CN110764404A - PID parameter self-adaptive wire drawing machine frequency converter debugging method - Google Patents
PID parameter self-adaptive wire drawing machine frequency converter debugging method Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
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Abstract
The invention discloses a PID parameter self-adaptive wire drawing machine frequency converter debugging method, which comprises the following steps: (1) determining the swing position range of a tension swing rod of the wire drawing machine; the measuring range is the voltage of the highest position and the lowest position of the tension swing rod, the highest position corresponds to PID1 parameter setting, and the lowest position corresponds to PID2 parameter setting; (2) determining the balance position of a tension swing rod of a wire drawing machine; setting the swing rod to be at the middle position, wherein the middle position corresponds to the PID0 parameter; (3) confirming a PID parameter; (4) confirming the positive and negative feedback types, and calculating new gain; (5) and smoothing is carried out during starting, and PID gain is finely adjusted according to starting and running effects, so that the swing rod is in a balance position. The invention provides a PID parameter self-adaptive debugging method for a drawing machine frequency converter, which mainly aims at self-adaptive optimization of PID parameters of a take-up frequency converter and ensures quick response of the take-up frequency converter and stable position of a swing rod.
Description
Technical Field
The invention relates to the technical field of wire drawing machines, in particular to a PID parameter self-adaptive debugging method for a frequency converter of a wire drawing machine.
Background
The wire drawing machine belongs to a common device in the cable industry and can be divided into a water tank type wire drawing machine, an inverted wire drawing machine, a diameter type wire drawing machine and the like according to the structural shape. The diameter of the outgoing line can be divided into: 1. a large drawing machine (the incoming wire diameter is 8mm, and the outgoing wire diameter is 3-1.3 mm); 2. a middle-pulling machine (the diameter of the incoming wire is 3-1.8 mm, and the diameter of the outgoing wire is 1-0.3 mm); a small (thin) drawing machine (the incoming wire diameter is 1-0.2 mm, the outgoing wire diameter is 0.3-0.06 mm); micro-drawing machine (inlet wire diameter: 0.12-0.06 mm, outlet wire diameter: 0.06-0.01 mm). The thick wire is subjected to a plurality of thinning treatments through a die, and the dies are various, and the following dies are common: round wire-drawing dies, spiral dies, polycrystalline dies, and the like.
The most used frequency conversion control systems of wire drawing machines are double frequency conversion systems at present, wherein one frequency conversion control system is used as a main pull, and the other frequency conversion control system is used for wire take-up control; the small (thin) drawing machine also has a single frequency conversion control system at present. The main drawing frequency converter actually only performs one drawing traction as a take-up speed reference, and sends the main drawing speed to the winding frequency converter as a feed-forward speed of the winding frequency converter. And the take-up frequency converter performs PID fine adjustment control on the operating frequency according to a signal fed back by the tension swing rod, and the speed signal is superposed with a speed signal supplied by the main wire drawing frequency converter to ensure that the take-up speed is constant.
Most of the existing wire drawing machine frequency converter take-up control adopts feedforward plus single PID control, and PID parameters are the same value no matter the size of the deviation position of the oscillating bar, which is greatly different from the adjustment condition required by the system in practical application; when the swing rod has larger disturbance and larger deviation balance position, the system expects the frequency converter to have a large gain output, so that the swing rod returns to the balance position again, and a larger PID value is needed at the moment; such a requirement is obviously not well met by a single PID parameter.
Disclosure of Invention
In order to solve the technical problem, the invention provides a PID parameter self-adaptive frequency converter debugging method for a wire drawing machine.
The technical scheme of the invention is as follows: a PID parameter self-adaptive wire drawing machine frequency converter debugging method comprises the following steps:
(1) determining the swing position range of a tension swing rod of the wire drawing machine;
the measuring range is the voltage of the highest position and the lowest position of the tension swing rod, and the voltage is sent to a frequency converter to be used as a reference for PID automatic adjustment, wherein the highest position corresponds to PID1 parameter setting, and the lowest position corresponds to PID2 parameter setting;
(2) determining the balance position of a tension swing rod of a wire drawing machine;
setting the swing rod to be at the middle position, wherein the middle position corresponds to the PID0 parameter;
(3) confirming a PID parameter;
the value of the tension swing rod deviating from the balance position is sent to a frequency converter to be used as a main influence factor of PID parameter self-adaptation of the wire drawing machine, and the PID parameters are linearly interpolated among PID0, PID1 and PID2 through the swing of the swing rod between the balance position and the highest and lowest positions to complete the self-adaptation adjustment of the PID parameters;
(4) confirming the positive and negative feedback types, and calculating new gain;
(5) and smoothing is carried out during starting, and PID gain is finely adjusted according to starting and running effects, so that the swing rod is in a balance position.
Preferably, in the step (1), the tension swing rod outputs a voltage of 0-10V to the frequency converter according to the height of the position of the tension swing rod to serve as position feedback, and when the system tension is maximum at the highest position of the swing rod, 10V is output; the swing rod is at the lowest position, the system has no tension, and the lowest position outputs 0V.
Preferably, in the step (2), the balance position is used as a demarcation point for PID adaptive parameter switching, the balance position of the tension swing rod can be selected according to the tension on the actual wire drawing material, and after the balance weight of the swing rod is passed, the middle position is taken, and the corresponding output voltage is 5V.
Preferably, in the step (3),
selecting a first group of PID parameters if the feedback voltage of the tension swing rod is greater than the voltage of the equilibrium position, wherein the PID parameters of the equilibrium position and the PID parameters of the upper limit position can be freely set, and the PID parameters of the position between the equilibrium position and the upper limit position are linearly interpolated according to a straight line principle;
and if the feedback voltage of the tension swing rod is greater than the voltage of the balance position, selecting a second group of PID parameters, wherein the PID parameters of the lower limit position can also be freely set, and the PID parameters between the lower limit position and the balance position are linearly interpolated according to the straight line principle.
Preferably, the voltage of the balance position of the tension swing rod is selected to be 5V, the PID parameter of the corresponding balance position value is 0, the voltage of the highest position of the tension swing rod is 10V, and the voltage corresponds to the maximum value PID1 of the first group of parameters;
when the feedback voltage of the swing rod position is higher than the balance position, if the feedback voltage of the current swing rod position is 7.5V, the PID 'value of a 7.5V point is PID ═ 0.5 ═ PID1 (7.5-5)/(10-5) × PID1, and the PID gain is calculated according to the parameter PID';
similarly, when the feedback voltage of the position of the swing rod is lower than the balance position, the PID2 group parameters are used as the reference for calculation, and the method is similar.
Preferably, in the step (4), the higher the position of the tension swing rod, the higher the tension is, the positive feedback is performed, and the higher the position, the lower the tension is, the negative feedback is performed.
Preferably, in the step (4), the method for calculating the new gain includes:
(4.1) firstly, determining whether a first group of PID parameters or a second group of PID parameters are used according to the voltage fed back to the frequency converter by the tension swing rod;
(4.2) secondly, calculating a specific value of a PID parameter according to the current swing rod position, wherein the value can be recalculated in each software beat and is only related to the swing rod position;
(4.3) calculating PID adjusting gain according to the specific value of the PID parameter obtained in the step (4.2) and the deviation between the current swing rod position and the balance swing rod position by adopting a calculation formula, and providing the PID adjusting gain for a frequency converter;
(4.4) when the output characteristic is positive, adding the current gain to the gain of the previous beat, and assigning the current gain to the frequency converter as a new gain; and when the output characteristic is negative, subtracting the current gain from the gain of the previous beat, and assigning the current gain to the frequency converter as a new gain.
Preferably, the calculation formula is △ u (k) ═ ae (k) — Be (k-1) + Ce (k-2), where a ═ Kp (1+ T/Ti + Td/T), B ═ Kp (1+2Td/T), and C ═ KpTd/T.
Preferably, in the step (5), in order to prevent the deviation generated when the swing rod is located at the highest position or the lowest position from being too large, which causes the first beat to start the overshoot and causes the wire breaking of the wire drawing machine, smoothing is performed during starting, and the PID gain is adjusted to enable the swing rod to be located at the equilibrium position.
Compared with the prior art, the invention has the following beneficial effects: the PID parameter self-adaptive debugging method for the drawing machine frequency converter mainly aims at self-adaptive optimization of the PID parameter of the take-up frequency converter, ensures quick response of the take-up frequency converter and stable position of the oscillating bar, prevents the wire breakage of the drawing machine due to overlarge oscillating bar oscillation amplitude, reduces the work difficulty of user debugging and increases the usability of the drawing machine system.
Drawings
FIG. 1 is a diagram of PID parameter value taking according to the present invention.
FIG. 2 is a flowchart illustrating the overall fast debugging process of the present invention.
In fig. 1, the PID deviation is a difference between the current position of the swing link and the equilibrium position of the swing link; PID1, PID2 are the maximum values of the first and second sets of PID parameters, respectively, corresponding to the PID maximum deviation of D1 and D2, respectively; the PID deviation is within the deviation limit range, and the PID parameter takes the value PID 0.
Detailed Description
The invention is further described with reference to the following drawings and detailed description.
As shown in fig. 1 to 2, a method for debugging a frequency converter of a wire drawing machine with adaptive PID parameters includes the following steps:
(1) determining the swing position range of a tension swing rod of the wire drawing machine;
the measuring range is the voltage of the highest position and the lowest position of the tension swing rod, and the voltage is sent to a frequency converter to be used as a reference for PID automatic adjustment, wherein the highest position corresponds to PID1 parameter setting, and the lowest position corresponds to PID2 parameter setting;
generally, a tension swing rod outputs a voltage of 0-10V to a frequency converter according to the height of the position of the tension swing rod to serve as position feedback, and when the tension of a system is maximum at the highest position of the swing rod, the tension swing rod outputs 10V; the swing rod is at the lowest position, the system has no tension, and the lowest position outputs 0V.
(2) Determining the balance position of a tension swing rod of a wire drawing machine;
setting the swing rod to be at the middle position, wherein the middle position corresponds to the PID0 parameter; the balance position is used as a dividing point for PID adaptive parameter switching, the balance position of the tension swing rod can be selected according to the tension on the actual wire drawing material, the middle position is taken after the balance weight of the swing rod is passed, and the corresponding output voltage is 5V.
(3) Confirming a PID parameter;
the value of the tension swing rod deviating from the balance position is sent to a frequency converter to be used as a main influence factor of PID parameter self-adaptation of the wire drawing machine, and the PID parameters are linearly interpolated among PID0, PID1 and PID2 through the swing of the swing rod between the balance position and the highest and lowest positions, so that the self-adaptation adjustment of the PID parameters is completed.
The specific linear interpolation method is as follows: selecting a first group of PID parameters if the feedback voltage of the tension swing rod is greater than the voltage of the equilibrium position, wherein the PID parameters of the equilibrium position and the PID parameters of the upper limit position can be freely set, and the PID parameters of the position between the equilibrium position and the upper limit position are linearly interpolated according to a straight line principle;
and if the feedback voltage of the tension swing rod is greater than the voltage of the balance position, selecting a second group of PID parameters, wherein the PID parameters of the lower limit position can also be freely set, and the PID parameters between the lower limit position and the balance position are linearly interpolated according to the straight line principle.
For example, the voltage of the equilibrium position of the tension swing rod is 5V, the corresponding equilibrium position value PID parameter is 0, the voltage of the highest position of the tension swing rod is 10V, and the voltage corresponds to the first group of parameter maximum PID 1;
when the feedback voltage of the swing rod position is higher than the balance position, if the feedback voltage of the current swing rod position is 7.5V, the PID 'value of a 7.5V point is PID ═ 0.5 ═ PID1 (7.5-5)/(10-5) × PID1, and the PID gain is calculated according to the parameter PID';
similarly, when the feedback voltage of the position of the swing rod is lower than the balance position, the PID2 group parameters are used as the reference for calculation, and the method is similar.
(4) Confirming a positive feedback type and a negative feedback type, wherein the higher the position of the tension swing rod, the larger the tension is, the positive feedback is adopted, the higher the position is, the smaller the tension is, the negative feedback is adopted, and the calculation comprises the following steps:
(4.1) firstly, determining whether a first group of PID parameters or a second group of PID parameters are used according to the voltage fed back to the frequency converter by the tension swing rod;
(4.2) calculating a specific value of the PID parameter according to the current swing rod position, wherein the value is recalculated at each software beat (the software is frequency converter software, and the recalculation at each software beat is also conventional technology according to the value, so that the calculation mode is not repeated again), and the specific value is only related to the swing rod position;
(4.3) calculating a PID (proportion integration differentiation) adjusting gain according to the specific value of the PID parameter obtained in the step (4.2) and the deviation between the current swing rod position and the balance swing rod position by adopting a calculation formula, wherein the calculation formula is △ U (k) ═ Ae (k) — Be (k-1) + Ce (k-2), A ═ Kp (1+ T/Ti + Td/T), B ═ Kp (1+2Td/T), and C ═ Kp Td/T, and providing the PID adjusting gain for a frequency converter;
(4.4) when the output characteristic is positive, adding the current gain to the gain of the previous beat, and assigning the current gain to the frequency converter as a new gain; and when the output characteristic is negative, subtracting the current gain from the gain of the previous beat, and assigning the current gain to the frequency converter as a new gain.
(5) When the wire drawing machine is started, in order to prevent the situation that the deviation generated when the swing rod is located at the highest position or the lowest position is too large, the first beat is started to be overshot, so that the wire drawing machine is broken, during starting, software is required to perform (only conventional smoothing software in the field) smoothing processing, and PID gain is adjusted, so that the swing rod is located at a balance position.
The above-mentioned embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and therefore, modifications, equivalent changes, improvements, etc. made in the claims of the present invention are still included in the scope of the present invention.
Claims (9)
1. A PID parameter self-adaptive wire drawing machine frequency converter debugging method is characterized by comprising the following steps:
(1) determining the swing position range of a tension swing rod of the wire drawing machine;
the measuring range is the voltage of the highest position and the lowest position of the tension swing rod, and the voltage is sent to a frequency converter to be used as a reference for PID automatic adjustment, wherein the highest position corresponds to PID1 parameter setting, and the lowest position corresponds to PID2 parameter setting;
(2) determining the balance position of a tension swing rod of a wire drawing machine;
setting the swing rod to be at the middle position, wherein the middle position corresponds to the PID0 parameter;
(3) confirming a PID parameter;
the value of the tension swing rod deviating from the balance position is sent to a frequency converter to be used as a main influence factor of PID parameter self-adaptation of the wire drawing machine, and the PID parameters are linearly interpolated among PID0, PID1 and PID2 through the swing of the swing rod between the balance position and the highest and lowest positions to complete the self-adaptation adjustment of the PID parameters;
(4) confirming the positive and negative feedback types, and calculating new gain;
(5) and smoothing is carried out during starting, and PID gain is finely adjusted according to starting and running effects, so that the swing rod is in a balance position.
2. The debugging method of the PID parameter adaptive frequency converter of the wire drawing machine according to claim 1, wherein in the step (1), the tension swing rod outputs a voltage of 0-10V to the frequency converter according to the height of the position of the tension swing rod to serve as position feedback, and when the system tension is maximum at the highest position of the swing rod, 10V is output; the swing rod is at the lowest position, the system has no tension, and the lowest position outputs 0V.
3. The debugging method of the PID parameter adaptive frequency converter of the wire drawing machine according to claim 1, wherein in the step (2), the balance position is used as a demarcation point for PID adaptive parameter switching, the balance position of the tension swing rod can be selected according to the tension on the actual wire drawing material, and after the balance weight of the swing rod is passed, the middle position is taken, and the corresponding output voltage is 5V.
4. The debugging method of PID parameter adaptive wire drawing machine frequency converter according to claim 1, characterized in that in the step (3),
selecting a first group of PID parameters if the feedback voltage of the tension swing rod is greater than the voltage of the equilibrium position, wherein the PID parameters of the equilibrium position and the PID parameters of the upper limit position can be freely set, and the PID parameters of the position between the equilibrium position and the upper limit position are linearly interpolated according to a straight line principle;
and if the feedback voltage of the tension swing rod is greater than the voltage of the balance position, selecting a second group of PID parameters, wherein the PID parameters of the lower limit position can also be freely set, and the PID parameters between the lower limit position and the balance position are linearly interpolated according to the straight line principle.
5. The debugging method of the PID parameter adaptive wire drawing machine frequency converter according to claim 4, wherein in the step (3), the voltage of the equilibrium position of the tension swing rod is selected to be 5V, the PID parameter of the corresponding equilibrium position value is 0, the voltage of the highest position of the tension swing rod is 10V, and the voltage corresponds to the maximum value PID1 of the first group of parameters;
when the feedback voltage of the swing rod position is higher than the balance position, if the feedback voltage of the current swing rod position is 7.5V, the PID 'value of a 7.5V point is PID ═ 0.5 ═ PID1 (7.5-5)/(10-5) × PID1, and the PID gain is calculated according to the parameter PID';
similarly, when the feedback voltage of the position of the swing rod is lower than the balance position, the PID2 group parameters are used as the reference for calculation, and the method is similar.
6. The debugging method of the PID parameter adaptive wire drawing machine frequency converter according to claim 5, wherein in the step (4), the higher the position of the tension swing rod, the higher the tension is, the positive feedback is generated, and the higher the position is, the lower the tension is, the negative feedback is generated.
7. The method for debugging the frequency converter of the wire drawing machine with the adaptive PID parameters in the claim 6, wherein in the step (4), the method for calculating the new gain comprises the following steps:
(4.1) firstly, determining whether a first group of PID parameters or a second group of PID parameters are used according to the voltage fed back to the frequency converter by the tension swing rod;
(4.2) secondly, calculating a specific value of a PID parameter according to the current swing rod position, wherein the value can be recalculated in each software beat and is only related to the swing rod position;
(4.3) calculating PID adjusting gain according to the specific value of the PID parameter obtained in the step (4.2) and the deviation between the current swing rod position and the balance swing rod position by adopting a calculation formula, and providing the PID adjusting gain for a frequency converter;
(4.4) when the output characteristic is positive, adding the current gain to the gain of the previous beat, and assigning the current gain to the frequency converter as a new gain; and when the output characteristic is negative, subtracting the current gain from the gain of the previous beat, and assigning the current gain to the frequency converter as a new gain.
8. The debugging method of the PID parameter adaptive wire drawing machine frequency converter is characterized in that the calculation formula is △ U (k) ═ Ae (k) — Be (k-1) + Ce (k-2), wherein A ═ Kp (1+ T/Ti + Td/T), B ═ Kp (1+2Td/T), and C ═ Kptd/T.
9. The debugging method of the PID parameter adaptive frequency converter of the wire drawing machine according to claim 1, wherein in the step (5), in order to prevent the deviation generated when the swing rod is at the highest position or the lowest position is too large during starting, the first beat is started to overshoot and the wire drawing machine is broken, and during starting, smoothing is performed to adjust the PID gain so that the swing rod is at the balance position.
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| CN110764404B (en) | 2023-08-18 |
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