CN109940218A - A kind of servo flying shear control method under the platform based on Novel control - Google Patents
A kind of servo flying shear control method under the platform based on Novel control Download PDFInfo
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- CN109940218A CN109940218A CN201910232305.8A CN201910232305A CN109940218A CN 109940218 A CN109940218 A CN 109940218A CN 201910232305 A CN201910232305 A CN 201910232305A CN 109940218 A CN109940218 A CN 109940218A
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Abstract
The invention discloses the servo flying shear control methods under a kind of platform based on Novel control, including hardware components and software section, high-performance PLC first by configuring a new generation, PLC is responsible for the logic control of package unit, SERVO CONTROL is carried out using PLC SERVO CONTROL technique, replaces the servo controller in legacy system；Secondly Profinet network is used between each hardware device, the electrical encoder of all servos, main biographys motor encoder also use Profinet network, execution ICP/IP protocol, and improve data transfer rate shortens the intrinsic scan period；Finally by new detection means is established, software optimization keeps calculating data more accurate, improves shear precision.
Description
Technical field
Servo flying shear control the present invention relates to metallurgical automation technology field, under specially a kind of platform based on Novel control
Method processed.
Background technique
Servo flying shear is the important equipment on high-speed wire production line, be arranged before finishing mill, function be to rolled piece into
Row cutting head, back-end crop or accident are cataclasm, and guarantee normally rolls smooth, reduce stifled steel, improve product quality.High-speed rod produces at present
Product specification limit is wide, and mill speed is fast, can reach 120m/s, it is desirable that servo flying shear shear velocity needs to reach 25m/s.This
Class technique requires to use continous way flying shear.
For continous way flying shear by preceding servo turner, flying shear ontology is cataclasm to cut three electric equipments compositions.It is previous continuous
The transmission of formula flying shear and automated system composition include PLC, servo controller, drive controller, incremental encoder, absolute value volume
Code device etc..The control precision of flying shear can be reached 7.5cm by the software systems that the composition cooperation of custom hardware is conventional.But it is such
System, system division dissipate indefinite；Servo controller maintenance is inconvenient；The intrinsic response cycle of system can not shorten so that shearing essence
Degree can not improve, as transmission and the technology innovation of automation equipment are regenerated, the technology development of detecting element, and old hardware device
It will be on the verge of being replaced.
Summary of the invention
The purpose of the present invention is to provide the servo flying shear control method under a kind of platform based on Novel control, utilization is advanced
Soft and hardware form it is a set of have that integrality is strong, stability is high, the natural period is short, the strong system of maintenance convenience, pass through hardware
It distributes rationally and the mathematical formulae of software optimizes to improve the shear precision of flying shear, to solve mentioned above in the background art ask
Topic.
To achieve the above object, the invention provides the following technical scheme:
A kind of servo flying shear control method under the platform based on Novel control, using soft and hardware form it is a set of have it is complete
Property it is strong, stability is high, the natural period is short, the strong system of maintenance convenience, by hardware distribute rationally and the mathematics of software is public
Formula optimizes to improve the shear precision of servo flying shear, comprising the following steps:
Step 1): system configuration: being respectively 3 hot metal detector HMD1-HMD3, preceding railway switch servo motor, flying shear
Main shaft alternating current generator, cataclasm encoder, AC frequency conversion apparatus, PLC, Yong Hucao for cutting alternating current generator, supporting profinet network
Make interface HMI and profinet network；
Step 2): all detecting element hot metal detectors, encoder Electrical signal cable network are replaced using grid line
Data execute ICP/IP protocol instead of conventional signal-transmitting cable；
Step 3): the independent part PLC of tradition and servo controller are combined into one, using new one band servo function
PLC, new one PLC with servo function has the control mode of axis servomotor, can complete multiple watch to greatest extent
It takes axis while running, while guaranteeing that the cycle of operation is most short, while using the servocontrolled axis process function inside PLC, in OB_
SERVO CONTROL program is established in servo, and PLC is recycled to establish logic control program in OB1 and by mathematical formulae operation；
Step 4): it establishes mathematical formulae: being judged by the implementation speed to workpiece front end, tail portion, milling train can be made
Velocity estimated is more accurate, while optimizing cutting head function mathematical formulae, back-end crop function mathematical formulae, incorporates bracket function, leads to
Optimization formula is crossed, the accuracy of data calculated result is improved, keeps sheared length more accurate.
Further, system working method is as follows in step 1):
Step 101): rolled piece passes through pre- finish rolling end rolling mill → detecting by hot metal detector HMD1-HMD2 → and passes through
Preceding railway switch → by flying shear → enters finishing mill；
Step 102): cutting head process: preceding railway switch be in wait position → when milling train reach HMD3 when by data calculate prolong
It is reached rapidly after slow time arrival shearing position → shearing and passes through position；
Step 103): back-end crop process: preceding railway switch be in by position → when milling train arrive when leaving HMD3 pass through data calculating
Delay time reaches rapidly waiting position after reaching shearing position → shearing；
Step 104): cataclasm process: preceding railway switch is in by reaching shearing position → shearing after position → cataclasm order sending
After reach cataclasm position.
Further, use profinet network instead of profibus-DP network, former profibus- in step 2)
The characteristic of DP network is performance data baud highest 12M/s；Circulation time can reach 300 μ s of minimum in 12M/s, use
Profinet network data is baud rate 100M/s；Circulation time: 31.25 μ s of minimum.
Further, the new one the smallest cycle of operation of the PLC with servo function is 500 μ s in step 3), and is led to
It crosses profinet agreement and drive apparatus, field device is established and communicated.
Further, mathematical formulae is established in step 4) steps are as follows:
Step 401): workpiece front end speed calculation formula: start timing when HMD1 detection rolled piece carrys out steel, HMD2 detects rolled piece
Carrying out steel timing terminates:
Step 402): rolled piece tail speed calculation formula: when HMD1 detection rolled piece goes steel to start timing, HMD2 detects rolled piece
Steel timing is gone to terminate:
Step 403): flying shear cutting head, back-end crop speed calculation formula:
Vch=Kh*Vh Vth=Kt*Vt
Step 404): when workpiece front end reaches HMD2, after PLC receives a rising edge signal of HMD2, start to predict
The calculating position P of flying shear main shaft cutting edge when workpiece front end reaches HMD3hj
Step 405): the predicted position P of cutting edge when prediction workpiece front end reaches HMD3hy:
Step 406): the location variation P that cutting head function cutting edge needs to adjust is calculatedho:
Pho=Phj-Phy
Step 407): cutting head speed is calculated by the difference of calculating position and change location and adjusts deviant Vho:
Step 408): it when rolled piece tail portion reaches HMD2, after servo controller receives a failing edge signal of HMD2, opens
Begin to predict the calculating position P of master's cutting edge when workpiece front end arrival HMD3tj:
Step 409): the predicted position P of cutting edge when prediction rolled piece tail portion reaches HMD3ty:
Step 410): the location variation P that back-end crop function cutting edge needs to adjust is calculatedto:
Pto=Ptj-Pty
Step 411): back-end crop speed is calculated by the difference of calculating position and change location and adjusts deviant Vto:
Further, in above-mentioned mathematical formulae:
L1For the distance of HMD1 to HMD2；L2For the distance of HMD2 to HMD3；
L3For HMD3 to the distance of flying shear main shaft；
LhTo cut off length；LtFor back-end crop length；
VhFor workpiece front end speed；VchSpeed is cut off for flying shear；
VtFor rolled piece tail speed；VctFor flying shear back-end crop speed；
KhTo cut off overstepping coefficient；KtFor back-end crop overstepping coefficient；
ThFor rolled piece sillometer head time；TtFor rolled piece sillometer tail timer；
Round () is to be rounded formula；Mod () is remainder formula；
B1Based on position encoder 1 of cutting edge when circling positional value；B2Based on cut the positional value of the angle of shear；
B3The actual position value of cutting edge when reaching HMD2 for workpiece front end；
B4Based on the overall pulse number that turns around of cutting edge；
Cutting edge shears diameter based on D；TOFor the stipulated time regulated the speed.
Compared with prior art, the beneficial effects of the present invention are:
1, the servo flying shear control method under a kind of platform based on Novel control provided by the invention, utilizes newest hardware
Equipment, the communication modes for changing network improve the stability of system, the convenience of maintenance.
2, the servo flying shear control method under a kind of platform based on Novel control provided by the invention, reduces consolidating for system
There is the period, improves shear precision.
3, the servo flying shear control method under a kind of platform based on Novel control provided by the invention, is arranged before finishing mill
3 hot metal detectors carry out actual measurement to the head of milling train, tail speed, can really reflect bar rolling speed, reduce and calculate
Error.
4, the servo flying shear control method under a kind of platform based on Novel control provided by the invention carries out mathematical formulae
It redesigns, clear thinking, so that it is more accurate to calculate data.
Detailed description of the invention
Fig. 1 is servo flying shear process layout of the invention；
Fig. 2 is servo flying shear mathematical model of the invention apart from schematic diagram.
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.
In the embodiment of the present invention: providing the servo flying shear control method under a kind of platform based on Novel control, utilization is soft, hard
Part form it is a set of have that integrality is strong, stability is high, the natural period is short, the strong system of maintenance convenience, pass through the optimization of hardware
The mathematical formulae of configuration and software optimizes to improve the shear precision of servo flying shear, comprising the following steps:
Step 1: system configuration: being respectively 3 hot metal detector HMD1-HMD3, preceding railway switch servo motor, flying shear
Main shaft alternating current generator, cataclasm encoder, AC frequency conversion apparatus, PLC, Yong Hucao for cutting alternating current generator, supporting profinet network
Make interface HMI and profinet network；
Referring to Fig. 1, carrying out principle and explanation: " transmission and automated system " is partially this hair in Fig. 1 solid black lines frame
Bright system configuration, respectively 3 hot metal detector HMD1-HMD3, preceding railway switch servo motor, flying shear main shaft alternating current
Machine, it is cataclasm cut alternating current generator, support the encoder of profinet network, AC frequency conversion apparatus, PLC, user interface HMI,
Profinet network；The system working method is as follows:
Step 101): rolled piece passes through pre- finish rolling end rolling mill → detecting by hot metal detector HMD1-HMD2 → and passes through
Preceding railway switch → by flying shear → enters finishing mill；
Step 102): cutting head process: preceding railway switch be in wait position → when milling train reach HMD3 when by data calculate prolong
It is reached rapidly after slow time arrival shearing position → shearing and passes through position；
Step 103): back-end crop process: preceding railway switch be in by position → when milling train arrive when leaving HMD3 pass through data calculating
Delay time reaches rapidly waiting position after reaching shearing position → shearing；
Step 104): cataclasm process: preceding railway switch is in by reaching shearing position → shearing after position → cataclasm order sending
After reach cataclasm position
Step 2: all detecting element hot metal detectors, encoder Electrical signal cable network are replaced using grid line
Data execute ICP/IP protocol instead of conventional signal-transmitting cable；Principle is described as follows:
Firstly, network all in the present invention is all made of profinet network, it is former instead of profibus-DP network
The characteristic of profibus-DP network is performance data baud highest 12M/s；Circulation time can reach 300 μ of minimum in 12M/s
S is baud rate 100M/s using Profinet network data；Circulation time: 31.25 μ s of minimum.
Secondly, all detecting element hot metal detectors in the present invention, encoder is all using support profinet network
Element, with network data instead of conventional signal-transmitting cable, network transmission speed can achieve 100M/s, improve letter
Number transmission speed, reduce signal interference, improve signal stabilization, if detecting element is apart from terminal apart from longer feelings
Under condition, optical fiber can be used, the transmission rate of optical fiber can achieve 1Gbit/s, and the use of optical fiber detects not in the pact by distance
Beam.
Finally, the step is by change of the PLC to Network of inverters, the change of the data kind of drive of conventional detector,
The responsiveness of data transmission can be improved, the natural period is reduced, to improve flying shear precision.
Step 3: the independent part PLC of tradition and servo controller are combined into one, using new one band servo function
PLC, new one PLC with servo function has the control mode of axis servomotor, can complete multiple watch to greatest extent
It takes axis while running, while guaranteeing that the cycle of operation is most short, while using the servocontrolled axis process function inside PLC, in OB_
SERVO CONTROL program is established in servo, and PLC is recycled to establish logic control program in OB1 and by mathematical formulae operation；
Principle is described as follows:
Firstly, new one PLC with servo function has the control mode of axis servomotor, can complete to greatest extent
Multiple axis servomotors are run simultaneously, and the smallest cycle of operation is 500 μ s；
Secondly, SERVO CONTROL program is established in OB_servo using the servocontrolled axis process function inside PLC, this
Invention only need to establish device of changing one's position, and flying shear motor is cataclasm to cut three axis servomotors；PLC is recycled, logic control journey is established in OB1
Sequence and pass through mathematical formulae operation；
Finally, the PLC of part mainstream supports IRT (isochronous) function, PLC is set by profinet agreement with transmission
Standby, field device establishes communication, can carry out the quick transmission of signal in real time, guarantee servo-controlled speed, torque, position
Actual feedback can be more timely, more acurrate, improve servo-controlled flatness and stability, by experiment measure, this system
The CPU scan period minimum established under 3 axis servomotor combination regular logical operations can reach 5ms, maximum 8ms.
The present invention uses mainstream frequency converter, and the logical of Profinet is carried out between frequency converter and PLC, frequency converter motor encoder
News mode；Conventional PLC is combined into one, often by above-mentioned principle by using the advanced PLC with servo function with servo controller
The servo controller of rule is unfavorable for safeguarding, servo controller involvement PLC can be improved to the maintainability of system, and two covering devices close two
It is one, but the system intrinsic scan period is greatly reduced, to further increase by differentiation program regions in PLC system
Flying shear shear precision.
Step 4): it establishes mathematical formulae: being judged by the implementation speed to workpiece front end, tail portion, milling train can be made
Velocity estimated is more accurate, while optimizing cutting head function mathematical formulae, back-end crop function mathematical formulae, incorporates bracket function, leads to
Optimization formula is crossed, the accuracy of data calculated result is improved, keeps sheared length more accurate；
Specifically, referring to Fig. 2, establishing mathematical formulae, steps are as follows:
1, velocity estimated formula: where L1For the distance of HMD1 to HMD2；L2For the distance of HMD2 to HMD3；L3For HMD3
To the distance of flying shear main shaft；LhTo cut off length；LtFor back-end crop length；VhFor workpiece front end speed；VchSpeed is cut off for flying shear；
VtFor rolled piece tail speed；VctFor flying shear back-end crop speed；KhTo cut off overstepping coefficient；KtFor back-end crop overstepping coefficient；ThFor rolled piece survey
Speed meter head time；TtFor rolled piece sillometer tail timer；
Step 401): workpiece front end speed calculation formula: start timing when HMD1 detection rolled piece carrys out steel, HMD2 detects rolled piece
Carrying out steel timing terminates:
Step 402): rolled piece tail speed calculation formula: when HMD1 detection rolled piece goes steel to start timing, HMD2 detects rolled piece
Steel timing is gone to terminate:
Step 403): flying shear cutting head, back-end crop speed calculation formula:
Vch=Kh*Vh Vth=Kt*Vt
2, cut off calculation formula: wherein: Round () is to be rounded formula；Mod () is remainder formula；B1Based on cutting edge turn
The positional value of position encoder 1 at one week；B2Based on cut the positional value of the angle of shear；B3Cutting edge when reaching HMD2 for workpiece front end
Actual position value；B4Based on the overall pulse number that turns around of cutting edge；Cutting edge shears diameter based on D；TOFor the rule regulated the speed
It fixes time；
Step 404): when workpiece front end reaches HMD2, after PLC receives a rising edge signal of HMD2, start to predict
The calculating position P of flying shear main shaft cutting edge when workpiece front end reaches HMD3hj
Step 405): the predicted position P of cutting edge when prediction workpiece front end reaches HMD3hy:
Step 406): the location variation P that cutting head function cutting edge needs to adjust is calculatedho:
Pho=Phj-Phy
Step 407): cutting head speed is calculated by the difference of calculating position and change location and adjusts deviant Vho:
3, back-end crop calculation formula:
Step 408): it when rolled piece tail portion reaches HMD2, after servo controller receives a failing edge signal of HMD2, opens
Begin to predict the calculating position P of master's cutting edge when workpiece front end arrival HMD3tj:
Step 409): the predicted position P of cutting edge when prediction rolled piece tail portion reaches HMD3ty:
Step 410): the location variation P that back-end crop function cutting edge needs to adjust is calculatedto:
Pto=Ptj-Pty
Step 411): back-end crop speed is calculated by the difference of calculating position and change location and adjusts deviant Vto:
The step is judged by the implementation speed to workpiece front end, tail portion, and rolling mill speed judgement can be made more smart
Really, while cutting head function mathematical formulae is optimized, back-end crop function mathematical formulae incorporates bracket function, by optimizing formula, improves
The accuracy of data calculated result keeps sheared length more accurate.
In summary: the servo flying shear control method under a kind of platform based on Novel control provided by the invention is logical first
The high-performance PLC, PLC for crossing configuration a new generation are responsible for the logic control of package unit, carry out servo using PLC SERVO CONTROL technique
Control replaces the servo controller in legacy system；Secondly Profinet network is used between each hardware device, all servos are electrical
Encoder, main biography motor encoder also use Profinet network, execute ICP/IP protocol, and improve data transfer rate shortens
The intrinsic scan period；Finally by new detection means is established, software optimization keeps calculating data more accurate, improves shearing essence
Degree.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art within the technical scope of the present disclosure, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. the servo flying shear control method under a kind of platform based on Novel control, which is characterized in that formed using soft and hardware a set of
It is strong with integrality, stability is high, the natural period is short, the strong system of maintenance convenience, by hardware distribute rationally and software
Mathematical formulae optimization improve the shear precision of servo flying shear, comprising the following steps:
Step 1): system configuration: being respectively 3 hot metal detector HMD1-HMD3, preceding railway switch servo motor, flying shear main shaft
Alternating current generator, cataclasm encoder, AC frequency conversion apparatus, the PLC, user's operation circle for cutting alternating current generator, supporting profinet network
Face HMI and profinet network；
Step 2): all detecting element hot metal detectors, encoder Electrical signal cable network data are replaced using grid line
Instead of conventional signal-transmitting cable, and execute ICP/IP protocol；
Step 3): the part tradition independent PLC and servo controller are combined into one, using new one with servo function
PLC, new one PLC with servo function have the control mode of axis servomotor, can complete multiple servos to greatest extent
Axis is run simultaneously, while guaranteeing that the cycle of operation is most short, while using the servocontrolled axis process function inside PLC, in OB_
SERVO CONTROL program is established in servo, and PLC is recycled to establish logic control program in OB1 and by mathematical formulae operation；
Step 4): it establishes mathematical formulae: being judged by the implementation speed to workpiece front end, tail portion, rolling mill speed can be made
Judge more accurate, while optimizing cutting head function mathematical formulae, back-end crop function mathematical formulae incorporates bracket function, by excellent
Change formula, improves the accuracy of data calculated result, keep sheared length more accurate.
2. the servo flying shear control method under a kind of platform based on Novel control as described in claim 1, which is characterized in that step
It is rapid 1) in system working method it is as follows:
Step 101): rolled piece passes through pre- finish rolling end rolling mill → detecting by hot metal detector HMD1-HMD2 → and passes through forward
Rut device → by flying shear → enters finishing mill；
Step 102): cutting head process: preceding railway switch be in wait position → when milling train reach HMD3 when pass through data computing relay when
Between reach shearing position → shearing after rapidly reach pass through position；
Step 103): back-end crop process: preceding railway switch is in through position → when milling train arrives when leaving HMD3 through data computing relay
Time reaches rapidly waiting position after reaching shearing position → shearing；
Step 104): cataclasm process: preceding railway switch is in be finished by reaching shearing position → shearing after position → cataclasm order sending
After reach cataclasm position.
3. the servo flying shear control method under a kind of platform based on Novel control as described in claim 1, which is characterized in that step
For rapid 2) middle use profinet network instead of profibus-DP network, the characteristic of former profibus-DP network is performance data
Baud highest 12M/s；Circulation time can reach 300 μ s of minimum in 12M/s, the use of Profinet network data be baud rate
100M/s；Circulation time: 31.25 μ s of minimum.
4. the servo flying shear control method under a kind of platform based on Novel control as described in claim 1, which is characterized in that step
It is rapid 3) in new one the smallest cycle of operation of the PLC with servo function be 500 μ s, and set by profinet agreement with transmission
Standby, field device establishes communication.
5. the servo flying shear control method under a kind of platform based on Novel control as described in claim 1, which is characterized in that step
It is rapid 4) in establish mathematical formulae steps are as follows:
Step 401): workpiece front end speed calculation formula: start timing when HMD1 detection rolled piece carrys out steel, HMD2 detection rolled piece carrys out steel
Timing terminates:
Step 402): rolled piece tail speed calculation formula: when HMD1 detection rolled piece goes steel to start timing, HMD2 detection rolled piece removes steel
Timing terminates:
Step 403): flying shear cutting head, back-end crop speed calculation formula:
Vch=Kh*Vh Vth=Kt*Vt
Step 404): when workpiece front end reaches HMD2, after PLC receives a rising edge signal of HMD2, start to predict rolled piece
The calculating position P of flying shear main shaft cutting edge when head reaches HMD3hj
Step 405): the predicted position P of cutting edge when prediction workpiece front end reaches HMD3hy:
Step 406): the location variation P that cutting head function cutting edge needs to adjust is calculatedho:
Pho=Phj-Phy
Step 407): cutting head speed is calculated by the difference of calculating position and change location and adjusts deviant Vho:
Step 408): when rolled piece tail portion reaches HMD2, after servo controller receives a failing edge signal of HMD2, start pre-
Survey the calculating position P of master's cutting edge when workpiece front end reaches HMD3tj:
Step 409): the predicted position P of cutting edge when prediction rolled piece tail portion reaches HMD3ty:
Step 410): the location variation P that back-end crop function cutting edge needs to adjust is calculatedto:
Pto=Ptj-Pty
Step 411): back-end crop speed is calculated by the difference of calculating position and change location and adjusts deviant Vto:
6. the servo flying shear control method under a kind of platform based on Novel control as claimed in claim 5, which is characterized in that on
It states in mathematical formulae:
L1For the distance of HMD1 to HMD2；L2For the distance of HMD2 to HMD3；
L3For HMD3 to the distance of flying shear main shaft；
LhTo cut off length；LtFor back-end crop length；
VhFor workpiece front end speed；VchSpeed is cut off for flying shear；
VtFor rolled piece tail speed；VctFor flying shear back-end crop speed；
KhTo cut off overstepping coefficient；KtFor back-end crop overstepping coefficient；
ThFor rolled piece sillometer head time；TtFor rolled piece sillometer tail timer；
Round () is to be rounded formula；Mod () is remainder formula；
B1Based on position encoder 1 of cutting edge when circling positional value；B2Based on cut the positional value of the angle of shear；
B3The actual position value of cutting edge when reaching HMD2 for workpiece front end；
B4Based on the overall pulse number that turns around of cutting edge；
Cutting edge shears diameter based on D；TOFor the stipulated time regulated the speed.
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| CN114653758A (en) * | 2022-04-15 | 2022-06-24 | 山东莱钢永锋钢铁有限公司 | Method and system for measuring rolled piece line difference on line |
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Application publication date: 20190628 |