CN111498559B - Layered and hierarchical tension control method and system - Google Patents

Layered and hierarchical tension control method and system Download PDF

Info

Publication number
CN111498559B
CN111498559B CN202010304693.9A CN202010304693A CN111498559B CN 111498559 B CN111498559 B CN 111498559B CN 202010304693 A CN202010304693 A CN 202010304693A CN 111498559 B CN111498559 B CN 111498559B
Authority
CN
China
Prior art keywords
tension
decoupling
control
linear velocity
actual output
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010304693.9A
Other languages
Chinese (zh)
Other versions
CN111498559A (en
Inventor
李宁
侯儒伟
汪木兰
王保升
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Institute of Technology
Original Assignee
Nanjing Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing Institute of Technology filed Critical Nanjing Institute of Technology
Priority to CN202010304693.9A priority Critical patent/CN111498559B/en
Publication of CN111498559A publication Critical patent/CN111498559A/en
Application granted granted Critical
Publication of CN111498559B publication Critical patent/CN111498559B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/182—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in unwinding mechanisms or in connection with unwinding operations
    • B65H23/185—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in unwinding mechanisms or in connection with unwinding operations motor-controlled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/182—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in unwinding mechanisms or in connection with unwinding operations
    • B65H23/1825—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in unwinding mechanisms or in connection with unwinding operations and controlling web tension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/195—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations
    • B65H23/1955—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations and controlling web tension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/195—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations
    • B65H23/198—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations motor-controlled (Controlling electrical drive motors therefor)
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H26/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms
    • B65H26/02—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms responsive to presence of irregularities in running webs
    • B65H26/04—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms responsive to presence of irregularities in running webs for variation in tension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/11—Dimensional aspect of article or web
    • B65H2701/113—Size
    • B65H2701/1133—Size of webs

Landscapes

  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)

Abstract

The invention discloses a tension control method in the technical field of tension controlA layered and hierarchical tension control method and system aim to solve the technical problem that a servo type tension control system in the prior art cannot perform decoupling compensation on the system due to strong coupling between tension and speed, so that the control performance of the servo type tension control system is influenced. The method comprises the following steps: obtaining the actual output speed V of the tension control systemCActual output tension FC(ii) a Based on the actual output linear velocity VCActual output tension FCAnd a preset given amount, the actual output linear velocity V to the tension control systemCActual output tension FCAnd performing decoupling control to obtain a decoupled control signal.

Description

Layered and hierarchical tension control method and system
Technical Field
The invention relates to a layered and hierarchical tension control method and system, and belongs to the technical field of tension control.
Background
Tension control systems are widely used in printing, papermaking, packaging and other equipment. The traditional tension control system generally adopts a magnetic powder brake and a magnetic powder clutch to generate tension, and has two main defects: firstly, the power consumption is large, the heat generated by the magnetic powder brake is large, and cooling is needed; and secondly, the tension adjusting device does not have dynamic adjusting capability and cannot dynamically adjust the tension by controlling the magnetic powder brake.
Currently, new research in this field is mainly focused on servo-type tension control systems. Different from the traditional magnetic powder braking type tension controller, the servo type tension controller adopts an alternating current servo motor to control an uncoiling mechanism and a coiling mechanism, the coiling alternating current servo motor pulls a strip material, and the uncoiling servo motor is dragged to operate through the strip material. The winding servo motor works in a speed control mode, the unwinding servo motor works in a torque control mode, and the linear speed of the strip at the winding roller can be controlled by controlling the speed of the winding alternating current servo motor; the tension of the strip at the unwinding roller can be controlled by controlling the torque of the unwinding AC servo motor. In order to ensure the performance requirements of the strip processed by the tension line, the linear speed and the tension of the strip need to be measured and effectively controlled at the middle position of the tension line. The tension of the strip in the intermediate position is related to both the torque of the unwinding ac servomotor and the speed of the winding ac servomotor, and the linear velocity of the strip in the intermediate position is also related to both the torque of the unwinding ac servomotor and the speed of the winding ac servomotor. Due to the coupling relationship, the independent and separate control of the tension and the linear velocity can be realized only by the prior decoupling, but at present.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a layered hierarchical tension control method and a layered hierarchical tension control system to solve the technical problem that the servo tension control system in the prior art cannot perform decoupling compensation on the system due to strong coupling between tension and speed, so that the control performance of the servo tension control system is influenced.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a layered and stepped tension control method comprises the following steps:
obtaining the actual output speed V of the tension control systemCActual output tension FC；
Based on the actual output linear velocity VCActual output tension FCAnd a preset given amount, the actual output linear velocity V to the tension control systemCActual output tension FCAnd performing decoupling control to obtain a decoupled control signal.
Further, the decoupled control signal comprises the linear velocity V at the wind-up roll of the tension control system1And tension F at the uncoiler2；
The method for decoupling control comprises the following steps:
calculating the actual output line velocity VCActual output tension FCA control deviation from a preset value;
calculating decoupling compensation signals of the linear speed and the tension based on the control deviation;
inputting the decoupling compensation signal into a preset decoupling transfer function to obtain the linear velocity V at the wind-up roll of the tension control system1And tension F at the uncoiler2。
Further, the decoupling transfer function is calculated as follows:
Figure BDA0002455342660000021
wherein s is the complex frequency, V1(s) is the linear velocity V at the wind-up roll1Frequency domain image function of F2(s) is the tension F at the unwinding roll2Of the frequency domain image function, H11(S)、H12(S)、H21(S)、H22(S) is the decoupling transfer function, u1、u2For decoupling the compensation signal u1(s) is u1Of the frequency domain image function u2(s) is u2Is used to generate the frequency domain image function.
Further, the control deviation comprises a linear velocity error and a tension error, and the calculation formula is as follows:
Figure BDA0002455342660000022
in the formula, efAs a speed error, evIn order to be a tension error,
Figure BDA0002455342660000023
is given in a given amount.
Further, the decoupling compensation signal of linear velocity and tension is obtained based on the control deviation, and the decoupling compensation signal comprises the following steps:
error of velocity efAnd tension error evAnd inputting the signals into a PID compensator to obtain decoupling compensation signals of the linear speed and the tension.
Further, the tension control system is a servo-type tension control system, and the servo-type tension control system comprises an unwinding roller and a winding roller;
the decoupling compensation signal has the following calculation formula:
Figure BDA0002455342660000031
in the formula u1、u2For decoupling the compensation signal, KP1、TI1、TD1For controlling the PID parameter of the linear velocity at the wind-up roll, KP2、TI2、TD2Is a PID parameter for controlling the tension at the unwinding roller.
Further, the winding roller is connected with a winding servo motor working in a speed control state in a transmission manner, the decoiling roller is connected with a decoiling servo motor working in a torque control state in a transmission manner, and the winding servo motor and the decoiling servo motor are correspondingly connected with an alternating current servo driver;
after acquiring the decoupled control signal, the method further comprises:
linear velocity V of wind-up roll1Inputting an alternating current servo driver correspondingly connected with the winding servo motor to obtain the rotating speed control quantity of the winding servo motor;
tension F at the uncoiling roller2And inputting an alternating current servo driver correspondingly connected with the uncoiling servo motor to obtain the torque control quantity of the uncoiling servo motor.
In order to achieve the above object, the present invention further provides a layered stepwise tension control system, which includes a tension and linear velocity decoupling layer, wherein the tension and linear velocity decoupling layer includes:
a tension sensor: for obtaining the actual output tension F of the tension control systemC；
A speed sensor: for obtaining the actual output speed V of the tension control systemC；
Decoupling the submodules: for outputting linear velocity V based on actualCActual output tension FCAnd a preset given amount, the actual output linear velocity V to the tension control systemCActual output tension FCAnd performing decoupling control to obtain a decoupled control signal.
Further, the decoupled control signal comprises the linear velocity V at the wind-up roll of the tension control system1And tension F at the uncoiler2(ii) a The method for decoupling control comprises the following steps: calculating the actual output line velocity VCActual output tension FCDeviation from preset valueDifference, said control deviation comprising a speed error efAnd tension error ev；
The decoupling submodule includes:
a signal arithmetic unit: for measuring speed error efAnd tension error evInputting the linear velocity and the tension into a PID compensator to obtain decoupling compensation signals of the linear velocity and the tension;
a decoupling controller: the decoupling compensation signal is input into a preset decoupling transfer function to obtain the linear velocity V at the wind-up roll of the tension control system1And tension F at the uncoiler2。
Further, the tension control system is a servo-type tension control system, and the servo-type tension control system comprises an unwinding roller and a winding roller; the winding roller is connected with a winding servo motor working in a speed control state in a transmission manner, the decoiling roller is connected with a decoiling servo motor working in a torque control state in a transmission manner, and the winding servo motor and the decoiling servo motor are correspondingly connected with an alternating current servo driver;
the decoupling submodule further includes:
the winding roller radius calculating unit: is used for winding the linear velocity V at the position of a winding roller1Inputting an alternating current servo driver correspondingly connected with the winding servo motor to obtain the rotating speed control quantity of the winding servo motor;
tension F at the uncoiling roller2And inputting an alternating current servo driver correspondingly connected with the uncoiling servo motor to obtain the torque control quantity of the uncoiling servo motor.
Compared with the prior art, the invention has the following beneficial effects: the method and the system perform decoupling control on the actual output speed and the actual output tension of the tension control system based on the preset given quantity. The decoupling control utilizes a layered hierarchical structure, firstly inputs an actual output speed and an actual output tension which are acquired in real time into a coupling transfer function to acquire an expected output speed and an expected output tension, then respectively calculates differences between the expected output speed and the expected output tension and a given quantity to acquire a control deviation, then inputs the control deviation into a robust PID controller to perform PID parameter setting and diagonal matrix decoupling to acquire a decoupled control signal, and finally inputs the control signal into an AC servo driver correspondingly connected with an uncoiling AC servo motor and a coiling AC servo motor, thereby realizing the process of decoupling control. The method and the system establish a mechanism model of a speed tension model close to the actual condition of engineering, determine diagonal matrix decoupling as decoupling control of the system, design a regulator by utilizing a robust PID control structure, realize decoupling control of speed and tension, and have the advantages of simple control structure, high system stability and wide industrial application.
Drawings
FIG. 1 is a schematic block diagram of an embodiment of the system of the present invention;
FIG. 2 is a control block diagram of an embodiment of the system of the present invention;
FIG. 3 is a schematic block diagram of a decoupling submodule in an embodiment of the system of the present invention;
fig. 4 is a schematic flow chart of an embodiment of the method of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The invention provides a hierarchical tension control method and a hierarchical tension control system. The method and the system adopt a layered hierarchical structure, establish a mechanism model of a speed-tension control system close to the actual engineering, determine a PID compensation decoupling mode, realize the coordinated control of the linear speed and the tension of the strip, and improve the control performance and the stability of the tension control system.
First, a hierarchical tension control system according to an embodiment of the present invention will be described in detail. As shown in fig. 1, which is a schematic structural diagram of an embodiment of the system of the present invention, in this embodiment, a decoupling layer of tension and linear velocity is added to the system based on a servo-type tension control system, and is used to output a linear velocity V to an actual output line of the servo-type tension control systemcActual output tension FcAnd performing decoupling control.
The servo type tension control system comprises an uncoiling roller and a coiling roller, wherein the uncoiling roller is provided with an uncoiling alternating current servo motor, the coiling roller is provided with a coiling alternating current servo motor, and the uncoiling alternating current servo motor and the coiling alternating current servo motor are correspondingly connected with an alternating current servo driver. The uncoiling alternating current servo motor is a permanent magnet synchronous servo motor, works in a torque control mode and is used for providing load torque so as to form tension; the winding alternating current servo motor also adopts a permanent magnet synchronous servo motor and works in a speed control mode. The tension and linear speed decoupling layer comprises a tension sensor C1, a speed sensor C2 and a decoupling control submodule. In this embodiment, the position between the unwinding roller and the winding roller on the production line is selected as the control output point C, and the two sensors are installed at the control output point C, so as to detect the actual output linear velocity V of the servo-type tension control system strip material in real timecAnd the actual output tension Fc. Decoupling submodule of system for outputting linear velocity V based on actual outputCActual output tension FCAnd a preset given amount, the actual output linear velocity V to the tension control systemCActual output tension FCPerforming decoupling control to obtain decoupled control signals, wherein the decoupled control signals comprise the linear velocity V at the take-up roll of the tension control system1And tension F at the uncoiler2The decoupling submodule comprises the following units:
a signal arithmetic unit: according to VcAnd FcAnd a preset linear velocity setting amount
Figure BDA0002455342660000051
And a given amount of tension
Figure BDA0002455342660000052
A control deviation may be calculated. The control deviation comprises a speed error efAnd tension error evFor velocity error efAnd tension error evCarrying out PID operation to obtain decoupling compensation signal u of linear velocity and tension1And u2；
A decoupling controller: for compensating the decoupling compensation signal u1And u2Decoupling to obtain decoupled control signal V1And F2；
The winding roller radius calculating unit: real-time measurement radius r of wind-up roll1(t) according to the radius r of the wind-up roll1(t) and the amount of control V of the linear velocity at the wind-up roll1Obtaining the rotating speed control quantity omega (t) of the rolling AC servo motor, and measuring the radius r of the unwinding roller in real time2(t) according to the radius r of the unwinding roller2(t) and the amount of tension control F at the pay-off roll2The torque control amount T (t) of the AC servo motor is obtained. Specifically, as shown in fig. 2 and fig. 3, they are schematic structural diagrams of a control structure diagram and a decoupling sub-module of an embodiment of the system of the present invention, respectively.
The following describes a layered and hierarchical tension control method provided by an embodiment of the present invention in detail, and further describes the working principle of the system of the present invention in combination with an embodiment of the method of the present invention. As shown in fig. 4, is a schematic flow chart of an embodiment of the method of the present invention, including the following steps:
selecting a sensor installation position between an uncoiling roller and a coiling roller on a production line as an expected control output point C, and arranging a tension sensor C1 and a speed sensor C2 on the control output point C for detecting the speed and the tension of the position in real time, namely the actual output speed V of the servo tension control systemcAnd the actual output tension Fc。
Step two, setting value based on linear velocity
Figure BDA0002455342660000061
And measured value VCGiven value of tension
Figure BDA0002455342660000062
And found value FcRespectively calculating control deviation, carrying out PID operation on the control deviation, and calculating decoupling compensation signal u of linear velocity and tension1And u2The formula is as follows:
Figure BDA0002455342660000063
step three, establishing the relationship between the tension and the linear speed of the detection point and the tension and the linear speed of the controlled point, wherein the calculation formula is as follows:
Figure BDA0002455342660000064
order:
Figure BDA0002455342660000065
Figure BDA0002455342660000066
Figure BDA0002455342660000067
wherein s is the complex frequency, VC(s) and FC(s) is the linear velocity value V of the detection pointCAnd a tension value FcOf the frequency domain image function, V1(s) is the linear velocity V at the wind-up roll1Frequency domain image function of F2(s) is the tension F at the pay-off roll2G is a transfer function matrix representing the mutual coupling relation of the tension and the linear speed, and can be obtained by establishing a physical model of a tension production line; diag is a diagonal matrix, which is a decoupled control model set according to the system performance requirements, and the diagonal elements D of Diag11(s) is a frequency domain mathematical model of the decoupled linear velocity control object, D22(s) is a frequency domain mathematical model of the decoupled tension control object; h is a decoupling matrix, which can be obtained by solving a matrix equation:
GH＝Diag。
step four, decoupling the control signal of the tension control system based on the control deviation to obtain the linear speed control quantity V at the wind-up roll1And a tension control quantity F at the uncoiling roll2The method comprises the following steps:
Figure BDA0002455342660000071
namely:
Figure BDA0002455342660000072
in the formula, V1(s) is the linear velocity V at the wind-up roll1Frequency domain image function of F2(s) is the tension F at the pay-off roll2Of the frequency domain image function u1(s) and u2(s) are each u1And u2So as to calculate the linear speed V at the take-up roll1And tension F at the uncoiler2。
Step five, measuring the radius r of the wind-up roll in real time1(t) and the radius r of the unwinding roll2(T), calculating the rotation speed control quantity omega of the winding AC servo motor and the torque control quantity T of the unwinding AC servo motor, wherein the calculation formula is as follows:
Figure BDA0002455342660000073
and step six, conveying the winding roller rotating speed control quantity omega to an alternating current servo driver correspondingly connected with the winding alternating current servo motor, and conveying the decoiling roller torque control quantity T to an alternating current servo driver correspondingly connected with the decoiling alternating current servo motor. Realizes the real-time control of the uncoiling AC servo motor and the coiling AC servo motor, thereby realizing the actual output speed V of the tension control systemCActual output tension FcAnd performing decoupling control.
The method and the system perform decoupling control on the actual linear speed and the tension of the strip material of the tension control system based on the preset given quantity. The decoupling control utilizes a layered hierarchical structure, decoupling of linear speed and tension is realized on an upper decoupling layer (decoupling layer), the speed control quantity of a winding alternating current servo motor and the torque control quantity of the winding alternating current servo motor are obtained by detecting the radiuses of an unwinding roller and a winding roller in real time based on decoupling output, and then the control quantities are transmitted to alternating current servo drivers correspondingly connected with the unwinding alternating current servo motor and the winding alternating current servo motor, so that a complete decoupling control process is realized.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (8)

1. A layered and stepped tension control method is characterized by comprising the following steps:
obtaining the actual output linear velocity V of the tension control systemCActual output tension FC；
Based on the actual output linear velocity VCActual output tension FCAnd a preset linear velocity setting amount
Figure FDA0003180535330000011
And a given amount of tension
Figure FDA0003180535330000012
Actual output linear velocity V to tension control systemCActual output tension FCPerforming decoupling control to obtain a decoupled control signal;
the decoupled control signal comprises the linear speed V of the take-up roll of the tension control system1And tension F at the uncoiler2；
The method for decoupling control comprises the following steps:
calculating the actual output line velocity VCActual output tension FCA control deviation from a preset value;
calculating decoupling compensation signals of the linear speed and the tension based on the control deviation;
inputting the decoupling compensation signal into a preset decoupling transfer function to obtain the linear velocity V at the wind-up roll of the tension control system1And tension F at the uncoiler2。
2. The method of claim 1, wherein the decoupling transfer function is calculated as follows:
Figure FDA0003180535330000013
wherein s is the complex frequency, V1(s) is the linear velocity V at the wind-up roll1Frequency domain image function of F2(s) is the tension F at the unwinding roll2Of the frequency domain image function, H11(S)、H12(S)、H21(S)、H22(S) is the decoupling transfer function, u1、u2For decoupling the compensation signal u1(s) is u1Of the frequency domain image function u2(s) is u2Is used to generate the frequency domain image function.
3. The method of claim 1, wherein the control deviation comprises a velocity error and a tension error, and is calculated as follows:
Figure FDA0003180535330000014
in the formula, efAs a speed error, evIn order to be a tension error,
Figure FDA0003180535330000015
is given in a given amount.
4. The method of claim 3, wherein deriving the decoupled compensation signal for the linear velocity and tension based on the control deviation comprises:
error of velocity efAnd tension error evAnd inputting the signals into a PID compensator to obtain decoupling compensation signals of the linear speed and the tension.
5. The layered and stepped tension control method according to claim 4, wherein the tension control system is a servo-type tension control system comprising an unwinding roller and a winding roller;
the decoupling compensation signal has the following calculation formula:
Figure FDA0003180535330000021
in the formula u1、u2For decoupling the compensation signal, KP1、TI1、TD1For controlling the linear velocity V at the wind-up roll1PID parameter of, KP2、TI2、TD2For controlling tension F at unwinding roller2The PID parameter of (1).
6. The layered and stepped tension control method according to claim 5, wherein the wind-up roll is connected with a wind-up servo motor working in a speed control state in a transmission manner, the wind-up roll is connected with a wind-up servo motor working in a torque control state in a transmission manner, and the wind-up servo motor are correspondingly connected with an alternating current servo driver;
after acquiring the decoupled control signal, the method further comprises:
linear velocity V of wind-up roll1Inputting an alternating current servo driver correspondingly connected with the winding servo motor to obtain the rotating speed control quantity of the winding servo motor;
tension F at the uncoiling roller2And inputting an alternating current servo driver correspondingly connected with the uncoiling servo motor to obtain the torque control quantity of the uncoiling servo motor.
7. The utility model provides a hierarchical rank tension control system, characterized by, including tension, linear velocity decoupling zero layer, tension, linear velocity decoupling zero layer include:
a tension sensor: for obtaining the actual output tension F of the tension control systemC；
Speed sensor: for obtaining actual output linear velocity V of tension control systemC；
Decoupling the submodules: for outputting linear velocity V based on actualCActual output tension FCAnd a preset linear velocity setting amount
Figure FDA0003180535330000022
And a given amount of tension
Figure FDA0003180535330000023
Actual output linear velocity V to tension control systemCActual output tension FCPerforming decoupling control to obtain a decoupled control signal;
the decoupled control signal comprises the linear speed V of the take-up roll of the tension control system1And tension F at the uncoiler2(ii) a The method for decoupling control comprises the following steps: calculating the actual output line velocity VCActual output tension FCControl deviation from a preset value, said control deviation comprising a speed error efAnd tension error ev；
The decoupling submodule includes:
a signal arithmetic unit: for measuring speed error efAnd tension error evInputting the linear velocity and the tension into a PID compensator to obtain decoupling compensation signals of the linear velocity and the tension;
a decoupling controller: the decoupling compensation signal is input into a preset decoupling transfer function to obtain the linear velocity V at the wind-up roll of the tension control system1And tension F at the uncoiler2。
8. The layered, hierarchical tension control system of claim 7, wherein the tension control system is a servo-type tension control system comprising an unwind roll and a wind-up roll; the winding roller is connected with a winding servo motor working in a speed control state in a transmission manner, the decoiling roller is connected with a decoiling servo motor working in a torque control state in a transmission manner, and the winding servo motor and the decoiling servo motor are correspondingly connected with an alternating current servo driver;
the decoupling submodule further includes:
the winding roller radius calculating unit: is used for winding the linear velocity V at the position of a winding roller1Inputting an alternating current servo driver correspondingly connected with the winding servo motor to obtain the rotating speed control quantity of the winding servo motor; tension F at the uncoiling roller2And inputting an alternating current servo driver correspondingly connected with the uncoiling servo motor to obtain the torque control quantity of the uncoiling servo motor.
CN202010304693.9A 2020-04-17 2020-04-17 Layered and hierarchical tension control method and system Active CN111498559B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010304693.9A CN111498559B (en) 2020-04-17 2020-04-17 Layered and hierarchical tension control method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010304693.9A CN111498559B (en) 2020-04-17 2020-04-17 Layered and hierarchical tension control method and system

Publications (2)

Publication Number Publication Date
CN111498559A CN111498559A (en) 2020-08-07
CN111498559B true CN111498559B (en) 2021-10-08

Family

ID=71867460

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010304693.9A Active CN111498559B (en) 2020-04-17 2020-04-17 Layered and hierarchical tension control method and system

Country Status (1)

Country Link
CN (1) CN111498559B (en)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DD252360A1 (en) * 1986-08-27 1987-12-16 Polygraph Leipzig DEVICE FOR REGULATING ROLLING IN UNWINDING DEVICES
US5617134A (en) * 1994-03-25 1997-04-01 Energy Saving Products And Sales Corporation Machine for manipulating and working on web material
JP4364509B2 (en) * 2000-08-10 2009-11-18 三菱電機株式会社 Control device for continuous rolling mill
CN1216455C (en) * 2003-07-28 2005-08-24 东南大学 Method for structuring mervo network inverse synchronous controller of tow-frequenct changing speed regulating motor system
DE102007031333A1 (en) * 2007-07-05 2009-01-15 Siemens Ag Rolling of a strip in a rolling train using the last stand of the rolling train as Zugverringerer
DE102010050821A1 (en) * 2010-11-09 2012-05-10 Robert Bosch Gmbh Method for regulating web tension in a web tension section for processing machine, involves determining actual-web tension in one web tension section, on basis of determined web tension of web tension section
CN108777556B (en) * 2018-06-29 2022-03-18 江苏大学 Model-free adaptive robust decoupling control method for two-motor speed regulation system

Also Published As

Publication number Publication date
CN111498559A (en) 2020-08-07

Similar Documents

Publication Publication Date Title
CN103072841B (en) Tension roll control device for plate and strip processing line and tension control method
CN100556571C (en) Optimize the method and the device of the flatness control in the strip-rolling
CN105195524A (en) Plate and strip thickness compensation control method in speeding up or down rolling process during cold rolling
CN113373295B (en) Annealing furnace digital twin intelligent alarm system and method based on multilayer perceptron
CN103418619B (en) Cold-rolled strip steel plate shape prediction control method
US4292825A (en) Gauge and tension control system for tandem rolling mill
CN103170524B (en) Turntable type high-speed reeling machine control method and system of cold continuous rolling production line
CN104117554B (en) A kind of high-accuracy straightening machine automatic control system and control method
CN202606511U (en) Cold rolled steel plate shape feedforward-feedback cooperative control system
CN106868440B (en) Method for predicting and adjusting thickness of strip steel continuous hot-dip galvanized coating
CN103100564A (en) Novel rolling process self-adaptive control method
CN102843093A (en) Online calibrating method and device for rotor time constant of asynchronous motor and control system
CN203006584U (en) Control device for tension roll on plate-strip processing line
CN111498559B (en) Layered and hierarchical tension control method and system
CN109573700B (en) Tension control method and tension control system
CN102873106B (en) Rapid and accurate control method for elongation rate of temper mill
CN102380515B (en) Synchronous transport model and method thereof
CN112731142B (en) Vehicle rack dynamic load simulation method and system considering output constraint
CN111036685B (en) Monitoring thickness control method based on improved estimation compensation
Prinz et al. Online parameter estimation for adaptive feedforward control of the strip thickness in a hot strip rolling mill
CN109534064A (en) More motor coupled system indirect tension control methods based on coil diameter adaptive estimation
Xiong et al. Motor model-based optimal robust guaranteed cost control for two-motor web-winding system
CN113515046B (en) Winding tension control method of web coating machine based on feedforward control
CN110202002B (en) High-magnetic-induction cold-rolled silicon steel equipment and control method
JP3298024B2 (en) Process control method and process control device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant