CN115647072B - Coiling machine torque control method for accurately controlling reel torque - Google Patents
Coiling machine torque control method for accurately controlling reel torque Download PDFInfo
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- CN115647072B CN115647072B CN202211341223.5A CN202211341223A CN115647072B CN 115647072 B CN115647072 B CN 115647072B CN 202211341223 A CN202211341223 A CN 202211341223A CN 115647072 B CN115647072 B CN 115647072B
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 239000012530 fluid Substances 0.000 claims abstract description 121
- 238000005096 rolling process Methods 0.000 claims abstract description 55
- 230000005540 biological transmission Effects 0.000 claims abstract description 30
- 239000003638 chemical reducing agent Substances 0.000 claims description 106
- 230000015572 biosynthetic process Effects 0.000 claims description 58
- 238000003786 synthesis reaction Methods 0.000 claims description 58
- 230000008569 process Effects 0.000 claims description 20
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 14
- 229910052802 copper Inorganic materials 0.000 claims description 14
- 239000010949 copper Substances 0.000 claims description 14
- 238000009825 accumulation Methods 0.000 claims description 9
- 230000004069 differentiation Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 239000002184 metal Substances 0.000 abstract description 18
- 229910052751 metal Inorganic materials 0.000 abstract description 18
- 238000004519 manufacturing process Methods 0.000 abstract description 16
- 239000011888 foil Substances 0.000 abstract description 15
- 230000004044 response Effects 0.000 abstract description 5
- 230000006872 improvement Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000009467 reduction Effects 0.000 description 7
- 238000012163 sequencing technique Methods 0.000 description 6
- 238000009826 distribution Methods 0.000 description 4
- 230000002194 synthesizing effect Effects 0.000 description 4
- 230000002441 reversible effect Effects 0.000 description 3
- 238000005097 cold rolling Methods 0.000 description 2
- 238000005098 hot rolling Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
- B21C47/003—Regulation of tension or speed; Braking
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
Abstract
A coiling machine torque control method for precisely controlling the torque of a coiling shaft comprises the steps of adding a magnetorheological fluid clutch in series in a transmission chain of a traditional coiling machine driving the coiling shaft, and precisely controlling the torque of the driving coiling shaft through precisely controlling the working torque of the magnetorheological fluid clutch, so that the tension output from the working torque of the coiling shaft to a metal strip foil is precisely controlled; the coiling machine torque control method for precisely controlling the reel torque fully utilizes the characteristics of precisely controllable working torque and high response speed of the magnetorheological fluid clutch, greatly improves the tension control precision of metal foil rolling production, and lays a good equipment foundation for the technical level improvement of the domestic metal rolling production industry and the precise metal foil rolling production.
Description
Technical Field
The invention relates to the technical field of metal strip foil rolling equipment, in particular to a coiling machine torque control method for precisely controlling reel torque.
Background
The coiling machine is auxiliary equipment commonly used in the metal strip foil rolling production process; in the rolling production process of the metal strip foil, the tension of the metal strip foil at the inlet and the outlet of a rolling mill is controlled, the traditional inlet and outlet tension of the rolling mill is realized by controlling the rotation speed difference between a coiling machine reel and a working roller or by controlling the torque of a coiling machine driving motor, but the two tension control modes have the problems of long transmission chain, large moment of inertia, slow control response speed and low control precision of a driving system of a tension realizing structure; for ordinary metal foil rolling production, the traditional tension realizing structure still can meet the use requirement, but for precise metal foil rolling production, the requirement on the inlet and outlet tension control of a rolling mill is particularly strict, and the traditional tension realizing structure has a certain 'force-free' for the tension control of the precise metal foil rolling production, so how to further improve the tension control precision in the precise metal foil rolling production becomes a technical bottleneck to be solved urgently in the domestic metal rolling production industry.
Disclosure of Invention
In order to overcome the defects in the background art, the invention discloses a coiling machine torque control method for precisely controlling the torque of a coiling shaft, which is characterized in that a magnetorheological fluid clutch is added in series in a transmission chain of a traditional coiling machine driving the coiling shaft, and the precise control of the torque of the driving coiling shaft is realized through the precise control of the working torque of the magnetorheological fluid clutch, so that the precise control of the tension output from the working torque of the coiling shaft to a metal strip foil is realized.
In order to achieve the aim of the invention, the invention adopts the following technical scheme: the coiling machine comprises a frame, a coiling shaft, a magnetorheological fluid clutch, a speed reducer, a motor and a torque synthesis speed reducer, wherein the coiling shaft is rotatably arranged on the frame, and the speed reducer is in transmission connection with the motor; the speed reducer is in transmission connection with the reel through a plurality of magnetorheological fluid clutches and a torque synthesis speed reducer; when the magnetorheological fluid clutch works, the working torque is realized through the driving current, and when the driving current is changed, the working torque is correspondingly changed, so that the control of the working torque of the magnetorheological fluid clutch has the advantages of high response speed and high control precision; in addition, when the magnetorheological fluid clutch works, a rotating speed difference exists between the driving shaft and the driven shaft, and the size of the rotating speed difference has no influence on working torque, so that the requirement on the control precision of the rotating speed difference between the coiling shaft of the coiling machine and the working roller is greatly reduced; in addition, after the magnetorheological fluid clutch is added in the coiling machine structure, the transmission chain for controlling the driving torque of the reel is greatly simplified, so that the moment of inertia of the transmission system is also greatly reduced, and the control response speed is correspondingly further improved; because the maximum working torque of the existing magnetorheological fluid clutch is limited, and a coiling machine with higher rolling tension requirement can not provide enough driving torque for a reel only through one magnetorheological fluid clutch, a plurality of magnetorheological fluid clutches are adopted to output larger torque through a torque synthesis speed reducer, and the contradiction between smaller working torque of the magnetorheological fluid clutch and larger torque required by the reel is solved; when a plurality of magnetorheological fluid clutches are adopted to synthesize larger driving torque through the torque synthesis speed reducer, the control of the output torque of the torque synthesis speed reducer is realized through the alternate control of the working torque of the plurality of magnetorheological fluid clutches, so that the problem that the working torque of the plurality of magnetorheological fluid clutches is overlarge in difference is avoided.
Further, the torque synthesis speed reducer comprises a torque synthesis speed reducer output shaft and a plurality of torque synthesis speed reducer input shafts, and the torque synthesis speed reducer output shaft is in transmission connection with the plurality of torque synthesis speed reducer input shafts through gear engagement.
Preferably, a plurality of magnetorheological fluid clutches, a torque synthesis speed reducer and friction clutches are arranged between the speed reducer and the reel, and the speed reducer is in transmission connection with the reel through the plurality of magnetorheological fluid clutches, the friction clutches and the torque synthesis speed reducer; because the maximum working torque of the existing magnetorheological fluid clutch is limited, even if a plurality of magnetorheological fluid clutches are adopted to output larger torque in a mode of synthesizing a speed reducer by torque, in certain cases, such as hot rolling or cold rolling of thicker copper strips, the requirement of a coiling machine reel on driving torque still cannot be met, at the moment, the speed reducer and the reel can be in transmission connection through a friction clutch, the magnetorheological fluid clutches are in a non-working state, and the requirement of the reel on driving torque is met; when the thickness of the copper strip is thinner in hot rolling or cold rolling and the required driving torque of the reel is smaller, the transmission connection of the friction clutch between the speed reducer and the reel can be disconnected, and the transmission connection is carried out through a plurality of magnetorheological fluid clutches, so that the requirement on the control precision of the driving torque of the reel is met.
Further, the torque synthesis speed reducer comprises a plurality of torque synthesis speed reducer input shafts and a torque synthesis speed reducer main shaft, and the plurality of torque synthesis speed reducer input shafts are in transmission connection with the torque synthesis speed reducer main shaft through gear engagement.
The coiling machine torque control method for precisely controlling the reel torque comprises the following steps: the working torque of a plurality of magnetorheological fluid clutches is accurately controlled, so that the accurate control of the driving torque of the reel is realized; the control process comprises the following steps:
S1, setting working speed of a magnetorheological fluid clutch: the working speed of the magnetorheological fluid clutch is the rotation speed difference between a torque input shaft and a torque output shaft; for the coiling machine at the outlet end of the reversible rolling mill, the rotation speed difference between the torque input shaft and the torque output shaft is maintained between positive 20 rpm and 80rpm, namely the rotation speed of the torque input shaft is higher than the rotation speed of the torque output shaft; for the coiler at the inlet end of the reversible rolling mill, the rotation speed difference between the torque input shaft and the torque output shaft is maintained between minus 20 rpm and 80rpm, namely the rotation speed of the torque input shaft is lower than the rotation speed of the torque output shaft;
s2, distributing working torque of the magnetorheological fluid clutch: the initial working torque is evenly distributed to a plurality of magnetorheological fluid clutches according to the torque required by the actual working of the reel, and the calculation formula is as follows:
Mci=Mj/I*n ......(1)
Mj=T*Rj ......(2)
wherein: mci is torque allocated to a single magnetorheological fluid clutch; mj is the torque required by the actual working of the reel; i is the transmission ratio between the output shaft of the magnetorheological fluid clutch and the reel; n is the number of magnetorheological fluid clutches; t is rolling tension; rj is the outer diameter of the copper coil on the reel;
S3, controlling working torque of the magnetorheological fluid clutch: the working torque of the magnetorheological fluid clutches is controlled by PID (proportion integration differentiation) formed by feedback signals; in the feedback control process, only one of a plurality of magnetorheological fluid clutches is subjected to working torque adjustment control; a threshold value is set for the torque accumulation adjustment value of the magnetorheological fluid clutch; when the torque accumulation adjustment value of the magnetorheological fluid clutch subjected to feedback control reaches or exceeds a set threshold value, the feedback control process starts to perform feedback control on the other magnetorheological fluid clutch according to the set sequence; and by analogy, in the whole feedback control process, the feedback control of each magnetorheological fluid clutch is realized.
Due to the adoption of the technical scheme, the invention has the following beneficial effects: the invention discloses a coiling machine torque control method for precisely controlling the torque of a coiling shaft, which is characterized in that a magnetorheological fluid clutch is added in series in a transmission chain of a traditional coiling machine driving the coiling shaft, and the precise control of the torque of the driving coiling shaft is realized by precisely controlling the working torque of the magnetorheological fluid clutch, so that the precise control of the tension output from the working torque of the coiling shaft to a metal strip foil is realized; the coiling machine structure fully utilizes the characteristics of precisely controllable working torque and high response speed of the magnetorheological fluid clutch, greatly improves the tension control precision of metal strip foil rolling production, and lays a good equipment foundation for the technical level improvement of the domestic metal rolling production industry and the precise metal strip foil production.
Drawings
FIG. 1 is a schematic diagram of a coiler for precisely controlling spool torque;
FIG. 2 is a schematic diagram of a torque combining speed reducer;
FIG. 3 is a schematic diagram of a speed reducer;
FIG. 4 is a schematic diagram II of a coiler for precisely controlling the torque of the spool;
FIG. 5 is a schematic diagram of a torque combining speed reducer;
FIG. 6 is a second schematic diagram of a speed reducer;
FIG. 7 is a schematic diagram of a control flow for precisely controlling spool torque.
In the figure: 1. a frame; 2. a reel; 3. a magnetorheological fluid clutch; 4. a speed reducer; 4.1, a speed reducer input shaft; 4.2, auxiliary output shafts of the speed reducers; 4.3, a main output shaft of the speed reducer; 5. a motor; 6. a torque synthesis speed reducer; 6.1, synthesizing an output shaft of the speed reducer by torque; 6.2, synthesizing an input shaft of the speed reducer by torque; 6.3, synthesizing a main shaft of the speed reducer by torque; 7. a friction clutch; 8. an initial torque distribution flow; 9. a working torque sequencing flow; 10. feedback control loop flow.
Detailed Description
The invention will be explained in more detail by the following examples, the purpose of which is to protect all technical improvements within the scope of the invention.
Examples
The coiling machine comprises a frame 1, a coiling shaft 2, a magnetorheological fluid clutch 3, a speed reducer 4, a motor 5 and a torque synthesis speed reducer 6, wherein the coiling shaft 2 is rotatably arranged on the frame 1; the torque synthesis speed reducer 6 comprises a torque synthesis speed reducer output shaft 6.1 and three torque synthesis speed reducer input shafts 6.2, wherein the torque synthesis speed reducer output shaft 6.1 is connected with the torque synthesis speed reducer input shaft 6.2 through gear engagement, and a reduction ratio of 1:3 is arranged; the speed reducer 4 is provided with three speed reducer output shafts 4.2 and one speed reducer input shaft 4.1, and a reduction ratio of 1:10 is arranged between the speed reducer output shafts 4.2 and the speed reducer input shaft 4.1; one end of the scroll 2 is in transmission connection with the output shaft 6.1 of the torque synthesis speed reducer 6 through a coupler; the three torque synthesis speed reducer input shafts 6.2 of the torque synthesis speed reducer 6 are correspondingly connected with the three speed reducer output shafts 4.2 of the speed reducer 4 through three magnetorheological fluid clutches 3 in a transmission manner; the input shaft 4.1 of the speed reducer 4 is in transmission connection with the driving shaft of the motor 5 through a coupler; when the magnetorheological fluid clutch 3 works, a rotating speed difference exists between an input shaft and an output shaft, and the rotating speed difference is set at 30rpm; the working torque of the three magnetorheological fluid clutches 3 is synthesized into larger working torque through a torque synthesis speed reducer, and is output through an output shaft 6.1 of the synthesis speed reducer, so that accurate and controllable working torque is provided for driving the scroll 2; the working torque of each magnetorheological fluid clutch is determined by the working current of the magnetorheological fluid clutch, the working current is controlled by a tension control system of a rolling mill production line, and the problem that the working torque of the three magnetorheological fluid clutches 3 is overlarge in difference is avoided by alternately controlling the working current of the three magnetorheological fluid clutches.
Examples
The coiling machine comprises a frame 1, a coiling shaft 2, a magnetorheological fluid clutch 3, a speed reducer 4, a motor 5, a torque synthesis speed reducer 6 and a friction clutch 7, wherein the coiling shaft 2 is rotatably arranged on the frame 1; the torque synthesis speed reducer 6 comprises a torque synthesis speed reducer main shaft 6.3 and three torque synthesis speed reducer input shafts 6.2, wherein the torque synthesis speed reducer main shaft 6.3 is connected with the torque synthesis speed reducer input shafts 6.2 through gear meshing, and a reduction ratio of 1:2 is arranged; the speed reducer 4 is provided with three speed reducer output shafts 4.2, a speed reducer input shaft 4.1 and a speed reducer main output shaft 4.3, a speed reduction ratio of 1:10 is arranged between the speed reducer output shafts 4.2 and the speed reducer input shaft 4.1, and a speed reduction ratio of 1:20 is arranged between the speed reducer main output shaft 4.3 and the speed reducer input shaft 4.1; one end of the scroll 2 is in transmission connection with one end of a torque synthesis speed reducer main shaft 6.3 of the torque synthesis speed reducer 6 through a coupler, and the other end of the torque synthesis speed reducer main shaft 6.3 is in transmission connection with a speed reducer main output shaft 4.3 of the speed reducer 4 through a friction clutch 7; three torque synthesis speed reducer input shafts 6.2 of the torque synthesis speed reducer 6 are correspondingly in transmission connection with three speed reducer output shafts 4.2 of the speed reducer 4 through three magnetorheological fluid clutches 3; the input shaft 4.1 of the speed reducer 4 is in transmission connection with the driving shaft of the motor 5 through a coupler;
When the coiling machine works in a large torque mode, the main output shaft 4.3 of the speed reducer 4 is actually and directly connected with the scroll 2 in a transmission way through the friction clutch 7, and at the moment, the magnetorheological fluid clutch is in a non-working state (without working current) so as to meet the requirement of the scroll 2 on driving torque;
when the coiling machine works in a torque accurate control mode, the friction clutch 7 is in a disconnected state, the three magnetorheological fluid clutches 3 are in a working state (with working current), and a rotating speed difference exists between an input shaft and an output shaft of the three magnetorheological fluid clutches 3, wherein the rotating speed difference is set at 30rpm; the working torque of the three magnetorheological fluid clutches 3 is synthesized into larger working torque through a torque synthesis speed reducer 6, and the larger working torque is output through a main shaft 6.3 of the torque synthesis speed reducer to provide accurate and controllable working torque for driving the scroll 2; the working torque of each magnetorheological fluid clutch is determined by the working current of the magnetorheological fluid clutch, the working current is controlled by a tension control system of a rolling mill production line, and the problem that the working torque of the three magnetorheological fluid clutches 3 is overlarge in difference is avoided by alternately controlling the working current of the three magnetorheological fluid clutches.
The coiling machine torque control method for precisely controlling the reel torque comprises the following steps: the working torque of the magnetorheological fluid clutches 3 is accurately controlled, so that the driving torque of the reel 2 is accurately controlled; the control process comprises the following steps:
S1, setting the working speed of a magnetorheological fluid clutch 3: the working speed of the magnetorheological fluid clutch 3 is the rotation speed difference between a torque input shaft and a torque output shaft, and the rotation speed difference between the torque input shaft and the torque output shaft is set and maintained at 30rpm;
S2, distributing working torque of the magnetorheological fluid clutch 3: the initial working torque is evenly distributed to a plurality of magnetorheological fluid clutches 3 according to the torque required by the actual working of a reel 2, and the calculation formula is as follows:
Mci=Mj/I*n ......(1)
Mj=T*Rj ......(2)
Wherein: mci is the torque allocated by the single magnetorheological fluid clutch 3; mj is the torque required for the actual operation of the spool 2; i is the transmission ratio between the output shaft of the magnetorheological fluid clutch 3 and the reel 2; n is the number of magnetorheological fluid clutches 3; t is rolling tension; rj is the outer diameter of the copper coil on the reel 2;
S3, controlling working torque of the magnetorheological fluid clutch 3: the working torque of the magnetorheological fluid clutches 3 is controlled by PID (proportion integration differentiation) formed by feedback signals; in the feedback control process, only one of the magnetorheological fluid clutches 3 is subjected to working torque adjustment control, and a threshold value is set for the torque accumulation adjustment value of one magnetorheological fluid clutch 3; when the torque accumulation adjustment value of the feedback-controlled magnetorheological fluid clutch 3 reaches or exceeds a set threshold value, the feedback control process starts to perform feedback control on the other magnetorheological fluid clutch 3 according to the set sequence; and so on, in the whole feedback control process, the feedback control of each magnetorheological fluid clutch 3 is realized.
The supplementary explanation is: in the torque control process of the reel 2 of the coiling machine, the control of the rotating speed of the reel 2 is actually included, the control structure and the control method are basically the same as those of the prior art, and detailed description is omitted herein; the difference is that: compared with the control of the rotating speed of the existing reel 2, the calculated rotating speed of the motor needs to be properly increased, the rotating speed difference between the torque input shaft and the torque output shaft of the magnetorheological fluid clutch 3 is ensured to be maintained between 20 rpm and 80rpm, the heating of the magnetorheological fluid clutch 3 during operation is usually reduced, the rotating speed difference between the torque input shaft and the torque output shaft is set near the lower limit, and is usually set at 30rpm; for example, the hot rough rolling speed of the copper belt is 150 m/min, the coiling external diameter of the reel 2 is 2m, the rotating speed of the reel 2 is 23.885rpm, the rotating speed of the torque input shaft 2.3.2 of the torque synthesis speed reducer 2.3 is 71.656rpm according to the reduction ratio of 3:1 between the torque input shaft 2.3.2 and the torque output shaft 2.3.1, and the rotating speed of the torque input shaft of the torque synthesis speed reducer 2.3 is 101.656rpm according to the rotating speed difference of 30rpm between the torque input shaft and the torque output shaft of the magnetorheological fluid clutch 3; assuming that the reduction ratio of the gearbox 2.5 is 10, the rotation speed of the motor 2.6 obtained through final calculation is 1016.56rpm;
The control flow for precisely controlling the reel torque is specifically shown in fig. 6 of the specification, and the rolling tension control flow actually comprises an initial torque distribution flow 8, a working torque sequencing flow 9 of the magnetorheological fluid clutch 3 and a feedback control circulation flow 10; the control process of the rolling tension of the precise copper strip in the hot rough rolling process is described below by taking the final pass rolling of the copper strip hot rough rolling as an example, and the rolling parameters are as follows:
The thickness of the hot rough rolled copper strip finished product is 1.5mm, and the thickness deviation is +/-0.001 mm; the inner diameter of the coil is 610mm, and the outer diameter phi 1850 mm of the coil; the winding speed is 5m/min, the rolling speed is 180m/min, and the acceleration time is 30s; the rolling tension is 1.0KN, the rolling tension is 10KN, and the allowable fluctuation range of the rolling tension is +/-0.5%;
The parameters of the magnetorheological fluid clutch 3 are as follows: maximum working torque 2.0kn x m, starting torque (in non-controlled state) 0.01kn x m; for convenience of explanation, it is assumed that the control current and the working torque are in a linear relationship (actually in a nonlinear relationship), the linear coefficient thereof is 0.25kn x m/a, and the working current control accuracy is 10.0mA;
Initial torque distribution flow 8: the working torque distribution of the three magnetorheological fluid clutches 3 during winding is as follows: the actual working torque of the reel 2 during reeling is as follows: mj=trj=1.0×0.305=0.305 kn×m, the average distributed operating torque of each magnetorheological fluid clutch 3 is mci=mj/iin=0.305/(3*3) =0.0339 kn×m, and thus the operating current of each magnetorheological fluid clutch 3 is 95.6mA; setting the cumulative torque adjustment threshold value of each magnetorheological fluid clutch 3 to be 0.01KN x m;
Working torque sequencing flow 9 of magnetorheological fluid clutch 3: assuming that the three magnetorheological fluid clutches 3 are A, B, C respectively, the initial working torque is distributed evenly, and the sequence of the three magnetorheological fluid clutches after random sequencing is A, B, C;
Feedback control loop flow 10: as the rotation speed of the working roll is gradually increased, the rotation speed and rolling tension of the scroll 2 are also gradually increased, and a target value after the rolling tension is increased is given by a control system; when the actual tension value detected by the sensor according to the set period deviates from the target value after the rolling tension rises, the control system outputs a feedback control signal through PID control operation, the feedback control signal is led into a reel tension control flow, firstly, the control direction of the feedback signal (the forward direction is the increasing working torque and the reverse direction is the decreasing working torque) is judged, and then the magnetorheological fluid clutch 3C is controlled to increase the working torque according to the A, B, C sequence of the magnetorheological fluid clutch 3; in each feedback control loop flow 10 period, judging whether the torque accumulation adjustment value of the magnetorheological fluid clutch 3C exceeds a set threshold value of 0.01KN x m, and if not, entering a feedback control loop of the next period; when the torque accumulation adjustment value of the magnetorheological fluid clutch 3C exceeds the set threshold value 0.01kn by m in the subsequent control cycle, the working torque ordering flow 9 is re-entered, and the three magnetorheological fluid clutches 3A, B, C are ordered according to the torque from new, and the ordering result is C, A, B (the ordering of A, B is randomly generated because the working torque of C is the largest and the ordering is the first order);
After the working torque sequencing process 9 of the magnetorheological fluid clutch 3 is finished, reentering the feedback control circulation process 10, and continuously performing forward feedback control on the working torque of the magnetorheological fluid clutch 3B in the new feedback control circulation process 10; after a plurality of feedback control loop flows 10, the torque accumulation adjustment value of the magnetorheological fluid clutch 3B exceeds a set threshold value of 0.01kn×m, and then the working torque ordering flow 9 is re-entered, the three magnetorheological fluid clutches 3A, B, C are ordered according to the torque values from new, the ordering result is B, C, A (or the ordering results are C, B, A because the working torques of C, B are equal, and the ordering of C, B is random generation);
By repeatedly executing the working torque sequencing process 9 and the feedback control circulation process 10, the final pass rolling of the hot rough rolled copper strip gradually enters a stable rolling stage from a rolling stage, in the process, the working torques of the three magnetorheological fluid clutches 3A, B, C are increased to be more than 1.1KN from the initial 0.0339KN, and the actual working torques of the three magnetorheological fluid clutches 3A, B, C are more than 1.1KN when the coil diameter is increased and the hot rough rolled copper strip enters the stable rolling stage; after entering a stable rolling stage, as the diameter of the coil continuously increases, the actual working torque of the three magnetorheological fluid clutches 3A, B, C continuously increases, and the rolling tension is always and stably controlled to be 10KN under the control of a rolling tension control flow of a precise copper plate and strip rolling production line and is kept unchanged;
And (3) analyzing rolling tension control precision: taking the rolling tension control in the stable rolling stage as an example, the working current control precision of the magnetorheological fluid clutch 3 is 10.0mA, namely in a feedback control circulation flow 10, the working torque variation of the magnetorheological fluid clutch 3 is 0.0025kn x m, the working torque variation of the spool 2 is 0.0075KN x m, calculated by the maximum coil diameter of 1450mm, the maximum variation of the rolling tension is 0.00544KN finally, the control precision is 0.0544%, and is far higher than the range of +/-0.5% of the fluctuation allowed by the rolling tension in the final pass rolling of the precise copper strip hot rough rolling, so the extremely high rolling tension control precision fully ensures the dimensional precision of the precise copper strip after rough rolling.
The invention is not described in detail in the prior art.
Claims (4)
1. The coiling machine comprises a frame (1), a coiling shaft (2), a magnetorheological fluid clutch (3), a speed reducer (4), a motor (5) and a torque synthesis speed reducer (6), wherein the coiling shaft (2) is rotatably arranged on the frame (1), and the speed reducer (4) is in transmission connection with the motor (5); the method is characterized in that: the speed reducer (4) is in transmission connection with the reel (2) through a plurality of magnetorheological fluid clutches (3) and a torque synthesis speed reducer (6);
the method is characterized in that: the working torque of a plurality of magnetorheological fluid clutches (3) is accurately controlled, so that the driving torque of the reel (2) is accurately controlled; the control process comprises the following steps:
s1, setting the working speed of a magnetorheological fluid clutch (3): the working speed of the magnetorheological fluid clutch (3) is the rotation speed difference between a torque input shaft and a torque output shaft; the rotational speed difference between the torque input shaft and the torque output shaft is maintained between 20 rpm and 80 rpm;
s2, distributing working torque of the magnetorheological fluid clutch (3): the initial working torque is evenly distributed to a plurality of magnetorheological fluid clutches (3) according to the torque required by the actual working of a reel (2), and the calculation formula is as follows:
Mci=Mj/I*n ......(1)
Mj=T*Rj ......(2)
Wherein: mci is the torque allocated to a single magnetorheological fluid clutch (3); mj is the torque required by the actual work of the reel (2); i is the transmission ratio between the output shaft of the magnetorheological fluid clutch (3) and the scroll (2); n is the number of magnetorheological fluid clutches (3); t is rolling tension; rj is the outer diameter of the copper coil on the reel (2);
S3, controlling working torque of the magnetorheological fluid clutch (3): the working torque of the magnetorheological fluid clutches (3) is controlled by PID (proportion integration differentiation) formed by feedback signals; in the feedback control process, only one of the magnetorheological fluid clutches (3) is subjected to working torque adjustment control; a threshold value is set for the torque accumulation adjustment value of one magnetorheological fluid clutch (3), and when the torque accumulation adjustment value of the feedback-controlled magnetorheological fluid clutch (3) reaches or exceeds the set threshold value, the feedback control process starts to perform feedback control on the other magnetorheological fluid clutch (3) according to the set sequence; and by analogy, in the whole feedback control process, the feedback control of each magnetorheological fluid clutch (3) is realized.
2. The coiler torque control method for precisely controlling the torque of a coiler shaft according to claim 1, characterized in that: the torque synthesis speed reducer (6) comprises a torque synthesis speed reducer output shaft (6.1) and a plurality of torque synthesis speed reducer input shafts (6.2), wherein the torque synthesis speed reducer output shaft (6.1) is in transmission connection with the plurality of torque synthesis speed reducer input shafts (6.2) through gear engagement.
3. The coiler torque control method for precisely controlling the torque of a coiler shaft according to claim 1, characterized in that: a plurality of magnetorheological fluid clutches (3), a torque synthesis speed reducer (6) and a friction clutch (7) are arranged between the speed reducer (4) and the scroll (2), and the speed reducer (4) is in transmission connection with the scroll (2) through the plurality of magnetorheological fluid clutches (3), the friction clutch (7) and the torque synthesis speed reducer (6).
4. A coiler torque control method for precisely controlling the torque of a coiler shaft according to claim 3, characterized in that: the torque synthesis speed reducer (6) comprises a plurality of torque synthesis speed reducer input shafts (6.2) and a torque synthesis speed reducer main shaft (6.3), and the plurality of torque synthesis speed reducer input shafts (6.2) are in transmission connection with the torque synthesis speed reducer main shaft (6.3) through gear engagement.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211341223.5A CN115647072B (en) | 2022-10-28 | 2022-10-28 | Coiling machine torque control method for accurately controlling reel torque |
| DE112023000139.1T DE112023000139T5 (en) | 2022-10-28 | 2023-10-27 | A reel structure for precisely controlling the roller torque and a method for controlling the roller torque |
| PCT/CN2023/127277 WO2024088405A1 (en) | 2022-10-28 | 2023-10-27 | Coiling machine structure capable of accurately controlling reel torque and reel torque control method |
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| CN202211341223.5A CN115647072B (en) | 2022-10-28 | 2022-10-28 | Coiling machine torque control method for accurately controlling reel torque |
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| CN115647072B (en) * | 2022-10-28 | 2024-05-28 | 中色科技股份有限公司 | Coiling machine torque control method for accurately controlling reel torque |
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- 2022-10-28 CN CN202211341223.5A patent/CN115647072B/en active Active
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- 2023-10-27 DE DE112023000139.1T patent/DE112023000139T5/en active Pending
- 2023-10-27 WO PCT/CN2023/127277 patent/WO2024088405A1/en active Application Filing
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Also Published As
| Publication number | Publication date |
|---|---|
| DE112023000139T5 (en) | 2024-08-22 |
| WO2024088405A1 (en) | 2024-05-02 |
| CN115647072A (en) | 2023-01-31 |
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