CN116954280A - Speed control system of metal rolling post-treatment process line - Google Patents
Speed control system of metal rolling post-treatment process line Download PDFInfo
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- 239000002184 metal Substances 0.000 title claims abstract description 31
- 238000005096 rolling process Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title abstract description 55
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- 230000007723 transport mechanism Effects 0.000 claims description 37
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- BULVZWIRKLYCBC-UHFFFAOYSA-N phorate Chemical compound CCOP(=S)(OCC)SCSCC BULVZWIRKLYCBC-UHFFFAOYSA-N 0.000 description 7
- 230000003247 decreasing effect Effects 0.000 description 6
- 239000004973 liquid crystal related substance Substances 0.000 description 6
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- 238000010438 heat treatment Methods 0.000 description 4
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007747 plating Methods 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 238000005097 cold rolling Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- 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 discloses a speed control system of a metal rolling post-treatment process line, wherein a PLC controller is configured to execute the following conveying speed control operation: determining a speed difference between the target speed and a first speed parameter determined by a previous control loop; determining an acceleration change rate parameter of the current control cycle related to the transmission acceleration of the transmission mechanism according to the speed difference; determining acceleration parameters related to the transmission acceleration of the transmission mechanism in the current control cycle according to the acceleration change rate parameters; determining a second speed parameter of the current control loop based on the acceleration parameter; and controlling the motor according to the second speed parameter. Thereby, the phenomenon of product slipping or product surface scratch caused by sudden acceleration or sudden deceleration in the process of conveying the product by the conveying mechanism can be avoided.
Description
Technical Field
The application relates to the technical field of metal post-rolling treatment process lines, in particular to a speed control system of a metal post-rolling treatment process line.
Background
The field of metal treatment lines, namely treatment process lines after metal rolling. The treatment process line after metal rolling is also the final finished product process line in the whole cold rolling system field. That is, the product produced by the metal rolled processing line is oriented to the end user of the metal industry. The post-metal rolling treatment process line has a critical effect on the final quality of the product.
Because the applicable process of the treatment process line after metal rolling is very wide, the control function is also spread over each process treatment stage. For example, it should be possible to control the edge trimming machine and flying shears from plate-shape processing such as elongation and roughness control of a leveler and a tension leveler, surface processing such as plating, roll coating and oiling. The speed control system is mainly responsible for controlling the transmission of the whole treatment process line, and the control precision of the speed control system directly influences the quality of a finished product finally produced by the treatment process line.
For example, during the process of transporting the product using the transport mechanism, if the transport mechanism controlled by the speed control system suddenly accelerates or decelerates, product slippage or product surface scratches may be caused.
Publication number CN115074516a, entitled a metal strip transport system with vertical nested loop structure. The method comprises the following steps: a vertical nesting loop structure is arranged at the inlet end of the strip of the metal heat treatment process section, the vertical nesting loop structure is formed by an inlet loop and an outlet loop nest into a whole structure, a storage and release structure is respectively arranged in the inlet loop and the outlet loop nest, a strip turning and input structure is arranged at the inlet end of the vertical nesting loop structure, a strip turning and output structure is arranged at the outlet end of the vertical nesting loop structure, the output end of the strip turning and output structure is communicated with the inlet end connected with the metal heat treatment process section so as to convey the strip into the metal heat treatment process section, an outlet release transmission structure is arranged at the outlet end of the metal heat treatment process section, and the output end of the outlet release transmission structure is communicated with the vertical nesting loop structure; forming a metal strip transport system having a vertical nested loop configuration.
Publication number CN1116390820a, entitled apparatus and method for manufacturing hot rolled metal strip. The device has: a casting machine configured to produce a slab and to convey the slab in a conveyor line of the casting machine; a rolling system configured to shape the flat blank into a corresponding metal strip by rolling during transport along a transport line of the rolling system; a combined conveying and temperature influencing device which is arranged between the casting machine and the rolling system and is configured to convey the slab at least along a conveying line of the rolling system, to convey the slab to the rolling system and to regulate the temperature of the slab to a rolling temperature; a surface device, which is arranged between the casting machine and the combined conveying and temperature influencing device and is designed to process and/or treat and/or inspect at least one of the surfaces of the slab; and a temperature influencing device, which is arranged between the casting machine and the combined conveying and temperature influencing device and is designed to regulate the temperature of the slab.
In view of the above technical problems that the product may slip or scratch the surface of the product caused by sudden acceleration or sudden deceleration of the conveying mechanism controlled by the speed control system during the process of conveying the product by the conveying mechanism in the prior art, no effective solution has been proposed.
Disclosure of Invention
The present disclosure provides a speed control system for a metal rolling post-treatment process line, so as to at least solve the technical problem in the prior art that during the process of conveying a product by using a conveying mechanism, if the conveying mechanism controlled by the speed control system is suddenly accelerated or suddenly decelerated, product slip or product surface scratch may be caused.
According to one aspect of the present application, there is provided a speed control system for a metal rolling post-treatment process line, comprising: a PLC controller, a plurality of motors and a conveying system, wherein the conveying system comprises a plurality of conveying mechanisms for conveying the metal strips, the plurality of motors are respectively connected with the corresponding conveying mechanisms and drive the corresponding conveying mechanisms, and the PLC controller is respectively connected with the plurality of motors in a communication manner and is used for controlling the conveying speed of the conveying mechanisms, and the PLC controller is configured for executing the following conveying speed control operation: determining a speed difference between a target speed and a first speed parameter determined by a previous control cycle, wherein the target speed is a transfer speed determined according to a received instruction and the first speed parameter is a transfer speed of a transfer mechanism determined by the previous control cycle; determining an acceleration change rate parameter of the current control cycle related to the transmission acceleration of the transmission mechanism according to the speed difference; determining acceleration parameters related to the transmission acceleration of the transmission mechanism in the current control cycle according to the acceleration change rate parameters; determining a second speed parameter of the current control cycle according to the acceleration parameter, wherein the second speed parameter is a speed parameter related to the conveying speed of the conveying mechanism determined by the current control cycle; and controlling the motor according to the second speed parameter.
The application provides a speed control system of a metal rolling post-treatment process line. Wherein the PLC controller in the speed control system is configured to perform the following operations: first, a speed difference between the target speed and a first speed parameter determined by a previous control loop is determined. Then, an acceleration rate of change parameter is determined for the current control loop in relation to the transport acceleration of the transport mechanism based on the speed differential. Further, an acceleration parameter of the current control loop is determined in relation to the transport acceleration of the transport mechanism based on the acceleration rate of change parameter. Further, a second speed parameter of the current control loop is determined based on the acceleration parameter. Finally, the motor is controlled according to the second speed parameter.
Unlike the conventional speed control system for abrupt acceleration or abrupt deceleration, the acceleration of the conveying mechanism in the present application is gradually increased according to the constant acceleration rate parameter until reaching the target acceleration value, and gradually decreased from the target acceleration value according to the constant acceleration rate parameter until reaching 0, so that the speed change curve corresponding to the acceleration increasing process or the speed change curve corresponding to the acceleration decreasing process is a smoother arc-shaped curve. That is, during the start-up or braking of the transport mechanism, not the abrupt acceleration or deceleration, but the acceleration or deceleration is performed in a relatively gentle manner.
Therefore, the speed control system provided by the application can avoid the phenomenon of product slipping or product surface scratch caused by sudden acceleration or sudden deceleration in the process of conveying products by utilizing the conveying mechanism. Further, the technical problem that in the prior art, in the process of conveying products by utilizing the conveying mechanism, if the conveying mechanism controlled by the speed control system is suddenly accelerated or suddenly decelerated, product slipping or product surface scratch can be caused is solved.
The above, as well as additional objectives, advantages, and features of the present application will become apparent to those skilled in the art from the following detailed description of a specific embodiment of the present application when read in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the application will be described in detail hereinafter by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions. It will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the accompanying drawings:
FIG. 1 is a schematic diagram of a speed control system according to an embodiment of the present application;
fig. 2 is a flowchart of a method of a transfer speed control operation performed by a PLC controller according to an embodiment of the present application;
FIG. 3 is a logic diagram of a speed control system according to an embodiment of the present application;
FIG. 4A is a graph showing acceleration rate of a conveyor mechanism as a function of time according to an embodiment of the present application;
FIG. 4B is a schematic diagram of acceleration versus time of a conveyor mechanism according to an embodiment of the present application;
FIG. 4C is a schematic diagram of speed versus time of a transport mechanism according to an embodiment of the present application; and
fig. 5 is a flowchart of a method for outputting a second speed parameter by a PLC controller according to an embodiment of the present application.
Detailed Description
It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order that those skilled in the art will better understand the present disclosure, a technical solution in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure, shall fall within the scope of the present disclosure.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the foregoing figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are, for example, capable of operation in connection with other embodiments. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
FIG. 1 is a schematic diagram of a speed control system according to an embodiment of the present application. Referring to fig. 1, a speed control system of a metal rolling post-treatment process line includes: the conveying system 130 includes a plurality of conveying mechanisms for conveying the metal strip, a plurality of motors 120, and a conveying system 130, wherein the plurality of motors 120 are respectively connected to and drive the respective conveying mechanisms, and the PLC controller 110 is respectively communicatively connected to the plurality of motors 120 for controlling a conveying speed of the conveying mechanisms, and the PLC controller 110 is configured to perform a conveying speed control operation described below: determining a speed difference between a target speed and a first speed parameter determined by a previous control cycle, wherein the target speed is a transfer speed determined according to a received instruction and the first speed parameter is a transfer speed of a transfer mechanism determined by the previous control cycle; determining an acceleration change rate parameter of the current control cycle related to the transmission acceleration of the transmission mechanism according to the speed difference; determining acceleration parameters related to the transmission acceleration of the transmission mechanism in the current control cycle according to the acceleration change rate parameters; determining a second speed parameter of the current control cycle according to the acceleration parameter, wherein the second speed parameter is a speed parameter related to the conveying speed of the conveying mechanism determined by the current control cycle; and controlling the motor 120 according to the second speed parameter.
As described in the background art, since the applicable process of the treatment process line after metal rolling is wide, the control function is also spread over each process treatment stage. For example, it should be possible to control the edge trimming machine and flying shears from plate-shape processing such as elongation and roughness control of a leveler and a tension leveler, surface processing such as plating, roll coating and oiling. The speed control system is mainly responsible for controlling the transmission of the whole processing line, and the control precision of the speed control system directly influences the quality of the finished product finally produced by the processing line.
For example, during the process of transporting the product using the transport mechanism, if the transport mechanism controlled by the speed control system suddenly accelerates or decelerates, product slippage or product surface scratches may be caused.
In view of this, the present application provides a speed control system for a metal rolling post-treatment process line. The speed control system includes a PLC controller 110, a plurality of motors 120, and a conveyor system 130. Wherein the conveyor system 130 comprises a plurality of conveyor mechanisms for conveying the metal strip. And the PLC controller 110 is communicatively connected to the plurality of motors 120, respectively, for controlling the transfer speed of the transfer mechanism.
Referring to fig. 1, the conveying system 130 includes reels 131, 132, tension rolls 133a to 133h, and a tension leveler 140. The reels 131, 132, the tension rolls 133a to 133h, and the tension leveler 140 are connected to the motor 120, respectively.
Fig. 2 is a flowchart of a method of a transfer speed control operation performed by a PLC controller according to an embodiment of the present application. Referring to fig. 2, the PLC controller 110 is further configured to:
s202: the PLC controller 110 determines a target speedV set With a first speed parameter determined from a previous control loopV f1 A speed difference between, wherein the target speedV set A transfer speed determined for a received command, and a first speed parameterV f1 The transport speed of the transport mechanism determined for the last control cycle. Wherein the first speed parameterV f1 For indicating the speed value output by the PLC controller 110 for the last control cycle.
Specifically, first, the PLC controller 110 receives a preset target speed input by an operatorV set 。
The PLC 110 then determines a first speed parameter for the last control loopV f1 . And determining a target speedV set And a first speed parameterV f1 Speed difference between△V. The specific calculation formula is as follows:
(equation 1)
S204: the PLC controller 110 determines a target speed according to the detected speedV set And a first speed parameterV f1 Speed difference between△VDetermining an acceleration rate parameter of a current control loop related to a transport acceleration of a transport mechanismr f . Wherein the acceleration rate of change parameter r f For indicating the rate of change of acceleration output by the controller for controlling the process line.
Specifically, fig. 3 is a logic diagram of a speed control system according to an embodiment of the present application. Referring to fig. 3, first, the PLC controller 110 generates a target acceleration according to the target accelerationa set And acceleration adjustment timet set Determining a target rate of acceleration changer set . Wherein the target accelerationa set For transmitting acceleration determined according to received instructions, and for regulating timet set For adjusting the transmitted acceleration to a target acceleration determined in accordance with the received commanda set The time taken.
Then, the PLC controller 110 calculates a speed difference△VTarget acceleration change rater set And determining a first reference acceleration by using a preset speed function generatora ref1 。
Further, the PLC controller 110 controls the vehicle according to the target accelerationa set For a first reference accelerationa ref1 Clipping and determining corresponding second reference accelerationa ref2 。
Finally, according to the second reference accelerationa ref2 And utilizes a preset step function and is based on the target acceleration change rater set Determining acceleration rate parameters for limiting operations of (a)r f . The foregoing will be described in detail later, and thus will not be described in detail here.
S206: the PLC controller 110 is based on the acceleration rate parameter r f Determining acceleration parameters of a current control loop related to a transport acceleration of a transport mechanisma f1 。
Specifically, fig. 4A is a schematic diagram of acceleration change rate of a conveying mechanism according to an embodiment of the present application as a function of time. Fig. 4B is a schematic diagram of acceleration versus time of a conveyor mechanism according to an embodiment of the application.
Referring to fig. 4A and 4B, the acceleration change curve of the conveying mechanism may be divided into 3 acceleration periods and 3 deceleration periods according to the change relation of the acceleration of the conveying mechanism corresponding to each period.
In the first acceleration periodt 1 Acceleration rate of change parameter of a conveyor mechanismr f 1 Is a constant value greater than 0. Thereby in the first acceleration periodt 1 The acceleration of the conveying mechanism is gradually increased from 0 to the target accelerationa set . And wherein, in a first acceleration periodt 1 The acceleration-time function of the transfer mechanism is a direct proportional function.
Thus, the PLC 110 utilizes the first integration unit pair to be in the first acceleration periodt 1 Acceleration rate of change parameter of (2)Integrating to determine in a first acceleration periodt 1 In the case of (a), the acceleration parameter of the current control loop in relation to the transport acceleration of the transport mechanism +.>. The specific calculation formula is as follows:
(equation 2)
In the second acceleration periodt 2 Acceleration rate of change parameter of a conveyor mechanismIs 0. Thereby in the second acceleration periodt 2 The acceleration of the conveying mechanism is kept constant and is the target accelerationa set . Namely:
(equation 3)
Wherein, the liquid crystal display device comprises a liquid crystal display device,for the second acceleration periodt 2 Acceleration parameters of (a).
In the third acceleration periodt 3 Acceleration rate of change parameter of a conveyor mechanismIs a constant value less than zero. Thereby in the third acceleration periodt 3 Acceleration of the conveying mechanism from the target accelerationa set Gradually decreasing to 0. And wherein, in a third acceleration periodt 3 The acceleration-time function of the transfer mechanism is a direct proportional function.
Thus, the PLC 110 uses the first integration unit pair to be in the third acceleration periodt 3 Acceleration rate of change parameter of (2)Integrating to determine in a third acceleration periodt 3 In the present control loop acceleration parameter related to the acceleration of the transport means +.>. The specific calculation formula is as follows:
(equation 4)
Further, referring to fig. 4A and 4B, a first deceleration periodt 4 Acceleration rate of change parameter of (2)A first deceleration period of a constant value less than zerot 4 The acceleration of the conveying mechanism is gradually increased from 0 to the target accelerationa set Thereby first decelerating period t 4 The calculation formula of the acceleration of (2) corresponds to the above formula. Wherein the preset target accelerationa set Either positive or negative. In this case, a preset target accelerationa set Is negative.
Second deceleration periodt 5 Acceleration rate of change parameter of (2)0, second deceleration periodt 5 The acceleration of the transfer mechanism is also constant, so that the second deceleration periodt 5 The calculation formula of the acceleration of (a) corresponds to the above formula 3. In this case, a preset target accelerationa set Is negative.
Third deceleration periodt 6 Acceleration rate of change parameter of (2)A third deceleration period of a constant value greater than zerot 6 The acceleration of the conveying mechanism is also the target accelerationa set To 0, thereby a third deceleration periodt 6 The calculation formula of the acceleration of (a) corresponds to the above formula 4. And will not be described in detail herein. In this caseUnder a preset target accelerationa set Is negative.
S208: the PLC controller 110 is based on the acceleration parametersa f1 Determining a second speed parameter of the current control loopv f2 . Wherein the second speed parameterv f2 A speed parameter related to the conveying speed of the conveying mechanism is determined for the current control cycle.
Specifically, fig. 4C is a schematic diagram of speed versus time of a transport mechanism according to an embodiment of the present application. As shown with reference to fig. 4B and 4C, since the acceleration profile of the conveying mechanism has been divided into 3 acceleration periods and 3 deceleration periods as described above, the speed profile corresponding to the acceleration profile of the conveying mechanism may also be divided into 3 acceleration periods and 3 deceleration periods.
In the first acceleration periodt 1 Acceleration parameter of conveying mechanismGradually increasing from 0 to target accelerationa set . Wherein, in the first acceleration periodt 1 The acceleration-time function of the transfer mechanism is a direct proportional function.
Thus, the PLC 110 uses the second integration unit pair to be in the first acceleration periodt 1 Acceleration parameter of (2)Integrating to determine a second speed parameter of the current control loop transport mechanism>. The specific calculation formula is as follows:
(equation 5)
In the second acceleration periodt 2 Acceleration parameter of conveying mechanismIs a constant value greater than 0. I.e. target accelerationa set 。
Thus, the PLC 110 utilizes the second integration unit pair to be in the second acceleration periodt 2 Acceleration parameter of (2)Integrating to determine a second speed parameter of the current control loop transport mechanism>. The specific calculation formula is as follows:
(equation 6)
In the third acceleration periodt 3 Acceleration of the conveying mechanism from the target accelerationa set Gradually decreasing to 0. Wherein, in the first acceleration periodt 3 The acceleration time of the transfer mechanism is a direct proportional function.
Thus, the PLC 110 utilizes the second integration unit pair to be in the third acceleration periodt 3 Acceleration parameter of (2)Integrating to determine a second speed parameter of the current control loop transport mechanism >. The specific calculation formula is as follows:
(equation 7)
Further, referring to fig. 4B and 4C, a first deceleration periodt 4 The acceleration-time function of (2) is a direct proportional function, and the acceleration of the transfer mechanism increases from 0 to the target accelerationa set So that the first deceleration period can be calculated according to the following formulat 4 Second speed parameter of (2). Wherein the preset target accelerationa set Is negative. And wherein the initial speed of the conveying means is +.>. The specific calculation formula is as follows:
(equation 8)
Wherein, the liquid crystal display device comprises a liquid crystal display device,is the acceleration parameter related to the acceleration of the current control loop conveying mechanism.
Second deceleration periodt 5 The acceleration-time function of (2) is a constant value less than 0, so that the second deceleration period can be calculated according to the following formulat 5 Second speed parameter of (2). And wherein the initial speed of the conveying means is +.>. The specific calculation formula is as follows:
(equation 9)
Third deceleration periodt 6 The acceleration-time function of (2) is a direct proportional function, and the acceleration of the transfer mechanism is from the target accelerationa set To 0, so that the third deceleration period can be calculated according to the following formulat 6 Second speed parameter of (2). The specific formula is as follows:
(equation 10)
S210: the PLC controller 110 is based on the second speed parameter v f2 The motor 120 is controlled.
Thus, as shown in fig. 4A, 4B and 4C, unlike the conventional speed control system in which the acceleration of the conveying mechanism is suddenly accelerated or decelerated, the acceleration of the conveying mechanism is gradually increased according to the constant-magnitude acceleration change rate parameter until reaching the target acceleration value, and gradually decreased according to the constant-magnitude acceleration change rate parameter from the target acceleration value until reaching 0, so that the speed change curve corresponding to the acceleration increasing process or the speed change curve corresponding to the acceleration decreasing process is a relatively smooth arc-shaped curve. That is, during the start-up or braking of the transport mechanism, not the abrupt acceleration or deceleration, but the acceleration or deceleration is performed in a relatively gentle manner.
Therefore, the speed control system provided by the application can avoid the phenomenon of product slipping or product surface scratch caused by sudden acceleration or sudden deceleration in the process of conveying products by utilizing the conveying mechanism. Further, the technical problem that in the prior art, in the process of conveying products by utilizing the conveying mechanism, if the conveying mechanism controlled by the speed control system is suddenly accelerated or suddenly decelerated, product slipping or product surface scratch can be caused is solved.
Optionally, determining an acceleration rate of change parameter of the current control loop related to the transport acceleration of the transport mechanism based on the speed differential, comprising: determining a corresponding target acceleration change rate according to a target acceleration and an acceleration adjustment time, wherein the target acceleration is a transmission acceleration determined according to a received instruction, and the acceleration adjustment time is a time length for adjusting the transmission acceleration to the target acceleration, determined according to the received instruction; determining a first reference acceleration according to the speed difference and the target acceleration change rate; limiting the first reference acceleration according to the target acceleration, and determining a corresponding second reference acceleration; and determining an acceleration rate parameter according to the second reference acceleration by using a preset step function and a clipping operation based on the target acceleration rate.
Specifically, fig. 5 is a flowchart of a method for outputting a second speed parameter by a PLC controller according to an embodiment of the present application. Referring to fig. 5, first, the PLC controller 110 receives a target acceleration set by an operatora set And acceleration adjustment timet set And according to the received target accelerationa set And acceleration adjustment time t set Determining a corresponding target acceleration rate of changer set . The calculation formula is as follows:
(equation 11)
Then, the PLC controller 110 calculates a speed difference△vTarget acceleration change rater set And determining a first reference acceleration by using a preset acceleration function generatora ref1 . The calculation formula is as follows:
(equation 12)
Wherein, the liquid crystal display device comprises a liquid crystal display device,sig（△v) Is that△vIs a sign of (3).
Further, the PLC controller 110 controls the vehicle according to the target accelerationa set For a first reference accelerationa ref1 Clipping and determining corresponding second reference accelerationa ref2 . Specifically, the PLC controller 110 calculates the target acceleration based on the target accelerationa set For a first reference accelerationa ref1 Clipping means: second reference acceleration of the transfer mechanisma ref2 Is kept at the target sizeAcceleration ofa set In the second reference accelerationa ref2 Exceeding the target accelerationa set In the case of (1) at a target accelerationa set Second reference acceleration as a transfer mechanisma ref2 . Namely, when the first reference accelerationa ref1 Is less than the target accelerationa set At a value of (2) a second reference accelerationa ref2 Is equal to the first reference accelerationa ref1 The method comprises the steps of carrying out a first treatment on the surface of the When the first reference accelerationa ref1 Is greater than the target accelerationa set At a value of (2) a second reference accelerationa ref2 Is equal to the target accelerationa set Is a value of (2).
In addition, the PLC controller 110 determines a second reference acceleration a ref2 Acceleration parameter for current cycle of transfer mechanisma f1 Acceleration difference of (2)△a. The calculation formula is as follows:
(equation 13)
Further, the PLC controller 110 calculates a difference value according to the acceleration△aGenerating corresponding acceleration change rate by using a preset acceleration controllerr c 。
Then, the PLC controller 110 based on the target acceleration change rater set Determining acceleration rate parameters for limiting operations of (a)r f . Specifically, the PLC controller 110 varies the rate according to the target accelerationr set Generating corresponding acceleration change rate for acceleration controllerr c Clipping means: generating corresponding acceleration change rate by the acceleration controllerr c Is maintained at the target acceleration rate of changer set In, the corresponding acceleration change rate is generated in the acceleration controllerr c Exceeding a target rate of acceleration changer set In the case of a transmission mechanism, the current acceleration change rate parameterr f Is thatr set 。
That is, when the acceleration controller generates a corresponding acceleration change rater c Is less than the target acceleration rate of changer set At the time, the current acceleration change rate parameter of the transmission mechanismr f Is equal to the corresponding acceleration change rate generated by the acceleration controllerr c The method comprises the steps of carrying out a first treatment on the surface of the When the acceleration controller generates corresponding acceleration change rater c Is greater than the target acceleration rate of change r set At the time, the current acceleration change rate parameter of the transmission mechanismr f Is equal to the value ofr set 。
Thus, by determining the operation of the acceleration change rate parameter of the current control cycle in relation to the transport acceleration of the transport mechanism in accordance with the speed difference, the technical effect of being able to generate a smoother speed-time curve corresponding to the transport mechanism is achieved.
Optionally, determining an acceleration parameter of the current control cycle related to the transport acceleration of the transport mechanism according to the acceleration rate of change parameter includes: and determining the acceleration parameter by utilizing a preset acceleration control function based on integration according to the acceleration change rate parameter.
Specifically, referring to fig. 4A and 4B, the acceleration change curve of the conveying mechanism can be divided into 3 acceleration periods according to the change relation of the acceleration of the conveying mechanism corresponding to each periodt 1 ~t 3 And 3 deceleration periodst 4 ~t 6 。
In the first acceleration periodt 1 The PLC controller 110 uses the first integration unit to calculate the acceleration change rate parameterIntegrating to determine an acceleration parameter related to the transport acceleration of the currently controlled endless transport means>. The specific calculation formula is as follows:
(equation 2)
In the second acceleration periodt 2 Acceleration rate of change parameter of a conveyor mechanism Is 0. Thereby in the second acceleration periodt 2 The acceleration of the conveying mechanism is kept constant and is the target accelerationa set . I.e. first acceleration parameter->：
(equation 3)
In the third acceleration periodt 3 The PLC controller 110 uses the first integration unit to calculate the acceleration change rate parameterIntegrating to determine an acceleration parameter related to the acceleration of the current control loop transmission mechanism>. The specific calculation formula is as follows:
(equation 4)
In the first deceleration periodt 4 The PLC controller 110 uses the first integration unit to calculate the acceleration change rate parameterIntegrating to determine the current control loopAcceleration-dependent acceleration parameter->. The calculation formula corresponds to the above formula 2.
In the second deceleration periodt 5 Acceleration rate of change parameter of a conveyor mechanismIs 0. Thereby in the second deceleration periodt 5 Acceleration parameter of the transmission mechanism->Keep constant and is the target accelerationa set . The calculation formula corresponds to the above formula 3.
In the third deceleration periodt 6 The PLC controller 110 uses the first integration unit to calculate the acceleration change rate parameterIntegrating to determine an acceleration parameter related to the acceleration of the current control loop transmission mechanism>. The calculation formula corresponds to the above formula 4.
Optionally, determining a second speed parameter of the current control loop from the acceleration parameter includes: and determining a second speed parameter according to the acceleration parameter by utilizing a preset speed control function based on integration.
Specifically, as shown with reference to fig. 4B and 4C, since the acceleration change curve of the conveying mechanism has been divided into 3 acceleration periods as described abovet 1 ~t 3 And 3 deceleration periodst 4 ~t 6 Therefore, the speed profile corresponding to the acceleration profile of the conveyor can be divided into 3 acceleration periodst 1 ~t 3 And 3 deceleration periodst 4 ~t 6 。
In the first acceleration periodt 1 The PLC controller 110 uses the second integration unit to calculate the acceleration parameterIntegrating to determine a second speed parameter of the current control loop transport mechanism>. The specific calculation formula is as follows:
(equation 5)
In the second acceleration periodt 2 The PLC controller 110 uses the second integration unit to calculate the acceleration parameterIntegrating to determine a second speed parameter of the current control loop transport mechanism>. The specific calculation formula is as follows:
(equation 6)
In the third acceleration periodt 3 The PLC controller 110 uses the second integration unit to calculate the acceleration parameterIntegrating to determine a second speed parameter of the current control loop transport mechanism >. The specific calculation formula is as follows:
(equation 7)
In the first deceleration periodt 4 The PLC controller 110 uses the second integration unit to calculate the acceleration parameterIntegrating to determine a second speed parameter of the current control loop transport mechanism>. The specific calculation formula is as follows:
(equation 8)
In the second deceleration periodt 5 The PLC controller 110 uses the second integration unit to calculate the acceleration parameterIntegrating to determine a second speed parameter of the current control loop transport mechanism>. The specific calculation formula is as follows:
(equation 9)
In the third deceleration periodt 6 The PLC controller 110 uses the second integration unit to calculate the acceleration parameterIntegrating to determine a second speed parameter of the current control loop transport mechanism>. The specific calculation formula is as follows:
(equation 10)
Optionally, the PLC controller 110 is further configured to, in response to the accepted start-up instruction,determining a target acceleration as a preset first target acceleration, and determining a target speed as a preset first target speed, wherein the first target acceleration is greater than zero, and the first target speed is also greater than zero; and during a first acceleration period in which the transfer mechanism is adjusted from the first transfer state to the second transfer state t 1 Cyclically performing a conveyance speed control operation such that a conveyance speed of the conveyance mechanism is gradually increased based on a first speed-time curve in a circular arc shape, wherein the first conveyance state is a stationary state; in the second conveyance state, the conveyance acceleration of the conveyance mechanism is the first target acceleration; and a first acceleration periodt 1 The duration of (2) is the acceleration adjustment time, and in the first acceleration periodt 1 The transport acceleration of the transport mechanism is stepped up from 0 to a first target acceleration.
Specifically, referring to fig. 4B and 4C, during the start-up of the PLC controller 110, the transfer mechanism gradually changes from the first transfer state to the second transfer state. The first conveying state is a static state, and the second conveying state is a state that the acceleration is kept unchanged and the speed is gradually increased.
Therefore, first, the PLC controller 110 sets the first target acceleration in response to an instruction to start the transmission mechanisma set 1 And a first target speedv set 1 . Wherein the value of the first target acceleration is greater than zero and the value of the first target speed is also greater than zero.
Then, the PLC 110 receives the first acceleration period set by the operatort 1 (i.e., acceleration adjustment timet set ) Is a time period of (2). And in a first acceleration period t 1 The inner conveying mechanism cyclically performs a speed control operation so that the conveying mechanism is adjusted from a first conveying state (i.e., a stationary state) to a second conveying state (i.e., a state in which the acceleration is kept unchanged and the speed is gradually increased).
And corresponds to the conveyance mechanism being adjusted from the first conveyance state (i.e., the stationary state) to the second conveyance state (i.e., the state in which the acceleration is kept unchanged and the speed is gradually increased), the speed of the conveyance mechanism is gradually increased based on the first speed-time curve in the shape of a circular arc (i.e., curve S1 in fig. 4C). Corresponding to the conveyance mechanism being adjusted from the first conveyance state (i.e., the stationary state) to the second conveyance state (i.e., the movement state in which the acceleration is kept unchanged and the speed is gradually increased), the conveyance acceleration of the conveyance mechanism is gradually increased from 0 to the first target acceleration (i.e., the straight line L1 in fig. 4B).
Optionally, the PLC controller 110 is further configured to, during a second acceleration period that maintains the transport mechanism in the second transport statet 2 Cyclically performing a conveying speed control operation such that a conveying speed of the conveying mechanism is based on the first target accelerationa set 1 Growing in a uniformly accelerated manner.
Specifically, referring to fig. 4B and 4C, the PLC controller 110 receives a second acceleration period preset by the operator t 2 . The conveying mechanism is in a second acceleration periodt 2 In the second transfer state (i.e., a state in which the acceleration is kept constant and the speed is gradually increased). And a second acceleration period in a second transfer statet 2 The PLC controller 110 cyclically performs a conveyance speed control operation so that the conveyance speed of the conveyance mechanism is based on the first target accelerationa set 1 Increasing in a uniformly accelerated manner.
Optionally, the PLC controller 110 is further configured to, during a third acceleration period that adjusts the conveying mechanism from the second conveying state to the third conveying statet 3 Cyclically performing a conveyance speed control operation such that a conveyance speed of the conveyance mechanism is gradually increased based on a circular-arc-shaped second speed-time curve, wherein in a third conveyance state, the conveyance mechanism performs uniform conveyance and the conveyance speed is a target speed; and a third acceleration periodt 3 The duration of (2) is the acceleration adjustment time, and in the third acceleration periodt 3 The transport acceleration of the transport mechanism is gradually reduced from the first target acceleration to 0.
Specifically, referring to fig. 4B and 4C, in the third acceleration periodt 3 The conveying mechanism gradually changes from the second conveying state to the third conveying state. The second transmission state is a state in which the acceleration is kept unchanged and the speed is gradually increased. The third conveying state is a uniform motion state.
Thus, first, the PLC controller 110 receives the third acceleration period preset by the operatort 3 (i.e., acceleration adjustment timet set ) Is a time period of (2). And in a third acceleration periodt 3 The inner conveying mechanism cyclically performs a speed control operation so that the conveying mechanism is adjusted from the second conveying state (i.e., a state in which the acceleration is kept constant and the speed is gradually increased) to the third conveying state (i.e., a uniform movement state).
And the speed of the conveying mechanism is gradually increased based on the arcuate second speed-time curve (i.e., curve S2 in fig. 4C) corresponding to the conveying mechanism being adjusted from the second conveying state (i.e., the state in which the acceleration is kept unchanged and the speed is gradually increased) to the third conveying state (i.e., the uniform motion state). Corresponding to the conveyance mechanism being adjusted from the second conveyance state (i.e., the state in which the acceleration remains unchanged and the speed gradually increases) to the third conveyance state (i.e., the uniform motion state), the conveyance acceleration of the conveyance mechanism gradually decreases from the first target acceleration to 0 (i.e., the straight line L2 in fig. 4B).
Optionally, the PLC controller 110 is further configured to determine, in response to the accepted braking command, a target acceleration as a preset second target acceleration, and a target speed as a preset second target speed, wherein the second target acceleration is less than zero and the second target speed is zero; and during a first deceleration period in which the transfer mechanism is adjusted from the third transfer state to the fourth transfer state t 4 Cyclically performing a conveying speed control operation such that a conveying speed of the conveying mechanism is gradually reduced based on a third speed-time curve in a circular arc shape, wherein in a fourth conveying state, a conveying acceleration of the conveying mechanism is a second target acceleration; and a first deceleration periodt 4 The duration of (2) is the acceleration adjustment time, and in the first deceleration periodt 4 The transport acceleration of the transport mechanism is stepped up from 0 to the second target acceleration.
Specifically, referring to fig. 4B and 4C, the transfer mechanism gradually changes from the third transfer state to the fourth transfer state during braking of the PLC controller 110. The third transmission state is a uniform motion state, and the fourth transmission state is a state in which the acceleration is kept unchanged and the speed is gradually reduced.
Thus, first, the PLC controller 110 determines the second target acceleration in response to the instruction of the brake transfer mechanisma set 2 And a second target speedv set 2 . Wherein the value of the second target acceleration is less than zero and the value of the second target speed is 0.
Then, the PLC controller 110 receives the first deceleration period set by the operatort 4 (i.e., acceleration adjustment timet set ) Is a time period of (2). And in a first deceleration periodt 4 The inner conveying mechanism cyclically performs a speed control operation so that the conveying mechanism is adjusted from the third conveying state (i.e., uniform movement state) to the fourth conveying state (i.e., a state in which the acceleration is kept unchanged and the speed is gradually reduced).
And the speed of the conveying mechanism is gradually reduced based on the arcuate second speed-time curve (i.e., S3 in fig. 4C) corresponding to the conveying mechanism being adjusted from the third conveying state (i.e., the uniform motion state) to the fourth conveying state (i.e., the state in which the acceleration is kept unchanged and the speed is gradually reduced). Corresponding to the transfer mechanism being adjusted from the third transfer state (i.e., uniform motion state) to the fourth transfer state (i.e., state in which the acceleration remains unchanged and the speed gradually decreases), the transfer acceleration of the transfer mechanism is gradually increased from 0 to the second target accelerationa set 2 (i.e., line L3 in fig. 4B).
Optionally, the PLC controller 110 is further configured to, while maintaining the conveying mechanism at the fourth conveyanceSecond period of deceleration of statet 5 Cyclically performing a conveying speed control operation such that the conveying speed of the conveying mechanism is based on the second target accelerationa set 2 Is reduced in a uniform deceleration manner.
Specifically, referring to fig. 4B and 4C, the PLC controller 110 receives a second deceleration period preset by the operatort 5 . The conveying mechanism is in a second deceleration periodt 5 In the fourth transfer state (i.e., a state in which the acceleration is kept constant and the speed is gradually reduced). And a second deceleration period in a fourth transfer state t 5 The PLC controller 110 cyclically performs a conveying speed control operation so that the conveying speed of the conveying mechanism is based on the second target accelerationa set 2 Is reduced in a uniform deceleration manner.
Optionally, the PLC controller 110 is further configured to, during a third deceleration period that adjusts the conveying mechanism from the fourth conveying state to the fifth conveying statet 6 Cyclically performing a conveyance speed control operation such that a conveyance speed of the conveyance mechanism is gradually reduced based on a fourth speed-time curve in a circular arc shape, wherein the fifth conveyance state is a stationary state; third deceleration periodt 6 The duration of (2) is the acceleration adjustment time, and in the third deceleration periodt 6 The transport acceleration of the transport mechanism is gradually reduced from the second target acceleration to 0.
Specifically, referring to fig. 4B and 4C, in the third deceleration periodt 6 The conveying mechanism gradually changes from the fourth conveying state to the fifth conveying state. The fourth transmission state is a state in which the acceleration is kept unchanged and the speed is gradually reduced. The fifth transfer state is a stationary state.
Thus, first, the PLC controller 110 receives the third deceleration period preset by the operatort 6 (i.e., acceleration adjustment timet set ) Is a time period of (2). And in a third deceleration periodt 6 The inner conveying mechanism circularly performs a speed control operation so that the conveyor The fourth transfer state (i.e., the state in which the acceleration is kept unchanged and the speed is gradually reduced) is configured to be adjusted to the fifth transfer state (i.e., the stationary state).
And, corresponding to the conveyance mechanism being adjusted from the fourth conveyance state to the fifth conveyance state, the speed of the conveyance mechanism is gradually reduced based on the circular-arc-shaped fourth speed-time curve (i.e., curve S4 in fig. 4C). Corresponding to the conveyance mechanism being adjusted from the fourth conveyance state to the fifth conveyance state, the conveyance acceleration of the conveyance mechanism is gradually reduced from the second target acceleration to 0 (i.e., a straight line L4 in fig. 4B).
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the description of the present disclosure, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present disclosure and to simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be configured and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present disclosure; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
The present application is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present application are intended to be included in the scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims (10)
1. A speed control system for a metal rolling finishing process line, comprising: a PLC controller (110), a plurality of motors (120) and a conveying system (130), wherein the conveying system (130) includes a plurality of conveying mechanisms for conveying metal strips, the plurality of motors (120) are respectively connected with the respective conveying mechanisms and drive the respective conveying mechanisms, and the PLC controller (110) is respectively communicatively connected with the plurality of motors (120) for controlling a conveying speed of the conveying mechanisms, characterized in that the PLC controller (110) is configured to perform the following conveying speed control operations:
determining a speed difference between a target speed and a first speed parameter determined by a previous control cycle, wherein the target speed is a transfer speed determined according to a received instruction and the first speed parameter is a transfer speed of the transfer mechanism determined by the previous control cycle;
Determining an acceleration rate of change parameter of a current control cycle related to a transport acceleration of the transport mechanism according to the speed difference;
determining acceleration parameters related to the transmission acceleration of the transmission mechanism in the current control cycle according to the acceleration change rate parameters;
determining a second speed parameter of the current control cycle according to the acceleration parameter, wherein the second speed parameter is a speed parameter related to the conveying speed of the conveying mechanism, which is determined by the current control cycle; and
-controlling the motor (120) according to the second speed parameter.
2. The system of claim 1, wherein determining an acceleration rate of change parameter of a current control loop related to a transport acceleration of the transport mechanism based on the speed differential comprises:
determining a corresponding target acceleration change rate according to a target acceleration and an acceleration adjustment time, wherein the target acceleration is a transmission acceleration determined according to a received instruction, and the acceleration adjustment time is a time length for adjusting the transmission acceleration to the target acceleration, which is determined according to the received instruction;
Determining a first reference acceleration according to the speed difference and the target acceleration change rate;
limiting the first reference acceleration according to the target acceleration, and determining a corresponding second reference acceleration; and
and determining the acceleration change rate parameter by using a preset step function and a clipping operation based on the target acceleration change rate according to the second reference acceleration.
3. The system of claim 2, wherein determining an acceleration parameter of the current control loop related to a transport acceleration of the transport mechanism based on the acceleration rate of change parameter comprises:
and determining the acceleration parameter by utilizing a preset acceleration control function based on integration according to the acceleration change rate parameter.
4. A system according to claim 3, wherein the operation of determining a second speed parameter of the current control loop from the acceleration parameter comprises:
and determining the second speed parameter by utilizing a preset speed control function based on integration according to the acceleration parameter.
5. The system of claim 4, wherein the PLC controller (110) is further configured to,
In response to the accepted start command, determining the target acceleration as a preset first target acceleration, and determining the target speed as a preset first target speed, wherein the first target acceleration is greater than zero and the first target speed is also greater than zero;
in a first acceleration period (t) for adjusting the conveying mechanism from a first conveying state to a second conveying state 1 ) Cyclically executing the conveying speed control operation such that the conveying speed of the conveying mechanism is gradually increased based on a circular arc-shaped first speed-time curve, wherein
The first transfer state is a stationary state;
in the second conveyance state, a conveyance acceleration of the conveyance mechanism is the first target acceleration; and is also provided with
The first acceleration period (t 1 ) Is the acceleration adjustment time, and during the first acceleration period (t 1 ) The transport acceleration of the transport mechanism is stepped up from 0 to the first target acceleration.
6. The system of claim 5, wherein the PLC controller (110) is further configured to, during a second acceleration period (t 2 ) The conveyance speed control operation is cyclically performed such that the conveyance speed of the conveyance mechanism increases in a uniformly accelerated manner based on the first target acceleration.
7. The system of claim 6, wherein the PLC controller (110) is further configured to, during a third acceleration period (t 3 ) Cyclically executing the conveying speed control operation such that the conveying speed of the conveying mechanism is gradually increased based on a circular-arc-shaped second speed-time curve, wherein
In the third conveyance state, the conveyance mechanism performs uniform conveyance, and a conveyance speed of the conveyance mechanism is the target speed; and is also provided with
The third acceleration period (t 3 ) Is the acceleration adjustment time, and during the third acceleration period (t 3 ) The transport acceleration of the transport mechanism is gradually reduced from the first target acceleration to 0.
8. The system of claim 4, wherein the PLC controller (110) is further configured to,
determining the target acceleration as a preset second target acceleration in response to the accepted braking instruction, and determining the target speed as a preset second target speed, wherein the second target acceleration is smaller than zero and the second target speed is zero;
In a first deceleration period (t) for adjusting the conveying mechanism from the third conveying state to the fourth conveying state 4 ) Cyclically executing the conveying speed control operation such that the conveying speed of the conveying mechanism is gradually changed based on the circular-arc-shaped third speed-time curveStep reduction in which
In the fourth conveyance state, a conveyance acceleration of the conveyance mechanism is the second target acceleration; and is also provided with
The first deceleration period (t 4 ) Is the acceleration adjustment time, and during the first deceleration period (t 4 ) The transport acceleration of the transport mechanism is stepped up from 0 to the second target acceleration.
9. The system of claim 8, wherein the PLC controller (110) is further configured to, during a second deceleration period (t 5 ) The conveyance speed control operation is cyclically performed such that the conveyance speed of the conveyance mechanism decreases in a uniform deceleration manner based on the second target acceleration.
10. The system according to claim 9, wherein the PLC controller (110) is further configured for, during a third deceleration period (t 6 ) Cyclically performing the conveying speed control operation such that the conveying speed of the conveying mechanism is gradually reduced based on a fourth speed-time curve in a circular arc shape, wherein
The fifth transfer state is a stationary state;
the third deceleration period (t 6 ) Is the acceleration adjustment time, and during the third deceleration period (t 6 ) The transport acceleration of the transport mechanism is gradually reduced from the second target acceleration to 0.
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