CN109896326A - Retractable volume system tension control device and its control method based on motion controller - Google Patents
Retractable volume system tension control device and its control method based on motion controller Download PDFInfo
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- CN109896326A CN109896326A CN201910150658.3A CN201910150658A CN109896326A CN 109896326 A CN109896326 A CN 109896326A CN 201910150658 A CN201910150658 A CN 201910150658A CN 109896326 A CN109896326 A CN 109896326A
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Abstract
The invention discloses retractable volume system tension control devices and its control method based on motion controller, it includes traction roller (9), folding and unfolding winding up roller (3) and press feedback device (5), the traction roller is driven by traction motor (7), the folding and unfolding winding up roller is driven by retractable volume motor (2), the traction motor and retractable volume motor pass through the first frequency converter/the first servo-driver (1) respectively and the second frequency converter/the second servo-driver (8) is connect with motion controller (4) signal, the press feedback device is connected with motion controller signal, the beneficial effects of the invention are as follows due to tension force realized based on motion controller, therefore multijoint control may be implemented and multiaxis is coordinated, data interaction is simply easy, follow response quickly, without inputting accurate coil diameter, coil diameter calculates quick self study；It can satisfy some pairs of high occasions of tensile requirements；Such as lithium electricity industry；The equipment of the slight tensions such as film, label.
Description
Technical field
The present invention relates to tension control technology fields, more particularly to the control of the retractable volume system tension based on motion controller
Device and its control method.
Background technique
Current tension control technology is divided into three classes, and the first kind is for adding tension controller to constitute using magnetic powder cluth
Power control technology, the second class are the tension control technologies for adding asynchronous machine to constitute using frequency converter, and third class is driven using servo
The tension control system that dynamic device adds servo motor to constitute, the tension control system for third class in coil diameter the disadvantage is that estimate not
In accurate situation, tension fluctuation is larger, or even the case where tension diverging occurs, Chinese invention patent publication number
CN106339010A discloses a kind of high-precision tension control system and control method, including upper computer control system, tension control
Servo-driver, main axle servo driver, spindle motor, tension sensor and receiving/releasing reel motor processed, state tension force servo
Driver includes coil diameter filter module, thickness compensating module, coil diameter PI adjustment module and coil diameter evaluation module, the coil diameter filtering
Module, thickness compensating module and coil diameter PI adjustment module export coil diameter filtering signal and thickness thermal compensation signal respectively and need to increase
Coil diameter value to coil diameter evaluation module carry out coil diameter assessment, finally obtain electronic gear proportion.The control system has the following deficiencies:
One: coil diameter calculating must be that Scroll turns around and could calculate a coil diameter, and measurement of film reel diameter is too slow, when for starting
Current coil diameter cannot be quick and precisely calculated under system coil diameter unknown situation, if will cause user without accurately inputting coil diameter
It is big to talk about tension fluctuation.
Two: the system is completed in servo-driver, is only applicable to single shaft control, and data interaction is more complex, is not suitable for
Need the occasion of multijoint control and coordination.It is necessary for designing a kind of tension control system suitable for multijoint control and coordination thus
's.
Summary of the invention
The technical problem to be solved by the present invention is to the existing tension forces for adding servo motor to constitute using servo-driver
System exist can not multijoint control and coordination, data interaction is more complex, provides a kind of retractable volume based on motion controller thus
System tension control device and its control method.
Movement instruction by given position and speed command programming movement track and is sent to servo-drive by motion controller
Device；Movement instruction conversion at switching signal, is controlled motor by controlling the on-off of driving power module by servo-driver
The power-up sequence of three-phase electricity and time；Servo motor completes corresponding movement according to the energization beat of three-phase electricity.
The technical scheme is that the retractable volume system tension control device based on motion controller, it includes traction
Roller, folding and unfolding winding up roller and press feedback device, the traction roller are driven by traction motor, and the folding and unfolding winding up roller passes through retractable volume horse
Up to driving, the traction motor and retractable volume motor pass through the first frequency converter/first servo-driver and the second frequency conversion respectively
Device/second servo-driver is connect with motion controller signal, and the press feedback device is connected with motion controller signal, institute
Stating the second frequency converter/second servo-driver includes traction motor external pulse receiving module, PID compensating module, servo-actuated coefficient
Module and controller send out pulse module.
Press feedback device described in above scheme is pressure roll, dancer or swing rod.
Retractable volume system tension fluctuation < ± 0.5N in above scheme.
The control method of retractable volume system tension control device based on motion controller, it the following steps are included: (1),
Motion controller control traction roller does variable motion；(2), motion controller receives the signal of traction motor to measure feed length
And speed；(3), motion controller is turned around by folding and unfolding winding up roller measures corresponding traction shaft encoder pulse number to be calculated
Coil diameter；(4), electronic gear proportion/servo-actuated system is calculated according to coil diameter and one meter pulse number of axis of traction and Scroll one circle umber of pulse
Number；(5), pressure size dynamic repairing electronic gear proportion/servo-actuated coefficient of motion controller is fed back to according to press feedback device,
The tension of traction roller and folding and unfolding winding up roller is controlled simultaneously.
Electronic gear proportion described in above scheme/servo-actuated coefficient is n=Mf/ (D* π * Mc), and wherein Mc is one meter of traction roller
Umber of pulse；Mf is that folding and unfolding winding up roller turns around the feedback pulse numbers of needs, and D is coil diameter, D=Davg+Dpi+Db；Unit m, traction
Corresponding r ° of the Scroll roll angle of roller walking Km long, then coil diameter is D=Km*360/ (r* π), is filtered by FIFO, is calculated
By filtered average coil diameter:N is FIFO depth, the real-time coil diameter that Di is first i weeks in formula；PID
Coil diameter Dpi=PIDout*Dpidmax is compensated, PIDout=Kp*e+Ki* ∑ e, e=c-f, c are the input of PID compensating module
Instruction, f are the feedback of press feedback device output, and Kp is the proportional gain of pi regulator, and Ki is the integral gain of pi regulator,
C, f and PIDout value range is (- 1,1)；FIFO depth compensates coil diameter Db=N/2* material thickness.
The output pulse of motion controller described in above scheme=(pulse command-pulse feedback) * Kp, the pulse refer to
Enable is the sum of traction motor pulse module output order and PID compensating module output order and the electronics tooth by adaptively obtaining
Ratio/servo-actuated coefficient product is taken turns, the pulse feedback is the second frequency converter/second servo-driver pulse feedback.
The beneficial effects of the invention are as follows a kind of new electronic gear proportion/servo-actuated Coefficient Algorithm is provided, by this algorithm and fortune
Movement controller connected applications can reduce tension fluctuation to the greatest extent, and tension fluctuation can control within ± 0.5N, due to
Tension force is to be realized based on motion controller, therefore multijoint control and multiaxis coordination may be implemented, and data interaction is simply held
Easily, response quickly is followed, can guarantee < ± 0.5N, tension precision height, nothing under start and stop 1 second 3 times frequencies with dynamic tension
Accurate coil diameter need to be inputted, coil diameter calculates quick self study；Can satisfy some pairs of tensile requirements height (high-precision, small tension receiving coil, quickly
Response) occasion；Such as lithium electricity industry；The equipment of the slight tensions such as film, label.
Detailed description of the invention
Fig. 1 is the retractable volume system tension control device hardware structure diagram of the invention based on motion controller；
Fig. 2 is integral module schematic diagram of the invention；
Fig. 3 is PID compensating module schematic diagram of the invention；
Fig. 4 is PID compensation coil diameter output module schematic diagram of the invention；
In figure, the 1, first frequency converter/the first servo-driver, 2, retractable volume motor, 3, folding and unfolding winding up roller, 4, motion control
Device, 5, press feedback device, 7, traction motor, the 8, second frequency converter/the second servo-driver, 9, traction roller.
Specific embodiment
With reference to the accompanying drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, it is retouched
The embodiment stated is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment without making creative work, belongs to protection model of the invention
It encloses.
As shown in Figure 1, the retractable volume system tension control device based on motion controller, it includes traction roller 9, retractable volume
Roller 3 and press feedback device 5, the traction roller are driven by traction motor 7, and the folding and unfolding winding up roller is driven by retractable volume motor 2
Dynamic, the traction motor and retractable volume motor pass through the first frequency converter/first servo-driver 1 and the second frequency converter/the respectively
Two servo-drivers 8 are connect with 4 signal of motion controller, and the press feedback device is connected with motion controller signal, described
Second frequency converter/second servo-driver includes traction motor external pulse receiving module, PID compensating module, servo-actuated coefficient module
Block and controller send out pulse module.
As shown in Fig. 2, integral module pulse command source of the invention is from (the i.e. traction motor pulse of main shaft pulse module
Module) and the sum of PID compensating module output order with by adaptive coil diameter calculate that the servo-actuated coefficient module obtained obtains with
Coefficient product is moved as pulse command, output pulse=(pulse command-pulse feedback) * Kp of motion controller, pulse feedback
Referring to the pulse feedback of the second frequency converter/second servo-driver output, Kf is feed-forward coefficients, the differential of Kf* pulse command=
Feedforward output, revolving speed of the output pulse of motion controller to control folding and unfolding winding up roller.
As shown in figure 3, instruction, feedback, output are all demarcated as between (- 1,1) in PID compensating module, it can be according to coil diameter
Variation can dynamically adjust amplitude limit value A, and reducing sensor fluctuation and coil diameter size influences precision, and PID exports * coil diameter PID and mends
The purpose for repaying maximum output is that swing caused by order to reduce PID compensation can compensate PID maximum progress clipping；
As shown in figure 4, PID compensation coil diameter output module is that coil diameter PI calculates result: Dpi compares the deviation of feedback
Example Kp and integral Ki are adjusted；PID compensates coil diameter output are as follows: PID exports * PID and compensates coil diameter maximum value Dpi=PIDout*
Dpidmax, Dpidmax are that user inputs according to practical engineering experience parameter, and generally winding unreels the 1/10 of maximum coil diameter.
In order to realize that coil diameter quickly calculates:
FIFO depth coil diameter compensates Db=N/2* material thickness；
Measure coil diameter D=Davg+Dpi+Db；Unit m
Servo-actuated coefficient are as follows:
N=Mf/ (D* π * Mc)
One meter pulse number of Mc traction roller；
Mf Scroll turns around the feedback pulse numbers of needs
D measures coil diameter；
N is servo-actuated coefficient/electronic gear proportion；
Our coil diameter calculation methods rotate angle for Scroll according to a traction roller length of walking, and utilize traction roller row
Coil diameter can be calculated by walking short length, and compared with prior art, measurement of film reel diameter speed is fast.
The control method of retractable volume system tension control device based on motion controller, it is characterized in that it includes following step
It is rapid: (1), motion controller control traction roller do variable motion；(2), motion controller receives the signal of traction motor to measure
Feed length and speed；(3), motion controller turned around by folding and unfolding winding up roller measure corresponding traction shaft encoder pulse number to
Coil diameter is calculated；(4), electronic gear is calculated according to coil diameter and one meter pulse number of axis of traction and Scroll one circle umber of pulse
Than/it is servo-actuated coefficient；(5), according to press feedback device feed back to motion controller pressure size dynamic repairing electronic gear proportion/
Servo-actuated coefficient, while controlling the tension of traction roller and folding and unfolding winding up roller, dynamic repair electronic gear proportion/servo-actuated coefficient process according to
It is realized by PID compensating module.
The present invention can satisfy the occasion of some pairs of tensile requirements height (high-precision, small tension receiving coil, quick response)；Such as lithium electricity
The equipment of the slight tensions such as industry and film, label.
Claims (6)
1. the retractable volume system tension control device based on motion controller, it includes traction roller (9), folding and unfolding winding up roller (3) and pressure
Device for force feedback (5), it is characterized in that: the traction roller is driven by traction motor (7), the folding and unfolding winding up roller passes through retractable volume horse
It is driven up to (2), the traction motor and retractable volume motor pass through the first frequency converter/the first servo-driver (1) and second respectively
Frequency converter/the second servo-driver (8) is connect with motion controller (4) signal, the press feedback device and motion controller
Signal connection, second frequency converter/second servo-driver include traction motor external pulse receiving module, PID compensation mould
Block, servo-actuated coefficient module and controller send out pulse module.
2. the retractable volume system tension control device based on motion controller as described in claim 1, it is characterized in that: the pressure
Device for force feedback is pressure roll, dancer or swing rod.
3. the retractable volume system tension control device based on motion controller as described in claim 1, it is characterized in that: the folding and unfolding
Roll up system tension fluctuation < ± 0.5N.
4. the retractable volume system tension control device based on motion controller as described in claim 1, it is characterized in that: it is described with
For dynamic coefficient module for calculating electronic gear proportion/servo-actuated coefficient, the electronic gear proportion/servo-actuated coefficient is n=Mf/ (D* π *
Mc), wherein Mc is one meter pulse number of traction roller；Mf is that folding and unfolding winding up roller turns around the feedback pulse numbers of needs, and D is coil diameter, D=
Davg+Dpi+Db；Corresponding r ° of the Scroll roll angle of unit m, traction roller walking Km long, then coil diameter is D=Km*360/ (r* π),
It is filtered, is calculated by filtered average coil diameter by FIFO:N is FIFO depth, Di in formula
For first i weeks real-time coil diameter；PID compensates coil diameter Dpi=PIDout*Dpidmax, PIDout=Kp*e+Ki* ∑ e, e=c-f, c
It is instructed for the input of PID compensating module, f is the feedback of press feedback device output, and Kp is the proportional gain of pi regulator, and Ki is
The integral gain of pi regulator, c, f and PIDout value range are (- 1,1)；It is thick that FIFO depth compensates coil diameter Db=N/2* material
Degree.
5. the retractable volume system tension control device based on motion controller as described in claim 1, it is characterized in that: the control
Device hair pulse module processed is watched for output pulse signal to the first frequency converter/first servo-driver and the second frequency converter/the second
Driver, output pulse=(pulse command-pulse feedback) * Kp of the motion controller are taken, the pulse command is traction
The electronic gear proportion that the sum of motor pulse module output order and PID compensating module output order are adaptively obtained with process/with
The product of dynamic coefficient, the pulse feedback are the second frequency converter/second servo-driver pulse feedback.
6. the control method of the retractable volume system tension control device based on motion controller as described in claim 1, special
Sign is it the following steps are included: variable motion is done in (1), motion controller control traction roller；(2), motion controller receives traction
The signal of motor measures feed length and speed；(3), motion controller is turned around by folding and unfolding winding up roller and measures corresponding axis of traction
Encoder pulse number is to be calculated coil diameter；(4), umber of pulse is enclosed according to coil diameter and one meter pulse number of axis of traction and Scroll one
Calculate electronic gear proportion/servo-actuated coefficient；(5), the pressure size dynamic of motion controller is fed back to according to press feedback device
Electronic gear proportion/servo-actuated coefficient is repaired, while controlling the tension of traction roller and folding and unfolding winding up roller.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110817344A (en) * | 2019-11-27 | 2020-02-21 | 安徽华菱汽车有限公司 | Self-tuning system for conveying power and free chains |
| CN111014340A (en) * | 2019-11-18 | 2020-04-17 | 安徽铜冠铜箔有限公司 | Winding tension control system and method for crude foil machine |
| CN111824865A (en) * | 2020-06-12 | 2020-10-27 | 深圳市正弦电气股份有限公司 | Winding and unwinding control method and winding and unwinding system |
| CN112093530A (en) * | 2020-07-24 | 2020-12-18 | 固高科技(深圳)有限公司 | Control method and control system for high-speed winding and unwinding and splitting machine |
| CN112257273A (en) * | 2020-10-26 | 2021-01-22 | 青岛高测科技股份有限公司 | Roll diameter period compensation method |
| CN112551222A (en) * | 2020-12-07 | 2021-03-26 | 河北光兴半导体技术有限公司 | Flexible substrate glass rolling system |
| CN113636384A (en) * | 2021-10-19 | 2021-11-12 | 佛山市天正机械有限公司 | Unreeling machine suitable for easily-stretched and deformed film material |
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| CN112257273A (en) * | 2020-10-26 | 2021-01-22 | 青岛高测科技股份有限公司 | Roll diameter period compensation method |
| CN112551222A (en) * | 2020-12-07 | 2021-03-26 | 河北光兴半导体技术有限公司 | Flexible substrate glass rolling system |
| CN113636384A (en) * | 2021-10-19 | 2021-11-12 | 佛山市天正机械有限公司 | Unreeling machine suitable for easily-stretched and deformed film material |
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Application publication date: 20190618 |