CN116954281A - Positioning control system of metal rolling post-treatment process line - Google Patents
Positioning control system of metal rolling post-treatment process line Download PDFInfo
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- 238000005096 rolling process Methods 0.000 title claims abstract description 22
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- 238000005266 casting Methods 0.000 description 5
- 238000010438 heat treatment Methods 0.000 description 4
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- 230000003247 decreasing effect Effects 0.000 description 3
- BULVZWIRKLYCBC-UHFFFAOYSA-N phorate Chemical compound CCOP(=S)(OCC)SCSCC BULVZWIRKLYCBC-UHFFFAOYSA-N 0.000 description 3
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- 241001643392 Cyclea Species 0.000 description 1
- 238000005097 cold rolling Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000007761 roller coating Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
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- 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
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Abstract
The application discloses a positioning control system of a metal rolling post-treatment process line, which comprises the following components: a PLC controller, wherein the PLC controller is configured to perform a conveyance speed control operation described below: in the case of a conveying process of the metal strip comprising a constant speed conveyance at a target speed, determining a braking distance of the conveying mechanism according to the target speed and a first target acceleration, wherein the first target acceleration is smaller than zero; receiving a real-time conveying distance of the conveying mechanism from the sensor, and determining a distance deviation between a target conveying distance and the real-time conveying distance, wherein the target conveying distance is a conveying distance related to positioning of the metal strip; when the distance deviation is smaller than the braking distance, determining the conveying speed of the conveying mechanism according to the distance deviation by utilizing a preset positioning control model; and controlling the motor according to the determined conveying speed to realize the positioning of the metal strip. Thereby achieving the technical effect of realizing the accurate positioning of the metal strip.
Description
Technical Field
The application relates to the technical field of metal rolling post-treatment process lines, in particular to a positioning control system of a metal rolling post-treatment process line.
Background
The field of treatment lines, namely treatment process lines after metal rolling, comprises plate-shaped treatment such as leveling machine, withdrawal and straightening machine, roughness control and the like, and surface treatment of plate and strip such as plating, roller coating, oiling and the like. 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 positioning control system is mainly responsible for controlling the strip positioning of the full-treatment process line, and the control precision of the positioning control system directly influences the quality of a finished product finally generated by the treatment process line.
For example, if the conveying mechanism controlled by the positioning control system cannot accurately convey the metal strip to a specific process point during the process of conveying the metal strip by the conveying mechanism, the time cost for processing the metal strip may be increased, and the efficiency of product output may be reduced. The specific process point may be, for example, a forming method of applying an external force to a metal plate material by a press machine to deform or separate the metal plate material, thereby obtaining a product of a desired shape and size.
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-mentioned technical problems in the prior art that in the process of conveying the metal strip by using the conveying mechanism, if the conveying mechanism controlled by the positioning control system cannot accurately convey the metal strip to a specific process point, the time cost for processing the metal strip may be increased, and the efficiency of product output is reduced, no effective solution has been proposed yet.
Disclosure of Invention
The present disclosure provides a positioning control system for a metal rolling post-treatment process line, so as to at least solve the technical problems in the prior art that, in the process of conveying a metal strip by using a conveying mechanism, if the conveying mechanism controlled by the positioning control system cannot accurately convey the metal strip to a specific process point, the time cost for processing the metal strip may increase, and the efficiency of product output is reduced.
According to one aspect of the present application, there is provided a positioning control system of a metal rolling post-treatment process line, comprising: the conveying system comprises a plurality of conveying mechanisms for conveying the metal strips, and the plurality of motors are respectively connected with the corresponding conveying mechanisms and drive the corresponding conveying mechanisms; the PLC is respectively connected with the motors in a communication way and used for controlling the transmission speed of the transmission mechanism; and sensors provided to the respective transfer mechanisms and connected to the PLC controller, respectively, for measuring transfer distance information of the respective transfer mechanisms and transmitting the measured transfer distance information to the PLC controller, and the PLC controller is configured to perform the following transfer speed control operations: in the case of a conveying process of the metal strip comprising a constant speed conveyance at a target speed, determining a first braking distance of the conveying mechanism according to the target speed and a first target acceleration, wherein the first target acceleration is smaller than zero; receiving a real-time conveying distance of the conveying mechanism from the sensor, and determining a distance deviation between a target conveying distance and the real-time conveying distance, wherein the target conveying distance is a conveying distance related to positioning of the metal strip; when the distance deviation is smaller than the first braking distance, determining the conveying speed of the conveying mechanism according to the distance deviation by utilizing a preset positioning control model; and controlling the motor according to the determined conveying speed to realize the positioning of the metal strip.
The application provides a positioning control system of a metal pressing post-treatment process line. Wherein the PLC controller is configured to perform the following operations: first, the PLC controller determines a first braking distance of the transfer mechanism based on the target speed and the first target acceleration. Then, the PLC controller receives the real-time transfer distance of the transfer mechanism from the sensor, and determines a distance deviation between the target transfer distance and the real-time transfer distance. Further, when the distance deviation is smaller than the first braking distance, the conveying speed of the conveying mechanism is determined according to the distance deviation by using a preset positioning control model. Finally, the PLC controls the motor according to the determined conveying speed, so that the metal strip is positioned.
Since the PLC controller determines the transfer speed of the transfer mechanism according to the distance deviation (i.e., the difference between the real-time transfer distance of the transfer mechanism and the target transfer distance of the transfer mechanism) and the first braking distance and using a preset positioning control model, the final transfer speed determined by the PLC controller is a relatively accurate transfer speed determined according to the actual situation of the transfer mechanism.
Therefore, under the condition that the PLC continuously adjusts the conveying speed and controls the motor by utilizing the determined conveying speed of the conveying mechanism, the precise positioning of the metal strip can be realized, and the metal strip can be conveyed to a specific process point.
Further, the technical problems that in the process of conveying the metal strip by using the conveying mechanism in the prior art, if the conveying mechanism controlled by the positioning control system cannot accurately convey the metal strip to a specific process point, the time cost of processing the technical strip is increased and the efficiency of product output is reduced are 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 positioning control system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of the connection between a PLC controller and a sensor according to an embodiment of the application;
FIG. 3 is a flow chart of a method for controlling the conveying speed of a conveying mechanism by a PLC controller according to an embodiment of the 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;
FIG. 4D is a graph showing the transfer distance of a transfer mechanism as a function of time according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a transfer speed versus distance difference of a transfer mechanism according to an embodiment of the present application;
FIG. 6 is a flow chart of a method for determining a first conveying speed of a conveying mechanism by a PLC controller according to an embodiment of the application;
fig. 7A is a logic diagram of a PLC controller determining a first transfer speed according to an embodiment of the present application;
fig. 7B is a logic diagram of a PLC controller determining a fifth transfer speed according to an embodiment of the present application; and
fig. 8 is a flowchart of a method for determining a fifth conveying speed of a conveying mechanism 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 positioning control system according to an embodiment of the application. Referring to fig. 1, a positioning 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, the plurality of motors 120 being respectively connected to and driving the respective conveying mechanisms, and a sensor; the PLC controller 110 is respectively connected with the plurality of motors 120 in a communication manner, and is used for controlling the conveying speed of the conveying mechanism; and sensors provided to the respective transfer mechanisms and connected to the PLC controller 110, respectively, for measuring transfer distance information of the respective transfer mechanisms and transmitting the measured transfer distance information to the PLC controller 110, and the PLC controller 110 is configured to perform a transfer speed control operation as follows: in the case of a conveying process of the metal strip comprising a constant speed conveyance at a target speed, determining a first braking distance of the conveying mechanism according to the target speed and a first target acceleration, wherein the first target acceleration is smaller than zero; receiving a real-time conveying distance of the conveying mechanism from the sensor, and determining a distance deviation between a target conveying distance and the real-time conveying distance, wherein the target conveying distance is a conveying distance related to positioning of the metal strip; when the distance deviation is smaller than the first braking distance, determining the conveying speed of the conveying mechanism according to the distance deviation by utilizing a preset positioning control model; and controlling the motor 120 according to the determined conveying speed to position the metal strip.
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 positioning control system is mainly responsible for controlling the strip positioning of the full-treatment process line, and the control precision of the positioning control system directly influences the quality of a finished product finally generated by the treatment process line.
For example, if the conveying mechanism controlled by the positioning control system cannot accurately convey the metal strip to a specific process point during the process of conveying the metal strip by the conveying mechanism, the time cost for processing the metal strip may be increased, and the efficiency of product output may be reduced.
In view of the above, the application provides a positioning control system of a metal rolling post-treatment process line. Fig. 2 is a schematic diagram of connection relation between a PLC controller and a sensor according to an embodiment of the present application. Referring to fig. 1 and 2, the positioning control system includes a PLC controller 110, a plurality of motors 120, a conveyor system 130, and sensors 14a,14b. The conveying system 130 includes a plurality of conveying mechanisms 13 a-13 d for conveying the metal strip. The plurality of motors 120 are respectively connected with the related conveying mechanisms 13 a-13 d and drive the corresponding conveying mechanisms 13 a-13 d. Further, the PLC controller 110 is communicatively connected to the plurality of motors 120, respectively, for controlling the conveying speeds of the conveying mechanisms 13a to 13d.
Further, the sensors 14a,14b are provided to the corresponding transfer mechanisms, and are connected to the PLC controller 110, respectively. Wherein the sensors 14a,14b are used to measure the transmission distance information of the respective transmission mechanisms and transmit the measured transmission distance information to the PLC controller 110.
Further, referring to fig. 1, the conveying mechanisms 13a to 13d include: a first decoiler 13a, a second decoiler 13b, a first punch 13c, and a second punch 13d.
The following 4 positioning control scenarios are all accurate positioning achieved by the PLC controller 110 through the use of a positioning control algorithm:
1. the head of the metal strip goes from the first uncoiler 13a to the first punch 13c;
2. the head of the metal strip passes from the first uncoiler 13a to the second punch 13d;
3. the metal strip is automatically decelerated to a first press 13c; and
4. the metal strip is automatically decelerated to the second press 13d.
Further, for scenario 1, the real-time transfer distance of the metal strip head from the first unwinder 13a to the first punch 13C is measured by the bit encoder MGR-C1 (i.e. the first sensor 14 a). For scenario 2, the real-time transfer distance of the metal strip head from the first uncoiler 13a to the second punch 13d is measured by the bit encoder MGR-C2 (i.e., the second sensor 14 b). For scenario 3, the real-time transfer distance of the metal strip automatically decelerating to the first stamping press 13C is measured by the bit encoder MGR-C1 (i.e., the first sensor 14 a). For scenario 4, the real-time transfer distance of the metal strip automatically decelerating to the second stamping press 13d is measured by the bit encoder MGR-C2 (i.e., the second sensor 14 b).
The following describes the transfer speed control operation of the PLC controller 110 in detail with the application of the metal strip head from the first uncoiler 13a to the first press 13 c. Fig. 3 is a flowchart of a method for controlling a conveying speed of a conveying mechanism by a PLC controller according to an embodiment of the present application. As shown in reference to figure 3 of the drawings,
s302: during the transfer of the metal strip at a target speedV set In the case of uniform speed transfer, according to the target speedV set First target accelerationa set1 Determining a first stopping distance of the transport mechanismS b1 Wherein the first target accelerationa set1 Less than zero.
Fig. 4A is a schematic diagram of acceleration rate of change of a transmission 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 application. Fig. 4C is a schematic diagram of speed versus time of a conveyor mechanism according to an embodiment of the application. Fig. 4D is a schematic diagram of transmission distance versus time according to an embodiment of the present application.
Referring to fig. 4C, first, it should be clear to those skilled in the art that during the process of transferring the metal strip head from the first uncoiler 13a to the first punch 13C by the transfer mechanism, 3 transfer situations may occur:
First kind: the transfer process only includes a first acceleration period T 1 Third acceleration period T 3 First deceleration period T 5 Third deceleration period T 7 Does not include the second acceleration period T 2 Uniform velocity period T 4 And (d)Two deceleration periods T 6 。
Second kind: the transfer process includes a first acceleration period T 1 Second acceleration period T 2 Third acceleration period T 3 First deceleration period T 5 Second deceleration period T 6 Third deceleration period T 7 But does not contain constant velocity periods T 4 。
Third kind: the transfer process includes a first acceleration period T 1 Second acceleration period T 2 Third acceleration period T 3 Uniform velocity period T 4 First deceleration period T 5 Second deceleration period T 6 Third deceleration period T 7 。
The transfer process at the head of the metal strip thus involves a speed of interestv set In the case of constant speed conveyance (i.e., third case), the real-time speed at which the conveyance mechanism starts brakingv f Is the target speed of the conveying mechanismv set . The PLC controller 110 controls the speed according to the target speedv set First target accelerationa set1 Determining a first stopping distance of the transport mechanismS b1 . Wherein the first target acceleration is due to the fact that the transmission mechanism is in a braked statea set1 Less than 0. Specifically, the first braking distance of the conveying mechanism can be calculated using the following formula S b1 ：
(equation 1)
Wherein, S b1 for indicating a first braking distance of the transfer mechanism,v set for indicating a target speed of the transport mechanism,a set1 for indicating a first target acceleration of the transfer mechanism.
The PLC controller 110 then determines the real-time conveying distance of the metal strip head from the bit encoder MGR-C1 (i.e., the first sensor 14 a) connected theretoS f And determineTarget transmission distanceS set (i.e., the distance between the first unwinder 13a and the first press 13 c) and the real-time transfer distanceS f Deviation of distance between△S（S204）。
Specifically, referring to FIG. 1, a real-time conveying distance of the metal strip head can be obtained based on the bit encoder MGR-C1 (i.e., the first sensor 14 a)S f 。
Thus, the PLC controller 110 transmits the target transmission distanceS set (i.e., the distance between the first unwinder 13a and the first punch 13 c) and the real-time conveying distance of the metal strip headS f Difference is made to obtain the distance deviation between the two△S. The calculation formula is as follows:
(equation 2)
Wherein, △Srepresenting target transmission distanceS set Distance from real-time transmissionS f Deviation of the distance between them.S set Representing the target transfer distance.S f Representing the real-time transmission distance.
Further, in the distance deviation△SLess than the first braking distanceS b1 In the case of (2), the PLC controller 110 uses a positioning control model set in advance, according to the distance deviation △SDetermining a conveying speed of a conveying mechanismv f （S206）。
Specifically, fig. 5 is a schematic diagram of a function of a conveying speed-distance difference of the conveying mechanism according to an embodiment of the present application. As shown with reference to fig. 5, with distance deviation△SGradually decreasing the conveying speed of the conveying mechanismv f And also gradually decreases. At the conveying speed of the conveying mechanismv f When reduced to 0, the distance deviation△SAlso 0, indicating that at this point the transfer mechanism has stopped driving, the metal strip head is also just transferred to the target process point (i.e. the first punch 13 c).
Thus, when the distance is deviated△SLess than the first braking distanceS b1 When the PLC 110 starts the braking program, and calculates the conveying speed of the conveying mechanism by using the following positioning control modelv f ：
(equation 3)
Wherein, v f for indicating the conveying speed of the conveying mechanism,a set1 for indicating a first target acceleration of the transfer mechanism,△sfor target transmission distanceS set Distance from real-time transmissionS f Deviation of the distance between them. Wherein the first target accelerationa set1 A value less than 0.
Finally, the PLC controller 110 determines the transfer speedv f The motor 120 is controlled so as to position the metal strip (S208).
Specifically, referring to fig. 5, the PLC controller 110 uses a positioning control model set in advance, and varies according to the distance △SContinuously adjusting the conveying speed of the conveying mechanismv f Until the transfer mechanism delivers the metal strip to the target process point (i.e., the first punch 13 c), i.e., the offset distance is 0. At this time, the conveying speed of the conveying mechanismv f Also 0, the positioning procedure execution is completed.
It should be noted that, as will be apparent to those skilled in the art, only one of the positioning control scenarios is selected for detailed description, and the above operation method may be used for other positioning control scenarios (i.e., the scenarios 2-4).
Since the PLC controller 110 determines the transfer speed according to the distance deviation (the difference between the real-time transfer distance of the transfer mechanism and the target transfer distance of the transfer mechanism) and the first braking distance and using a positioning control model set in advance, the final transfer speed determined by the PLC controller 110 is a relatively accurate transfer speed determined according to the actual situation of the transfer mechanism.
Thus, in the case that the PLC controller 110 continuously adjusts the transfer speed and controls the motor using the determined transfer speed of the transfer mechanism, it is possible to precisely position the metal strip and transfer the metal strip to a specific process point.
And further solves the technical problems that in the prior art, in the process of conveying the metal strip by utilizing the conveying mechanism, if the conveying mechanism controlled by the positioning control system cannot accurately convey the metal strip to a specific process point, the time cost for processing the metal strip is possibly increased and the efficiency of product output is reduced.
Optionally, determining the first braking distance of the transport mechanism based on the first target acceleration and the target speed includes determining the first braking distance according to the following formula:
(equation 1)
Wherein, S b1 for indicating a first braking distance of the transfer mechanism,v set for indicating the real-time speed at which the transfer mechanism starts braking as the target speed,a set1 for indicating a first target acceleration of the transfer mechanism.
Thus, the target speed can be reached in the conveying mechanismv set And at a target speedv set Under the condition of uniform motion, the real-time speed of the transmission mechanism when starting braking is the target speedv set 。
Failure of the conveying mechanism to achieve the target speedv set In this case, the PLC controller 110 can determine the transfer speed at the start of braking of the transfer mechanism by the speed sensor corresponding to the transfer mechanismv L 。
Alternatively, the operation of determining the conveying speed of the conveying mechanism from the distance deviation using a positioning control model set in advance includes determining the conveying speed of the conveying mechanism according to the following formula:
(equation 3)
Wherein, v f for indicating the conveying speed of the conveying mechanism,a set1 for indicating a first target acceleration of the transfer mechanism,△sfor distance deviation between the target transmission distance and the real-time transmission distance. Wherein the first target accelerationa set1 A value less than 0.
Optionally, determining the first braking distance of the conveying mechanism according to the first target acceleration and the target speed includes: determining a first deceleration conveying distance, a second deceleration conveying distance and a third deceleration conveying distance according to a preset first target acceleration and an acceleration adjustment time length, wherein the acceleration of the conveying mechanism is uniformly adjusted from 0 to the first target acceleration in a first deceleration period corresponding to the first deceleration conveying distance, the conveying mechanism uniformly decelerates at the first target acceleration in a second deceleration period corresponding to the second deceleration conveying distance, and the acceleration of the conveying mechanism is gradually adjusted from the first target acceleration to 0 while the conveying speed of the conveying mechanism is gradually reduced to 0 in a third deceleration period corresponding to the third deceleration conveying distance, wherein the first target acceleration is smaller than 0; and determining a first braking distance of the conveying mechanism according to the first decelerating conveying distance, the second decelerating conveying distance and the third decelerating conveying distance.
Specifically, referring to fig. 4A, 4B, 4C and 4D, first, the PLC controller 110 determines the first target acceleration according to the preset first target accelerationa set1 And the acceleration adjustment time periodt set The first deceleration-conveying distance S1, the second deceleration-conveying distance S2, and the third deceleration-conveying distance S3 are determined. Wherein, the first deceleration transmission distance S1 and the first deceleration period T 5 Corresponding to the above. A second deceleration conveying distance S2 and a second deceleration period T 6 Corresponding to the above. Third speed reductionA conveying distance S3 and a third deceleration period T 7 Corresponding to the above.
And in a first deceleration period T corresponding to the first deceleration conveying distance S1 5 Acceleration of the conveying mechanisma f Gradually adjusting from 0 to a first target acceleration in a uniform acceleration mannera set1 . Thus, in the first deceleration period T 5 Conveying speed of conveying mechanismv f From the target speedv set Gradually decreasing. Real-time conveying distance of conveying mechanismS f And are increasing. Wherein the first target acceleration of the conveying mechanisma set1 Less than 0.
In a second deceleration period T corresponding to a second deceleration conveying distance S2 6 The conveying mechanism uses the first target accelerationa set1 And performing uniform deceleration movement. Real-time conveying distance of conveying mechanismS f And are increasing.
In a third deceleration period T corresponding to the second deceleration conveying distance S3 7 Acceleration of the conveying mechanism a f In the form of uniform deceleration from a first target accelerationa set1 Gradually adjust to 0. Thus, in the third deceleration period T 7 Conveying speed of conveying mechanismv f Gradually decreasing to 0. Real-time conveying distance of conveying mechanismS f Increase to target transport distanceS set . At this point, the transfer mechanism stops the drive and the metal strip is transferred to the target process point.
Further, the PLC controller 110 can determine the first braking distance of the transfer mechanism after determining the first, second and third deceleration transfer distances S1, S2 and S3S b1 . Specifically, referring to fig. 4C and 4D, the conveying speed of the conveying mechanismv f From the moment of timet 4 Start to decrease, so the PLC controller 110 is at the momentt 4 A braking operation of the transfer mechanism is started. Thereby first speed reduction transmission distance S1, second speed reduction transmission distance S2, and third speed reduction transmissionThe sum of the feeding distances S3 is the first braking distance of the conveying mechanismS b1 。
Optionally, the operation of determining the conveying speed of the conveying mechanism according to the distance deviation using a preset positioning control model includes: in the case where the distance deviation is greater than the sum of the second decelerated transmission distance and the third decelerated transmission distance, determining a first transmission speed of the transmission mechanism according to the following operation steps, wherein the first transmission speed is a transmission speed of the transmission mechanism determined by the first current control cycle: determining a first speed difference between the target speed and a second conveying speed determined by a first previous control cycle; determining a first acceleration change rate of the first current control loop in relation to a transport acceleration of the transport mechanism based on the first speed difference; determining a first acceleration of the first current control loop related to the transfer acceleration of the transfer mechanism according to the first acceleration rate of change; and determining a first transfer speed of the first current control loop based on the first acceleration.
Specifically, the positioning control model used by the PLC controller 110 may be either the above-described formula 3 or the real-time conveyance speed of the conveyance mechanismv f A control loop is performed. Referring to FIG. 4C, a first deceleration period T 5 The corresponding conveying distance of the conveying mechanism is a first deceleration conveying distance S1 and a second deceleration period T 6 The corresponding conveying distance of the conveying mechanism is the first deceleration conveying distance S2 and the third deceleration period T 7 The conveying distance of the corresponding conveying mechanism is a third deceleration conveying distance S3.
Fig. 6 is a flowchart of a method for determining a first conveying speed of a conveying mechanism by a PLC controller according to an embodiment of the present application. As shown with reference to fig. 6, the deviation in distance deltaSGreater than the sum of the second and third deceleration conveying distances S2 and S3 (i.e., in the first deceleration period T) 5 In the case of (a), the PLC controller 110 determines the first conveying speed of the conveying mechanism according to the following operation stepsv f1 Wherein the first conveying speedv f1 The transfer speed of the transfer mechanism determined for the first current control cycle:
s602: first, the PLC controller 110 determines a target speedv set A second conveying speed determined from the first previous control loop v f2 First speed difference between△V 1 . The specific calculation formula is as follows:
(equation 4)
S604: then, the PLC controller 110 generates a first speed difference△V 1 Determining a first acceleration rate of change of the first current control loop in relation to a transport acceleration of the transport mechanismr f1 . Specifically, fig. 7A illustrates a PLC controller 110 for determining a first conveying speed according to an embodiment of the present applicationv f1 Logic diagram of (c). Referring to fig. 7A, first, the PLC controller 110 calculates a first target acceleration based on the first target accelerationa set1 And acceleration adjustment timet set Determining a corresponding first target acceleration rate of changer set1 . The calculation formula is as follows:
(equation 5)
Then, the PLC controller 110 generates a first speed difference△V 1 First target acceleration change rater set1 And determining a first reference acceleration by using a preset acceleration function generatora ref1 . The calculation formula is as follows:
(equation 6)
Wherein, sig（△v 1 ) Is that△v 1 Is a sign of (3).
Further, the PLC controller 110 calculates a first target acceleration based on the first target accelerationa set1 For a first reference accelerationa ref1 Clipping and determining corresponding second reference accelerationa ref2 . Wherein the PLC controller 110 is based on the first target accelerationa set1 For a first reference accelerationa ref1 Clipping means: second reference acceleration of the transfer mechanism a ref2 Is maintained at the first target accelerationa set1 In the second reference accelerationa ref2 Exceeding a first target accelerationa set1 With a first target accelerationa set1 Second reference acceleration as a transfer mechanisma ref2 。
Namely, when the first reference accelerationa ref1 Is smaller than the first target accelerationa set1 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 first target accelerationa set1 At a value of (2) a second reference accelerationa ref2 Is equal to the first target accelerationa set1 Is a value of (2).
In addition, the PLC controller 110 determines a second reference accelerationa ref2 First acceleration parameter with first current cyclea f1 Is the first acceleration difference of (2)△a 1 . The specific calculation formula is as follows:
(equation 7)
Further, the PLC 110 calculates a first acceleration difference value according to the first acceleration difference value△a 1 Generating a corresponding first standard acceleration change rate by using a preset acceleration controllerr c1 。
Then, the PLC controller 110 based on the first target acceleration change rater set1 Determining a first additionRate of speed changer f1 . Specifically, the PLC controller 110 varies the rate according to the first target accelerationr set1 Generating a corresponding first standard acceleration change rate for the acceleration controllerr c1 Clipping means: generating a corresponding first standard acceleration change rate by the acceleration controller r c1 Is maintained at a first target acceleration rate of changer set1 Generating a corresponding first standard acceleration change rate in the acceleration controllerr c1 Exceeding a first target acceleration rate of changer set1 In the case of a current first acceleration rate of change of the transmission mechanismr f1 For a first target acceleration rate of changer set1 。
That is, when the acceleration controller generates the corresponding first standard acceleration change rater c1 Is smaller than the first target acceleration change rater set1 At the same time, the current first acceleration change rate of the transmission mechanismr f1 Is equal to the value of the first standard acceleration change rate generated by the acceleration controllerr c1 The method comprises the steps of carrying out a first treatment on the surface of the When the acceleration controller generates a corresponding first standard acceleration change rater c1 Is greater than the first target acceleration rate of changer set1 At the same time, the current first acceleration change rate of the transmission mechanismr f1 Is equal to the first target acceleration change rater set1 。
S606: further, the PLC controller 110 varies the rate according to the first accelerationr f1 Determining a first acceleration of the first current control loop related to a transport acceleration of the transport mechanisma f1 . For example, the PLC controller 110 uses the first integration unit to calculate the first acceleration rater f1 Integrating to determine a first acceleration of the first current control loop related to the transport acceleration of the transport mechanism a f1 。
S608: finally, the PLC controller 110 generates a first accelerationa f1 Determining a first transfer speed of a first current control loopv f1 . For example, the PLC controller 110 uses the second integration unit to integrate the first accelerationa f1 Integrating to determine a first transfer rate of a first current control loopv f1 。
Optionally, the operation of determining the conveying speed of the conveying mechanism according to the distance deviation using a preset positioning control model includes, in a case where the distance deviation is smaller than a sum of the second decelerated conveying distance and the third decelerated conveying distance but greater than the third decelerated conveying distance, calculating the third conveying speed of the conveying mechanism according to the following formula:
wherein, v f3 for indicating a third conveying speed of the conveying mechanism,a set1 for indicating the first target acceleration rate,△Sfor indicating a difference between the conveying distance corresponding to the third conveying speed and the conveying distance corresponding to the fourth conveying speed,v f4 and a fourth conveying speed for indicating the conveying mechanism, wherein the fourth conveying speed is the conveying speed when the conveying mechanism starts to perform uniform deceleration motion at the first target acceleration.
In particular, in the distance deviationSLess than the sum of the second and third deceleration conveying distances S2 and S3 (i.e., in the second deceleration period T) 6 In the case of (c), the PLC controller 110 determines the third conveying speed of the conveying mechanism according to the following formulav f3 Wherein the third conveying speedv f3 The transfer speed of the transfer mechanism determined for the first current control cycle:
(equation 8)
Wherein, v f3 third for indicating the conveying mechanismThe speed of the transfer is such that,a set1 for indicating the first target acceleration rate,△Sfor indicating a difference between the conveying distance corresponding to the third conveying speed and the conveying distance corresponding to the fourth conveying speed,v f4 for indicating a fourth conveying speed of the conveying mechanism.
The fourth conveying speed is the conveying speed when the conveying mechanism starts to uniformly decelerate at the first target acceleration. I.e. with time of dayt 5 Corresponding transport speed. And wherein the first target accelerationa set1 A value less than 0.
Optionally, the operation of determining the conveying speed of the conveying mechanism according to the distance deviation using a preset positioning control model includes, in a case where the distance deviation is smaller than a sum of the second decelerated conveying distance and the third decelerated conveying distance but greater than the third decelerated conveying distance, determining a fifth conveying speed of the conveying mechanism according to the following operation steps, wherein the fifth conveying speed is the conveying speed of the conveying mechanism determined by the second current control cycle: determining a second speed difference between the target speed and a sixth conveying speed determined in a second previous control cycle; determining a second acceleration rate of change of a second current control loop in relation to the transport acceleration of the transport mechanism based on the second speed differential; determining a second acceleration of the second current control loop related to the transfer acceleration of the transfer mechanism based on the second acceleration rate of change; and determining a fifth transfer speed of the second current control loop based on the second acceleration.
Specifically, fig. 8 is a flowchart of a method for determining a fifth conveying speed of a conveying mechanism by a PLC controller according to an embodiment of the present application. Referring to fig. 4A, 4B, 4C, 4D, and 8, the distance deviation delta is shown in fig. 4B, 4C, 4D, and 8SLess than the sum of the second and third reduced conveying distances S2 and S3, but greater than the third reduced conveying distance S3 (i.e., in the third period of deceleration T) 7 In the case of (a), the PLC controller 110 determines the fifth conveying speed of the conveying mechanism according to the following operation stepsv f5 Wherein the fifth conveying speedv f5 Is the second oneThe conveying speed of the conveying mechanism determined by the current control cycle:
s802: first, the PLC controller 110 determines a target speedv set A sixth conveying speed determined from the second previous control loopv f6 Second speed difference between△V 2 . The specific calculation formula is as follows:
(equation 9)
S804: then, the PLC controller 110 generates a second speed difference according to the first speed difference△V 2 Determining a second acceleration rate of change of the second current control loop in relation to the transport acceleration of the transport mechanismr f2 . FIG. 7B illustrates a determination of a fifth transfer rate by the PLC controller 110 according to an embodiment of the present applicationv f5 Logic diagram of (c). Referring to fig. 7B, first, the PLC controller 110 calculates a first target acceleration based on the first target acceleration a set1 And acceleration adjustment timet set Determining a corresponding first target acceleration rate of changer set1 . The calculation formula is as in formula 5 above.
Then, the PLC controller 110 generates a second speed difference according to the first speed difference△V 2 First target acceleration change rater set1 And determining a third reference acceleration by using a preset acceleration function generatora ref3 . The calculation formula is as follows:
(equation 10)
Wherein, sig（△v 3 ) Is that△v 3 Is a sign of (3).
Further, the PLC controller 110 calculates a first target acceleration based on the first target accelerationa set1 For a third reference accelerationa ref3 Clipping and determining a corresponding fourth reference accelerationa ref4 . Wherein, the PLC controller 110 calculates a first target acceleration based on the first target accelerationa set1 For a third reference accelerationa ref3 Clipping means: fourth reference acceleration of the transfer mechanisma ref4 Is maintained at the first target accelerationa set1 In the fourth reference accelerationa ref4 Exceeding a first target accelerationa set1 With a first target accelerationa set1 Fourth reference acceleration as a transfer mechanisma ref4 。
Namely, when the third reference accelerationa ref3 Is smaller than the first target accelerationa set1 At a value of (2) a fourth reference accelerationa ref4 Is equal to the third reference accelerationa ref3 The method comprises the steps of carrying out a first treatment on the surface of the When the third reference accelerationa ref3 Is greater than the first target accelerationa set1 At a value of (2) a fourth reference acceleration a ref4 Is equal to the first target accelerationa set1 Is a value of (2).
In addition, the PLC controller 110 determines a fourth reference accelerationa ref4 Second acceleration parameter associated with second current control loopa f2 Is the second acceleration difference of (2)△a 2 . The specific calculation formula is as follows:
(equation 11)
Further, the PLC 110 calculates a second acceleration difference value according to the second acceleration difference value△a 2 Generating a corresponding second standard acceleration change rate by using a preset acceleration controllerr c2 。
Then, the PLC controller 110 based on the first target acceleration change rater set1 Determining a second acceleration rate of changer f2 . Specifically, the PLC controller 110 varies according to the first target accelerationRate ofr set1 Generating a corresponding second standard acceleration change rate for the acceleration controllerr c2 Clipping means: generating a corresponding second standard acceleration change rate by the acceleration controllerr c2 Is maintained at a first target acceleration rate of changer set1 Generating a corresponding second standard acceleration change rate in the acceleration controllerr c2 Exceeding a first target acceleration rate of changer set1 In the case of a current second rate of acceleration of the transmission mechanismr f2 For a first target acceleration rate of changer set1 。
That is, when the acceleration controller generates the corresponding second standard acceleration change rate r c2 Is smaller than the first target acceleration change rater set1 At the present second acceleration change rate of the transmission mechanismr f2 The value of (2) is equal to the corresponding second standard acceleration change rate generated by the acceleration controllerr c2 The method comprises the steps of carrying out a first treatment on the surface of the When the acceleration controller generates a corresponding second standard acceleration change rater c2 Is greater than the first target acceleration rate of changer set1 At the present second acceleration change rate of the transmission mechanismr f2 Is equal to the first target acceleration change rater set1 。
S806: further, the PLC controller 110 varies the rate according to the second accelerationr f2 Determining a second acceleration of the second current control loop related to the transport acceleration of the transport mechanisma f2 . For example, the PLC controller 110 uses the first integration unit to calculate the second acceleration rater f2 Integrating to determine a second acceleration of the second current control loop related to the transport acceleration of the transport mechanisma f2 。
S808: finally, the PLC 110 controls the second accelerationa f2 Determining a fifth transfer rate of the second current control loopv f5 . For example, the PLC controller 110 uses a second integration unit to integrate a second accelerationa f2 Integrating to determine a fifth transfer rate of the second current control loopv f5 。
Optionally, the PLC controller 110 is further configured to: receiving a first target acceleration change rate corresponding to a first target acceleration; receiving a second target acceleration and a second target acceleration change rate corresponding to the second target acceleration, wherein the second target acceleration is greater than zero; determining a minimum conveying distance of the conveying mechanism according to the first target acceleration, the first target acceleration change rate, the second target acceleration and the second target acceleration change rate; receiving an input target transmission distance; and keeping the conveying mechanism stationary in the case that the target conveying distance is smaller than the minimum conveying distance.
Specifically, the PLC controller 110 also needs to determine whether the conveying mechanism can perform an operation of conveying the metal strip.
First, the PLC controller 110 receives a first target accelerationa set1 And a first target accelerationa set1 Corresponding first target acceleration change rater set1 . Wherein the first target accelerationa set1 A value less than 0, and a first target accelerationa set1 The acceleration corresponds to the braking operation of the transmission mechanism.
Then, the PLC controller 110 receives the second target accelerationa set2 And a second target accelerationa set2 Corresponding second target acceleration change rater set2 . Wherein the second target accelerationa set2 A value greater than 0, and a second target accelerationa set2 Is the acceleration corresponding to the start operation of the conveying mechanism.
Further, the PLC controller 110 calculates a first target acceleration based on the first target accelerationa set1 First target acceleration change rater set1 Second target accelerationa set2 Second target acceleration change rater set2 Determining a minimum conveying distance of a conveying mechanismS g 。
Referring to fig. 4B, 4C and 4D, when the transfer acceleration of the transfer mechanism passes through the first acceleration period T 1 Third acceleration period T 3 In the case where the acceleration of the conveying mechanism reaches the second target acceleration, the conveying distance at the time of acceleration of the conveying mechanism can be calculated using the following formula:
(equation 12)
When the transmission acceleration of the transmission mechanism passes through the first deceleration period T 5 Third deceleration period T 7 In the case where the deceleration of the conveying mechanism reaches the first target acceleration, the conveying distance at the time of deceleration of the conveying mechanism can be calculated using the following formula:
(equation 13)
Thus, the minimum conveying distance of the conveying mechanismS g Can be calculated using the following formula:
(equation 14)
Then, the PLC controller 110 receives the target transmission distanceS set . At the target transmission distanceS set Less than the minimum conveying distanceS g In the case of a conveyor mechanism that remains stationary.
Optionally, the PLC controller 110 is further configured to: determining a conveying speed of the conveying mechanism when braking is started by using a speed sensor; and determining a second braking distance of the transfer mechanism based on the determined speed and the first target acceleration. Further optionally, determining the second braking distance of the transport mechanism based on the determined speed and the first target acceleration includes determining the second braking distance according to the following formula:
wherein, S b2 for indicating a second braking distance of the transfer mechanism,v L for indicating the real-time speed at which the transmission starts braking,a set1 for indicating a first target acceleration of the transfer mechanism.
Specifically, the conveying mechanism comprises a first acceleration period T 1 Second acceleration period T 2 Third acceleration period T 3 Uniform velocity period T 4 First deceleration period T 5 Second deceleration period T 6 Third deceleration period T 7 In the case of (a), since the conveying speed of the conveying mechanism can reach the target speed and the conveying mechanism performs uniform motion at the target speed, the conveying speed at the start of braking of the conveying mechanism is the target speed.
And because the conveying mechanism only comprises the first accelerating period T 1 Second acceleration period T 2 Third acceleration period T 3 First deceleration period T 5 Second deceleration period T 6 Third deceleration period T 7 But does not contain constant velocity periods T 4 In the case of (a), the transfer speed of the transfer mechanism has not reached the target speed yet, and braking has already started, so the transfer speed at which the transfer mechanism starts braking needs to be measured using a speed sensor.
Further, after determining the conveying speed at which the conveying mechanism starts braking using the speed sensor, the PLC controller 110 calculates the second braking distance of the conveying mechanism using the following formula:
(equation 15)
Wherein, S b2 for indicating a second braking distance of the transfer mechanism,v L for indicating the real-time speed at which the transmission starts braking, a set1 For indicating a first target acceleration of the transfer mechanism.
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 positioning control system for a metal rolling post-treatment process line, comprising: a PLC controller (110), a plurality of motors (120), a transmission system (130) and a sensor, characterized in that,
The conveying system (130) comprises a plurality of conveying mechanisms for conveying the metal strips, and the plurality of motors (120) are respectively connected with and drive the corresponding conveying mechanisms;
the PLC (110) is respectively connected with the motors (120) in a communication way and is used for controlling the conveying speed of the conveying mechanism;
the sensors are provided at the respective transfer mechanisms and are respectively connected to the PLC controller (110) for measuring transfer distance information of the respective transfer mechanisms and transmitting the measured transfer distance information to the PLC controller (110), and the PLC controller (110) is configured to perform the following transfer speed control operations:
determining a first braking distance of the conveying mechanism according to a target speed and a first target acceleration when the conveying process of the metal strip comprises uniform speed conveying at the target speed, wherein the first target acceleration is smaller than zero;
receiving a real-time conveying distance of the conveying mechanism from the sensor, and determining a distance deviation between a target conveying distance and the real-time conveying distance, wherein the target conveying distance is a conveying distance related to positioning of the metal strip;
When the distance deviation is smaller than the first braking distance, determining the conveying speed of the conveying mechanism according to the distance deviation by utilizing a preset positioning control model; and
-controlling the motor (120) according to the determined transport speed, achieving positioning of the metal strip.
2. The system of claim 1, wherein determining a first braking distance of the transport mechanism based on the first target acceleration and the target speed comprises determining the first braking distance according to the following formula:
;
wherein, S b1 for indicating the braking distance of the transfer mechanism,v set for indicating the real-time speed at which the transfer mechanism starts braking as a target speed,a set1 for indicating a first target acceleration of the transfer mechanism.
3. The system of claim 2, wherein determining the transport speed of the transport mechanism from the distance deviation using a pre-set positioning control model comprises determining the transport speed of the transport mechanism according to the following formula:
;
wherein, v f for indicating the conveying speed of the conveying mechanism,a set1 for indicating a first target acceleration of the transfer mechanism, △sFor a distance deviation between the target transmission distance and the real-time transmission distance.
4. The system of claim 1, wherein determining a first braking distance of the transport mechanism based on a first target acceleration and a target speed comprises:
determining a first deceleration conveying distance, a second deceleration conveying distance and a third deceleration conveying distance according to a preset first target acceleration and an acceleration adjustment duration, wherein the acceleration of the conveying mechanism is uniformly adjusted from 0 to the first target acceleration in a first deceleration period corresponding to the first deceleration conveying distance, the conveying mechanism performs uniform deceleration movement with the first target acceleration in a second deceleration period corresponding to the second deceleration conveying distance, and the acceleration of the conveying mechanism is gradually adjusted to 0 from the first target acceleration in a third deceleration period corresponding to the third deceleration conveying distance, and meanwhile the conveying speed of the conveying mechanism is gradually reduced to 0, wherein the first target acceleration is smaller than 0; and
and determining a first braking distance of the conveying mechanism according to the first deceleration conveying distance, the second deceleration conveying distance and the third deceleration conveying distance.
5. The system of claim 4, wherein determining the transport speed of the transport mechanism from the distance deviation using a pre-set positioning control model comprises: in the case where the distance deviation is greater than the sum of the second decelerated transmission distance and the third decelerated transmission distance, determining a first transmission speed of the transmission mechanism according to the following operation steps, wherein the first transmission speed is a transmission speed of the transmission mechanism determined by a first current control cycle:
determining a first speed difference between the target speed and a second transfer speed determined by a first previous control loop;
determining a first acceleration rate of change of the first current control loop in relation to a transport acceleration of the transport mechanism based on the first speed differential;
determining a first acceleration of the first current control loop related to a transport acceleration of the transport mechanism according to the first acceleration rate of change; and
and determining a first conveying speed of the first current control cycle according to the first acceleration.
6. The system of claim 5, wherein determining the transport speed of the transport mechanism from the distance deviation using a pre-set positioning control model comprises, in the event that the distance deviation is less than the sum of the second reduced transport distance and the third reduced transport distance, but greater than the third reduced transport distance, calculating the third transport speed of the transport mechanism according to the following equation:
;
Wherein, v f3 for indicating a third conveying speed of the conveying mechanism,a set1 for indicating the first target acceleration as described above,△Sfor indicating a difference between a conveying distance corresponding to the third conveying speed and a conveying distance corresponding to a fourth conveying speed,v f4 and a fourth conveying speed for indicating the conveying mechanism, wherein the fourth conveying speed is a conveying speed at which the conveying mechanism starts the uniform decelerating motion with the first target acceleration.
7. The system of claim 6, wherein the operation of determining the transport speed of the transport mechanism from the distance deviation using a pre-set positioning control model includes, in the event that the distance deviation is less than the sum of the second reduced transport distance and the third reduced transport distance, but greater than the third reduced transport distance, determining a fifth transport speed of the transport mechanism from the following operation steps, wherein the fifth transport speed is the transport speed of the transport mechanism determined by the second current control loop:
determining a second speed difference between the target speed and a sixth transfer speed determined by a second previous control loop;
Determining a second acceleration rate of change of the second current control loop relative to a transport acceleration of the transport mechanism based on the second speed differential;
determining a second acceleration of the second current control loop related to a transport acceleration of the transport mechanism based on the second acceleration rate of change; and
and determining a fifth conveying speed of the second current control cycle according to the second acceleration.
8. The system of claim 1, wherein the PLC controller (110) is further configured to:
receiving a first target acceleration change rate corresponding to the first target acceleration;
receiving a second target acceleration and a second target acceleration change rate corresponding to the second target acceleration, wherein the second target acceleration is greater than zero;
determining a minimum conveying distance of the conveying mechanism according to the first target acceleration, the first target acceleration change rate, the second target acceleration and the second target acceleration change rate;
receiving an input target transmission distance; and
in the case where the target conveying distance is smaller than the minimum conveying distance, the conveying mechanism is kept stationary.
9. The system of claim 1, wherein the PLC controller (110) is further configured to:
determining a transfer speed at which the transfer mechanism starts braking, using a speed sensor; and
and determining a second braking distance of the conveying mechanism according to the determined conveying speed and the first target acceleration.
10. The system of claim 9, wherein determining a second braking distance of the transport mechanism based on the determined speed and the first target acceleration comprises determining the second braking distance according to the following formula:
;
wherein, S b2 for indicating a second braking distance of the transfer mechanism,v L for indicating the real-time speed at which the transfer mechanism starts braking,a set1 for indicating a first target acceleration of the transfer mechanism.
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| WO2013053096A1 (en) * | 2011-10-10 | 2013-04-18 | 中联重科股份有限公司 | Control system, method and apparatus for materials transfer |
| CN207723211U (en) * | 2017-12-29 | 2018-08-14 | 惠州市诚业家具有限公司 | Automatic rolling and forming production line |
| CN207972075U (en) * | 2017-12-29 | 2018-10-16 | 李奕金 | A kind of cutter device for timber processing |
| DE102018125620A1 (en) * | 2018-10-16 | 2020-04-16 | Schuler Pressen Gmbh | Method and device for cutting a sheet metal blank from a continuously conveyed sheet metal strip |
| CN115074516A (en) * | 2022-07-12 | 2022-09-20 | 广东世创金属科技股份有限公司 | Metal strip transmission system with vertical nested loop structure |
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