CN1355079A - Speed synchronizing control method for transverse shearing machine set of metal sheet or band - Google Patents

Speed synchronizing control method for transverse shearing machine set of metal sheet or band Download PDF

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Publication number
CN1355079A
CN1355079A CN 00113995 CN00113995A CN1355079A CN 1355079 A CN1355079 A CN 1355079A CN 00113995 CN00113995 CN 00113995 CN 00113995 A CN00113995 A CN 00113995A CN 1355079 A CN1355079 A CN 1355079A
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tension force
unit
control
equipment
speed
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CN1115223C (en
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周德奇
张勇安
任玉成
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Xi'an Heavy-Duty Machinery Inst Ministry Of Machine Building
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Xi'an Heavy-Duty Machinery Inst Ministry Of Machine Building
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Abstract

A speed synchronization control method for the transverse shears set of metal plate or band features that one apparatus in the said transverse shears set is used as speed reference, a constent-speed control system is used to control its speed, and a constant-tension or constant-torque and characteristics-varying speed control system is used to control other apparatus, so resulting in a synchronous running system.

Description

The metal plate and belt speed synchronizing control method for transverse shearing machine set
Content of the present invention belongs to plant equipment control technology field, relates to the metal plate and belt speed synchronizing control method for transverse shearing machine set under a kind of complicated technology condition.
The horizontal basic equipment of producing unit of cutting of traditional metal plate and belt is formed as shown in Figure 1, mainly comprise equipment such as uncoiler 1, jockey pulley 2, cut edge circle shear 3, multi-roll straightening machine 4, flying shear feeding roller 5, flying shearing machine 6 and kink 7, the drive control mode of each equipment is except that uncoiler 1 uses tension force control therebetween, and other all employing speed is controlled.In the unit running process, the shearing work of flying shearing machine 6 is intermittent movement, and by special control system control, miscellaneous equipment then need be to flying shearing machine 6 continuous conveyor materials under the speed synchronous regime.Because speed control system has speed governing error (comprising adjusting speed accuracy sum of errors linearity error) and device fabrication error, so certainly exist the speed synchronous error between each stand-alone device.This error can cause the accumulation of carrying the band displacement error, and the heap that produces band between each equipment thus draws phenomenon, light then will have influence on quality and the horizontal precision of cutting cutting to length that circle shear is cut edge, heavy then will cause and be with the serious sideslip of steel, cause the unit can't operate as normal.As seen depending merely on speed control is actually and can't realizes equipment room synchronous operation.Difficulty for the Synchronization Control that underspeeds, traditional way is in the intersegmental buffering link that is provided with of unit equipment, be that the horizontal production unit of cutting generally all uses at least one kink 7 that unit is divided into two sections, utilization hardware features speed control (speed feedback) and software feature speed are controlled (ELECTROMOTIVE FORCE FEEDBACK AND LOAD FEED) method, the speed Synchronization Control in realizing every section.That is to say that prior art utilization kink is realized the synchronous operation control of whole unit as two intersegmental speed Synchronization Control buffering and governing loops by the Position Control of kink on macroscopic view.But along with the increase of current production kind and the development of production technology, horizontal content of cutting production technology no longer only is simple the side cut and the aligning requirement, increasing newly has surface clean, oven dry, coating, membrane, lining paper, multinomial technology content such as head-stamp, to increase thereupon many corresponding with it PROCESS FOR TREATMENT equipment are arranged, the machine group length also will increase many, if still control according to former crop shears speed Synchronization Control thinking, arrange a kink still will exist the difficulty of multiple devices Synchronization Control, and, bring new problem and contradiction if adopt the mode of a plurality of kink controls then can increase whole production line length and increase construction investment.
The objective of the invention is to propose a kind of new-type metal plate and belt speed synchronizing control method for transverse shearing machine set for the above-mentioned deficiency that overcomes prior art, adopt this method both can remove in the original production line kink as speed sync buffering link, production line is shortened as far as possible, can satisfy the speed synchronous control accuracy requirement between multiple devices again, make unit dynamically and can both even running during stable state.
According to the basic principle of Electric Traction as can be known, the synchronous best method of solution speed is to make the band between the individual device keep certain constant-tension.Design principle of the present invention just is being based on this principle and is forming, its technical solution be horizontal cut to produce determine in the unit that an equipment controls with the constant speedpump control system as the unit speed benchmark and to this equipment, adopt permanent tension force, constant force square and change intrinsic speed control system to control to miscellaneous equipment, each process section equipment constitutes the synchronous operation relation with the form and the reference speed equipment of tension force or moment, thereby realizes the speed Synchronization Control of full unit.
Method of the present invention comprises following step:
One, determines each equipment electric drive mode
General select horizontal cutting to produce the main technique equipment that power is bigger in the unit and adopt the control of constant speedpump control system, the miscellaneous equipment in the unit is then adopted permanent tension force, constant force square and becomes the intrinsic speed control system as the unit speed benchmark and to it.
Constant speedpump and permanent tension force, the control of constant force square are known Electric Traction control method commonly used, becoming intrinsic speed control is the method for control speed with moment amplitude limit function, and system can make speed control be automatically changeb to Torque Control according to the variation of moment amplitude limit.
Two, determine tension force number range between each equipment active section according to technological requirement
Owing to produce the thickness and the width specifications of band steel certain excursion is arranged all, nearly about the 15 times excursion of sectional area of feasible band steel, general production technology all requires to change with the variation of the tension force of steel steel sectional area going along with.Determine that its magnitude range has following four kinds of modes and selects:
(1), constant unit tension
Determine a changeless unit tension by technology, just can obtain tension force numerical value under this cross section according to the thickness of band and width, as the formula (1).
T=BHP ... ... ... ... ... ... (1) digital code T is tension force (N) in the formula, and B is strip width (mm), and H is thickness of strip (mm), and P is unit are tensile stress (N/mm 2).
Because the unit tensile stress is a fixed number, so strap tension linear change with the variation of band sectional area, its Changing Pattern is as shown in Figure 3.
(2), stepped changes the unit tensile stress
According to produce needs tension force with the variation in band cross section nonlinear change, determine one according to band changes of section scope and the tensile stress P of unit that ladder changes by technology, obtain the numerical value of the tension force T of band by (2) formula.
Δ (BH) is band trapezoid cross section changing value (mm in T=BHP+ Δ (BH) P............ (2) formula 2).The Changing Pattern of T as shown in Figure 4.
(3), the tension value that limited of excursion
Certain section tension force that requires according to production technology changes along with the variation in band cross section can only be limited in a certain value range, can not exceed minimum and maximum limit value, and its characteristic as shown in Figure 5.
Can obtain following formula shown in 5 with reference to the accompanying drawings T = T 2 - T 1 S 2 - S 1 S - S 1 T 2 - S 2 T 1 S 2 - S 1 … … … … … ( 3 ) Digital code T in the formula 1Be minimum tension limit value (N) in this scope, T 2Be maximum tension limit value (N) in this scope, S 1Be band steel minimum sectional area (mm in this scope 2), S 2Be band steel maximum secting area (mm in this scope 2), S is band steel sectional area (mm 2).
(4), surely than tension force
Fixed implication than tension force is that another section tension force becomes the definite value proportionate relationship with this section tension force after certain section tension force is determined, as shown in the formula
T B=KT A... ... ... ... ... ... .... T in (4) formula ABe known certain section tension force (N), T BBe this section tension force (N) that K is a proportionality coefficient.
Three, determine the loading moment of each equipment
Loading moment is meant the loading moment that the device assumes tension force that is confirmed as tension force control, Torque Control and the control of change intrinsic speed will be born.Steady operation makes the loading moment of plant equipment be made up of two parts, and the first is born the load of tension force moment, and it two is the loads of bearing moment of friction, if tension force moment much larger than moment of friction, but the then influence of negligible friction square.
The loading moment of equipment can be obtained by following formula:
M F=(T R-T C) M in R................................. (5) formula FBe the loading moment of equipment, T RBe equipment entrance tension force, T CBe equipment outlet tension force, R is the device roller footpath.Work as T R＞T CThe time, M FFor on the occasion of, driving motor is the work of electrokinetic moment state; Work as T R＜T CThe time, M FBe negative value, driving motor is the work of power generation torque state.
Four, converse each motor torque current limit, i.e. load-rate of motor according to apparatus of load moment
The loading moment of plant equipment is proportional to the torque current of dragging motor, and the percentage number that apparatus of load moment accounts for rated moment is the percentage of the shared motor rated current of motor load electric current just.According to this percentage (load factor) current of electric is carried out amplitude limit and control the control that just can realize the equipment output torque.Load-rate of motor can be obtained by following formula: C = M F M e × 100 % … … … … … … … … ( 6 ) M in the formula FBe the loading moment of equipment, M eBe the equipment rated moment, C is a load factor.
Five, the concrete current limit value parameter of each motor that calculates according to unit different operating state and model is implemented the speed Synchronization Control to each motor
By the control of permanent tension force, the control of horizontal speed and the Speed Chain control system that becomes the crop shears that the intrinsic speed control system forms as shown in Figure 6, its hardware condition comprises full digital speed control device 16 (it can be that DC control also can be the AC vector VFC), the upper monitoring computer 13 that carries out man-machine information exchange and Parameter Calculation of controlling each motor rotation, the programmable controller 14 that is used for order and logic control, above-mentioned three parts are coupled together, constitute digital communication network 15 with random information exchange capacity.
During system works, selected each equipment electric machine operation state of unit and each section tension force control model are imported computer in advance, in case will produce technological parameters such as the width of band and thickness by upper monitoring computer 13 input systems, can calculate the concrete control parameter current limit of each motor so that each motor is implemented the speed Synchronization Control according to model.In order to obtain maximum dynamic force moment, become the intrinsic speed control system and all decontrol current limit in the unit dynamic process, make it become speed control system, and can reach the work speed of service according to default acceleration.In a single day unit enters steady operational status, become intrinsic speed control and then separately motor is carried out current limit control according to fixed current limit, making electric machine operation state change Torque Control into by speed control, is that forward current to motor carries out amplitude limit control or the reversing the current of motor is carried out amplitude limit control according to the positive-negative polarity decision of loading moment simultaneously.
Below with reference to drawings and Examples the method for the invention is described further.
Fig. 1 cuts for tradition is horizontal and produces the equipment composition diagram of unit from uncoiler to flying shearing machine.
Fig. 2 is for adopting a kind of specific embodiment unit of the method for the invention---and horizontal the cutting of stainless steel produced the equipment composition diagram of unit from uncoiler to flying shearing machine.
Fig. 3 be under the constant unit tensile stress process conditions strap tension (T) and unit tensile stress (P) with band sectional area (the rule figure of B * H) change.
Fig. 4 changes strap tension (T) and unit tensile stress (P) under the unit tensile stress process conditions with band sectional area (the rule figure of B * H) change for stepped.
Fig. 5 is limited strap tension under the process conditions (T) with band sectional area (the rule figure that B * H) changes for the tension value excursion.
Fig. 6 is synchronizing speed chain control system figure.
Referring to Fig. 2, the horizontal main drive apparatus of producing in the unit of cutting of stainless steel is made up of reel machine 8, uncoiler 1, jockey pulley 2, trimming disk machine 3, multi-roll straightening machine 4, squeeze roll 9, cloth film interleaver 12, film winding machine 10, paper uncoiler 11, flying shear feeding roller 5 and flying shearing machine 6 etc.The processing step that unit will be finished comprises lining paper collection, tension force uncoiling, side cut, wet type aligning, dehumidifying, oven dry, head-stamp, cloth film or lining paper, cutting to length, waste product sorting, fixed point stacking etc.
In the practical application, should at first determine the electric drive mode of each stand-alone device in the unit, i.e. the step 1 of the method for the invention.
As Velocity Reference, drive characteristic is constant speedpump control to unit with straightener 4; Set up the straightener forward pull jointly by squeeze roll 9, cloth film interleaver 12 and flying shear feeding roller 5, their transmission system is defined as becoming the intrinsic speed control system; Uncoiler 1, jockey pulley 2 and circle shear 3 are set up the backward pull of straightener jointly, and uncoiler 1 is defined as permanent tension force control, and jockey pulley 2 and circle shear 3 are defined as becoming intrinsic speed control; Reel machine 8, film winding machine 10 and paper uncoiler 11 all are defined as permanent tension force control in the unit.
Tension force in the unit distributes as shown in Figure 2, T among the figure KBe uncoiling tension, T HBe straightener backward pull, T QBe straightener forward pull, T PBe the tension force between squeeze roll and the cloth film interleaver, T FBe the tension force between cloth film interleaver and the flying shear feeding roller.
The size of each section of unit tension force and second step that excursion is the method for the invention are determined in the segmentation of tension force shown in 2 with reference to the accompanying drawings.
Uncoiling tension T KBe constant unit tensile stress, but the thickness H of origin material, width B and the tensile stress P of unit and according to formula T K=B * H * P calculates.At this, we select P is " stepped change unit tensile stress ", and its rule that changes with the band sectional area as shown in Figure 4.
T HBackward pull for straightener, the tension force between jockey pulley 2 and the straightener 4 just, this tension force also is origin material thickness H, width B and unit tensile stress decision, because the tension force that straightener 4 can bear is limited, its scope is determined by the unit tensile stress, select " constant unit tensile stress " mode to determine tension range in the practical application, as shown in Figure 3, establish it for differentiation and be P 1, T H=B * H * P 1
Equal backward pull for simplifying our forward pull of setting straightener of control, i.e. T Q=T H=B * H * P 1
T PBe the tension force between squeeze roll 9 and the cloth film interleaver 12, because this active section needs the band steel is carried out cloth film (or lining paper) PROCESS FOR TREATMENT, if overtension, the tension force that cloth film interleaver produces is greater than the frictional force between cloth film (or lining paper) and band steel, can make film or paper be with steel to produce the dislocation of sliding relatively, influence cloth film or lining paper effect; If tension force is too little, can influence the stability of band steel in shear history again, and then influence certainty of measurement and shear sizing accuracy, so this section tension force is proposed specific (special) requirements, be that tension force is limited between the maximum and minimum of a value of a particular range, therefore just need select for use the method for " tension variation is range limited fixed " to determine this section tension force.As shown in Figure 6.
After having determined minimum tension, maximum tension and minimum band steel cross section, maximum band steel cross section, according to the thickness of supplied materials, the tension force numerical value that width can be learnt this section. T P = T 2 - T 1 S 2 - S 1 HB - S 1 T 2 - S 2 T 1 S 2 - S 1
T FBe the tension force between cloth film interleaver and the flying shear feeding roller, this section strip steel is cloth film (or lining paper), therefore with leading portion tension force identical technological requirement is arranged.Can select for use " fixed " mode to determine the tension force numerical value of this section, keep and tension force T the last period than tension force PBetween proportional relation, i.e. T F=KT P, the span of proportionality coefficient K value is K＜1 according to actual needs in the formula.
Circle shear 3 is a comparatively special equipment in unit, because it is only used for cutting edge in unit, is difficult to bear tension force moment except that cut the limit loading moment again, therefore in the tension section of jockey pulley 2 and straightener 4 circle shear to tension force T HInfluence very little, can ignore in the real work.
After having determined each section tension force, just can determine that each equipment is used to produce the loading moment of tension force, promptly finish the third step of the method for the invention.
The loading moment M of uncoiler KFor: M K=(T K+ T a) R KR in the formula KBe uncoiler volume radius; T aBe reel machine tension force; T KBe uncoiling tension.
The loading moment M of jockey pulley ZFor: M Z=(T K-T B) R ZR in the formula ZBe the jockey pulley radius; T HBe the straightener backward pull; T KBe uncoiling tension.
The loading moment M of circle shear YBe to shear the yield strength σ of thickness of slab H and shearing material SBe the function of variable, i.e. M Y=M Y(H, σ S).
The forward pull of straightener equals backward pull, and we can think that its motor does not bear the load that tension force moment is produced.
The loading moment M of squeeze roll JFor: M J=(T Q-T P) R JR in the formula JBe the squeeze roll radius; T QBe the straightener forward pull; T PBe the tension force between squeeze roll and the cloth film interleaver.
The loading moment M of cloth film interleaver BFor: M B=(T P+ T b-T F) R BR in the formula BRadius for cloth film interleaver; T FBe the tension force between cloth film interleaver and the flying shear feeding roller; T b(or T c) be film winding (or paper uncoiling) tension force.
The loading moment M of flying shear feeding roller FFor: M F=T F* R FR in the formula FBe flying shear feeding roller radius.
Above-mentioned each unit loading moment just can calculate the load factor of each motor according to its rated moment after determining, and then obtains each motor torque, and this is the 4th step of the method for the invention.
Uncoiler factored moment directly provides as uncoiling tension, carry out permanent tension force control, the factored moment of jockey pulley, circle shear, squeeze roll, cloth film interleaver, flying shear feeding roller then is input in separately the transmission device as moment amplitude limit value separately, when entering the steady state speed operation, unit is used for each motor is carried out the control of moment amplitude limit, make it enter the moment state, realize becoming Characteristics Control, so promptly finished the 5th step of the method for the invention.

Claims (2)

1, a kind of metal plate and belt speed synchronizing control method for transverse shearing machine set, it is characterized in that horizontal cut to produce determine in the unit that an equipment controls with the constant speedpump control system as the unit speed benchmark and to this equipment, miscellaneous equipment adopted permanent tension force, constant force square and become the intrinsic speed control system control, concern the speed Synchronization Control that realizes full unit thereby each process section equipment constitutes synchronous operation with the form of tension force or moment with reference speed equipment.
2, metal plate and belt speed synchronizing control method for transverse shearing machine set as claimed in claim 1 is characterized in that this method is made of following steps:
2.1 select the bigger main technique equipment of power to adopt the control of constant speedpump control system in the production unit horizontal cutting, the miscellaneous equipment in the unit adopted permanent tension force, constant force square and becomes the intrinsic speed control system control as the unit speed benchmark and to it;
2.2 the concrete technological requirement that changes according to the tensile stress steel sectional area going along with of band steel is determined the tension force number range of each process section, comprises
A, tension force satisfy the constant unit tensile stress control model of T=BHP formula, and digital code T is a tension force in the formula, and B is a strip width, and H is a thickness of strip, and P is the unit are tensile stress;
The stepped that b, tension force satisfy T=BHP+ Δ (BH) P formula changes unit tensile stress control model, and digital code Δ (BH) is a band trapezoid cross section changing value in the formula;
C, tension force satisfy
Figure A0011399500021
The tension force control model that is positioned at certain excursion of formula, digital code T in the formula 1Be minimum tension limit value in this scope, T 2Be maximum tension limit value in this scope, S 1Be band steel minimum sectional area in this scope, S 2Be band steel maximum secting area in this scope, S is band steel sectional area;
D, the satisfied and definite tension force T of certain section AOne-tenth is fixed than tension value T on the occasion of proportionate relationship B=KT AControl model, digital code K is a proportionality coefficient in the formula;
2.3 according to formula M F=(T R-T C) the R loading moment M that determines in the unit to adopt permanent tension force, constant force square and become intrinsic speed control system control appliance F, digital code T in the formula RBe equipment entrance tension force, T CBe equipment outlet tension force, R is the device roller footpath;
2.4 according to apparatus of load moment M FWith equipment rated moment M eConverse each motor torque current limit, i.e. load-rate of motor C,
Figure A0011399500031
2.5 with selected each equipment electric machine operation state of unit and each section tension force control model input computer, the concrete current limit value parameter of each motor that calculates according to unit different operating state and model is implemented permanent tension force, constant force square, is become intrinsic speed control each motor, thereby realizes the speed Synchronization Control of full unit.
CN 00113995 2000-12-01 2000-12-01 Speed synchronizing control method for transverse shearing machine set of metal sheet or band Expired - Fee Related CN1115223C (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102059394A (en) * 2010-12-01 2011-05-18 河南东力重工机械有限公司 Numerical control metal plate dividing and shearing device
CN102820838A (en) * 2012-08-17 2012-12-12 杭州电子科技大学 Method for distributing multiple motor speed instructions in strip producing process
CN102950093A (en) * 2011-08-17 2013-03-06 宝山钢铁股份有限公司 Method for tension switching during strip steel specification transition in baking furnace
CN103317350A (en) * 2013-06-24 2013-09-25 无锡美誉金属复合新材料有限公司 Metal composite plate uncoiling, leveling and cutting-to-length production line
CN111069336A (en) * 2019-11-21 2020-04-28 中国船舶重工集团公司第七0五研究所 Electrical automatic control system of pipe body rolling equipment
CN114101776A (en) * 2021-11-08 2022-03-01 武汉钢铁有限公司 Edge wave control method for thickness transition and speed-up and speed-down processes of circle shear

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CN101658956B (en) * 2008-08-29 2013-04-17 上海宝信软件股份有限公司 Method and system for controlling shutdown position of band steel welded seam at cold-rolling disc

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102059394A (en) * 2010-12-01 2011-05-18 河南东力重工机械有限公司 Numerical control metal plate dividing and shearing device
CN102950093A (en) * 2011-08-17 2013-03-06 宝山钢铁股份有限公司 Method for tension switching during strip steel specification transition in baking furnace
CN102950093B (en) * 2011-08-17 2014-03-19 宝山钢铁股份有限公司 Method for tension switching during strip steel specification transition in baking furnace
CN102820838A (en) * 2012-08-17 2012-12-12 杭州电子科技大学 Method for distributing multiple motor speed instructions in strip producing process
CN102820838B (en) * 2012-08-17 2014-08-13 杭州电子科技大学 Method for distributing multiple motor speed instructions in strip producing process
CN103317350A (en) * 2013-06-24 2013-09-25 无锡美誉金属复合新材料有限公司 Metal composite plate uncoiling, leveling and cutting-to-length production line
CN111069336A (en) * 2019-11-21 2020-04-28 中国船舶重工集团公司第七0五研究所 Electrical automatic control system of pipe body rolling equipment
CN111069336B (en) * 2019-11-21 2021-05-11 中国船舶重工集团公司第七0五研究所 Electrical automatic control system of pipe body rolling equipment
CN114101776A (en) * 2021-11-08 2022-03-01 武汉钢铁有限公司 Edge wave control method for thickness transition and speed-up and speed-down processes of circle shear
CN114101776B (en) * 2021-11-08 2023-03-14 武汉钢铁有限公司 Edge wave control method for thickness transition and speed-up and speed-down processes of circle shear

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