CN1749889A - The control system of multiple gate drawing device - Google Patents

Abstract

A control system for multiple gate drawing device, because classical feedforward+PID controls rapidity and the stability requirement that cannot meet system simultaneously, for this reason, adopts least square method to debate and knows to improve runnability and the quick Stopping Ability of each passage.Least square method is the common method of System Discrimination.In error in equation, be under the condition of zero-mean white noise, parameter with least square method estimate equation, can in statistics, guarantee to obtain without inclined to one side, effective with consistent estimation, its recursive form is often used to real-time parameter estimation, from recursion estimator (5), the estimates of parameters obtaining after the N+1 time sampling

the estimates of parameters that equals to have obtained

use ratio

value correction; After each estimation, only need to preserve f _i, f _i-1, I _i, I _i-1,

n amount and new f _i, f _i-1, I _i, I _i-1,

, without too many memory capacity.The present invention can improve the runnability of each passage, Stopping Ability, drawing equipment are not easy fracture of wire fast.

Description

Control system of multi-pass drawing equipment

(1) Technical field

The invention relates to an electric control device for producing metal products, in particular to a control system for multi-pass drawing equipment.

(2) Background technology

Drawing equipment (or linked wire drawing equipment) is a typical mechatronics product. In the production of metal products, its function is to extrude metal materials with larger cross-sections through The mold) is processed into various metal materials with different specifications and smaller cross-sections. When working, the roller/drum of each pass is driven by the AC motor through the transmission mechanism, and the operation of the AC motor is controlled by the frequency converter. Therefore, the running speed of the roller/drum is actually sent to the frequency converter. It is determined by the speed given value. The previous control algorithm of drawing equipment is often single-pass control and overall combination, that is, the movement speed of each pass is adjusted by PID after the feedback of the position sensor of the next pass after the movement of the previous pass. This is the so-called PID control. In recent years, through repeated comparative research and practical application, someone proposed "feedforward + PID control", which has played a good role in improving the performance of drawing equipment.

The rollers/drums (drums) on each pass in the drawing equipment are driven by a motor driven by a frequency converter through a mechanical mechanism. There is a certain speed ratio between adjacent passes. In order to achieve continuous drawing, adjacent A tuner is installed between the pass rollers/drums. The sensing signal on the tuner is set for position detection, which coordinates the working speed relationship between two adjacent passes. Figure 1 shows the schematic diagram of the N-pass drawing equipment transmission. Among them, the running speed of the Nth pass is directly given G _N by the outside, and the speed setting of other passes is obtained through calculation. The performance of multi-pass drawing equipment depends on the performance of each stage of the working process: performance during operation, performance during stop process and performance during start-up. The performance during operation refers to the stability and rapidity of the system; the performance during the stop process refers to the speed coordination relationship can be maintained in each pass when the stop is fast; the performance during start refers to the smooth start. The given speed relationship between two adjacent passes is:

G _i-1 ＝K _i-1 ·G _i +ΔG _i-1 (1)

In formula (1), G _i-1 and G _i are the speed references of the i-1th pass and the i-th pass respectively, and K _i-1 is the speed ratio coefficient of the i-1th pass and the i-th pass , ΔG _i-1 is the output of the i-1th controller. Equation (1) shows that the control mode of the drawing equipment is feed-forward + deviation control (PID), in which the speed reference of the i-th pass multiplied by the corresponding speed ratio coefficient is equal to the PID output value ΔG _i-1 of the pass Add it to get the speed setting of the i-1th (N>i>1 integer) pass.

Fig. 2 shows the structure diagram of feedforward + PID control of N-pass drawing equipment. U _N-1 and U _i-1 in the figure are the position given values of the tuner for the N-1th pass and the i-1th pass respectively, and U _(N-1)f and U _(i-1)f are are the actual feedback values of the position sensor of the N-1th pass and the i-1th pass respectively, and K _N-1 and K _i-1 are the corresponding transmission speed ratio coefficients respectively.

But this method still has the following two disadvantages: First, when the pulling equipment is started, the position of the tuner is arbitrary. When the tuner is close to the limit position, an excessive overshoot will be generated, which is prone to broken wires or disconnection. Second, in the feedforward control of each pass, when the steel wire slides and the diameter of the mold changes greatly, the PID adjustment range is also large, which cannot meet the rapidity requirements of the system. Therefore, solving the above problems is the need of equipment, the demand of users, and also the development trend of technology.

(3) Contents of the invention

In order to overcome the shortcomings of the existing multi-pass drawing equipment, which is prone to wire breakage or detachment and cannot meet the requirements of rapidity, the present invention provides a machine that improves the running performance of each pass, quick stop performance, and is not easy to break the wire. Control system for multi-pass drawing equipment.

The technical solution adopted by the present invention to solve its technical problems is:

A control system for multi-pass drawing equipment, including various pass mechanisms, winding machine mechanisms, and controllers. Each pass mechanism is composed of a frequency converter, a motor, and an operating mechanism. The output of the frequency converter is connected to the motor, and the motor passes through the The transmission mechanism is connected to the running mechanism, position sensors are installed on each pass mechanism, and a tuner for coordinating the working speed relationship of adjacent passes is installed between the rollers/drums of adjacent passes. The controller includes The pass deviation control module is used to calculate the deviation control amount according to the position given value of the tuner between the i-1th pass and the i-th pass and the actual feedback value of the position sensor of the i-1th pass. The formula is like (2):

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{{\mathrm{<span\; class="notranslate">\; T</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; S</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; D.</span>}}\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

In the above formula, ΔG _i-1 is the output deviation of the i-1th pass deviation control module, (K _(i-1)p , T _(i-1)i , T _(i-1)D represent the proportion , integral and differential coefficients, U _i-1 is the position given value of the tuner between the i-1th pass and the i-th pass, U _(i-1)f is the position sensor of the i-1th pass Actual feedback value, multi-pass is N pass, i is an integer satisfying: N>i>1;

The pass speed setting module is used to set the operation speed between each pass, and its calculation formula is as (3):

G _i-1 ＝K _(i-1)b ·G _i +ΔG _i-1 (3)

In the above formula, G _i-1 and G _i are the given speeds of the i-1th pass and the i-th pass respectively, and K _(i-1)b is the speed of the i-1th pass and the i-th pass Ratio coefficient, ΔG _i-1 is the output of the i-1th pass deviation control module;

The output of the given module of the pass speed is connected to the frequency converter; the controller also includes a speed ratio adjustment module, which is used to optimize the speed ratio coefficient according to the least square method, and its formula is as (4):

${\mathrm{<span\; class="notranslate">\; K</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$

In the above formula, f _i-1 and f _i represent the output frequency of the frequency converter of the i-1th and i-th pass respectively, I _i-1 and I _i represent the motor current of the i-1 and the i-th pass respectively, and m _i-1 , m _i represent the motor slip coefficient of the i-1th and ith passes respectively;

Its recursive formula is as (5):

${\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; K</span>}}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; b</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; =</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; K</span>}}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; bN</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; W</span>}}_{\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; T</span>}}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; K</span>}}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; bN</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

In the above formula, A _N+1 is the 1X(N+1) order gain matrix, Z _N+1 is the (N+1)X1 order matrix of the measured N+1 f _i-1 data sequences, W _{N+ 1} ^T is the (N+1)X1 matrix of the N+1 f _i data sequences measured.

Further, the controller also includes a soft start control module, and the soft start control module includes:

The start-up setting unit is used to set the given and feedback deviations of the position sensors of each pass to be smaller than the actual deviation during start-up;

Deviation restoring unit, used to increase the given and feedback deviation within the set time limit, so that the given and feedback deviation is equal to the actual deviation.

Still further, the deviation reduction unit is an arithmetic increment unit, which is used to increase the given and feedback deviations by an equal amount within a set time.

The working principle of the present invention is: the previous control algorithm of the drawing equipment is usually single-pass control and overall combination, that is, the movement speed of each pass is based on the feedback of the position sensor of the next pass after the movement of the previous pass. PID adjustment, this method cannot meet the high requirements for control stability and strict index requirements for control speed of the drawing equipment. From the perspective of control, the control stability of the equipment must be guaranteed first, and its rapidity is realized through advanced algorithms. In order to illustrate the feasibility of this method, first assume that the ratio of the speed relationship between two adjacent passes of the drawing equipment is known, then the reference speed setting of the next pass mechanism is the speed given by the previous pass multiplied by this ratio, and the latter pass The actual speed setting of the secondary mechanism is the reference speed setting plus the control adjustment value fed back by the position sensor. Since the control adjustment value only plays a fine-tuning role and determines the stability of the equipment, the parameter setting of the controller can be mainly considered stability. The rapidity of the equipment is determined by the ratio of the speed relationship between two adjacent passes.

In the existing PID control method, rapidity and stability are contradictory. When designing, the stability is generally guaranteed first, and then the rapidity is solved. The key to solving rapidity is to quickly identify the actual speed ratio of adjacent passes. Through further research, it is found that the least square method is more beneficial to the improvement of system performance in terms of rapid identification of parameters and anti-disturbance.

The least square method is a common method for system identification. Under the condition that the error of the equation is zero-mean white noise, the least squares method can be used to estimate the parameters of the equation, which can be statistically guaranteed to be unbiased, effective and consistent. Its recursive form is often used for real-time parameter estimation. In the following, the identification of K _(i-1)b is carried out by the method of fading memory recursive least squares.

${\mathrm{<span\; class="notranslate">\; K</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}}{{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&Delta;\; n</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; i</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 6</span>}<span\; class="notranslate">\; )</span>$

In formula (6), n _0(i-1) and n _0i represent the ideal no-load speeds of the i-1th and i-th pass motors respectively, and Δn _0(i-1) and Δn _0i represent the i-1th, i-th The slip that the i-pass motor load affects on the speed is basically proportional to the load. If the motor is under closed-loop control, the speed can be directly obtained from the speed sensor - read from the frequency converter. If the motor is under open-loop control, since the ideal no-load speed is proportional to the frequency, the slip is approximately proportional to the current, and frequency and current are both It can be read from the frequency converter, and formula (6) can be converted into formula (4). For the least square method, formula (4) is quite simple, and the specific recursive formula is as formula (5).

等于已求出的参数估计值 用比例

的值修正。每次估计后，只需保存f_i、f_i-1、I_i、I_i-1、

的N个量以及新的f_i、f_i-1、I_i、I_i-1、

即可，无需太多存储容量。

即为式(4)中的K_(i-1)b。From the recursive estimation formula (5), it can be seen that the estimated parameter value obtained after the N+1th sampling

Equal to the found parameter estimates in proportion

value correction. After each estimation, just save f _i , f _i-1 , I _i , I _i-1 ,

N quantities and new f _i , f _i-1 , I _i , I _i-1 ,

That's it, without much storage capacity.

That is K _(i-1)b in formula (4).

The beneficial effects of the present invention are mainly manifested in: (1), adopting the least squares method to identify improves the running performance and quick stop performance of each pass; (2), the performance of the whole machine is improved, especially when the quick stop time is 6 Seconds, the drawing equipment can still be guaranteed to be continuous; (3), the boundary error control is proposed to make the equipment start smoothly, and the equipment start-up performance is improved; (4), the method adopted is very practical, the calculation amount is small, it is easy to implement, and it is very convenient It well embodies the engineering and practical application of the new theory.

(4) Description of drawings

Figure 1 is a schematic diagram of the transmission of N-pass drawing equipment.

Fig. 2 is a structure diagram of feedforward + PID control for N-pass drawing equipment.

Figure 3 is a block diagram of the controller.

(5) Specific implementation methods

The present invention will be further described below in conjunction with the accompanying drawings.

Example 1

Referring to Figure 1, Figure 2, and Figure 3, a control system for multi-pass drawing equipment includes various pass mechanisms, winding machine mechanisms, and controllers, and each pass mechanism is composed of frequency converters, motors, and operating mechanisms , the output of the frequency converter is connected to the motor, and the motor is connected to the running mechanism through the transmission mechanism. The position sensor is installed on each pass mechanism, and the roller/cylinder of the adjacent pass is installed to coordinate the working speed relationship of the adjacent pass. tuner, the controller 1 includes a pass deviation control module 2, which is used to set the position of the tuner between the i-1th pass and the i-th pass and the position of the i-1th pass The actual feedback value of the position sensor calculates the deviation control amount, and its calculation formula is as formula (2):

${\mathrm{<span\; class="notranslate">\; \&Delta;G</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{{\mathrm{<span\; class="notranslate">\; T</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; S</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; D.</span>}}\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; )</span>$

In the above formula, ΔG _i-1 is the output deviation of the i-1th pass deviation control module, (K _(i-1)p , T _(i-1)i , T _(i-1)D represent the proportion , integral and differential coefficients, U _i-1 is the position given value of the tuner between the i-1th pass and the i-th pass, U _(i-1)f is the position sensor of the i-1th pass Actual feedback value, multi-pass is N pass, i is an integer satisfying: N>i>1;

The pass speed setting module 3 is used to set the calculation speed between each pass, and its calculation formula is as formula (3):

G _i-1 ＝K _(i-1)b ·G _i +ΔG _i-1

In the above formula, G _i-1 and G _i are the given speeds of the i-1th pass and the i-th pass respectively, and K _(i-1)b is the speed of the i-1th pass and the i-th pass Ratio coefficient, ΔG _i-1 is the output of the i-1th pass deviation control module;

The output of the given module 3 of the pass speed is connected to the frequency converter; the controller 4 also includes a speed ratio adjustment module, which is used to optimize the speed ratio coefficient according to the least square method, and its formula is as (4):

${\mathrm{<span\; class="notranslate">\; K</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}$

In the above formula, f _i-1 and f _i represent the output frequency of the frequency converter of the i-1th and i-th pass respectively, I _i-1 and I _i represent the motor current of the i-1 and the i-th pass respectively, and m _i-1 , m _i represent the motor slip coefficient of the i-1th and ith passes respectively;

Its recursive formula is as formula (5):

${\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; K</span>}}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; b</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; =</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; K</span>}}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; bN</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; W</span>}}_{\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; T</span>}}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; K</span>}}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; bN</span>}}<span\; class="notranslate">\; )</span>$

In the above formula, A _N+1 is the 1X(N+1) order gain matrix, Z _N+1 is the (N+1)X1 order matrix of the measured N+1 f _i-1 data sequences, W _{N+ 1} ^T is the (N+1)X1 matrix of the N+1 f _i data sequences measured.

The rollers/drums (drums) on each pass in the drawing equipment are driven by a motor driven by a frequency converter through a mechanical mechanism. There is a certain speed ratio relationship between adjacent passes. In order to achieve continuous drawing, adjacent A tuner is installed between the pass rollers/drums. The sensing signal on the tuner is set for position detection, which coordinates the working speed relationship between two adjacent passes. Figure 1 shows the schematic diagram of the N-pass drawing equipment transmission. Among them, the running speed of the Nth pass is directly given G _N by the outside, and the speed setting of other passes is obtained through calculation.

The performance of multi-pass drawing equipment depends on the performance of each stage of the working process: performance during operation, performance during stop process and performance during start-up. The performance during operation refers to the stability and rapidity of the system; the performance during the stop process refers to the ability to maintain the speed coordination relationship of each pass during a rapid stop; the performance during startup refers to a smooth start. The speed setting relationship of two adjacent passes is formula (1).

Equation (1) shows that the control mode of the drawing equipment is feed-forward + deviation control (PID), in which the speed reference of the i-th pass multiplied by the corresponding speed ratio coefficient is equal to the PID output value ΔG _i-1 of the pass Add it to get the speed setting of the i-1th (N>i>1 integer) pass.

Fig. 2 shows the structure diagram of feedforward + PID control of N-pass drawing equipment. U _N-1 and U _i-1 in the figure are the position given values of the tuner for the N-1th pass and the i-1th pass respectively, and U _(N-1)f and U _(i-1)f are are the actual feedback values of the position sensor of the N-1th pass and the i-1th pass respectively, and K _N-1 and K _i-1 are the corresponding transmission speed ratio coefficients respectively.

The least square method is a common method for system identification. Under the condition that the equation error is zero-mean white noise, using the least squares method to estimate the parameters of the equation can be statistically guaranteed to be unbiased, effective, and consistent. Its recursive form is often used for real-time parameter estimation . The identification of K _(i-1)b is carried out with the method of fading memory recursive least squares, and its formula is expressed by formula (6) and transformed into formula (4). For the least square method, formula (4) is quite The simple and specific recursive formula is as formula (5).

等于已求出的参数估计值

用比例

的值修正。每次估计后，只需保存f_i、f_i-1、I_i、I_i-1、

的N个量以及新的f_i、f_i-1、I_i、I_i-1、

即可，无需太多存储容量。

即为式(1)中的K_(i-1)b。From the recursive estimation formula (5), it can be seen that the estimated parameter value obtained after the N+1th sampling

Equal to the found parameter estimates

in proportion

value correction. After each estimation, just save f _i , f _i-1 , I _i , I _i-1 ,

N quantities and new f _i , f _i-1 , I _i , I _i-1 ,

That's it, without much storage capacity.

That is K _(i-1)b in formula (1).

Example 2

Referring to Fig. 1, Fig. 2, Fig. 3, the described controller of the present embodiment also includes a soft start control module 5, and the described soft start control module 5 includes: a start setting unit 6 for setting The given and feedback deviations of the position sensors of each pass are less than the actual deviation; the deviation reduction unit 7 is used to increase the given and feedback deviations within the set time limit, so that the given and feedback deviations are equal to the actual deviation quantity. The deviation reduction unit is an arithmetic increment unit, which is used to increase the given and feedback deviations by an equal amount within a set time.

The rest of the structure of this embodiment and the working process of the speed ratio adjustment module are the same as those of Embodiment 1.

Before the drawing equipment is started, the position of the tuner is arbitrary. The general method is to detect the position of the tuner and set the limit position. When the position of the tuner is inside the machine and close to the limit position, it will be raised Given the speed of the inverter in the previous pass, quickly increase the speed of the motor and the running speed of the roller/drum in the previous pass to quickly track the speed of the roller/drum in the next pass; when the position of the tuner is outside the machine and close to the limit position, quickly reduce the speed given by the frequency converter of the previous pass, quickly reduce the speed of the motor and the running speed of the roller/drum to coordinate with the speed of the next pass (note: mechanically speaking, the latter pass , it should be the previous pass in terms of control, for the sake of unity, the mechanical argument shall prevail). There is a defect in this method of detecting the compensation amount for the limit position of the tuner, that is, the compensation amount required for different equipment and different passes is different, and each equipment needs to be carefully debugged, and the workload is heavy. When the compensation amount is too large, it is easy to cause overshoot and cause the wire material to break; only relying on feedforward + PID adjustment also has problems. When the tuner is close to the limit position, the problem of overshoot will also occur-broken wire, Therefore, after solving the rapid stop of the drawing equipment, it is necessary to solve the starting problem. Here, a soft start algorithm with boundary error control is proposed to realize the smooth start of the drawing equipment.

Combining formulas (1) and (2), G _i-1 in Figure 2 can be expressed as:

${\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{{\mathrm{<span\; class="notranslate">\; T</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; S</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; D.</span>}}\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 7</span>}<span\; class="notranslate">\; )</span>$

In formula (7), (K _(i-1)p , T _(i-1)i , T _(i-1)D respectively represent the ratio, integral, and differential coefficients of the i-1th PID, where T _{( i-1)D} = 0, (U _i-1 -U _(i-1)f ) the given and feedback error of the position sensor. At the moment of starting, when (U _i-1 -U _(i-1)f ) When G _{i-1 is large, the change of G i-1} is also large. In order to start smoothly at startup, control |U _i-1 -U _(i-1)f |≤|ΔU _i-1 |, and increase over time The limit of |ΔU _i-1 |, and finally eliminate this limit (after about 5 seconds), this is boundary error control.

To sum up, the least square method in the drawing equipment can improve the running performance and quick stop performance of each pass, and the boundary error control can improve the equipment start-up performance.

Example 3

The structure and working process of this embodiment are the same as those of Embodiment 2.

Take the 6-pass LZ6-560 wire drawing machine with 5.5mm incoming wire and 3.0mm outgoing wire as an example, choose a 37KW motor, design the mechanical transmission ratio, match the die diameter, and calculate the compression rate. In the case of a finished product pass of 390m/min , and other pass line speeds are shown in Table 1. Motor frequency and motor current are automatically read out from the drive via the bus. No. 0 1 2 3 4 5 6 transmission ratio 28.1 22.1 17.7 14.2 11.4 9.51 Mold diameter (mm) 5.50 5.17 4.61 4.12 3.69 3.31 3.00 Compression ratio(%) 11.65 20.50 20.13 19.80 19.50 17.85 Linear speed(m/min) 131 165 207 258 320 390 Motor current (A) 50.0 55.5 55.7 55.7 55.9 55.9 Motor frequency (Hz) 71.5 71 71.5 71.5 72.5 72.5

Table 1

When the die diameter is configured according to the above table, select the coefficients of each speed ratio K ₁ =K ₂ =K ₃ =K ₄ =K ₅ =1, regardless of the classic feedforward + PID control or the feedforward modified by the least square method +PID control, the quick stop time of the equipment is set to 6 seconds, and the wires will not be broken in each pass during the quick stop; however, when the die diameter of the fifth pass becomes 3.10mm, the die diameter of other passes remains unchanged. The inverter frequency corresponding to the 5th pass motor is 82.6Hz, and the quick stop time of the equipment is set to 10 seconds, 9 seconds, 8 seconds, 7 seconds and 6 seconds respectively. Feed-forward + PID control, wire breakage occurs in every test between the 4th pass and 5th pass. If the feed-forward + PID control modified by the least square method is used, other parameters remain unchanged, and no breakage occurs in every test. Broken wire phenomenon, at this time, N in formula (5) can be 5--9, and A _N+1 is a 1X(N+1) order gain matrix whose elements are all 1.

After the sensor is selected, the range of the position feedback value can be determined. When the range of the U _(i-1)f position feedback value in formula (7) is 0-10V, the position given value of U _i-1 in formula (7) Generally, it is selected as 5V, so |U _i-1 -U _(i-1)f |≤5V, when the pulling device is started, if |U _i-1 -U _(i-1)f |≤2.5V, that is When |ΔU _i-1 |=2.5V, boundary error control is realized. As time goes by, |ΔU _i-1 | is increased by 50mV every 100ms, and the error of |ΔU _i-1 | can be eliminated after 5 seconds. limit. After the boundary error control is adopted, there will be no broken wires or falling wires when the equipment is started.

Claims (3)

1. A control system for multi-pass drawing equipment, including each pass mechanism, winding machine mechanism, and controller. Each pass mechanism is composed of a frequency converter, a motor and an operating mechanism. The output of the frequency converter is connected to the motor. The motor is connected to the running mechanism through a transmission mechanism. Position sensors are installed on each pass mechanism, and a tuner for coordinating the working speed relationship of adjacent passes is installed between the rollers/drums of adjacent passes. The control The controller includes a pass deviation control module, which is used to calculate the deviation control amount according to the position given value of the tuner between the i-1th pass and the i-th pass and the actual feedback value of the position sensor of the i-1th pass , the formula is as (2): $\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{{\mathrm{<span\; class="notranslate">\; T</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; S</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; D.</span>}}\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$ In the above formula, ΔG _i-1 is the output deviation of the i-1th pass deviation control module, (K _(i-1)p , T _(i-1)i , T _(i-1)p represent the proportion , integral and differential coefficients, U _i-1 is the position given value of the tuner between the i-1th pass and the i-th pass, U _(i-1)f is the position sensor of the i-1th pass The actual feedback value, multi-pass is N pass, i is an integer satisfying: N>i>1; the pass speed given module is used to set the operation speed between each pass, and its calculation formula is as (3) : G _i-1 ＝K _(i-1)b ·G _i +ΔG _i-1 (3) In the above formula, G _i-1 and G _i are the given speeds of the i-1th pass and the i-th pass respectively, and K _(i-1)b is the speed of the i-1th pass and the i-th pass Ratio coefficient, ΔG _i-1 is the output of the i-1th pass deviation control module; The output of the given pass speed module is connected to the frequency converter; It is characterized in that: the controller also includes a speed ratio adjustment module, which is used to optimize the speed ratio coefficient according to the least square method, and its formula is as (4): ${\mathrm{<span\; class="notranslate">\; K</span>}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$ In the above formula, f _i-1 and f _i represent the output frequency of the frequency converter of the i-1th and i-th pass respectively, I _i-1 and I _i represent the motor current of the i-1 and the i-th pass respectively, and m _i-1 , m _i represent the motor slip coefficient of the i-1th and ith passes respectively; Its recursive calculation formula is as (5): ${\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; K</span>}}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; b</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; =</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; K</span>}}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; bN</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; W</span>}}_{\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; T</span>}}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; K</span>}}}_{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; bN</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$ In the above formula, A _N+1 is the 1X(N+1) order gain matrix, Z _N+1 is the (N+1)X1 order matrix of the measured N+1 f _i-1 data sequences, W _{N+ 1} ^T is the (N+1)X1 matrix of the N+1 f _i data sequences measured. 2. The control system of multi-pass drawing equipment according to claim 1, wherein the controller further includes a soft start control module, and the soft start control module includes: The start-up setting unit is used to set the given and feedback deviations of the position sensors of each pass to be smaller than the actual deviation during start-up; Deviation restore unit, used to increase the given and feedback deviation within the set time limit, so that the given and feedback deviation is equal to the actual deviation. 3. The control system of multi-pass drawing equipment according to claim 2, characterized in that: the deviation reduction unit is an arithmetic increment unit, which is used to increase the given and Feedback bias.

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