CN113426839A - Load monitor based on 6RA70 direct current transmission device - Google Patents
Load monitor based on 6RA70 direct current transmission device Download PDFInfo
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- CN113426839A CN113426839A CN202110611000.5A CN202110611000A CN113426839A CN 113426839 A CN113426839 A CN 113426839A CN 202110611000 A CN202110611000 A CN 202110611000A CN 113426839 A CN113426839 A CN 113426839A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/46—Roll speed or drive motor control
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Abstract
The invention discloses a load monitor based on a 6RA70 direct-current transmission device, which comprises the following specific observation steps: the load observation rotating speed value output by the load monitor and the load actual rotating speed value detected by the transmission device are processed by the adder 1, then enter the proportional integrator and are processed by the proportional integrator to form two paths; one path of the torque and the set torque of the transmission device are processed through an adder 2, the processed result is sent to an integrator after passing through a filter, and the result output by the integrator is sent to the input end of the adder 1 in return to form a closed loop; and the other path is processed by a multiplier, the processed result is sent to a limiter, and the output value of the limiter is the required load monitoring torque value. When the load changes, the system can quickly respond to the load state and quickly adjust the rotating speed of the direct current motor, so that the speed reduction of the rotating speed of the motor is reduced to the maximum extent, and the stability of the system is favorably maintained.
Description
Technical Field
The invention relates to the technical field of automatic control of steel rolling, in particular to a load monitor based on a 6RA70 direct-current transmission device.
Background
Section steel rolling is a steel rolling method and can be used for section steel rolling or cogging. The production capacity of hot-rolled H-shaped steel in China is greatly increased year by year from 11.31 ten thousand tons in 1999, the total production capacity can reach more than 1300 ten thousand tons from the current production line which is put into operation and is about to be built, the product specification covers large, medium and small, and the maximum design specification is HN900mm multiplied by 300 mm. Meanwhile, with the continuous development of numerical calculation, the application of numerical simulation in the rolling process of H-shaped steel is more and more extensive.
In the steel rolling production process, in order to improve the production efficiency of rolled steel, the automatic control system can be applied, the company carries out automatic control by using a direct current transmission device of 6RA70, the direct current speed regulation control system consists of a rotating speed and current double closed loop control system, the speed regulation requirement can be met in general application occasions, but in the occasions of high-speed operation of a rolling mill and frequent load change, the requirement cannot be met only by the rotating speed and current double closed loop system, when the load changes, the direct current transmission system does not react fast enough, a larger speed drop can be generated, and the quality of a rolled finished product is defective easily due to the larger speed drop. Therefore, improvements are needed.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide a load monitor based on a 6RA70 direct-current transmission device, which is designed by utilizing a free function block inside the device based on the 6RA70 direct-current transmission device.
In order to solve the technical problem, the invention provides a load monitor based on a 6RA70 direct-current transmission device, which comprises the following specific observation steps:
step S1: the load observation rotating speed value output by the load monitor and the load actual rotating speed value detected by the transmission device are processed by the adder 1, then enter the proportional integrator and are processed by the proportional integrator to form two paths;
step S2: one path of the torque and the set torque of the transmission device are processed through an adder 2, the processed result is sent to an integrator after passing through a filter, and the result output by the integrator is sent to the input end of the adder 1 in return to form a closed loop;
step S3: the other path is processed by a multiplier, the processed result is sent to an amplitude limiter, and the output value of the amplitude limiter is the required load monitoring torque value;
step S4: and connecting the load monitoring torque value obtained in the step S3 to an additional torque set value of the transmission to realize the combination of the load monitoring and the speed and current double closed loop of the original transmission.
Further, the adder 1 in step S1 is used to calculate the difference between the observed rotational speed value of the load output from the load monitor and the actual rotational speed value of the load detected by the transmission.
Further, the difference obtained by the adder 1 in step S1 is fed to a proportional integrator, and the observed torque output by the proportional integrator is divided into two paths.
Further, the adder 2 of step S2 calculates a difference between the observed torque output from the proportional-integrator in step S1 and the set torque of the transmission.
Further, the filter of step S2 forms a filter from the difference calculated by the adder 2 and sends the filtered result to the integrator, the output result of the integrator is the load observed rotation speed value, and the obtained load observed rotation speed value is in turn sent to the input end of the adder 1 to form a closed loop.
Furthermore, the multiplier in step S3 processes the other path of observed torque output from the proportional integrator, the other path of observed torque is calculated by the multiplier, and the calculated result is fed to the limiter.
The invention has the beneficial effects that:
based on 6RA70 direct current drive itself, utilize the inside free function block of device to design a set of load observer, come the change situation of real-time detection load through the load observer, when the load changes, can respond to the load state fast to carry out the rapid adjustment to direct current motor's rotational speed, reduce the speed of motor rotational speed fast to the at utmost, be favorable to keeping the stability of system.
Drawings
Fig. 1 is a flowchart of an implementation of the load observer of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
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 invention provides a load monitor based on a 6RA70 direct-current transmission device, which comprises the following specific observation steps:
step S1: the load observation rotating speed value output by the load monitor and the load actual rotating speed value detected by the transmission device are processed by the adder 1, then enter the proportional integrator and are processed by the proportional integrator to form two paths;
step S2: one path of the torque and the set torque of the transmission device are processed through an adder 2, the processed result is sent to an integrator after passing through a filter, and the result output by the integrator is sent to the input end of the adder 1 in return to form a closed loop;
step S3: the other path is processed by a multiplier, the processed result is sent to an amplitude limiter, and the output value of the amplitude limiter is the required load monitoring torque value;
step S4: and connecting the load monitoring torque value obtained in the step S3 to an additional torque set value of the transmission to realize the combination of the load monitoring and the speed and current double closed loop of the original transmission.
The adder 1 in step S1 is used to calculate the difference between the observed rotational speed value of the load output from the load monitor and the actual rotational speed value of the load detected by the transmission.
The difference obtained by the adder 1 in step S1 is sent to a proportional integrator, and the observation torque output by the proportional integrator is divided into two paths.
The adder 2 of step S2 calculates the difference between the observed torque output from the proportional-integrator in step S1 and the set torque of the transmission.
The filter of step S2 forms a filter from the difference calculated by the adder 2 and sends the filtered result to the integrator, the output result of the integrator is the load observation rotation speed value, and the obtained load observation rotation speed value is sent to the input end of the adder 1 in return to form a closed loop.
The multiplier of step S3 processes the other path of observed torque output from the proportional integrator, the other path of observed torque is calculated by the multiplier, and the calculated result is sent to the limiter.
Claims (6)
1. A load monitor based on a 6RA70 direct-current transmission device is characterized by comprising the following specific observation steps:
step S1: the load observation rotating speed value output by the load monitor and the load actual rotating speed value detected by the transmission device are processed by the adder 1, then enter the proportional integrator and are processed by the proportional integrator to form two paths;
step S2: one path of the torque and the set torque of the transmission device are processed through an adder 2, the processed result is sent to an integrator after passing through a filter, and the result output by the integrator is sent to the input end of the adder 1 in return to form a closed loop;
step S3: the other path is processed by a multiplier, the processed result is sent to an amplitude limiter, and the output value of the amplitude limiter is the required load monitoring torque value;
step S4: and connecting the load monitoring torque value obtained in the step S3 to an additional torque set value of the transmission to realize the combination of the load monitoring and the speed and current double closed loop of the original transmission.
2. The load monitor based on 6RA70 dc transmission of claim 1, wherein the adder 1 in step S1 is used to calculate the difference between the observed rotational speed value of the load output from the load monitor and the actual rotational speed value of the load detected by the transmission.
3. The 6RA70 dc transmission-based load monitor of claim 2, wherein: the difference obtained by the adder 1 in step S1 is sent to a proportional integrator, and the observation torque output by the proportional integrator is divided into two paths.
4. The 6RA70 DC actuator-based load monitor of claim 3, wherein the adder 2 of step S2 calculates the difference between the observed torque output by the proportional-integrator of step S1 and the set torque of the actuator.
5. The load monitor based on 6RA70 dc transmission of claim 4, wherein the filter of step S2 forms a filter from the difference calculated by the adder 2 and sends the filtered value to the integrator, the output of the integrator is the observed load rotation speed value, and the obtained observed load rotation speed value is sent to the input end of the adder 1 in turn to form a closed loop.
6. The load monitor based on 6RA70 dc transmission of claim 3, wherein the multiplier in step S3 processes the other path of the observed torque outputted from the proportional integrator, the other path of the observed torque is calculated by the multiplier, and the calculated result is sent to the limiter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110611000.5A CN113426839A (en) | 2021-06-01 | 2021-06-01 | Load monitor based on 6RA70 direct current transmission device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110611000.5A CN113426839A (en) | 2021-06-01 | 2021-06-01 | Load monitor based on 6RA70 direct current transmission device |
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| CN113426839A true CN113426839A (en) | 2021-09-24 |
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| CN202110611000.5A Pending CN113426839A (en) | 2021-06-01 | 2021-06-01 | Load monitor based on 6RA70 direct current transmission device |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5583495A (en) * | 1978-12-19 | 1980-06-23 | Mitsubishi Electric Corp | Excitation system for synchronous motor |
| JPS637194A (en) * | 1986-06-24 | 1988-01-13 | Mitsubishi Electric Corp | Protecting method for overload of variable speed motor |
| CN101771380A (en) * | 2010-02-11 | 2010-07-07 | 哈尔滨工业大学（威海） | Space vector modulation method for inverter directly controlled by torque |
| CN104539215A (en) * | 2015-01-25 | 2015-04-22 | 东北石油大学 | Quick torque tracking control strategy |
| CN106533291A (en) * | 2016-08-31 | 2017-03-22 | 东菱技术有限公司 | Inertia identification and load torque observation-based speed loop response improvement method |
| CN111585498A (en) * | 2020-06-03 | 2020-08-25 | 能科科技股份有限公司 | Variable-frequency speed regulation control system with load observer and frequency converter |
-
2021
- 2021-06-01 CN CN202110611000.5A patent/CN113426839A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5583495A (en) * | 1978-12-19 | 1980-06-23 | Mitsubishi Electric Corp | Excitation system for synchronous motor |
| JPS637194A (en) * | 1986-06-24 | 1988-01-13 | Mitsubishi Electric Corp | Protecting method for overload of variable speed motor |
| CN101771380A (en) * | 2010-02-11 | 2010-07-07 | 哈尔滨工业大学（威海） | Space vector modulation method for inverter directly controlled by torque |
| CN104539215A (en) * | 2015-01-25 | 2015-04-22 | 东北石油大学 | Quick torque tracking control strategy |
| CN106533291A (en) * | 2016-08-31 | 2017-03-22 | 东菱技术有限公司 | Inertia identification and load torque observation-based speed loop response improvement method |
| CN111585498A (en) * | 2020-06-03 | 2020-08-25 | 能科科技股份有限公司 | Variable-frequency speed regulation control system with load observer and frequency converter |
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Application publication date: 20210924 |
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