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

The control system of multiple gate drawing device

(1) technical field

The present invention relates to the electronic opertaing device that a kind of metallic article is produced, especially a kind of control system of multiple gate drawing device.

(2) background technology

Drawing equipment (or claiming interlock wire-drawing equipment) is a kind of typical electromechanical integrated product, in the production of metallic article, its function is that the larger metal material in cross section is pushed to the less metal material in cross section that (or mould footpath is by the tiny mould of passage) is processed into various different sizes by multiple tracks.During work, the roller/cylinder of each passage is driven by gear train by alternating current generator, and the operation of alternating current generator is controlled by frequency converter, and therefore, the travelling speed of roller/cylinder is actually and is decided by the speed preset value of giving frequency converter.The single pass control often of drawing equipment control algolithm in the past, entire combination, the movement velocity that is every a time is carried out PID adjusting after causing rear a time mechanism position sensor to change feedback after front a time mechanism kinematic, and Here it is, and so-called PID controls.In recent years, by comparative studies and practical application repeatedly, someone has proposed " feedforward+PID control ", and the method has played good effect to the raising of drawing equipment runnability.

Roller/cylinder (reel) in drawing equipment in every a time is driven by frequency converter drive motor by mechanical mechanism, exists certain speed proportional relation between adjacent passage, in order to realize continuous drawing, between adjacent passage roller/cylinder, tuner is installed.Transducing signal on tuner arranges for detection position, and it has coordinated the operating rate relation of adjacent two passages, and Fig. 1 has represented N passes of drawing equipment transmission schematic diagram.Wherein the travelling speed of N passage is by the direct given G in outside _n, the speed preset of other passage is by calculating.The performance quality of multiple gate drawing device depends on the performance in each stage of the course of work: performance during operation, the performance of stopped process and the performance while starting.Performance during operation refers to stability and the rapidity of system; The performance of stopped process refers to each passage while stopping fast also can keep speed coordination relation; Performance during startup refers to smooth starting.The speed preset of adjacent two passages closes:

G _i-1＝K _i-1·G _i+ΔG _i-1 (1)

G in formula (1) _i-1, G _ibe respectively the speed preset of i-1 passage and i passage, K _i-1be the velocity ratio coefficient of i-1 passage and i passage, Δ G _i-1be the output of i-1 controller.Formula (1) has shown that the control mode of drawing equipment is feedforward+deviation control (PID), and wherein the speed preset of i passage is multiplied by corresponding speed than coefficient and this passage PID output valve Δ G _i-1be added the speed preset that just obtains i-1 (integer of N > i > 1) passage.

Fig. 2 represents N passes of drawing equipment feedforward+PID control structure figure.U in figure _n-1, U _i-1be respectively the position set-point of N-1 passage, i-1 passage tuner, U _{(N-1) f}, U _{(i-1) f}be respectively the actual feedback of N-1 passage, i-1 passage position transducer, K _n-1, K _i-1be respectively corresponding transmission speed and compare coefficient.

But also there are following 2 shortcomings in this method: the one, and when drawing equipment starts moment, the position of tuner is arbitrarily, when tuner approaches extreme position, can produce excessive overshoot, and fracture of wire or running phenomenon easily occur; The 2nd, in each passage feedforward control, when steel wire slides and when the variation of mould diameter is larger, PID range of adjustment is also large, cannot meet the rapidity requirement of system.Therefore, addressing the above problem is the needs of equipment, user's demand, be also the development trend of technology.

(3) summary of the invention

The deficiency that fracture of wire or running easily occurs, cannot meet rapidity requirement in order to overcome existing multiple gate drawing device, the invention provides a kind of runnability that improves each passage, fast Stopping Ability, be not easy the control system of the multiple gate drawing device of fracture of wire.

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

A kind of control system of multiple gate drawing device, comprise each passage mechanism, winder mechanism, controller, each passage mechanism is by frequency converter, motor and travelling mechanism form, the output of frequency converter connects motor, motor connects travelling mechanism by gear train, installation site sensor in each described passage mechanism, between the roller/cylinder of adjacent passage, install for coordinating the tuner of the operating rate relation of adjacent passage, described controller comprises passage deviation control module, be used for according to the actual feedback calculation deviation controlled quentity controlled variable of the position transducer of the position set-point of the tuner between i-1 passage and i passage and i-1 passage, its formula is as (2):

$\mathrm{\Δ}{G}_{i-1}=(K_{(i-1)p}+\frac{1}{T_{(i-1)i}S}+T_{(i-1)D}S)(U_{i-1}-U_{(i-1)f})---\left(2\right)$

In above formula, Δ G _i-1be the output bias amount of i-1 passage deviation control module, (K _{(i-1) p}, T _{(i-1) i}, T _{(i-1) D}represent respectively ratio, integration, differential coefficient, U _i-1be the position set-point of the tuner between i-1 passage and i passage, U _{(i-1) f}be the actual feedback of i-1 passage position transducer, multi-pass is N passage, and i is for meeting: the integer of N > i > 1;

The given module of pass speed, for the arithmetic speed between given each passage, its formula is as (3):

G _i-1＝K _(i-1)b·G _i+ΔG _i-1 (3)

In above formula, G _i-1, G _ibe respectively the speed preset of i-1 passage and i passage, K _{(i-1) b}be the velocity ratio coefficient of i-1 passage and i passage, Δ G _i-1be the output of i-1 passage deviation control module;

The output of the described given module of pass speed connects described frequency converter; Described controller also comprises velocity ratio adjustment module, for according to least square method optimal speed than coefficient, its formula is as (4):

$K_{(i-1)b}=\frac{f_{i-1}-m_{i-1}{I}_{i-1}}{f_i-m_i{I}_i}---\left(4\right)$

In above formula, f _i-1, f _irepresent respectively i-1, i passage frequency converter output frequency, I _i-1, I _irepresent respectively i-1, i passage current of electric, m _i-1, m _irepresent respectively i-1, i passage motor slip coefficient;

Its recursion formula is as (5):

${\hat{K}}_{(i-1)b(N+1)}={\hat{K}}_{(i-1)\mathrm{bN}}+A_{N+1}(Z_{N+1}-W_{N+1}^T{\hat{K}}_{(i-1)\mathrm{bN}})---\left(5\right)$

In above formula, A _n+1for 1X (N+1) rank gain matrix, Z _n+1for N+1 the f measuring _i-1(N+1) X1 rank matrix of data sequence, W _n+1 ^tfor N+1 the f measuring _i(N+1) X1 matrix of data sequence.

Further, described controller also comprises soft start control module, and described soft start control module comprises:

Start setup unit, for when starting, the given and feedback deviation amount of setting the position transducer of each passage is less than actual deviation amount;

Departure reduction unit, for increasing given and feedback deviation amount setting in the time limit, makes given and feedback deviation amount equal actual deviation amount.

Further again, described departure reduction unit is that equal difference increases progressively unit, and in setting-up time, equivalent increases given and feedback deviation amount.

Principle of work of the present invention is: the single pass control often of former drawing equipment control algolithm, entire combination, the movement velocity that is every a time is carried out PID adjusting after causing rear a time mechanism position sensor to change feedback after front a time mechanism kinematic, this method cannot meet drawing equipment both had very high requirement to control stiffness, had strict index request again to controlling rapidity.From control angle, first will guarantee the control stiffness of equipment, its rapidity realizes by advanced algorithm.For the feasibility of the method is described, first suppose the ratio of the adjacent two passage length velocity relations of known drawing equipment, so the datum velocity of a time mechanism given be that the speed preset of front a time is multiplied by this ratio, the actual speed of rear a time mechanism is given is exactly the given regulating and controlling amount that adds position sensor feedback of datum velocity, because regulating and controlling amount has been the effect of a fine setting, and determined the stability of equipment, so the parameter tuning of controller can mainly be considered stability.And the rapidity of equipment is decided by the ratio of adjacent two passage length velocity relations.

In existing PID control method, rapidity and stability are contradiction, during design, generally first guarantee stability, then solve rapidity.The key that solves rapidity is the actual speed ratio of the adjacent passage of Fast Identification, by further research, finds, least square method is more favourable to the raising of system performance aspect rapid identified parameters and disturbance rejection.

Least square method is the common method of System Discrimination.In error in equation, be under the condition of zero-mean white noise, by the parameter of 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.Just by gradual reducing memory recursion least square method, carry out K below _{(i-1) b}identification.

$K_{(i-1)b}=\frac{n_{i-1}}{n_i}=\frac{n_{0(i-1)}-\mathrm{\Δ}{n}_{0(i-1)}}{n_{0i}-{\mathrm{\Δn}}_{0i}}---\left(6\right)$

In formula (6), n _{0 (i-1)}, n _0ithe ideal no-load speed that represents respectively i-1, i passage motor, Δ n _{0 (i-1)}, Δ n _0irepresent respectively i-1, the slip of i passage motor load to influence of rotation speed, it is directly proportional substantially to load.If motor is closed-loop control, rotating speed can directly obtain-from frequency converter, read from speed pickup, if being open loop, motor controls, because ideal no-load speed is proportional to frequency, slip is approximately proportional to electric current, and frequency, electric current can be read from frequency converter, formula (6) can change into formula (4), for least square method, formula (4) is that quite simple, concrete recursion formula is as formula (5).

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.

be the K in formula (4) _{(i-1) b}.

Beneficial effect of the present invention is mainly manifested in: (1), employing least square method are debated and known runnability and the quick Stopping Ability that has improved each passage; (2), overall performance is improved, and especially, when stand-by time is 6 seconds fast, still can guarantee not fracture of wire of drawing equipment; (3), proposed boundary error and control and to make equipment smooth starting, improve device start performance; (4), the method that adopts is very practical, calculated amount is little, is easy to realize, and has embodied well the through engineering approaches of new theory and practical.

(4) accompanying drawing explanation

Fig. 1 is N passes of drawing equipment transmission schematic diagram.

Fig. 2 is N passes of drawing equipment feedforward+PID control structure figure.

Fig. 3 is the theory diagram of controller.

(5) embodiment

Below in conjunction with accompanying drawing, the invention will be further described.

Embodiment 1

With reference to Fig. 1, Fig. 2, Fig. 3, a kind of control system of multiple gate drawing device, comprise each passage mechanism, winder mechanism, controller, each passage mechanism is by frequency converter, motor and travelling mechanism form, the output of frequency converter connects motor, motor connects travelling mechanism by gear train, installation site sensor in each described passage mechanism, between the roller/cylinder of adjacent passage, install for coordinating the tuner of the operating rate relation of adjacent passage, described controller 1 comprises passage deviation control module 2, be used for according to the actual feedback calculation deviation controlled quentity controlled variable of the position transducer of the position set-point of the tuner between i-1 passage and i passage and i-1 passage, its formula is suc as formula (2):

${\mathrm{\ΔG}}_{i-1}=(K_{(i-1)p}+\frac{1}{T_{(i-1)i}S}+T_{(i-1)D}S)(U_{i-1}-U_{(i-1)f})$

In above formula, Δ G _i-1be the output bias amount of i-1 passage deviation control module, (K _{(i-1) p}, T _{(i-1) i}, T _{(i-1) D}represent respectively ratio, integration, differential coefficient, U _i-1be the position set-point of the tuner between i-1 passage and i passage, U _{(i-1) f}be the actual feedback of i-1 passage position transducer, multi-pass is N passage, and i is for meeting: the integer of N > i > 1;

The given module 3 of pass speed, for the arithmetic speed between given each passage, its formula is suc as formula (3):

G _i-1＝K _(i-1)b·G _i+ΔG _i-1

In above formula, G _i-1, G _ibe respectively the speed preset of i-1 passage and i passage, K _{(i-1) b}be the velocity ratio coefficient of i-1 passage and i passage, Δ G _i-1be the output of i-1 passage deviation control module;

The output of the given module 3 of described pass speed connects described frequency converter; Described controller 4 also comprises velocity ratio adjustment module, for according to least square method optimal speed than coefficient, its formula is as (4):

$K_{(i-1)b}=\frac{f_{i-1}-m_{i-1}{I}_{i-1}}{f_i-m_i{I}_i}$

In above formula, f _i-1, f _irepresent respectively i-1, i passage frequency converter output frequency, I _i-1, I _irepresent respectively i-1, i passage current of electric, m _i-1, m _irepresent respectively i-1, i passage motor slip coefficient;

Its recursion formula is suc as formula (5):

${\hat{K}}_{(i-1)b(N+1)}{=\hat{K}}_{(i-1)\mathrm{bN}}+A_{N+1}(Z_{N+1}-W_{N+1}^T{\hat{K}}_{(i-1)\mathrm{bN}})$

In above formula, A _n+1for 1X (N+1) rank gain matrix, Z _n+1for N+1 the f measuring _i-1(N+1) X1 rank matrix of data sequence, W _n+1 ^tfor N+1 the f measuring _i(N+1) X1 matrix of data sequence.

Roller/cylinder (reel) in drawing equipment in every a time is driven by frequency converter drive motor by mechanical mechanism, exists certain speed proportional relation between adjacent passage, in order to realize continuous drawing, between adjacent passage roller/cylinder, tuner is installed.Transducing signal on tuner arranges for detection position, and it has coordinated the operating rate relation of adjacent two passages, and Fig. 1 has represented N passes of drawing equipment transmission schematic diagram.Wherein the travelling speed of N passage is by the direct given G in outside _n, the speed preset of other passage is by calculating.

The performance quality of multiple gate drawing device depends on the performance in each stage of the course of work: performance during operation, the performance of stopped process and the performance while starting.Performance during operation refers to stability and the rapidity of system; The performance of stopped process refers to each passage while stopping fast also can keep speed coordination relation; Performance during startup refers to smooth starting.It is formula (1) that the speed preset of adjacent two passages closes.

Formula (1) has shown that the control mode of drawing equipment is feedforward+deviation control (PID), and wherein the speed preset of i passage is multiplied by corresponding speed than coefficient and this passage PID output valve Δ G _i-1be added the speed preset that just obtains i-1 (integer of N > i > 1) passage.

Fig. 2 represents N passes of drawing equipment feedforward+PID control structure figure.U in figure _n-1, U _i-1be respectively the position set-point of N-1 passage, i-1 passage tuner, U _{(N-1) f}, U _{(i-1) f}be respectively the actual feedback of N-1 passage, i-1 passage position transducer, K _n-1, K _i-1be respectively corresponding transmission speed and compare coefficient.

Least square method is the common method of System Discrimination.In error in equation, be under the condition of zero-mean white noise, by the parameter of least square method estimate equation, can in statistics, guarantee to obtain without inclined to one side, effective with consistent estimation, its recursive form be often used to real-time parameter estimation.By gradual reducing memory recursion least square method, carry out K _{(i-1) b}identification, its formula represents by formula (6), and is converted into formula (4), for least square method, formula (4) is that quite simple, concrete recursion formula is suc as formula (5).

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.

be the K in formula (1) _{(i-1) b}.

Embodiment 2

With reference to Fig. 1, Fig. 2, Fig. 3, the described controller of the present embodiment also comprises soft start control module 5, described soft start control module 5 comprises: start setup unit 6, for when starting, the given and feedback deviation amount of setting the position transducer of each passage is less than actual deviation amount; Departure reduction unit 7, for increasing given and feedback deviation amount setting in the time limit, makes given and feedback deviation amount equal actual deviation amount.Described departure reduction unit is that equal difference increases progressively unit, and in setting-up time, equivalent increases given and feedback deviation amount.

All the other structures of the present embodiment, speed are more identical with embodiment 1 than the course of work of adjustment module.

Before drawing equipment starts, the position of tuner is arbitrarily, general way is: the position of detecting tuner, set extreme position, when the position of tuner is in the inside of board and while approaching extreme position, improve fast the speed preset of last passage frequency converter, improve fast the speed of last passage motor and the travelling speed of roller/cylinder to follow the tracks of fast the speed of rear a time roller/cylinder; When the position of tuner is in the outside of board and while approaching extreme position, the speed preset of a time frequency converter before fast reducing, the travelling speed of the speed of fast reducing motor and roller/cylinder (is noted: said rear a time mechanically with the speed coordination with rear a time roller/cylinder, the front a time that on controlling should be, for unification, all with saying mechanically, be as the criterion).This detection tuner extreme position is dashed forward and is existed defect to compensation rate, and the required compensation rate of different equipment and different passage is different, and every equipment all needs careful debugging, and workload is very large.When compensation rate is excessive, easily produces overshoot and make tinsel material disconnected; Only rely on feedforward+PID to regulate same existing problems, when tuner approaches extreme position, can produce equally overshoot problems of too-occur fracture of wire, a phenomenon falls, therefore, drawing equipment is after solution stops fast, also will address the startup problem, the soft start algorithm that has proposed boundary error control at this is realized drawing equipment smooth start.

In conjunction with formula (1), (2), the G in Fig. 2 _i-1can be expressed as:

$G_{i-1}=K_{i-1}{G}_i+(K_{(i-1)p}+\frac{1}{T_{(i-1)i}S}+T_{(i-1)D}S)(U_{i-1}-U_{(i-1)f})---\left(7\right)$

In formula (7), (K _{(i-1) p}, T _{(i-1) i}, T _{(i-1) D}the ratio, integration, the differential coefficient that represent respectively i-1 PID, wherein get T _{(i-1) D}=0, (U _i-1-U _{(i-1) f}) the given and feedback error of position transducer.Start moment, as (U _i-1-U _{(i-1) f}) when larger, G _i-1variation also larger, for smooth starting when starting, control | U _i-1-U _{(i-1) f}|≤| Δ U _i-1|, As time goes on, increase | Δ U _i-1| restriction, finally eliminate this restriction (after approximately 5 seconds kinds), Here it is boundary error is controlled.

In sum, the least square method in drawing equipment can be improved the runnability of each passage and fast Stopping Ability, boundary error are controlled and can be improved device start performance.

Embodiment 3

The structure of the present embodiment, the course of work are identical with embodiment 2.

The 6 passage LZ6-560 wire drawing machinees of inlet wire 5.5mm, outlet 3.0mm of take are example, select 37KW motor, design register ratio, allot mould footpath, calculate compressibility, and at final pass, be in 390m/min situation, other passage linear velocity is as following table 1.Electric machine frequency and current of electric can be read from frequency converter automatically by bus.

No.	0	1	2	3	4	5	6
								Ratio of gear		28.1	22.1	17.7	14.2	11.4	9.51
Mould footpath (mm)	5.50	5.17	4.61	4.12	3.69	3.31	3.00
								Compressibility (%)		11.65	20.50	20.13	19.80	19.50	17.85
Linear velocity (m/min)		131	165	207	258	320	390
								Current of electric (A)		50.0	55.5	55.7	55.7	55.9	55.9
Electric machine frequency (Hz)		71.5	71	71.5	71.5	72.5	72.5

Table 1

When mould footpath configures by upper table, choose each speed ratio factor K ₁=K ₂=K ₃=K ₄=K ₅=1, no matter adopt classical feedforward+PID to control and still adopt the improved feedforward of least square method+PID to control, the quick stand-by time of equipment is set as 6 seconds, and fast each passage of stopping time can fracture of wire; Yet; when the mould footpath of the 5th passage becomes 3.10mm; other passage mould footpath is constant; the frequency converter frequency that now the 5th passage motor is corresponding is 82.6Hz; the quick stand-by time of equipment is set as respectively 10 seconds, 9 seconds, 8 seconds, 7 seconds, 6 seconds; stop soon or reduction of speed one half; adopt classical feedforward+PID to control; between the 4th passage and the 5th passage place, all there is fracture of wire in test each time, if adopt the improved feedforward of least square method+PID to control, and other parameter constant; all there is not fracture of wire phenomenon in test each time; now, the desirable 5--9 of N in formula (5), A _n+1for element is 1 1X (N+1) rank gain matrix entirely.

Select after sensor, the scope of location feedback value can be determined, U in formula (7) _{(i-1) f}when the scope of location feedback value is 0-10V, U in formula (7) _i-1position set-point is generally chosen to be 5V, so | U _i-1-U _{(i-1) f}|≤5V, when drawing equipment starts, if | U _i-1-U _{(i-1) f}|≤2.5V, | Δ U _i-1|=2.5V, realized boundary error control, As time goes on, every 100ms makes | Δ U _i-1| increase 50mV, within 5 seconds, after kind, can eliminate so | Δ U _i-1| restriction.After adopting boundary error to control, device start there will not be fracture of wire, a phenomenon falls.

Claims (3)

1, a kind of control system of multiple gate drawing device, comprise each passage mechanism, winder mechanism, controller, each passage mechanism is by frequency converter, motor and travelling mechanism form, the output of frequency converter connects motor, motor connects travelling mechanism by gear train, installation site sensor in each described passage mechanism, between the roller/cylinder of adjacent passage, install for coordinating the tuner of the operating rate relation of adjacent passage, described controller comprises passage deviation control module, be used for according to the actual feedback calculation deviation controlled quentity controlled variable of the position transducer of the position set-point of the tuner between i-1 passage and i passage and i-1 passage, its formula is as (2):

$\mathrm{\Δ}{G}_{i-1}=(K_{(i-1)p}+\frac{1}{T_{(i-1)i}S}+T_{(i-1)D}S)(U_{i-1}-U_{(i-1)f})---\left(2\right)$

In above formula, Δ G _i-1be the output bias amount of i-1 passage deviation control module, (K _{(i-1) p}, T _{(i-1) i}, T _{(i-1) p}represent respectively ratio, integration, differential coefficient, U _i-1be the position set-point of the tuner between i-1 passage and i passage, U _{(i-1) f}be the actual feedback of i-1 passage position transducer, multi-pass is N passage, and i is for meeting: the integer of N > i > 1; The given module of pass speed, for the arithmetic speed between given each passage, its formula is as (3):

G _i-1＝K _(i-1)b·G _i+ΔG _i-1 (3)

In above formula, G _i-1, G _ibe respectively the speed preset of i-1 passage and i passage, K _{(i-1) b}be the velocity ratio coefficient of i-1 passage and i passage, Δ G _i-1be the output of i-1 passage deviation control module;

The output of the described given module of pass speed connects described frequency converter;

It is characterized in that: described controller also comprises velocity ratio adjustment module, for according to least square method optimal speed than coefficient, its formula is as (4):

$K_{(i-1)b}=\frac{f_{i-1}-m_{i-1}{I}_{i-1}}{f_i-m_i{I}_i}---\left(4\right)$

In above formula, f _i-1, f _irepresent respectively i-1, i passage frequency converter output frequency, I _i-1, I _irepresent respectively i-1, i passage current of electric, m _i-1, m _irepresent respectively i-1, i passage motor slip coefficient;

Its recursion formula is as (5):

${\hat{K}}_{(i-1)b(N+1)}={\hat{K}}_{(i-1)\mathrm{bN}}+A_{N+1}(Z_{N+1}-W_{N+1}^T{\hat{K}}_{(i-1)\mathrm{bN}})---\left(5\right)$

In above formula, A _n+1for 1X (N+1) rank gain matrix, Z _n+1for N+1 the f measuring _i-1(N+1) X1 rank matrix of data sequence, W _n+1 ^tfor N+1 the f measuring _i(N+1) X1 matrix of data sequence.

2, the control system of multiple gate drawing device as claimed in claim 1, is characterized in that: described controller also comprises soft start control module, and described soft start control module comprises:

Start setup unit, for when starting, the given and feedback deviation amount of setting the position transducer of each passage is less than actual deviation amount;

Departure reduction unit, for increasing given and feedback deviation amount setting in the time limit, makes given and feedback deviation amount equal actual deviation amount.

3, the control system of multiple gate drawing device as claimed in claim 2, is characterized in that: described departure reduction unit is that equal difference increases progressively unit, and in setting-up time, equivalent increases given and feedback deviation amount.

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