CN109850645B - Speed control system of casting machine and control method thereof - Google Patents
Speed control system of casting machine and control method thereof Download PDFInfo
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- CN109850645B CN109850645B CN201910301450.7A CN201910301450A CN109850645B CN 109850645 B CN109850645 B CN 109850645B CN 201910301450 A CN201910301450 A CN 201910301450A CN 109850645 B CN109850645 B CN 109850645B
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000005266 casting Methods 0.000 title claims abstract description 14
- 238000004804 winding Methods 0.000 claims abstract description 128
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 230000008859 change Effects 0.000 claims abstract description 43
- 238000005096 rolling process Methods 0.000 claims abstract description 31
- 239000010409 thin film Substances 0.000 claims abstract description 4
- 239000010408 film Substances 0.000 claims description 63
- 230000008569 process Effects 0.000 claims description 5
- 238000005070 sampling Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000002002 slurry Substances 0.000 description 1
Abstract
The invention provides a speed control system of a casting machine and a control method thereof, wherein the speed control system comprises a traction motor, a winding motor, a rotary encoder, a PID controller, a traction servo driver, a winding servo driver and a PLC controller; the traction servo driver controls the torque of the traction motor according to the input quantity of the PLC controller, and the PID controller calculates the torque compensation quantity of the traction motor according to the change quantity of the PLC controller and the torque of the traction motor and outputs the torque compensation quantity to the traction servo driver; the rolling servo driver controls the rotating speed of the rolling motor according to the input quantity of the PLC controller, and the PID controller calculates the rotating speed compensation quantity of the rolling motor according to the calculated torque compensation quantity and the length of the thin film passing by the thin film measured by the rotary encoder and outputs the rotating speed compensation quantity to the rolling servo driver. The invention realizes the accurate speed control of the winding mechanism according to the torsion change of the traction mechanism, has small control error and is suitable for the working condition of high and low speed change.
Description
Technical Field
The invention relates to the technical field of casting machines, in particular to a speed control system and a speed control method of a casting machine.
Background
The casting machine is a forming device capable of preparing slurry into a sheet film with uniform thickness and certain width, and is suitable for film forming experiments and production. The film formed generally is rolled through a rolling mechanism arranged in a casting machine, tension force in the film movement process is kept through a traction mechanism, tension is directly detected by a tension sensor in the existing casting machine, a detection signal is fed back to a tension controller to control the film tension, the speed of the rolling mechanism is positively influenced by the control of the film tension, when a tension control system in a balanced state is interfered by a strong force, the system cannot react immediately, the reaction speed of the tension control system is slow, and the production quality of the film can be directly influenced by the unstable speed of the rolling mechanism.
Disclosure of Invention
In order to solve the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a speed control system of a casting machine and a control method thereof, so as to overcome the shortcomings of the prior art.
In order to achieve the above object, the present invention provides a speed control system of a casting machine, the speed control system comprising a traction motor for controlling a torsion change of a traction mechanism, a winding motor for controlling a winding speed of a winding mechanism, a rotary encoder for measuring a length of each film passing by the winding mechanism, a PID controller, a traction servo driver, a winding servo driver, and a PLC controller; the PLC is electrically connected with the PID controller, the traction servo driver and the winding servo driver respectively; the traction servo driver is electrically connected with the traction motor, the traction motor is electrically connected with the PID controller, the PID controller is electrically connected with the traction servo driver so that the traction servo driver controls the torque of the traction motor according to the input quantity of the PLC controller, and the PID controller calculates the torque compensation quantity of the traction motor according to the change quantity of the PLC controller and the torque of the traction motor and outputs the torque compensation quantity to the traction servo driver so as to realize the torque change of the traction motor; the rolling servo driver is electrically connected with the rolling motor, the rotary encoder is electrically connected with the PID controller, the PID controller is electrically connected with the rolling servo driver, so that the rolling servo driver controls the rotating speed of the rolling motor according to the input quantity of the PLC controller, and the PID controller calculates the rotating speed compensation quantity of the rolling motor according to the calculated torque compensation quantity and the length of the thin film measured by the rotary encoder and outputs the rotating speed compensation quantity to the rolling servo driver to realize the rolling speed control of the rolling motor.
Through the technical scheme, the traction servo driver and the winding servo driver are arranged to realize accurate control of the traction motor and the winding motor; the rotary encoder is arranged to measure the passing length of each film of the winding mechanism in real time, so that the real-time rotating speed of the winding mechanism is obtained, the PID controller is used for controlling the constant torque of the traction motor and the speed control of the winding motor according to the real-time torque change of the traction motor, the speed of the winding motor is stable, the accurate speed control of the winding mechanism is realized, the speed control error of the winding mechanism is small, and the speed control device is suitable for high-low speed change working conditions.
As a further illustration of the speed control system of the present invention, the PLC is preferably in communication with the traction servo drive and the take-up servo drive via EtherCAT. Through the technical scheme, the EtherCAT communication response speed is extremely high, and electromagnetic interference is not easy to occur.
As a further explanation of the speed control system according to the present invention, preferably, the input amount of the PLC controller includes a tension value during the movement of the film drawn by the drawing mechanism, a torque value of the drawing motor, and a rotational speed value of the winding motor; the change amount of the PLC controller comprises a tension change value in the process of the traction mechanism traction film moving.
As a further explanation of the speed control system according to the present invention, it is preferable that the traction mechanism includes a swing link to which the traction motor is connected, and the swing link changes a torsion force according to a torque value of the traction motor to thereby control the film tension. Through the technical scheme, the tension control of the film is realized by adopting the traction motor to control the swing rod, when the torque value of the traction motor is changed, the swing rod can change the torque value of the traction motor after increasing the swing angle in one swing action, the film is buffered, the film cannot be damaged, the tension change of the film can be realized rapidly, and the tension is more stable.
As a further explanation of the speed control system according to the present invention, preferably, the rotary encoder measures the length of each film passing by the winding mechanism in real time, and calculates the real-time winding diameter of the film, thereby calculating the rotational speed value of the winding motor.
In order to achieve another object of the present invention, the present invention also provides a speed control method using the speed control system, the speed control method comprising the steps of: s1), determining a film tension value, a torque value of a corresponding traction motor and a rotating speed value of a corresponding winding motor according to a sampling value or an empirical value, and storing the film tension value, the torque value and the rotating speed value in a PLC; s2), inputting a set film tension value by a PLC (programmable logic controller), and obtaining a corresponding torque value of the traction motor and a corresponding rotating speed value of the winding motor by the PLC according to the set film tension value; s3), the PLC controls the traction servo driver to drive the traction motor to drive the traction mechanism to act according to the corresponding torque value, and meanwhile, the PLC controls the rolling servo driver to drive the rolling motor to drive the rolling mechanism to act according to the corresponding rotating speed value; s4), the rotary encoder measures the passing length of each film turn of the winding mechanism in real time, and calculates the real-time winding diameter of the film, so that the rotating speed value of the winding motor is calculated; s5), the PID controller receives the rotational speed value of the winding motor and the real-time torque value of the traction motor calculated by the rotary encoder, and compares the real-time torque value with the corresponding torque value set by input and calculates a torque compensation amount and a rotational speed compensation amount; s6), the PID controller outputs the torque compensation quantity to the traction servo driver to realize the torque constant control of the traction motor, and the PID controller outputs the rotation speed compensation quantity to the winding servo driver to realize the winding speed control of the winding motor.
As a further explanation of the speed control method according to the present invention, preferably, the speed control method further includes a PID controller receiving a real-time torque value of the traction motor and receiving a tension change value inputted by the PLC controller, the PID controller obtaining a torque change value of the traction motor according to the tension change value, the PID controller obtaining a torque compensation amount of the traction motor according to the torque change value and the real-time torque value, the PID controller controlling the traction servo driver to achieve a torque change of the traction motor.
As a further explanation of the speed control method of the present invention, preferably, the PID controller receives the real-time measurement of the length of each film passing through the winding mechanism by the rotary encoder, and calculates the real-time winding diameter of the film, thereby calculating the real-time rotation speed value of the winding motor; and the PID controller calculates the rotational speed compensation quantity of the winding motor according to the torque compensation quantity and the real-time rotational speed value of the winding motor, and controls the winding servo driver to realize the rotational speed change of the winding motor.
The beneficial effects of the invention are as follows: the traction servo driver and the winding servo driver are arranged to realize accurate control of the traction motor and the winding motor; the rotary encoder is arranged to measure the passing length of each film of the winding mechanism in real time, so that the real-time rotating speed of the winding mechanism is obtained, the PID controller is used for controlling the constant torque of the traction motor and the speed control of the winding motor according to the real-time torque change of the traction motor, so that the speed of the winding motor is stable, the accurate speed control of the winding mechanism is realized, the speed control error of the winding mechanism is small, and the winding mechanism is suitable for high-speed and low-speed change; the EtherCAT communication is adopted to have extremely high response speed and is not easy to be interfered by electromagnetic waves.
Drawings
Fig. 1 is a schematic structural view of a speed control system of a casting machine of the present invention;
fig. 2 is a flow chart of the speed control method of the present invention.
The reference numerals are explained as follows:
traction mechanism 101, winding mechanism 102, traction motor 1, winding motor 2, rotary encoder 3, PID controller 4, traction servo driver 5, winding servo driver 6, PLC controller 7.
Detailed Description
For a further understanding of the structure, features, and other objects of the invention, reference should now be made in detail to the accompanying drawings of the preferred embodiments of the invention, which are illustrated in the accompanying drawings and are for purposes of illustrating the concepts of the invention and not for limiting the invention.
As shown in fig. 1, fig. 1 is a schematic structural view of a speed control system of a casting machine of the present invention; the speed control system of the casting machine comprises a traction motor 1 for controlling torsion change of a traction mechanism 101, a winding motor 2 for controlling winding speed of a winding mechanism 102, a rotary encoder 3 for measuring the length of each film passing by the winding mechanism 102, a PID controller 4, a traction servo driver 5, a winding servo driver 6 and a PLC controller 7; the PLC 7 is electrically connected with the PID controller 4, the traction servo driver 5 and the winding servo driver 6 respectively; the PLC 7, the traction servo driver 5 and the winding servo driver 6 are communicated through EtherCAT, and the response speed is extremely high by adopting EtherCAT communication, so that electromagnetic interference is not easy to occur; the traction servo driver 5 is electrically connected with the traction motor 1, the traction motor 1 is electrically connected with the PID controller 4, the PID controller 4 is electrically connected with the traction servo driver 5, the winding servo driver 6 is electrically connected with the winding motor 2, the rotary encoder 3 is electrically connected with the PID controller 4, and the PID controller 4 is electrically connected with the winding servo driver 6. The traction mechanism 101 comprises a swing rod, the traction motor 1 is connected with the swing rod, the swing rod changes torsion according to the torque value of the traction motor 1 so as to control the tension of the film, the traction motor is used for controlling the swing rod to control the tension of the film, when the torque value of the traction motor is changed, the swing rod increases the swing angle in one swing action, then the torque value of the traction motor is changed, the film is buffered, the film is not damaged, the tension change of the film can be realized rapidly, and the tension is more stable.
Referring to fig. 1, the traction servo driver 5 controls the torque of the traction motor 1 according to the input amount of the PLC controller 7, and the PID controller 4 calculates the torque compensation amount of the traction motor 1 according to the change amount of the PLC controller 7 and the torque of the traction motor 1 to output to the traction servo driver 5 to realize the torque variation of the traction motor 1; the rolling servo driver 6 controls the rotating speed of the rolling motor 2 according to the input quantity of the PLC controller 7, and the PID controller 4 calculates the rotating speed compensation quantity of the rolling motor 2 according to the calculated torque compensation quantity and the length of the film passing by measured by the rotary encoder 3 and outputs the rotating speed compensation quantity to the rolling servo driver 6 so as to realize the rolling speed control of the rolling motor 2; the rotary encoder 3 measures the length of each film passing by the winding mechanism 102 in real time, and calculates the real-time winding diameter of the film, thereby calculating the rotation speed value of the winding motor 2. The traction servo driver and the winding servo driver are arranged to realize accurate control of the traction motor and the winding motor; the input quantity of the PLC 7 comprises a tension value in the process of the traction mechanism 101 for traction of the film, a torque value of the traction motor 1 and a rotating speed value of the winding motor 2; the change amount of the PLC controller 7 includes a tension change value during the movement of the film drawn by the drawing mechanism 101. The rotary encoder is arranged to measure the passing length of each film of the winding mechanism, so that the real-time rotating speed of the winding mechanism is obtained, the PID controller is used for controlling the torque of the traction motor to be constant and controlling the speed of the winding motor according to the torque change of the traction motor, the accurate speed control of the winding mechanism is realized, the speed control error of the winding mechanism is small, and the speed control device is suitable for high-low speed change working conditions.
Referring to fig. 2, fig. 2 is a flow chart of the speed control method of the present invention; the speed control method of the speed control system of the invention comprises the following steps:
s1), a film tension value, a torque value of the corresponding traction motor 1 and a rotational speed value of the corresponding winding motor 2 are determined from the sampling values or the empirical values, and are stored in the PLC controller 7.
S2), inputting a set film tension value by the PLC 7, and obtaining a corresponding torque value of the traction motor 1 and a corresponding rotating speed value of the winding motor 2 by the PLC 7 according to the set film tension value.
S3), the PLC 7 controls the traction servo driver 5 to drive the traction motor 1 to drive the traction mechanism 101 to act according to the corresponding torque value, and meanwhile, the PLC 7 controls the winding servo driver 6 to drive the winding motor 2 to drive the winding mechanism 102 to act according to the corresponding rotating speed value.
S4), the rotary encoder 3 measures the passing length of each film revolution of the winding mechanism 102 in real time, and calculates the real-time winding diameter of the film, thereby calculating the rotating speed value of the winding motor 2.
S5), the PID controller 4 receives the rotating speed value of the winding motor 2 calculated by the rotary encoder 3 and the real-time torque value of the traction motor 1, and compares and calculates the torque compensation amount and the rotating speed compensation amount according to the real-time torque value and the corresponding input set torque value.
S6), the PID controller 4 outputs the torque compensation quantity to the traction servo driver 5 to realize the torque constant control of the traction motor 1, and the PID controller 4 outputs the rotation speed compensation quantity to the winding servo driver 6 to realize the winding speed control of the winding motor 2.
In the speed control method, during the operation process of the traction mechanism 101 and the winding mechanism 102, the PID controller receives the real-time torque value of the traction motor 1 and the real-time rotating speed value of the winding motor 2, and adjusts the real-time torque value and the real-time rotating speed value according to the set film tension value, the corresponding torque value of the traction motor 1 and the corresponding rotating speed value of the winding motor 2, so that the torque of the traction motor 1 is constantly controlled and the winding speed of the winding motor 2 is stable.
In addition, the speed control method of the present invention can realize speed control of film tension change, during operation of the traction mechanism 101 and the winding mechanism 102, tension change values input by the PLC controller 7, the PID controller 4 receives real-time torque values of the traction motor 1, and tension change values input by the PLC controller 7, the PID controller 4 obtains corresponding torque change values of the traction motor 1 according to the tension change values, the PID controller 4 obtains torque compensation amounts of the traction motor 1 according to the torque change values and the real-time torque values, and the PID controller 4 controls the traction servo driver 5 to realize torque change of the traction motor 1. The PID controller 4 receives the length of each film passing by the rolling mechanism 102, which is measured by the rotary encoder 3 in real time, and calculates the real-time rolling diameter of the film, thereby calculating the real-time rotating speed value of the rolling motor 2; the PID controller 4 calculates the rotational speed compensation amount of the winding motor 2 according to the torque compensation amount and the real-time rotational speed value of the winding motor 2, and the PID controller 4 controls the winding servo driver 6 to realize the rotational speed change of the winding motor 2.
It should be noted that the foregoing summary and the detailed description are intended to demonstrate practical applications of the technical solution provided by the present invention, and should not be construed as limiting the scope of the present invention. Various modifications, equivalent alterations, or improvements will occur to those skilled in the art, and are within the spirit and principles of the invention. The scope of the invention is defined by the appended claims.
Claims (5)
1. A speed control system of a casting machine, which is characterized by comprising a traction motor (1) for controlling torsion change of a traction mechanism (101), a winding motor (2) for controlling winding speed of a winding mechanism (102), a rotary encoder (3) for measuring the length of each film passing through by the winding mechanism (102), a PID controller (4), a traction servo driver (5), a winding servo driver (6) and a PLC controller (7); wherein,
the PLC (7) is respectively and electrically connected with the PID controller (4), the traction servo driver (5) and the winding servo driver (6); inputting a set film tension value by a PLC (7), and obtaining a corresponding torque value of the traction motor (1) and a corresponding rotating speed value of the winding motor (2) by the PLC (7) according to the set film tension value;
the traction servo driver (5) is electrically connected with the traction motor (1), the traction motor (1) is electrically connected with the PID controller (4), the PID controller (4) is electrically connected with the traction servo driver (5) so that the traction servo driver (5) controls the torque of the traction motor (1) according to a corresponding torque value obtained by the PLC controller (7), and the PID controller (4) calculates the torque compensation quantity of the traction motor (1) according to the tension change value of the traction mechanism (101) in the traction film moving process and the torque of the traction motor (1) and outputs the torque compensation quantity to the traction servo driver (5) to realize the torque change of the traction motor (1);
the winding servo driver (6) is electrically connected with the winding motor (2), the rotary encoder (3) is electrically connected with the PID controller (4), the PID controller (4) is electrically connected with the winding servo driver (6) so that the winding servo driver (6) controls the rotating speed of the winding motor (2) according to the corresponding rotating speed value obtained by the PLC controller (7), and the PID controller (4) calculates the rotating speed compensation quantity of the winding motor (2) according to the calculated torque compensation quantity and the length of the thin film passing by the rotary encoder (3) and outputs the rotating speed compensation quantity to the winding servo driver (6) to realize the winding speed control of the winding motor (2).
2. A speed control system according to claim 1, characterized in that the PLC controller (7) communicates with the traction servo drive (5) and the winding servo drive (6) via EtherCAT.
3. A speed control system according to claim 1, characterized in that the traction means (101) comprises a pendulum rod, to which the traction motor (1) is connected, which pendulum rod changes the torque force in dependence on the torque value of the traction motor (1) and thereby controls the film tension.
4. A speed control system according to claim 1, characterized in that the rotary encoder (3) measures the length of each film run by the winding mechanism (102) in real time and calculates the real-time winding diameter of the film, thereby calculating the rotational speed value of the winding motor (2).
5. A speed control method using the speed control system according to any one of claims 1 to 4, characterized in that the speed control method comprises the steps of:
s1), determining a film tension value, a torque value of a corresponding traction motor (1) and a rotating speed value of a corresponding winding motor (2) according to a sampling value or an empirical value, and storing the film tension value, the torque value and the rotating speed value in a PLC (programmable logic controller) 7;
s2), inputting a set film tension value by a PLC (7), and obtaining a corresponding torque value of the traction motor (1) and a corresponding rotating speed value of the winding motor (2) by the PLC (7) according to the set film tension value;
s3), the PLC (7) controls the traction servo driver (5) to drive the traction motor (1) to drive the traction mechanism (101) to act according to the corresponding torque value, and meanwhile, the PLC (7) controls the winding servo driver (6) to drive the winding motor (2) to drive the winding mechanism (102) to act according to the corresponding rotating speed value;
s4), the rotary encoder (3) measures the passing length of each film rotation of the winding mechanism (102) in real time, and calculates the real-time winding diameter of the film, so that the rotating speed value of the winding motor (2) is calculated;
s5), the PID controller (4) receives the rotating speed value of the winding motor (2) calculated by the rotary encoder (3) and the real-time torque value of the traction motor (1), and compares the real-time torque value with the corresponding torque value set by input and calculates a torque compensation amount and a rotating speed compensation amount;
s6, the PID controller (4) outputs the torque compensation quantity to the traction servo driver (5) to realize constant torque control of the traction motor (1), and the PID controller (4) outputs the rotation speed compensation quantity to the winding servo driver (6) to realize winding speed control of the winding motor (2);
the speed control method further comprises the steps that a PID controller (4) receives a real-time torque value of the traction motor (1) and receives a tension change value input by a PLC (programmable logic controller) (7), the PID controller (4) obtains a torque compensation quantity of the traction motor (1) according to the torque change value and the real-time torque value according to the torque change value of the corresponding traction motor (1), and the PID controller (4) controls a traction servo driver (5) to achieve torque change of the traction motor (1); the PID controller (4) receives the length of each film passing through the rolling mechanism (102) measured in real time by the rotary encoder (3), and calculates the real-time rolling diameter of the film, thereby calculating the real-time rotating speed value of the rolling motor (2); the PID controller (4) calculates the rotational speed compensation quantity of the winding motor (2) according to the torque compensation quantity and the real-time rotational speed value of the winding motor (2), and the PID controller (4) controls the winding servo driver (6) to realize the rotational speed change of the winding motor (2).
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| CN201910301450.7A CN109850645B (en) | 2019-04-15 | 2019-04-15 | Speed control system of casting machine and control method thereof |
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| CN201910301450.7A CN109850645B (en) | 2019-04-15 | 2019-04-15 | Speed control system of casting machine and control method thereof |
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| CN110817549B (en) * | 2019-10-30 | 2022-02-08 | 苏州安驰控制系统有限公司 | Winding control method, device and system and computer storage medium |
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| CN209889939U (en) * | 2019-04-15 | 2020-01-03 | 泉州诺达机械有限公司 | Speed control system of casting machine |
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2019
- 2019-04-15 CN CN201910301450.7A patent/CN109850645B/en active Active
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| GB1396387A (en) * | 1971-06-05 | 1975-06-04 | Texma Masch Gmbh | Device for regulating the winding tension of guided material in the form of a web |
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