding machine laying tension control method, can guarantee that cable is released and open
Power is stablized.Another core of the invention is to provide a kind of concentric type stranding machine laying tension control system, can guarantee that cable is put
Tension stability out.
Fig. 1 to Fig. 3 is please referred to, Fig. 1 is the flow chart of control method provided by the present invention；Fig. 2 is control provided by the present invention
The schematic diagram of method processed；Fig. 3 is the structure chart of concentric type stranding machine applied by control method provided by the present invention.
In a kind of specific embodiment of concentric type stranding machine laying tension control method provided by the present invention, concentric type stranding machine
It can specifically include draw drum 2, the unwrapping wire disk-drive motor 1 for driving draw drum 2, twist body all-wing aircraft 3, for driving strand body to fly
Strand body all-wing aircraft driving motor, the buffering wire storage mechanism 6 of the wing 3.Wire rod (copper wire or aluminium wire) on draw drum 2 is by strand body all-wing aircraft guide wheel
8 draw, and twisting point is reached after buffering wire storage mechanism 6, is going out twisted mold, upper traction wheel.
The control method can specifically include following steps:
Step S1: displacement of the detection cable 9 in preset.
The direction of displacement should be different from the moving direction of cable 9, may further be for along the displacement of default rectilinear direction.In advance
Setting up an office, which specifically can be set, is twisting between body all-wing aircraft 3 and buffering wire storage mechanism 6.Displacement and cable 9 due to cable 9 in preset
Elasticity, that is, tension in preset is related, and detection cable 9 is displaced the detection that is, to tension situation preset.
Step S2: tension motor feed forward velocity is calculated.
Wherein, tension motor feed forward velocity is that cable 9 goes out linear velocity on unwrapping wire disk-drive motor 1, with real-time unwrapping wire
The after-combustion directional correlation of 2 disk diameter of disk and cable 9 on draw drum 2.It preferably, can be according to traction linear speed, twisting pitch, twisted
Outer diameter, monofilament outer diameter calculate monofilament and go out linear velocity, are by all-wing aircraft linear velocity and tension motor feedforward speed since monofilament goes out linear velocity
Degree superposition is formed, thus can go out linear velocity, all-wing aircraft linear velocity acquisition tension motor feed forward velocity according to monofilament, thus compared with
Tension motor feed forward velocity is accurately calculated.Wherein, all-wing aircraft linear velocity refers to cable 9 on twisting body all-wing aircraft driving motor
Linear velocity is divided into positive and reverse.
Step S3: displacement is obtained into output valve through PID effect output with preset reference displacement.
Step S4: output valve and tension motor feed forward velocity is superimposed, generate the revolving speed of unwrapping wire disk-drive motor 1.
In the present embodiment, the change in displacement by detection cable 9 in preset can determine the tension variation of cable 9, benefit
Output quantity is obtained with PID effect, the control of the revolving speed of unwrapping wire disk-drive motor 1 is carried out in conjunction with feedforward control, it is ensured that control
The timeliness and control precision of system, avoid revolving speed from deviating, to guarantee that cable 9 releases tension stability.
Further, the control method can with the following steps are included:
The revolving speed of unwrapping wire disk-drive motor 1 is obtained in real time；
Judge the affiliated pre-set velocity interval of revolving speed, pre-set velocity interval include default low speed section, default middling speed section and
Default high speed section；
When revolving speed is in default low speed section, the first pre-set tension pid parameter is set as current tensile pid parameter；
When revolving speed is in default middling speed section, the second pre-set tension pid parameter is set as current tensile pid parameter；
When revolving speed is in default high speed section, third pre-set tension pid parameter is set as current tensile pid parameter.
Wherein, the displacement of preset and preset reference, which are displaced, realizes that current PID is acted on through current pid parameter.This implementation
In example, current tensile pid parameter can be configured according to the revolving speed of unwrapping wire disk-drive motor 1, to better adapt to difference
The response requirement of revolving speed.
Further, which can also include:
Draw drum current operation inertia is calculated according to the deposit amount of 2 middle line of draw drum, controls braking system in conjunction with revolving speed
In proportioning valve auxiliary brake, to further ensure that the tension stability in down speeding procedure.
In addition to above-mentioned concentric type stranding machine laying tension control method, the present invention also provides a kind of above-mentioned controlling parties of application
The concentric type stranding machine laying tension control system of method, the control system specifically include:
Displacement detector, for detecting cable 9 in the displacement of preset；
Computing module, for calculating tension motor feed forward velocity；
PID module obtains output valve through PID effect output with preset reference displacement for that will be displaced；
Frequency converter, for output valve and tension motor feed forward velocity is superimposed, generation unwrapping wire disk-drive motor 1 turns
Speed.
In the present embodiment, the change in displacement by detection cable 9 in preset can determine the tension variation of cable 9, benefit
Output quantity is obtained with PID effect, the control of the revolving speed of unwrapping wire disk-drive motor 1 is carried out in conjunction with feedforward control, it is ensured that control
The timeliness and control precision of system, avoid revolving speed from deviating, to guarantee that cable 9 releases tension stability.
Further, PID module can be built in frequency converter.More specifically, displacement detector includes analog quantity position
Displacement sensor 7, to export continuous signal.
The analog input point of the frequency converter of internal PID module can connect displacement sensor with direct signal, utilize the change
Included PID function directly controls frequency converter itself inside frequency device, signal can be transmitted, convert time delay and be preferably minimized, specifically
Can guarantee the control of unwrapping wire disk-drive motor 1 accordingly reaches Millisecond.Certainly, PID module can also be separated with frequency converter and be set
Set, analog quantity displacement sensor 7 be signally attached to programmable controller analog input point, using programmable PID function,
PID output signal is sent to frequency converter using fieldbus, touch screen specifically can be used and controlled, but in a manner of former
It is preferred.Specifically, frequency converter can be using Danfoss Engineering-type FC302 series.
Wherein, analog quantity displacement sensor 7 can be accomplished in several ways the measurement to displacement, a kind of preferred implementation
In mode, guide wheel 8 can be set between body all-wing aircraft 3 and buffering wire storage mechanism 6 twisting, the lower section of guide wheel 8 is arranged wedge block 5, leads
The central axis of wheel 8 is fixedly connected on the top of wedge block 5 and guide wheel 8 can be relative to central shaft rotation, the bottom of wedge block 5
Equipped with spring 4, the telescopic direction of spring 4 is vertical direction, and a side of wedge block 5 is to incline relative to vertical direction is inclined
Inclined-plane, analog quantity displacement sensor 7 is corresponding and is fixed at the side of the inclined surface, in 9 tension variation of cable, wedge block
5 can move down or move up, and the spacing between analog quantity displacement sensor 7 and inclined surface corresponding can change, that is, above and below cable 9
Displacement can be changed into the variation of the spacing between the inclined surface of wedge block 5 and analog quantity displacement sensor 7, be conducive to improve detection
Precision.
Specifically, unwrapping wire disk-drive motor 1 can be high dynamic response AC permanent magnet synchronous motor, react fast and precision
It is high.
Specifically, which may include:
Speed detector, for obtaining the revolving speed of unwrapping wire disk-drive motor 1 in real time；
Judgment means, for judging the affiliated pre-set velocity interval of revolving speed, pre-set velocity interval includes default low speed section, pre-
If middling speed section and default high speed section；
When revolving speed is in default low speed section, PID module sets the first pre-set tension pid parameter as current tensile PID
Parameter；
When revolving speed is in default middling speed section, PID module sets the second pre-set tension pid parameter as current tensile PID
Parameter；
When revolving speed is in default high speed section, PID module sets third pre-set tension pid parameter as current tensile PID
Parameter.
In the present embodiment, current tensile pid parameter can be configured according to the revolving speed of unwrapping wire disk-drive motor 1, thus
Better adapt to the response requirement of different rotating speeds.
Specifically, which can also include:
Controller, for calculating 2 current operation inertia of draw drum, in conjunction with revolving speed according to the deposit amount of 2 middle line of draw drum
The proportioning valve auxiliary brake in braking system is controlled, to further ensure that the tension stability in down speeding procedure.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Concentric type stranding machine laying tension control method provided by the present invention and system are described in detail above.
Used herein a specific example illustrates the principle and implementation of the invention, and the explanation of above embodiments is only used
In facilitating the understanding of the method and its core concept of the invention.It should be pointed out that for those skilled in the art,
Without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention, these improvement and modification
It falls into the protection scope of the claims in the present invention.
Claims (10)
1. a kind of concentric type stranding machine laying tension control method characterized by comprising
Cable is detected in the displacement of preset；
Calculate tension motor feed forward velocity；
The displacement is obtained into output valve through PID effect output with preset reference displacement；
The output valve and the tension motor feed forward velocity is superimposed, generate the revolving speed of unwrapping wire disk-drive motor.
2. control method according to claim 1, which is characterized in that the calculating tension motor feed forward velocity specifically wraps
It includes:
It calculates monofilament according to traction linear speed, twisting pitch, twisted outer diameter, monofilament outer diameter and goes out linear velocity, according to the monofilament outlet
Speed, all-wing aircraft linear velocity obtain the tension motor feed forward velocity.
3. control method according to claim 1 characterized by comprising
The revolving speed of the unwrapping wire disk-drive motor is obtained in real time；
Judge that the affiliated pre-set velocity interval of the revolving speed, the pre-set velocity interval include default low speed section, default middling speed area
Between and default high speed section；
When the revolving speed is in the default low speed section, the first pre-set tension pid parameter is set as current tensile PID
Parameter；
When the revolving speed is in the default middling speed section, the second pre-set tension pid parameter is set as current tensile PID
Parameter；
When the revolving speed is in the default high speed section, the third pre-set tension pid parameter is set as current tensile PID
Parameter.
4. control method according to claim 3, which is characterized in that further include:
The draw drum current operation inertia is calculated according to the deposit amount of draw drum middle line, controls braking system in conjunction with the revolving speed
Proportioning valve auxiliary brake in system.
5. a kind of concentric type stranding machine laying tension control system characterized by comprising
Displacement detector, for detecting cable in the displacement of preset；
Computing module, for calculating tension motor feed forward velocity；
PID module, for the displacement to be obtained output valve through PID effect output with preset reference displacement；
Frequency converter, for the output valve and the tension motor feed forward velocity is superimposed, generation unwrapping wire disk-drive motor
Revolving speed.
6. control system according to claim 5, which is characterized in that the PID module is built in the frequency converter.
7. control system according to claim 6, which is characterized in that institute's displacement sensing device includes that analog quantity displacement passes
Sensor.
8. control system according to claim 5, which is characterized in that the unwrapping wire disk-drive motor is high dynamic response friendship
Flow permanent magnet synchronous motor.
9. control system according to claim 5 characterized by comprising
Speed detector, for obtaining the revolving speed of the unwrapping wire disk-drive motor in real time；
Judgment means, for judging that the affiliated pre-set velocity interval of the revolving speed, the pre-set velocity interval include default low regime
Between, default middling speed section and default high speed section；
When the revolving speed is in the default low speed section, the PID module sets the first pre-set tension pid parameter conduct
Current tensile pid parameter；
When the revolving speed is in the default middling speed section, the PID module sets the second pre-set tension pid parameter conduct
Current tensile pid parameter；
When the revolving speed is in the default high speed section, the PID module sets the third pre-set tension pid parameter conduct
Current tensile pid parameter.
10. control system according to claim 8, which is characterized in that further include:
Controller, for calculating the draw drum current operation inertia, in conjunction with described turn according to the deposit amount of draw drum middle line
Proportioning valve auxiliary brake in speed control braking system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710822270.4A CN109484919B (en) | 2017-09-13 | 2017-09-13 | Paying-off tension control method and system of concentric stranding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710822270.4A CN109484919B (en) | 2017-09-13 | 2017-09-13 | Paying-off tension control method and system of concentric stranding machine |
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| Publication Number | Publication Date |
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| CN109484919A true CN109484919A (en) | 2019-03-19 |
| CN109484919B CN109484919B (en) | 2021-01-29 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112110258A (en) * | 2020-09-19 | 2020-12-22 | 许继电源有限公司 | Shore power cable drum tension control system and control method |
| CN115448107A (en) * | 2021-06-09 | 2022-12-09 | 国网河北省电力有限公司无极县供电分公司 | Electric power cable coiling device |
| CN117423516A (en) * | 2023-12-19 | 2024-01-19 | 陕西西特电缆有限公司 | Twisting control method for cable harness |
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