CN110817344A - Self-tuning system for conveying power and free chains - Google Patents
Self-tuning system for conveying power and free chains Download PDFInfo
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- CN110817344A CN110817344A CN201911184456.7A CN201911184456A CN110817344A CN 110817344 A CN110817344 A CN 110817344A CN 201911184456 A CN201911184456 A CN 201911184456A CN 110817344 A CN110817344 A CN 110817344A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/24—Gearing between driving motor and belt- or chain-engaging elements
- B65G23/30—Variable-speed gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0291—Speed of the load carrier
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention discloses a self-tuning system of a conveying power and free chain, which comprises: the tension detection sensor is used for detecting the real-time tension of the chain; the controller is used for acquiring a tension set value, a speed set value and real-time tension and sending the tension to the frequency converter; the frequency converter is provided with a PID adjusting device and a PID output device which are controlled in a closed loop mode, the PID adjusting device takes given tension as a PID set value and takes real-time tension as a PID feedback value so as to output a PID output value of feedback compensation, and therefore the tension of the chain approaches the given tension, and the PID output device is used for receiving the PID output value and the speed set value and outputting driving output frequency to the chain. According to the automatic setting system of the conveying power and free chain, the tension of the current chain is detected through the tension detection sensor, the feedback adjustment of the tension of the chain is realized through the PID feedback adjustment function in the frequency converter, and the process time of each process is effectively ensured to meet the product quality requirement.
Description
Technical Field
The invention relates to the technical field of machine manufacturing and production, in particular to a self-setting system of a conveying power and free chain.
Background
The transfer among the working procedures of the existing coating engine is realized by a stacking chain.
The process chain speed of the accumulation chain determines the process time of the processes of pre-degreasing, industrial washing, pure washing, industrial washing, automatic water blowing, moisture drying, primer drying, finish drying and the like which are sequentially executed in the pretreatment spraying process, so the stability of the process chain speed is more critical.
The long-term running process of the power and free chain can cause the deviation between the chain speed and a set value because the relationship between the motor rotating speed (frequency control) and the chain speed is influenced by factors such as chain elongation, driving mechanism abrasion, local adjustment in the maintenance process and the like.
The existing accumulation and release chain has the defects that the stability of the speed of the process chain cannot be ensured, the working procedure time cannot be ensured to meet the quality requirement, and the stability of the production rhythm cannot be ensured.
Therefore, how to adjust the chain speed of the process chain in time is a problem to be solved at present.
Disclosure of Invention
In view of the above, the present invention provides a self-tuning system for a conveying chain, which can realize feedback type adjustment control for chain transmission to ensure the accuracy and stability of chain adjustment.
In order to achieve the above purpose, the invention provides the following technical scheme:
a conveying power and free chain self-tuning system comprises:
the tension detection sensor is used for detecting the real-time tension of the chain;
the controller is used for acquiring a tension given value, a speed given value and the real-time tension and sending the tension to the frequency converter;
the frequency converter is provided with a PID adjusting device and a PID output device which are controlled in a closed loop mode, the PID adjusting device takes the given tension value as a PID set value and the real-time tension as a PID feedback value so as to output a PID output value of feedback compensation, the tension of the chain is close to the given tension, and the PID output device is used for receiving the PID output value and the speed set value and outputting the driving output frequency to the chain.
Preferably, the controller is connected with a terminal, and the terminal is used for inputting the given tension value and the given speed value and displaying the given tension value and the given speed value.
Preferably, the tension monitoring system further comprises an analog input device, wherein the analog input device is connected with the tension detection sensor and the controller and is used for converting the real-time tension information acquired by the tension detection sensor into information which can be read by the controller.
Preferably, the system further comprises a switch, and the switch is connected with the terminal and the controller.
Preferably, the tension detection sensor is a tension potentiometer for acquiring the real-time tension of the chain.
Preferably, the PID adjusting means is configured to:
acquiring the PID output value;
wherein u (t) is the PID output value; e (t) is the difference of the PID setpoint and the PID feedback value; kPIs a proportionality coefficient; ti is a time-sharing constant; τ is the differential time constant.
The self-setting system of the conveying accumulation and release chain provided by the invention detects the current tension of the chain through the tension detection sensor, realizes the feedback regulation of the tension of the chain through the PID feedback regulation function in the frequency converter, enables the actual tension of the chain to gradually approach the tension balance set value required by the chain, and utilizes the current actual tension as the input value of the feedback regulation, so that the output value is more consistent with the current condition, the regulated tension is in accordance with the set peaceful set value, and the stability of the speed of the process chain can be effectively ensured. In the running process of the chain, along with the increase or decrease of the tension, the speed set value is adjusted through the output value of the tension, the compensation purpose is achieved, the tension is kept around a balance point, and the working procedure time of each working procedure is effectively guaranteed to meet the product quality requirement.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a self-tuning system of a conveying power and free chain provided by the invention;
fig. 2 is a logic diagram of the frequency converter provided in the present invention.
In FIGS. 1-2:
1 is a terminal, 2 is a switch, 3 is a controller, 4 is a driver and 5 is a frequency converter.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a self-setting system of a conveying power and free chain, which can realize feedback type adjustment control aiming at chain transmission so as to ensure the accuracy and stability of the adjustment of the chain.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic diagram of a conveyor chain self-tuning system provided by the present invention; fig. 2 is a logic diagram of the frequency converter provided in the present invention.
The application provides a carry long-pending chain self-adjusting system of putting, mainly used coating engine process is the control of the long-pending chain of putting of transporting between the process, and this system includes: tension detection sensor, controller and converter.
The tension detection sensor is used for detecting the real-time tension of the chain; the tension sensor is arranged in the chain transmission path and can be in contact with the chain or have a certain distance with the chain, and the tension sensor can be adjusted according to actual conditions according to the type of the tension sensor. It is not shown in fig. 1, since it is arranged on the chain or in a position corresponding to the chain, and the detection of the tension of the chain is prior art.
The controller 3 is used for collecting a tension given value, a speed given value and real-time tension and sending the tension to the frequency converter. It should be noted that the controller is used to obtain the tension set point and the speed set point in the form of values that are previously input or set, or the controller may be connected to an input device for input so as to be modified and set according to each use by the user. The controller can be a computer, a control module or a singlechip and other control structures in various forms.
The frequency converter 5 is provided with a PID adjusting device and a PID output device which are controlled in a closed loop mode, the PID adjusting device takes the given tension as a PID given value and the real-time tension as a PID feedback value so as to output a PID output value of feedback compensation, and therefore the tension of the chain approaches the given tension, and the PID output device is used for receiving the PID output value and the speed given value and outputting the driving output frequency to the chain.
It should be noted that, a PID adjusting device and a PID output device need to be installed in the frequency converter, that is, two modules for adjustment need to be provided, wherein the PID adjusting device is a device for feedback adjustment, the input quantity is a PID set value, that is, a preset setting value for setting tension balance required by the chain and output to the chain, and the feedback value is a PID feedback value, and the PID adjusting device is used for adjusting by using the difference between the PID set value and the PID feedback value to obtain a PID output value, so as to make the tension of the chain finally the same as the set tension.
The obtained PID output value is a control value related to chain tension, but the final output value of the frequency converter is an output value for controlling the transmission frequency of the chain, so the tension is also required to be associated with the transmission frequency, the PID output device is used for acquiring the PID output value and the given speed sent by the controller, the output frequency is obtained through the PID output value (namely, the output tension) and the given speed, namely, the frequency required to be output currently is obtained through calculation of the tension to be output currently and the preset speed of the chain, and the output frequency refers to the frequency output to control chain conveying. The calculation here can be calculated according to the formula in the prior art.
In this embodiment, the tension of the current chain is detected by the tension detection sensor, and the feedback adjustment of the tension of the chain is realized by the PID feedback adjustment function in the frequency converter 5, so that the actual tension of the chain gradually approaches to the tension balance set value required by the chain, and the current actual tension is used as the input value of the feedback adjustment, so that the output value more conforms to the current situation, so that the adjusted tension conforms to the set level and the set value, and the stability of the chain speed of the process chain can be effectively ensured. During actual use, in the running process of the chain, along with the increase or decrease of the tension, the speed set value is adjusted through the output value of the tension, the compensation purpose is achieved, the tension is kept around a balance point, and the process time of each process is effectively guaranteed to meet the product quality requirement.
On the basis of the above embodiment, the controller 3 is connected to the terminal 1, and the terminal 1 is used for inputting a tension set value, a speed set value, and displaying the tension set value and the speed set value.
It should be noted that the terminal may be one or more of a computer, an operation panel, or other input devices, and the purpose of the terminal is to enable the tension given value and the speed given value to be adjustable values, and to enable the tension given value and the speed given value to be respectively set in different predetermined settings for different use scenarios.
Meanwhile, the terminal 1 may be configured to display either one or both of them. One of the functions of the display is to facilitate the user to know whether the content input by the user is accurate, and the other is to facilitate the recording and adjustment.
On the basis of the above embodiment, the tension detection sensor is a tension potentiometer for acquiring the real-time tension of the chain.
The tension detection sensors are various, a tension potentiometer is adopted in the embodiment, the structure is simple, the tension detection sensors are specially used for detecting the tension of the structure, and the tension potentiometer is connected with the controller and used for achieving detection and data transmission.
On the basis of any one of the above embodiments, the tension sensor further comprises an analog input device, wherein the analog input device is connected with the tension detection sensor and the controller 3, and is used for converting the real-time tension information acquired by the tension detection sensor into information which can be read by the controller 3.
Normally, the sensor detects analog quantity information, the analog quantity information is output to the controller, and the controller cannot calculate and analyze the analog quantity, so that an analog quantity input device is arranged between the tension detection sensor and the controller 3 and is used for converting the analog quantity into digital quantity so as to obtain digital information, the digital information is transmitted to the controller 3 in a transmission mode, and the digital information acquired by the controller 3 can be directly used for PID feedback control.
In one particular embodiment, the analog input device is a model 1739-IF4 analog input device to facilitate the presentation of the acquired tension information to the controller 3.
Optionally, the analog input device may also be another type of conversion device, and other types of conversion devices in the prior art may be used based on the type of the actual detection result of the tension detection sensor and the type of data actually used by the controller 3.
On the basis of any one of the above embodiments, the system further comprises a switch 2, wherein the switch 2 is connected with the terminal 1 and the controller 3.
It should be noted that the switch 2 is mainly used to form a network structure of the whole system, and a specific address may be selected to be a stratx 2000 unmanaged switch or another type of switch.
Optionally, the controller 3 in the present application may adopt a compactlogic 5370L 3 controller, which has two EtherNet/IP ports and is responsible for processing and outputting the acquired tension and sending information such as a tension set value and a speed set value to the frequency converter 5.
Optionally, the frequency converter 5 in the present application may be of various types and models, and in a specific embodiment, a PowerFlex40P frequency converter is used, which has the advantage of being provided with a closed-loop control, and can conveniently implement PID self-tuning control.
Optionally, the terminal 1 in the present application may adopt a PanelView Plus 1000 type, which is mainly used for tension set value setting and tension display.
On the basis of any of the above embodiments, the PID adjusting means is adapted to:
acquiring a PID output value;
wherein u (t) is a PID output value; e (t) is the difference between the PID set value and the PID feedback value; kPIs a proportionality coefficient; ti is a time-sharing constant; τ is the differential time constant.
And e (t) is a difference value calculated by using a PID set value and a PID feedback value, and the difference value is a micro integral quantity which is in a hanging state with time. K abovePIs a proportion systemCounting; ti is a time-sharing constant; τ is a differential time constant, and can be adjusted according to actual conditions.
The result of the feedback adjustment of the chain tension can be obtained using the above formula.
In the application, PID control ensures that the tension fed back by the process is gradually consistent with a required tension set value, the PID feedback operation starts to work by subtracting the PID feedback value from a set value to generate a deviation value, and if the difference value between the PID feedback value and the deviation value is zero, feedback regulation is not needed. According to the common sense of PID control, the PID loop acts on the offset and outputs a frequency control actuator to operate and reduce the offset to 0. Specifically, during operation of the chain, as the tension increases or decreases, the speed setpoint is adjusted for compensation purposes, with the tension remaining around the equilibrium point.
According to the case of the frequency converter 5 using the PowerFlex40P, the interface data connected to the frequency converter 5 are as follows:
the parameter P038 is the speed setpoint and the parameter a132 is the PID setpoint, set to 9 in the frequency converter 5. The required tension set value is output to the frequency converter 5 by the PLC 3 through Ethernet communication. The a133 parameter is a PID feedback value, which is set to 2 in the frequency converter 5, and the detected tension feedback value is output to the frequency converter 5 by the PLC controller 3 through ethernet communication. The a130 parameter is the maximum frequency of the PID output, the a131 parameter is the minimum frequency of the PID output, the a134 parameter is the PID proportional gain, the a135 parameter is the PID integral gain, the a136 parameter is the PID differential gain,
the conveying power and free chain self-setting system provided by the application can ensure the stability of the chain speed of the process chain and timely adjust the error between the chain speed of the power and free chain and a set value, thereby ensuring that the working procedure time meets the requirement of product quality.
In addition to the main structure of the conveying, stacking and releasing chain self-tuning system provided in the above embodiments, please refer to the prior art for the structure of other parts of the conveying, stacking and releasing chain self-tuning system, and details are not repeated herein.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The above provides a detailed description of the self-tuning system of the conveying power and free chain provided by the invention. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (6)
1. A self-tuning system of a conveying power and free chain is characterized by comprising:
the tension detection sensor is used for detecting the real-time tension of the chain;
the controller (3) is used for acquiring a tension given value, a speed given value and the real-time tension and sending the tension given value, the speed given value and the real-time tension to the frequency converter;
the frequency converter (5) is provided with a PID adjusting device and a PID output device which are controlled in a closed loop mode, the PID adjusting device takes the given tension value as a PID given value and the real-time tension as a PID feedback value so as to output a PID output value of feedback compensation, the tension of a chain is close to the given tension value, and the PID output device is used for receiving the PID output value and the speed given value and outputting the output frequency of driving to the chain.
2. The conveyor chain automatic setting system according to claim 1, characterized in that the controller (3) is connected with a terminal (1), and the terminal (1) is used for inputting the given tension value and the given speed value and displaying the given tension value and the given speed value.
3. The conveyor power and free chain self-tuning system according to claim 2, further comprising an analog input device, wherein the analog input device is connected with the tension detection sensor and the controller (3) and is used for converting the real-time tension information collected by the tension detection sensor into information which can be read by the controller (3).
4. The conveyor chain self-tuning system according to claim 3, further comprising a switch (2), wherein the switch (2) connects the terminal (1) and the controller (3).
5. The conveyor chain self-tuning system of claim 1, wherein the tension detection sensor is a tension potentiometer for acquiring the real-time tension of the chain.
6. The transport power and free chain self-tuning system according to any one of claims 1 to 5, wherein the PID adjusting means is configured to:
acquiring the PID output value;
wherein u (t) is the PID output value; e (t) is the difference of the PID setpoint and the PID feedback value; kPIs a proportionality coefficient; ti is a time-sharing constant; τ is the differential time constant.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911184456.7A CN110817344A (en) | 2019-11-27 | 2019-11-27 | Self-tuning system for conveying power and free chains |
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| CN201911184456.7A CN110817344A (en) | 2019-11-27 | 2019-11-27 | Self-tuning system for conveying power and free chains |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114604596A (en) * | 2022-04-15 | 2022-06-10 | 河北工业大学 | Multi-point unloading machine control system |
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