CN1916802A - System and method for controlling moment limit of tension of medium fibers formed by wrapping - Google Patents
System and method for controlling moment limit of tension of medium fibers formed by wrapping Download PDFInfo
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- CN1916802A CN1916802A CN 200610010470 CN200610010470A CN1916802A CN 1916802 A CN1916802 A CN 1916802A CN 200610010470 CN200610010470 CN 200610010470 CN 200610010470 A CN200610010470 A CN 200610010470A CN 1916802 A CN1916802 A CN 1916802A
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Abstract
A method for controlling torque limitation of fiber tensile force in winding formation includes setting action direction of rotary driving magnetic field from servo motor to be opposite to rotary direction when fiber is guided out from fiber yarn ball, setting torque limitation of servo motor, controlling tensile force value of fiber by programmable controller when fiber is guided out, carrying out real-time regulation on torque limitation of servo motor by PID algorithm. The control system used to realize said method is also disclosed.
Description
Technical field
What the present invention relates to is the technical field of Wrapping formed middle fiber tension control.
Background technology
In industries such as papermaking, plastics and printing and dyeing, all need to carry out Tension Control.Yet the Tension Control in these industries generally all is to carry out under lower constant speed condition, and is therefore less demanding to the response speed of tension control system.But the control of the fiber tension in Wrapping formed is different from other industry.Because it is that speed change is twined that fiber twines, be accompanied by thus that fiber winding tension change frequency is higher, amplitude is bigger, need fiber tension control system and tension force executive item to have higher response speed, to follow the variation of fiber tension fast.Along with the ripe and development of Digital AC servomotor technology, as the higher executive item of a kind of response speed, AC servo motor begins to be applied in the fiber tension control gradually.At present existing is the tension control system of executive item with the AC servo motor, and servomotor is operated under the speed mode, and promptly servomotor is in the yarn state that just passes on, and the fiber speed of wrap changes very fast, and the controlled variable of control system is difficult to regulate.If want tracking velocity fast, just need bigger gain, then system's instability is easy to concussion; If reduce gain, then system response time is affected, and the tracking error value is bigger.
Summary of the invention
The present invention is directed in the prior art tension control system AC servo motor as executive item, because it is very fast that the fiber speed of wrap changes, the controlled variable of control system is difficult to regulate, there is the problem of rapidity and stable contradiction in control system, and (speed is system's shakiness then soon, surely then the slow tracking error of speed is big in system), and then provide a kind of moment of Wrapping formed middle fiber tension to limit control system and method.
The moment limit control system of Wrapping formed middle fiber tension of the present invention comprises Programmable Logic Controller 1, D/A converter 2, motor servo driver 3, servomotor 4, A/D converter 10 and tension pick-up 5; The digital signal output end of Programmable Logic Controller 1 is connected the digital signal input end of D/A converter 2; The analog signal output of D/A converter 2 is connected the input end of analog signal of motor servo driver 3; Motor servo driver 3 drive output are connected servomotor 4 and drive input end; Rotating shaft 8 synchrodrive of servomotor 4 connect the axle of silvalin group 6; Fiber 7 in the silvalin group 6 is derived and is wrapped on the core 9 after passing tension pick-up 5; The detection signal output terminal of tension pick-up 5 connects the signal input part of A/D converter 10, and the data output end of A/D converter 10 connects the detection data input pin of Programmable Logic Controller 1.
The step of the moment limit control method of Wrapping formed middle fiber tension of the present invention is:
One, the attribute of motor servo driver 3 is set, and the sense of rotation when making action direction and the silvalin group 6 of the rotation driving magnetic field of servomotor 4 derive fibers 7 is opposite;
Two, Programmable Logic Controller 1 is set the moment limit of servomotor 4 by the initial tension requirement by D/A converter 2, servo-driver 3;
When three, fiber 7 is derived by silvalin group 6, fiber 7 pulling silvalin groups 6 rotate, and the rotating shaft 8 that drives servomotor 4 is simultaneously rotated synchronously in the same way, because the sense of rotation the when action direction of the qualification of moment limit and the rotation driving magnetic field of servomotor 4 is derived fiber 7 with silvalin group 6 is opposite, the tension value when making derivation fiber 7 is subjected to the control of Programmable Logic Controller 1;
When four, sensor 5 detects the tension value variation, be that silvalin rolls into a ball that 6 radiuses reduce or outer acting force when changing, tension pick-up 5 with detected real-time tension value signal feedback in Programmable Logic Controller 1, Programmable Logic Controller 1 carries out the PID computing, promptly control the moment output quantity of the backward-rotating field of servomotor 4 inside, moment limit to servomotor 4 is adjusted in real time, and the realization tension closed loop is controlled in real time, and its size is consistent with setting value.
The invention solves the contradiction of winding building control system rapidity and stability; As controlling object, well solved the system stability problem with servomotor moment limit; And make the bigger improvement of getting back of system response time and tracking error by increasing system-gain.The present invention also has the response time weak point than prior art, and time yarn ability is strong, precision is high and the characteristics of good stability.
Description of drawings
Fig. 1 is an integrated circuit structural representation of the present invention; Fig. 2 is the right view of servomotor 4 and silvalin group 6 among Fig. 1; Fig. 3's is the moment limit control method process flow diagram of fiber tension of the present invention; Fig. 4 is the process flow diagram of pid algorithm described in the step 4 of moment of the present invention limit control method.
Embodiment
Embodiment one: specify present embodiment in conjunction with Fig. 1, Fig. 2 and Fig. 3, the moment limit control system of present embodiment is made up of Programmable Logic Controller 1, D/A converter 2, motor servo driver 3, servomotor 4, A/D converter 10 and tension pick-up 5;
The digital signal output end of Programmable Logic Controller 1 is connected the digital signal input end of D/A converter 2; The analog signal output of D/A converter 2 is connected the input end of analog signal of motor servo driver 3; Motor servo driver 3 drive output are connected servomotor 4 and drive input end; Rotating shaft 8 synchrodrive of servomotor 4 connect the axle of silvalin group 6; Fiber 7 in the silvalin group 6 is derived and is wrapped on the core 9 after passing tension pick-up 5; The detection signal output terminal of tension pick-up 5 connects the signal input part of A/D converter 10, and the data output end of A/D converter 10 connects the detection data input pin of Programmable Logic Controller 1.
The model that described Programmable Logic Controller 1 is selected for use is the FP2 of Panasonic; D/A converter 2 selected devices are to go up supporting D/A modular converter with the FP2 of Panasonic; A/D converter 2 selected devices are to go up supporting A/D modular converter with the FP2 of Panasonic; The model that servomotor 4 and motor servo driver 3 are selected for use is the MSMA082A of Panasonic; The model that tension pick-up 5 is selected for use is the NBA-10kg of mavin company.
The synchrodrive connected mode of servomotor and silvalin group described in the moment limit control system of the present invention can also be and the through-drive connection, as gear drive, belt gear or chain drive connection mode.
The moment limit control method step of the Wrapping formed middle fiber tension of present embodiment is:
One, the attribute of motor servo driver 3 is set, and the sense of rotation when making action direction and the silvalin group 6 of the rotation driving magnetic field of servomotor 4 derive fibers 7 is opposite;
Two, Programmable Logic Controller 1 is set the moment limit of servomotor 4 by the initial tension requirement by D/A converter 2, servo-driver 3;
When three, fiber 7 is derived by silvalin group 6, fiber 7 pulling silvalin groups 6 rotate, and the rotating shaft 8 that drives servomotor 4 is simultaneously rotated synchronously in the same way, because the sense of rotation the when action direction of the qualification of moment limit and the rotation driving magnetic field of servomotor 4 is derived fiber 7 with silvalin group 6 is opposite, the tension value when making derivation fiber 7 is subjected to the control of Programmable Logic Controller 1;
When four, sensor 5 detects the tension value variation, be that silvalin rolls into a ball that 6 radiuses reduce or outer acting force when changing, tension pick-up 5 with detected real-time tension value signal feedback in Programmable Logic Controller 1, Programmable Logic Controller 1 carries out the PID computing, promptly control the moment output quantity of the backward-rotating field of servomotor 4 inside, moment limit to servomotor 4 is adjusted in real time, and the realization tension closed loop is controlled in real time, and its size is consistent with setting value.
Embodiment two: specify present embodiment in conjunction with Fig. 4, be in the step of the pid algorithm described in the embodiment one:
Start program 00; Get setting value r (k) and measured value y (k) 01; Deviate e (k)=r (k)-y (k) 02; Get e (k) absolute value and e
0Compare 03; If e (k) absolute value is smaller or equal to e
0, output valve u (k)=Ae (k)+g (k-1) 04 then; G (k)=u (k)-Be (k)+Ce (k-1) 05; Draw u (k) and export 08; If e (k) absolute value is greater than e
0, output valve u (k)=A ' e (k)-f (k-1) 06 then, f (k)=B ' e (k) 07; Draw u (k) and export 08; Depositing g (k) in g (k-1), f (k) deposits f (k-1), e (k) in and deposits e (k-1) in and call 09 in order to next circulation time; Return information starting end 10.
Annotate: in program,
e
0Be the deviation thresholding, prevent that controlled quentity controlled variable from surpassing the range of topworks;
K is a sampling sequence number; U (k) is the computing machine output valve of the k time sampling instant;
E (k) is the deviate of the k time sampling instant input;
E (k-1) is the deviate of the k-1 time sampling instant input;
A, B|, C, A ', B ' are about scale-up factor, the constant of integral coefficient and differential coefficient.
Claims (3)
1, a kind of moment of Wrapping formed middle fiber tension limit control system is characterized in that it comprises Programmable Logic Controller (1), D/A converter (2), motor servo driver (3), servomotor (4), A/D converter (10) and tension pick-up (5);
The digital signal output end of Programmable Logic Controller (1) is connected the digital signal input end of D/A converter (2); The analog signal output of D/A converter (2) is connected the input end of analog signal of motor servo driver (3); Motor servo driver (3) drive output is connected servomotor (4) and drives input end; Rotating shaft (8) synchrodrive of servomotor (4) connects the axle of silvalin group (6); Fiber (7) in the silvalin group (6) is derived and is wrapped on the core (9) after passing tension pick-up (5); The detection signal output terminal of tension pick-up (5) connects the signal input part of A/D converter (10), and the data output end of A/D converter (10) connects the detection data input pin of Programmable Logic Controller (1).
2, a kind of moment of Wrapping formed middle fiber tension limit control method is characterized in that its controlled step is:
(1), the attribute of motor servo driver (3) is set, the sense of rotation when making the action direction of the rotation driving magnetic field of servomotor (4) derive fiber (7) with silvalin group (6) is opposite;
(2), Programmable Logic Controller (1) is set the moment limit of servomotor (4) by the initial tension requirement by D/A converter (2), servo-driver (3);
When (three), fiber (7) is derived by silvalin group (6), fiber (7) pulling silvalin group (6) rotates, and the rotating shaft (8) that drives servomotor (4) is simultaneously rotated synchronously in the same way, because the sense of rotation the when action direction of the qualification of moment limit and the rotation driving magnetic field of servomotor (4) is derived fiber (7) with silvalin group (6) is opposite, the tension value when making derivation fiber (7) is subjected to the control of Programmable Logic Controller (1);
When (four), sensor (5) detects the tension value variation, be that silvalin group (6) radius reduces or outer acting force when changing, tension pick-up (5) feeds back to detected real-time tension value signal in the Programmable Logic Controller (1) by A/D converter (10), Programmable Logic Controller (1) carries out the PID computing, promptly control the moment output quantity of the inner backward-rotating field of servomotor (4), moment limit to servomotor (4) is adjusted in real time, and the realization tension closed loop is controlled in real time, and its size is consistent with setting value.
3, the moment of a kind of Wrapping formed middle fiber tension according to claim 2 limit control method is characterized in that the step of described pid algorithm is:
Start program (00); Get setting value r (k) and measured value y (k) (01); Deviate e (k)=r (k)-y (k) (02); Get e (k) absolute value and e
0Compare (03); If e (k) absolute value is smaller or equal to e
0, output valve u (k)=Ae (k)+g (k-1) (04) then; G (k)=u (k)-Be (k)+Ce (k-1) (05); Draw u (k) and output (08); If e (k) absolute value is greater than e
0, output valve u (k)=A ' e (k)-f (k-1) (06) then, f (k)=B ' e (k) (07); Draw u (k) and output (08); Depositing g (k) in g (k-1), f (k) deposits f (k-1), e (k) in and deposits e (k-1) in and call (09) in order to next circulation time; Return information starting end (10).
Annotate: in program,
e
0Be the deviation thresholding, prevent that controlled quentity controlled variable from surpassing the range of topworks;
K is a sampling sequence number; U (k) is the computing machine output valve of the k time sampling instant;
E (k) is the deviate of the k time sampling instant input;
E (k-1) is the deviate of the k-1 time sampling instant input;
A, B|, C, A ', B ' are about scale-up factor, the constant of integral coefficient and differential coefficient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610010470 CN1916802A (en) | 2006-08-31 | 2006-08-31 | System and method for controlling moment limit of tension of medium fibers formed by wrapping |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200610010470 CN1916802A (en) | 2006-08-31 | 2006-08-31 | System and method for controlling moment limit of tension of medium fibers formed by wrapping |
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| CN1916802A true CN1916802A (en) | 2007-02-21 |
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| CN 200610010470 Pending CN1916802A (en) | 2006-08-31 | 2006-08-31 | System and method for controlling moment limit of tension of medium fibers formed by wrapping |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102517784A (en) * | 2011-12-22 | 2012-06-27 | 飞虎科技有限公司 | Independent yarn fixed-length detecting system for computerized flat knitting machine and method thereof |
| CN103066909A (en) * | 2013-01-14 | 2013-04-24 | 杭州电子科技大学 | Control method and yarn constant tension control system of proportional-integral-derivative (PID) controller with dead zone |
| CN104156014A (en) * | 2014-08-09 | 2014-11-19 | 青岛中瑞泰软控技术有限公司 | Filtering method adopting screening according to frequency as well as make-up control method and device with application of filtering method |
| CN105022423A (en) * | 2015-07-31 | 2015-11-04 | 华南理工大学 | Testing device and testing method for tension control of belt |
| CN107253633A (en) * | 2017-06-09 | 2017-10-17 | 华中科技大学 | A kind of constant stress winding control system and its method towards variable cross-section flexible electronic |
| CN115258809A (en) * | 2022-07-26 | 2022-11-01 | 中船重工（青岛）轨道交通装备有限公司 | Spindle frame electric control system with initial tension setting and high-efficiency motor fault elimination |
-
2006
- 2006-08-31 CN CN 200610010470 patent/CN1916802A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102517784A (en) * | 2011-12-22 | 2012-06-27 | 飞虎科技有限公司 | Independent yarn fixed-length detecting system for computerized flat knitting machine and method thereof |
| CN103066909A (en) * | 2013-01-14 | 2013-04-24 | 杭州电子科技大学 | Control method and yarn constant tension control system of proportional-integral-derivative (PID) controller with dead zone |
| CN104156014A (en) * | 2014-08-09 | 2014-11-19 | 青岛中瑞泰软控技术有限公司 | Filtering method adopting screening according to frequency as well as make-up control method and device with application of filtering method |
| CN105022423A (en) * | 2015-07-31 | 2015-11-04 | 华南理工大学 | Testing device and testing method for tension control of belt |
| CN107253633A (en) * | 2017-06-09 | 2017-10-17 | 华中科技大学 | A kind of constant stress winding control system and its method towards variable cross-section flexible electronic |
| CN115258809A (en) * | 2022-07-26 | 2022-11-01 | 中船重工（青岛）轨道交通装备有限公司 | Spindle frame electric control system with initial tension setting and high-efficiency motor fault elimination |
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