CN113253773B - Positioning control method and system based on frequency converter - Google Patents
Positioning control method and system based on frequency converter Download PDFInfo
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- CN113253773B CN113253773B CN202110797881.4A CN202110797881A CN113253773B CN 113253773 B CN113253773 B CN 113253773B CN 202110797881 A CN202110797881 A CN 202110797881A CN 113253773 B CN113253773 B CN 113253773B
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- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
Abstract
The application provides a positioning control method and a positioning control system based on a frequency converter, wherein the positioning control method based on the frequency converter comprises the following steps: reference point positioning training and arbitrary point positioning training, wherein based on the pulse value of the encoder received by the frequency converter, the industrial computer stores qualified motion state data and corresponding coordinate mapping; acquiring coordinates and speed of a position to be positioned; the industrial computer calculates the corresponding motion state data and transmits the data to the frequency converter, and the frequency converter controls the asynchronous variable frequency motor to operate so as to drive and position the control object. The method is mainly based on that a frequency converter can read pulse data and transmit the pulse data to an industrial computer for storage, has the characteristics of high precision and strong universality when positioning a control object in a larger range and in operation and high power, is low in price, and avoids the problems of high possibility of being interfered by various environmental factors and high price in the traditional positioning control.
Description
Technical Field
The present application relates to the field of positioning control technologies, and in particular, to a positioning control method and system based on a frequency converter.
Background
The positioning control means that when the controller sends out a control command according to a control requirement, the position of the controlled object completes specified displacement in a specified direction according to a specified speed, namely, the controlled object stably stops at a preset target point within a certain time. The positioning control system is a system for realizing the positioning control. The system can be mainly divided into an open-loop position servo system, a position semi-closed-loop control system, a full-closed-loop position control system and a mixed closed-loop position servo system. Has extremely wide application prospect in both civil industry and national economic construction.
In the prior art, positioning control of a robot controller, a servo motor, a driver, an encoder, a Programmable Logic Controller (PLC), an industrial computer, a frequency sensor, a data processing chip, a temperature sensor and a data switch is centralized in a small range on a straight line, so that accurate positioning control can be realized, and the price is reasonable, for example, a common intelligent machine tool control system and the like.
With the gradual transition of future servo drives to the field of high-power and wide-range positioning control, the servo drives are often applied in the industry. The method is applied to large-range and medium-high power applications, namely applications with a distance of more than 100 meters and power of 11-160 kW, and the existing common technical methods have the defect of insufficient precision, are expensive and are difficult to apply in a large scale. The problem of precision, for example, the infrared device is interfered by fog when emitting in a long distance, or the device is too long, so that the deviation of an angle occurs in the operation; the price is a problem, for example, the sensor needs to be installed in a wide range.
Disclosure of Invention
The positioning control system and the positioning control method aim at solving the problems that the positioning control system and the positioning control method in the prior art are low in control precision and poor in universality in a large range; the problem of high requirement on the quantity of hardware in large-area application causes the problem of high price. The invention can read pulse data based on the frequency converter, transmit the pulse data to the industrial computer for processing and storing the pulse data as generalized position coordinates, thereby realizing positioning control.
In a first aspect of the present invention, a positioning control method based on a frequency converter is disclosed, which includes:
s10, establishing a coordinate system in the one-dimensional straight line range to be positioned;
s20, setting a distributed position switch as a reference point to equally divide the straight line to be positioned into a plurality of straight line segments, and setting a distributed position switch as a reference point at each end point;
s30, randomly selecting two reference points, one of which is used as a reference point starting point and the other is used as a reference point terminal point, acquiring coordinates of the reference point starting point and the reference point terminal point, and randomly selecting a set value of the motion state data of the slave reference point; the positioning control object operates by taking the coordinates of the starting point of the reference point, the coordinates of the end point of the reference point and the set value of the motion state data of the reference point as parameters;
s40, the industrial computer receives the pulse value of the encoder and the reference point starting point coordinate in real time according to the frequency converter, and obtains the motion state data, the reference point theoretical displacement and the reference point theoretical end point coordinate from the reference point starting point coordinate to the reference point end point coordinate;
s50, according to the deviation limit value requirement of the reference point terminal coordinate and the reference point theory terminal coordinate, the industrial computer screens out the qualified motion state data of the reference point, and establishes the mapping between the qualified motion state data of the reference point and the operation data packet of the reference point; the operation data packet comprises: starting point coordinates, end point coordinates and displacements;
s60, the industrial computer stores the qualified motion state data of each reference point and the running data packet mapping of the reference point, and stores the mapping to a qualified database;
s70, repeating the steps S30-S60 for a plurality of times until the qualified motion state data of the reference points in the qualified database and the number of the running data packets of the reference points meet the number of the preset values of the reference points;
s80, inputting the starting point of the position to be positioned of the positioning control object, the end point coordinate and the speed of the position to be positioned;
and S90, the industrial computer calculates corresponding motion state data according to the qualified database and transmits the motion state data to the frequency converter, the frequency converter controls the asynchronous variable frequency motor to operate, and the asynchronous variable frequency motor drives the positioning control object to reach the coordinate of the position to be positioned at the speed.
Preferably, before S80, the method further includes:
s71, averagely setting a plurality of dividing points for each straight line segment in the S20;
s72, randomly selecting a division point in one straight line segment as a starting point of any point, randomly selecting a division point in another straight line segment as an end point of any point, acquiring a starting point coordinate and an end point coordinate of any point, and randomly selecting a motion state data set value from any point; the positioning control object operates by taking the coordinates of the starting point of any point, the coordinates of the end point of any point and the set value of the motion state data of any point as parameters;
s73, the industrial computer receives the pulse value and the start point coordinate of the encoder in real time according to the frequency converter, and obtains the motion state data of any point, the theoretical displacement of any point and the theoretical end point coordinate of any point;
s74, if the theoretical endpoint coordinate of any point is regarded as qualified in the straight-line segment where the endpoint of any point is located, the industrial computer screens out the qualified motion state data of any point and establishes mapping between the qualified motion state data of any point and the operation data packet of any point;
s75, the industrial computer stores the qualified motion state data of each arbitrary point and the mapping of the operation data packet of the arbitrary point, and stores the mapping to a qualified database;
and S76, repeating the steps S72-S75 for multiple times until the qualified motion state data of any point in the qualified database and the number of operation data packets of any point meet the number of preset values of any point.
In a second aspect of the present invention, a positioning control system based on a frequency converter is disclosed, comprising: the system comprises an industrial computer, a frequency converter, an asynchronous variable frequency motor, a positioning control object and a plurality of distributed position switches;
the asynchronous variable frequency motor comprises an encoder;
the industrial computer is electrically connected with a frequency converter, the frequency converter is electrically connected with the asynchronous variable frequency motor, and the asynchronous variable frequency motor is electrically connected with the positioning control object;
the industrial computer is used for receiving the state signals of the distributed position switches and simultaneously receiving and transmitting the data of the frequency converter;
the frequency converter is used for reading the pulse value of the encoder and also used for controlling the asynchronous variable frequency motor;
and the asynchronous variable frequency motor drives the positioning control object to move.
Preferably, the encoder is an incremental encoder or an absolute value encoder.
Preferably, a positioning control system based on a frequency converter comprises an ethernet adapter module; and the Ethernet switching interface module receives a state signal of the distributed position switch and transmits the state signal to the industrial computer.
By the scheme, the defects that in the traditional positioning control, a large space is applied in a range, various interferences are easy to occur, the required conditions are harsh, the precision is not high, the required hardware quantity is large, and the price is high are avoided. The application has strong practicability, simple structure, low application cost, strong adaptability and high precision. The servo positioning system has the precision of a servo positioning system and the price advantage of a variable frequency speed control system in a distance of more than 100 meters, a middle power positioning system of 11-160 kW and a high power positioning system. The industrial computer replaces the traditional PLC, and the algorithm can be given to the positioning system to realize the automatic-to-intelligent upgrading transformation.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any creative effort.
Fig. 1 is a schematic diagram of a positioning control system based on a frequency converter according to an embodiment of the present invention;
fig. 2 is a flowchart of a positioning control method based on a frequency converter according to an embodiment of the present invention;
FIG. 3 is a flow chart of the positioning training of any point in the positioning control method based on the frequency converter according to the embodiment of the present invention;
FIG. 4 is a schematic side view of a finned tube cooling system according to the disclosed embodiment of the invention;
FIG. 5 is a schematic front view of a finned tube cooling system as disclosed in accordance with an embodiment of the present invention;
FIG. 6 is a flow chart of a control method for use with the finned tube cooling system disclosed in accordance with an embodiment of the present invention.
Detailed Description
The method aims to solve the problems that in the prior art, positioning control is applied to a large-range space, is easy to be interfered by various kinds, and has low precision due to harsh required conditions, and the cost is high due to a large number of required hardware. The invention discloses a positioning control method and a positioning control system based on a frequency converter 2 through the following embodiments. The electrical system hardware replaces the traditional servo drive with the frequency converter 2 and does not require a position sensor as an outer loop feedback device. The system hardware is simple, the neutral cost ratio of the medium-power and high-power positioning system is extremely high in 11-160 kW, and the system has the precision of a servo positioning system and the price advantage of a variable frequency speed control system. The upper system replaces the traditional PLC with the industrial computer 1, and can endow the algorithm to the positioning system to realize the automatic to intelligent upgrading transformation.
Fig. 1 is a schematic diagram of a positioning control system based on a frequency converter 2 according to an embodiment of the present invention. The device comprises an industrial computer 1, a frequency converter 2, an asynchronous variable frequency motor 4, a positioning control object 5 and a plurality of distributed position switches 6; the asynchronous variable frequency motor 4 comprises an encoder 3; the industrial computer 1 is electrically connected with a frequency converter 2, the frequency converter 2 is electrically connected with an asynchronous variable frequency motor 4, and the asynchronous variable frequency motor 4 is electrically connected with the positioning control object 5; the industrial computer 1 is used for receiving the state signal of the distributed position switch 6 and simultaneously receiving and transmitting the data of the frequency converter 2; the frequency converter 2 is used for reading the pulse value of the encoder 3 and controlling the asynchronous variable frequency motor 4; the asynchronous variable frequency motor 4 drives the positioning control object 5 to move.
The frequency converter 2 is a core positioning component of the present application. The industrial computer 1 programs the one-dimensional test conditions and sets the one-dimensional test conditions to the frequency converter 2 through the communication bus, and reads the pulse value of the encoder 3 in real time through the frequency converter 2, and because the pulse range which can be stored by the frequency converter 2 is limited, enough storage space needs to be set in the industrial computer 1 to collect and calculate the pulse data, so that preparation is made for semi-closed position loop control.
For the simplification of structure, PLC has been saved in this application, is controlled converter 2 directly by the industrial control computer. The encoder 3 is a device that compiles, converts, and/or formats signals or data into a form of signals that can be communicated, transmitted, and stored. The encoder 3 is located in the asynchronous variable frequency motor 4. Further, the encoder 3 may be an incremental encoder 3 or an absolute value encoder 3. To control costs, the incremental encoder 3 may be regarded as a more preferable encoder 3 than the absolute value encoder 3.
The distributed position switch 6 is a common small-current master control electric appliance, and utilizes the collision of mechanical moving parts to make its contact act to implement connection or disconnection of control circuit so as to attain the goal of controlling. Such switches are used to limit the position or travel of the machine movement, so that the moving machine can automatically stop, move in reverse, change speed or automatically move back and forth according to a certain position or travel. In order to save cost, the distributed position switch 6 can replace a traditional sensor, and when the distributed position switch is used in a wide range, the cost is greatly reduced.
Further, the ethernet adapter module receives the status signal of the distributed position switch 6 and transmits the status signal to the industrial computer 1. The industrial computer 1 is connected with the distributed position switch 6 through the IO port, but when the range is larger, more IO ports are needed. The purpose of designing the ethernet adapter module is to compensate for the deficiency of the IO ports of the industrial computer 1, the ethernet adapter module is provided with a plurality of IO ports for connecting the distributed position switches 6, and the ethernet adapter module connects data to the industrial computer 1 through a network.
It should be noted that, the ethernet adapter module and the industrial computer 1 are both placed in an electric control cabinet, and the two are connected through an RJ45 ethernet cable, the cable does not exceed 3m, the module output is connected to N +2 position switches of the rack, and the cable requires more than 100 m.
As shown in fig. 2, the positioning control method based on the frequency converter 2 provided by the present application includes the following steps:
and S10, establishing a coordinate system in the one-dimensional straight line range to be positioned.
The undetermined range is a one-dimensional straight line, and the industrial computer 1 establishes an absolute value coordinate system. The method is mainly applied to a large-range use scene, such as a straight line range larger than 100 meters, and can be better used. Especially in field operation, the common machine tool positioning system can cause some problems in relevant scenes, such as in fog or rain environment, and the common laser feedback device cannot be applied.
And S20, averagely dividing the straight line to be positioned into a plurality of straight line segments, and setting a distributed position switch 6 at each end point as a reference point.
When a large moving platform such as a cleaning frame is used, the effective moving length of the platform is set to be L, which refers to the distance from the original point position to the limit point position. Distributed position switches 6 are arranged at the positions of the original point, the limit point position switch and the dividing point of the L, the number of the distributed position switches 6 is (N +1), the L is divided into N equal parts, and the length of each part is L = L/N.
The industrial computer 1 can acquire the on-off state of the distributed position switch 6 in real time and determine whether the positioning control object 5 arrives. The distributed position switch 6 is designed to replace a conventional sensor, and the distributed position switch 6 has great advantages compared with the price of the sensor, especially when the range is large. It should be noted that the absolute coordinates of the distributed position switches 6 of the reference point are verified by the instrument in advance.
S30, randomly selecting two reference points, one of which is used as a reference point starting point and the other is used as a reference point terminal point, acquiring coordinates of the reference point starting point and the reference point terminal point, and randomly selecting a set value of the motion state data of the slave reference point; and the positioning control object operates by taking the coordinates of the starting point of the reference point, the coordinates of the end point of the reference point and the set value of the motion state data of the reference point as parameters.
From S20 to S70, a training process is performed on reference points, which is training for different scenes before the application is implemented, and the system is made to adapt to the parameters and the background of the scene. The system of the application utilizes the combination of the industrial computer 1, the frequency converter 2, the encoder 3 and the distributed position switch 6 as the full closed-loop positioning, and the system learns enough experience by introducing the machine learning thought in the earlier stage so as to achieve the positioning index. It should be noted that the exercise state data set value is a speed value, the frequency conversion range of the frequency converter 2 is limited, so the speed range is limited, and the speed is generally trained by taking an integer speed, so the speed is only a few.
S40, the industrial computer 1 receives the pulse value of the encoder 3 and the reference point starting point coordinate in real time according to the frequency converter 2, and obtains the motion state data, the reference point theoretical displacement and the reference point theoretical end point coordinate from the reference point starting point coordinate to the reference point end point coordinate.
In the step, the industrial computer 1 firstly transmits the operation data into the frequency converter 2 according to the coordinates of the starting point of the reference point and the coordinates of the end point of the reference point, the frequency converter 2 controls the asynchronous variable frequency motor 4 by regulating the speed, and the asynchronous variable frequency motor 4 drives the asynchronous variable frequency motor 4 to move. During operation, the frequency converter 2 simultaneously reads the pulse values of the encoder 3 in real time, and since the frequency converter 2 can store a limited range of pulses, it is necessary to provide enough memory space in the industrial computer 1 to collect and calculate the real-time pulse values. Therefore, the frequency converter is a core component of the application, and on one hand, the asynchronous variable frequency motor 4 is controlled according to the data of the industrial computer 1; on the other hand, the pulse values of the encoder 3 are read in real time and transmitted to the industrial computer 1. The industrial computer 1 continuously processes and stores the pulse values under various test conditions, and simultaneously starts the real-time clock function of the frequency converter 2, so that the obtained pulse values have time attributes, the actual instantaneous speed corresponding to the motion test data is obtained under the complex environment, the speed is different from the speed obtained by only depending on the incremental encoder 3, and the instantaneous speed combined with the multidimensional test data can lay a foundation for the online diagnosis of the deviation of the actual speed and the position. It should be noted that the motion state is a sum of data of instantaneous speed, direction, and time for positioning the control object 5.
The number of pulses of the encoder 3 can be read out by the frequency converter 2, the pulses reflect the rotation angle of the encoder 3 matched with the asynchronous variable frequency motor 4, and further the walking distance can be calculated, for example, 2500 pulses correspond to 1 turn, so that C pulses correspond to C × 360/2500 degrees, the actual asynchronous variable frequency motor 4 is provided with a speed reducer, the actual angle of the actual asynchronous variable frequency motor 4 is C × 360/2500/k, wherein k is a reduction ratio, the actual walking distance d = n pi r/180, and n = C × 360/2500/k is the actual angle of the actual asynchronous variable frequency motor 4. After the industrial computer 1 calculates d, the direction also needs to be read from the frequency converter 2 so as to obtain the increasing and decreasing directions of the coordinates. The industrial computer 1 introduces time parameters, and can record the speed of obtaining the pulse value in real time according to the walking distance, and correspondingly obtain the walking speed of the positioning control object 5. The industrial computer 1 can obtain the data of the operation including the time, speed and direction of the operation and the real displacement situation.
It should be noted that the industrial computer 1 can calculate the reference point theoretical displacement of the positioning control object 5 by collecting continuous pulse values through the frequency converter 2. Since the reference point start coordinate does not move, the reference point start coordinate is equal to the reference point theoretical start coordinate. And obtaining the theoretical end point coordinate of the reference point by adding the theoretical displacement of the reference point and the starting point coordinate of the reference point. The displacement is equal to the difference between the coordinates of the end point and the coordinates of the start point, and is a vector.
S50, according to the deviation limit value requirement of the reference point terminal coordinate and the reference point theory terminal coordinate, the industrial computer 1 screens out the qualified motion state data of the reference point, and establishes the mapping between the qualified motion state data of the reference point and the operation data packet of the reference point; the operation data packet comprises: start point coordinates, end point coordinates, and displacement.
The purpose of S50 is to filter the qualified data and associate the motion state data with the operation data packet. The mapping, which is the step of machine learning of the industrial computer 1, is found for an efficient way of computation. In practical application, motion state data is calculated according to the positioning position and the speed and is transmitted to the frequency converter 2, the frequency converter 2 controls the asynchronous variable frequency motor 4 to operate, and the asynchronous variable frequency motor 4 drives the positioning control object 5 to reach the coordinate of the position to be positioned at the speed. The deviation limit value is required according to specific practical conditions. The deviation is the deviation of the actual theoretical operation from the set value and is caused by the accumulated error of various factors.
And S60, the industrial computer 1 stores the qualified motion state data of each reference point and the running data packet mapping of the reference point, and stores the mapping to a qualified database.
And S70, repeating the steps S30-S60 for a plurality of times until the qualified motion state data of the reference points in the qualified database and the number of the operation data packets of the reference points meet the number of the preset values of the reference points.
S20-S70 are reference point positioning training of the application, the application combines the industrial computer 1, the frequency converter 2, the encoder 3 and the distributed position switch 6 as full closed-loop positioning, and the system learns enough experience by introducing a machine learning idea in the early stage so as to achieve positioning indexes. The industrial computer 1 continuously processes and stores the pulse values under various test conditions, and simultaneously starts the real-time clock function of the frequency converter 2, so that the obtained pulse values have time attributes, the actual instantaneous speed corresponding to the motion test data is obtained under the complex environment, the speed is different from the speed obtained by only depending on the incremental encoder 3, and the instantaneous speed combined with the multidimensional test data can lay a foundation for the online diagnosis of the deviation of the actual speed and the position. It should be noted that the number of the reference point preset values is determined according to actual situations, and changes with the precision requirement. The speed regulation of the frequency converter 2 is realized by frequency regulation, the maximum range of the frequency regulation is theoretically 5-100Hz, 50-100Hz is a constant power mode, and the constant torque output can be realized only by 5-50 Hz. Due to self weight and mechanical load, the speed is required to be regulated under a constant torque condition in engineering, namely, the frequency regulation is only allowed to be 5-50 Hz. Therefore, the training speed is also in a range, and generally takes an integer number to train, so that the training speed is only a few. Reference point training all cases can be trained due to the limited number and speed of reference points. Referring to fig. 3, in order to better ensure the accuracy of the positioning training, the present application adds an arbitrary point positioning training, i.e., S71-S76.
And S71, averagely setting a plurality of dividing points for each straight line segment in the S20.
And S71, finding more coordinate points in each straight-line segment interval so as to adapt to the actual positioning coordinate requirement, wherein the training of any point is equivalent to the training of a more complex and upgraded reference point.
S72, randomly selecting a division point in one straight line segment as a starting point of any point, randomly selecting a division point in another straight line segment as an end point of any point, acquiring a starting point coordinate and an end point coordinate of any point, and randomly selecting a motion state data set value from any point; and the positioning control object operates by taking the coordinates of the starting point of any point, the coordinates of the ending point of any point and the set value of the motion state data of any point as parameters.
A division point is respectively selected from two different straight line segments, and the process is random and is finished by the industrial computer 1.
And S73, the industrial computer 1 receives the pulse value and the start point coordinate of the arbitrary point of the encoder 3 in real time according to the frequency converter 2, and obtains the motion state data of the arbitrary point, the theoretical displacement of the arbitrary point and the theoretical end point coordinate of the arbitrary point.
And S74, if the theoretical endpoint coordinate of any point is regarded as qualified in the straight line segment where the endpoint of any point is located, the industrial computer 1 screens out the qualified motion state data of any point, and establishes mapping between the qualified motion state data of any point and the operation data packet of any point.
If the theoretical endpoint coordinate of any point is regarded as qualified in the straight line segment where the endpoint of any point is located, the qualification can be verified by using the distributed position switch 6 arranged on the endpoint of each straight line segment as a reference and whether the endpoint of the correct straight line segment passes through. For example, if the training at any point reaches the fifth straight-line segment from the first straight-line segment, the training is passed through the four endpoints reaching the fifth straight-line segment from the first straight-line segment, and the four endpoints cannot be exceeded, if the four endpoints exceed the four endpoints, the motion is indicated to have exceeded the fifth straight-line segment. This step uses the state of the distributed position switch 6 at the endpoint as a proof of theoretical endpoint coordinates for any point.
The process is not accurate to a point, but is qualified when the process is accurate to a section of interval, so that a large amount of data can be rapidly collected, and a qualified database is enriched.
And S75, the industrial computer 1 stores the qualified motion state data of each arbitrary point and the mapping of the operation data packet of the arbitrary point, and stores the mapping to a qualified database.
And S76, repeating the steps S72-S75 for a plurality of times until obtaining the motion state data of any point in the qualified database and the number of operation data packets of any point, wherein the number of operation data packets of any point meets the number of preset values of any point.
S71-S76 are arbitrary point positioning training for this application, in order to accommodate more variations in use. The reference point training and the arbitrary point training are processes of training difficulty progression, and are for enriching the qualified database of the industrial computer 1 to achieve the current precision and practicality. It should be noted that the reference point positioning training and the arbitrary point positioning training are both positioning training and are completed before the specific formal positioning control is used. The number of the training at any point depends on the precision requirement, and the training at any point as the starting point and the ending point of any point in each straight line segment can be stopped when the number of the starting point and the ending point of any point in each straight line segment must reach one number at the same time according to the actual situation, for example, the division point in each straight line segment is taken as the starting point of any point ten times and is taken as the ending point of any point ten times, and the training can be regarded as finished when the number of the straight line segments reaches the standard. Since the speed is set to only a few options, the number of training at any point is not particularly large, and the method has practicability.
And S80, inputting the starting point of the position to be positioned of the positioning control object, the end point coordinate of the position to be positioned and the speed.
Specifically, according to the requirements of a user, a starting point of the position to be positioned, an end point coordinate of the position to be positioned and a speed requirement are input.
And S90, the industrial computer 1 calculates corresponding motion state data according to the qualified database and transmits the corresponding motion state data to the frequency converter 2, the frequency converter 2 controls the asynchronous variable frequency motor 4 to operate, and the asynchronous variable frequency motor 4 drives the positioning control object 5 to reach the coordinates of the position to be positioned at the speed.
S80 and S90 are specific steps in using the positioning control, and the industrial computer 1 calculates data to be run by the inverter 2 in the qualified database of the industrial computer 1 according to the inputted positioning position and speed. The asynchronous variable frequency motor 4 will operate according to the voltage and frequency output by the frequency converter 2 to reach the required positioning position. It should be noted that S100 does not require the participation of the encoder 3. In general, the input parameters of the coordinates and the speed of the position to be positioned cannot be completely the same as the parameters of the position and the speed in the training process, but a close mapping relation exists in a qualified database, so that the whole system can be guided to work.
One specific example is a finned tube 8 cooling system as shown in fig. 4 and 5, in which the horizontal up-moving motor 41 drives the up-moving mechanism 51, the horizontal down-moving motor 42 drives the down-moving mechanism 52, and the cleaning head 9 is provided between the up-moving mechanism 51 and the down-moving mechanism 52 for cleaning the finned tube 8. A plurality of distributed position switches 6 are installed on the route traveled by the upper traveling mechanism 51 and the lower traveling mechanism 52. In order to ensure that the synchronous positioning control precision of the upper walking mechanism 51 and the lower walking mechanism 52 is +/-5 percent, the length of the system is 200M, and the power is more than 10 KW. The control positioning of the upper and lower traveling mechanisms 51 and 52 is linear in one dimension.
The traditional open-loop positioning system can cause the upper and lower accumulated positioning deviations to be asynchronous, so that the precision requirement cannot be ensured, and the system cannot meet the deviation requirement to generate safety risk and stop. A large amount of water mist can be generated when the finned tube 8 is cooled, and the full-closed-loop position control cannot be performed by using a laser ranging sensor; the walking distance is longer and the ambient temperature influence is great, so can not install grating chi etc. and carry out absolute position measurement. Positioning systems that are prevalent in the factory do not adapt to this environment.
First, positioning training, i.e., reference point training and arbitrary point training, is performed using the installed plurality of distributed position switches 6, and the industrial computer 1 builds a running database using the held data. Then, the user only needs to input a plurality of position points and the operation speed of each interval at the client, and the system automatically converts the frequency v =60 x f/p, wherein v is the speed, f is the operation frequency of the frequency converter 2, and p is the pole pair number of the asynchronous motor. The industrial computer 1 will automatically calculate the next control parameters, so that the frequency converter 2 controls the horizontal up-running motor 41 to drive the up-running mechanism 51 and the horizontal down-running motor 42 to drive the down-running mechanism 52 to synchronously reach the input positioning position. The control word, status word, etc. in fig. 6 are the communication control parameters of the frequency converter 2 commonly used in the industry at present. In order to facilitate a user to check process data, the absolute position and the relative position deviation of the up and down motors are fed back only by the distributed position switches 6 at each position.
In the previous description, numerous specific details were set forth in order to provide a thorough understanding of the present invention. The foregoing description is only a preferred embodiment of the invention, which can be embodied in many different forms than described herein, and therefore the invention is not limited to the specific embodiments disclosed above. And that those skilled in the art may, using the methods and techniques disclosed above, make numerous possible variations and modifications to the disclosed embodiments, or modify equivalents thereof, without departing from the scope of the claimed embodiments. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the scope of the technical solution of the present invention.
Claims (5)
1. A positioning control method based on a frequency converter is characterized by comprising the following steps:
s10, establishing a coordinate system in the one-dimensional straight line range to be positioned;
s20, equally dividing a straight line to be positioned into a plurality of straight line segments, and setting a distributed position switch at each end point as a reference point;
s30, randomly selecting two reference points, one of which is used as a reference point starting point and the other is used as a reference point terminal point, acquiring coordinates of the reference point starting point and the reference point terminal point, and randomly selecting a set value of the motion state data of the slave reference point; the positioning control object operates by taking the coordinates of the starting point of the reference point, the coordinates of the end point of the reference point and the set value of the motion state data of the reference point as parameters;
s40, the industrial computer receives the pulse value of the encoder and the reference point starting point coordinate in real time according to the frequency converter, and obtains the motion state data, the reference point theoretical displacement and the reference point theoretical end point coordinate from the reference point starting point coordinate to the reference point end point coordinate;
s50, according to the deviation limit value requirement of the reference point terminal coordinate and the reference point theory terminal coordinate, the industrial computer screens out the qualified motion state data of the reference point, and establishes the mapping between the qualified motion state data of the reference point and the operation data packet of the reference point; the operation data packet comprises: starting point coordinates, end point coordinates and displacements;
s60, the industrial computer stores the qualified motion state data of each reference point and the running data packet mapping of the reference point, and stores the mapping to a qualified database;
s70, repeating the steps S30-S60 for a plurality of times until the qualified motion state data of the reference points in the qualified database and the number of the running data packets of the reference points meet the number of the preset values of the reference points;
s80, inputting the starting point of the position to be positioned of the positioning control object, the end point coordinate and the speed of the position to be positioned;
and S90, the industrial computer calculates corresponding motion state data according to the qualified database and transmits the motion state data to the frequency converter, the frequency converter controls the asynchronous variable frequency motor to operate, and the asynchronous variable frequency motor drives the positioning control object to reach the coordinate of the position to be positioned at the speed.
2. The positioning control method based on frequency converter according to claim 1, further comprising before S80:
s71, averagely setting a plurality of dividing points for each straight line segment in the S20;
s72, randomly selecting a division point in one straight line segment as a starting point of any point, randomly selecting a division point in another straight line segment as an end point of any point, acquiring a starting point coordinate and an end point coordinate of any point, and randomly selecting a motion state data set value from any point; the positioning control object operates by taking the coordinates of the starting point of any point, the coordinates of the end point of any point and the set value of the motion state data of any point as parameters;
s73, the industrial computer receives the pulse value and the start point coordinate of the encoder in real time according to the frequency converter, and obtains the motion state data of any point, the theoretical displacement of any point and the theoretical end point coordinate of any point;
s74, if the theoretical endpoint coordinate of any point is regarded as qualified in the straight-line segment where the endpoint of any point is located, the industrial computer screens out qualified motion state data of any point, and establishes mapping between the qualified motion state data of any point and the operation data packet of any point;
s75, the industrial computer stores the qualified motion state data of each arbitrary point and the mapping of the operation data packet of the arbitrary point, and stores the mapping to a qualified database;
and S76, repeating the steps S72-S75 for a plurality of times until obtaining the motion state data of any point in the qualified database and the number of operation data packets of any point, wherein the number of operation data packets of any point meets the number of preset values of any point.
3. A frequency converter based positioning control system using the method of claim 1 or 2, comprising: the system comprises an industrial computer, a frequency converter, an asynchronous variable frequency motor, a positioning control object and a plurality of distributed position switches;
the asynchronous variable frequency motor comprises an encoder;
the industrial computer is electrically connected with a frequency converter, the frequency converter is electrically connected with the asynchronous variable frequency motor, and the asynchronous variable frequency motor is electrically connected with the positioning control object;
the industrial computer is used for receiving the state signals of the distributed position switches and simultaneously receiving and transmitting the data of the frequency converter;
the frequency converter is used for reading the pulse value of the encoder and also used for controlling the asynchronous variable frequency motor;
and the asynchronous variable frequency motor drives the positioning control object to move.
4. A transducer based positioning control system according to claim 3, said encoder being an incremental encoder or an absolute value encoder.
5. A transducer based positioning control system according to claim 3, comprising an ethernet adapter module; and the Ethernet switching interface module receives a state signal of the distributed position switch and transmits the state signal to the industrial computer.
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| CN100503333C (en) * | 2007-01-16 | 2009-06-24 | 重庆大学 | Multipoint location system for rail vehicle go and back running |
| CN108265507B (en) * | 2018-02-05 | 2020-04-03 | 拓卡奔马机电科技有限公司 | Drive control system of mane bed |
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