CN1978300A - Servo driving special machine with high-speed winding function - Google Patents
Servo driving special machine with high-speed winding function Download PDFInfo
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- CN1978300A CN1978300A CNA2005101258172A CN200510125817A CN1978300A CN 1978300 A CN1978300 A CN 1978300A CN A2005101258172 A CNA2005101258172 A CN A2005101258172A CN 200510125817 A CN200510125817 A CN 200510125817A CN 1978300 A CN1978300 A CN 1978300A
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Abstract
This invention relates to a servo drive special machine with a high speed winding function including: a winding unit, a rotation control unit controlling the rotation of the winding unit, a traverse action control unit controlling the traverse action of the winding unit, a potentiometer and a host controller, in which, the servo drive of the traverse action control unit and its internal winding order process unit and the start-up signals set by the winding parameter and input from outside are utilized to match with the potentiometer to test potential of the signals, compute the frequency conversion instruction of a converter to start up the induced motor to drive rotation of the winding unit, and a coder connected by the induced motor generates and outputs pulse signals, the winding order process unit computes the pulse order of the servo motor to output it to drive the servo motor to drive the winding unit to act horizontally to guide wires to be winded between two ends of a drum.
Description
Technical field
The present invention relates to a kind of servo driving special machine, relate in particular to a kind of high-speed winding function that has, and set the servocontrol coiling special machine and the control method thereof of planning coiling form and linear velocity control by parameter with high-speed winding function.
Background technology
Be well known that the early stage winding mechanism of using (as bobbin-winding machine mechanism be used to the to reel nonshared control unit (machine) of yarn) is major control with the frequency converter driving, an one typical architecture comprises one group of frequency converter, induction motor and mechanical transmission mechanism.Wherein, induction motor utilizes frequency converter to carry out drive controlling, so that winding mechanism needed rotatablely moving when reeling to be provided, and winding mechanism required cross motion when carrying out horizontal reciprocating action.Above-mentioned mechanical transmission mechanism realizes that in the mode of mechanical interlock its shortcoming is:
1. realize the function of cross motion with mechanical drive mode,, thereby can't reach high-revolving coiling because the speed of response of machinery limits to some extent.
2. coiling form is fixed, and can't carry out parameter adjustment.If need other winding method, then must adjust physical construction, need expend cooresponding time and material resources and be in course of adjustment.In addition, in order to improve above-mentioned mechanical interlock mode, realize winding mechanism existing shortcoming in cross motion control, proposed to utilize the frequency converter coiling special machine of one group of frequency converter and induction motor control cross motion in the art, the wobble frequency functional operation (as shown in Figure 1) of its variable frequency control framework, mainly be to utilize the coiling of in frequency converter, setting to begin frequency, coiling termination frequency, coiling time parameter etc., in appointed time, output frequency controlled to carry out spiral.Promptly, when frequency converter receives the running order, quicken and the wobble frequency predetermined frequency holding time through the pick-up time of setting, make frequency converter reach the central frequency F of the default running control of reeling, by the beginning frequency of reeling, reel and stop the upper and lower wobble frequency amplitude that frequency setting forms, parameters such as wobble frequency period, wobble frequency ratio and jump frequency in time t and output frequency H generation are exported control, to drive the horizontal mechanical device generation horizontal motion back and forth of induction motor control winding mechanism; Wherein
Fall time wobble frequency period=wobble frequency build up time+wobble frequency
Wobble frequency ratio=wobble frequency build up time/wobble frequency fall time
Jump frequency=wobble frequency amplitude * hopping time
When hopping time ≠ 0, wobble frequency cycle=wobble frequency period+2 * hopping time;
In addition, when the frequency converter reception is ceased and desisted order, then stop according to slowing down default deceleration time.Though can realize the cross motion of winding mechanism is controlled by above-mentioned frequency converter coiling special machine, but when reality is controlled the cross motion of winding mechanism, the mechanical device of still must arranging in pairs or groups, as running by the positive and negative direction of mechanical assistance, when fixed in hardware, needed coiling length is limited; The adjustment of parameter must be considered the design of hardware.And S. A. is not provided the function of linear velocity control.
Summary of the invention
Main purpose of the present invention is to solve above-mentioned tradition disappearance, avoid disappearance to exist, the present invention is with existing hardware structure of servo-driver and function, the input and output Processing Interface of baseband signal are provided, the digital input signals that comprises optical sensor, the digital input signals of coiling start and stop, the mimic imput signal of coiling thickness and pulse wave incoming signal, the parameter that is built in interior coiling command process unit of servo-driver and coiling form thereof in the cooperation is set, and potentiometer detects the voltage signal of coiling thickness results, calculate the pulse wave order of servomotor, drive the winding mechanism crosswise movement, the guiding wire rod is travelled to and fro between between two ends of reel and is reeled, realization is calculated with parameter setting and software and is reached at a high speed and the control of multi-form coiling, simplify the complicated hardware design, not needing again just can provide easier for the user by the hardware mechanism modification, cheap, and have the practical servo coiling control setup of high-speed winding again.
In order to realize reaching above-mentioned purpose, the servo driving special machine with high-speed winding function of the present invention can comprise: at least one winding mechanism; Control the rotation control mechanism of above-mentioned winding mechanism rotation; Control above-mentioned winding mechanism and commute crosswise movement control mechanism between two ends of reel; Potentiometer connects above-mentioned winding mechanism and detects coiling thickness, and the voltage signal of output testing result is as an incoming signal of servo-driver; Last level controller connects above-mentioned rotation control mechanism and crosswise movement control mechanism, to set controlled variable and target, shows the control result and coordinates the sequence of operation that this installs each link.Described rotation control mechanism comprises: induction motor links above-mentioned winding mechanism; Be located at the coder on the induction motor; And the frequency converter of driving induction motor action; Described crosswise movement control mechanism comprises: servomotor links above-mentioned winding mechanism; And the servo-driver of the above-mentioned servomotor of driving, built-in coiling command process unit and software program.
In order to realize reaching above-mentioned purpose, the servo driving special machine control method with high-speed winding function of the present invention comprises:
Parameter is set step, and according to the coiling form demand, the input function parameter is set;
Initialization initial point reset process receives external start signal by servo-driver, carries out winding function after execution coiling initial point resets;
Coiling THICKNESS CALCULATION step, the voltage potential analog signal of being exported by described servo-driver reading potential meter detection thickness is calculated the linear velocity control in coiling thickness and the winding process;
The spinning movement controlled step of winding mechanism, calculate commentaries on classics order frequently by described servo-driver according to the result of calculation and the linear velocity order of described parameter setting, coiling thickness, to export the frequency converter of rotation control mechanism to, drive the winding mechanism spinning movement by described Frequency Converter Control induction motor;
The crosswise movement controlled step of winding mechanism, respond to described revolution driving coder and produce a succession of pulse wave signal output, set according to described coiling parameter to drive coiling command process unit, reel positioning control and the order of servomotor pulse wave calculated, and control described servomotor according to the result of calculation output signal and produce the forward and backward action, thereby drive between two ends that described winding mechanism commutes reel;
Coiling stops step, and when arriving stop condition (coiling thickness reaches and imposes a condition) when reeling, special machine stops coiling action automatically, and in winding process, servo-driver connects outside closing signal (WSTOP), stops coiling action.
Brief Description Of Drawings
Fig. 1 is the pulse wave scheme drawing of the Frequency Converter Control framework of prior art;
Fig. 2 is the composition configuration diagram of the embodiment of the invention;
Fig. 3 is the composition configuration diagram of the coiling command process unit of the embodiment of the invention;
Fig. 4 is the control method diagram of circuit of the embodiment of the invention;
Fig. 5 is the operating winding sequential chart () of the embodiment of the invention;
Fig. 6 is the operating winding sequential chart (two) of the embodiment of the invention;
Fig. 7 is the convoluting speed order diagram of curves of the embodiment of the invention;
Fig. 8 is the present invention carries out linear velocity control according to coiling thickness a diagram of circuit;
Fig. 9 is the present invention carries out the spiral positioning control according to parameter command a diagram of circuit;
Figure 10 is the reel differentially-wound length parameter functional schematic of parameter application example of the present invention;
Figure 11 is the reel receipts corner degree parameter function scheme drawing of parameter application example of the present invention;
Figure 12 is the reel origin detector and the reel end-point distances parameter function scheme drawing of parameter application example of the present invention;
Figure 13 is the reel coiling special parameter write-in functions scheme drawing of parameter application example of the present invention.
The primary clustering nomenclature
Crosswise movement control mechanism 3 potentiometers 4
Coiling command process unit 33 signal converters 34
First low-pass filter, 35 winding controllers 36
Pulse wave pattern finder 37 counting machines 38
Command selection switch 39 second low-pass filters 30
Process step 800～810
The specific embodiment
Below with reference to accompanying drawings technology contents of the present invention is elaborated.
Fig. 2,3 is depicted as the structure scheme drawing with servo driving special machine frame of high-speed winding function of the present invention.As shown in the figure, servo driving special machine with high-speed winding function of the present invention includes: winding mechanism 1, the rotation control mechanism 2 of control winding mechanism 1 rotation, the crosswise movement control mechanism 3 of the horizontal reciprocating action of control winding mechanism 1, potentiometer 4 and last level controller 5.The said apparatus formation has high-speed winding, and sets the servo coiling control special machine of planning multireel around mode and linear velocity control by parameter.
The Starting mode of frequency converter 21 can start by the outside terminal of selecting servo-driver 32 digital output terminal VFD_CTRL and SRDY to export frequency converter 21 to and (by M0, M1), or started by wire communication.It is to provide the external analog voltages input by servo-driver 32 that the commentaries on classics of frequency converter 21 is ordered frequently.
Crosswise movement control mechanism 3 comprises servomotor 31, and drives the servo-driver 32 of servomotor 31.Be provided with coiling command process unit 33 in servo-driver 32 inside.Servomotor 31 links the transverse moving mechanism of winding mechanism 1, the mouth of servo-driver 32 links servomotor 31 and is drive controlling output, this input end is then accepted the function signal of outside input, these signals start WSTART (DI) except comprising, stop WSTOP (DI) and the sensing signal WSENSOR signals such as (DI), also comprise the pulse wave order of coder 23 output pulse wave signals (PULSE), and the thickness testing result signal of V_REF analog rate order input potentiometer 4 etc.The software program that is built in coiling command process unit 33 in these signals cooperate is carried out calculating, to produce the pulse wave order of servomotor.Drive servomotor 31 and carry out crosswise movement with the transverse moving mechanism that rotating drives winding mechanism 1, the guiding wire rod is travelled to and fro between between the reel two ends and is reeled.
Coiling command process unit 33 comprises the signal converter 34 of the voltage potential analog signal that receives potentiometer 4 outputs.After signal converter 34 is converted to digital signal with the voltage potential signal, by exporting winding controller 36 to behind first low-pass filter 35.Coiling command process unit 33 also comprises the pulse wave type finder 37 of reception from the pulse wave signal of coder 23, after the pulse wave signal that pulse wave type finder 37 receives is handled by bonded assembly counting machine 38 countings, export winding controller 36 to, winding controller 36 cooperates the in-to-in software program, and the parameter of setting, voltage potential analog signal that potentiometer 4 is imported and the pulse wave signal of coder 23, to calculate the pulse wave order of servomotor 31, utilize the output control of command selection switch 39, input to servo-driver 32 by second low-pass filter 30.
The device of the invention described above also comprises origin detector and thread break detector (not illustrating among the figure).This origin detector is in order to detect the coiling initial point.Whether thread break detector then breaks in order to detect wound skein product, and produces drive signal when broken string, so that winding mechanism 1 auto-stop.The signal WSENSOR (DI) that above-mentioned origin detector and thread break detector produce, an also exportable incoming signal as servo-driver 32.In addition,, also can select uneasy dress thread break detector, promptly cancel corresponding numeral input and set if do not use the burn out detection function.
Be respectively the servo driving special machine framework with high-speed winding function of the present invention shown in Fig. 4,5 and 6, reel at a high speed and set the planning coiling form by parameter and scheme carrying out with the diagram of circuit and the time sequential routine of the coiling method of servo-controlling of linear velocity control according to previous embodiment.As shown in the figure, the control method with servo driving special machine of high-speed winding function of the present invention comprises following controlled step:
Parameter is set step, and shown in process step 600, according to the coiling form demand, the input function parameter is set;
Initialization initial point reset process shown in process step 602, is accepted external start signal (WSTART) by servo-driver, cooperates origin detector to detect the coiling initial point, after execution coiling initial point resets, carries out winding function;
Coiling THICKNESS CALCULATION step is shown in process step 604, by the thickness detectable voltage signals of servo-driver 32 reading potential meters 4, to calculate the linear velocity control in coiling thickness and the winding process;
The spinning movement controlled step of winding mechanism, shown in process step 606, calculate commentaries on classics order frequently by servo-driver 32 according to above-mentioned parameter setting, coiling THICKNESS CALCULATION result and linear velocity order, and, control the rotation travel mechanism execution rotation coiling action that induction motors 22 drive winding mechanisms 1 by frequency converter 21 with the AVI analog input terminal that rotating speed order simulation output MON2 exports frequency converter 21 to;
The crosswise movement controlled step of winding mechanism shown in process step 608, by the rotational action of coder 23 with induction motor 22, produces a succession of pulse wave signal, and exports coiling command process unit 33 to.Coiling command process unit 33 cooperates above-mentioned coiling parameter to set, the sensing signal WSENSOR (DI) of thread break detector output, the thickness testing result signal V_REF of potentiometer output, pulse wave order with reel positioning control and servomotor 31 is calculated, according to the pulse wave order output of calculating, control servomotor 31 produces the rotating action, to drive winding mechanism 1 driving the average transverse moving mechanism of coiling thickness is commuted between the two ends of reel, and the thickness detection signal of cooperation potentiometer 4, control the rotating speed of frequency converter 21 to keep the coiling action of static line speed with variation in thickness;
Coiling stops step, shown in process step 610, receives outside closing signal (WSTOP) by servo-driver 32, and control rotation control mechanism 2 and crosswise movement control mechanism 3 stop action.
The embodiment of the control method of above-mentioned servo driving special machine with winding function, mainly providing two sections convoluting speed orders sets, the relation of its coiling thickness and commentaries on classics order frequently as shown in Figure 7, wherein, WSPD is first section convoluting speed order, WSD2 is second section convoluting speed order, and WTHK stops thickness for reeling, and WTH2 is for switching thickness.When reeling beginning, convoluting speed begins to reel with first section convoluting speed order, when coiling thickness reaches WTH2, changes second section convoluting speed order that order frequently switches to the WSD2 curve; When if the user desires to close second section convoluting speed order, then only needing the WTH2 setting value is the value identical with WTHK, can stop to reel after reaching setting coiling thickness.Another linear velocity controllable function is, when coiling thickness switches thickness less than WTH2, frequency converter provides identical commentaries on classics to order frequently, this commentaries on classics order frequently is that the pairing frequency numerical value of thickness is being switched in second section convoluting speed order, when coiling thickness when switching thickness, change order frequently and just increase and reduce along with thickness.Function is provided at coiling thickness when switching thickness, and linear velocity increases and increases along with thickness, when coiling thickness when switching thickness, linear velocity will be kept fixing.
In addition, above-mentioned commentaries on classics is ordered frequently mainly and is calculated and got by the linear velocity order, this calculating mainly is provided with the maximum operating frequency (Hz) or the rotating speed (rpm) of S. A., when S. A. uses frequency converter to drive, but relation and maximum operating frequency between maximum operating frequency and motor number of poles, S. A. diameter are set can be calculated and be got by formula (1).When S. A. used servo driver drives, relation between maximum speed and S. A. diameter are set and maximum can reach rotating speed and can be calculated and be got by formula (2).
Formula (1):
Formula (2):
Wherein LSPD is a convoluting speed order (unit: m/min)
WRMP is a turning cylinder induction motor number of poles (unit: pole)
D is a reel winding diameter (unit: mm)
K1 is a constant 2.6526
K2 is a constant 318.3099
According to the calculating of above-mentioned linear velocity and the velocity of rotation of control break S. A..When rotating shaft coiling thickness was thick more, control frequency converter 21 rotating speeds can reduce, to keep identical line pulling force of wire rod and fixing linear velocity coiling action.
Above-mentioned linear velocity controlled step is mainly calculated according to spiral thickness, and its method step as shown in Figure 8.At first by the thickness detectable voltage signals current potential of servo-driver 32 reading potential meters 4, shown in process step 700.Calculate coiling thickness according to thickness parameter voltage potential conversion ratio, shown in process step 702.Calculate rotating shaft order output according to linear velocity control formula again, shown in process step 704.
In addition, the above-mentioned coiling positioning control of carrying out according to parameter command, its method step as shown in Figure 9, comprise: receive corner degree and the pairing receipts of coiling THICKNESS CALCULATION receipts edge lengths limit pulse number according to parameter, shown in process step 800, then, calculate the constant speed pulse wave recruitment of crosswise movement mechanism according to coder 23 input pulse waves, shown in process step 802, product according to parameter saltation velocity ratio and constant speed pulse wave increment number calculates the jump pulse wave increment number of turning back a little again, shown in process step 804.Then, produce irregular pulse wave increment number, shown in process step 806, then, winding controller 36 produces actual pulse wave order according to above-mentioned pulse wave increment number, and is shown in process step 808, last, export control according to actual pulse wave order and mechanism equivalence gear than the pulse wave order that formula (formula 3) calculates servomotor 31, as process step 810.
Formula 3:
WLNG wherein: coiling range (unit: mm);
Cross is the ratio of reeling;
WREP resolves (unit: pulse/rev) for the output of turning cylinder coder;
WSMD is a horizontal shaft transmission device diameter (unit: mm);
K3 is a constant 3184.71
Servo driving special machine and control method thereof with high-speed winding function of the present invention, application parameter is set the coiling form that can plan various variation, and employed parameter function is used and is seen also shown in Figure 10-13, comprising:
Drive Status shows (STS), comprises: potentiometer voltage; Convoluting speed order (m/min); Coiling thickness (mm); Reeling condition starts or stops, the burn out detection state, reels and to finish stop condition and parameter set condition as winding function, checks the corresponding relation of actual coiling length.
Differentially-wound length (WFDL), as shown in figure 10: refer to that in reciprocating travel A-B AC and DB section are differentially-wound length.In the reciprocal process of A-B, be not at every turn back and forth all by A to B, or by B to A.Actual reciprocal stroke is A to D, D to C, and C to B is circulated in regular turn by B to A again.Mainly solve the phenomenon that both sides in the winding process have projection.
Saltation velocity ratio (WJSR), as shown in figure 10: improve the moving velocity of turning back a little.Saltation velocity is the product of saltation velocity ratio and moving velocity.When differentially-wound length was opened, this parameter function just had effect.
Receive corner degree (WTH1; WTH2): formed angle during take-up.
Coiling is than (WCRI; WCRD); A servomotor stroke from left to right, the number of turns that induction motor rotates.Also represent servomotor 31 back and forth time a time, the staggered number of times of wire rod on reel.
Coiling range (WLNG): the stroke that refers to reciprocating travel A-B.
Differential idle running ratio (WPER): as 80% process is arranged in the differentially-wound process is to belong to the differentially-wound stroke, and all the other strokes are all A to B, or B to A.Mainly be that the coiling face has irregular phenomenon in the solution winding process.When differentially-wound length was opened, this parameter function just had effect.
First section convoluting speed (WSPD).
Coiling stops thickness (WTHK): when coiling thickness reached setting value, coiling stopped.
Coiling stops stroke (WSSK): the coiling stroke is during less than setting value, and coiling stops.
Coiling stops the number of turns (WSLL): the coiling number of turns is during greater than setting value, and coiling stops.
Line footpath (WWDL): gauge or diameter of wire.
Origin detector and reel end-point distances (WOS1), as shown in figure 12.
Reel end points and spiral initial point distance (WOS2).
Reel length (WOS3).
Coiling velocity of displacement (WPOV): set special machine is moved to the coiling initial point by origin detector velocity of displacement.
Thickness voltage conversion ratio (WTVR): set the respective value of spiral thickness and potentiometer voltage, coiling thickness is used to convert.
Potentiometer maximum output voltage (WPMV).
Horizontal shaft transmission device diameter (WSMD).
S. A. transmission device diameter (WRMD).
(WREP) resolved in S. A. coder output: coder rotates a circle, the pulse number that the A of coder and B export mutually.
S. A. motor number of poles (WRMP): when S. A. uses induction motor, the essential number of poles numerical value of setting; If when using servo-driver, S. A. motor number of poles is made as 1.
The highest operating frequency of S. A. or rotating speed (WRHS).
Coiling pattern (WMOD).
Potentiometer simulation current potential smoothing constant (WLPF): low pass smothing filtering.
Second section convoluting speed order (WSD2).
Switch thickness (WTH2): switch thickness setting when coiling thickness arrives, then convoluting speed switches to the second convoluting speed order (WSD2).
The coiling special parameter writes (WFUN): comprising: (1) potentiometer zero thickness is proofreaied and correct, and when carrying out this function, adjusting coiling thickness is 0mm.(2) potentiometer slope correction (adjusting the thickness voltage conversion ratio), as shown in figure 13, its computing formula such as formula 4
Formula 4:
Because servo driving special machine and the control method thereof with high-speed winding function of the present invention, be to be built in the coiling command process unit 33 and the software program thereof with special function of servo-driver 32 in the collocation of servo-driver 32 prior function, with the mode that parameter is set and software program calculating realization is reeled, simplified the complicated hardware design, when carrying out high-revolving coiling, motion command does not have the situation that postpones transmission, and existing normal controller is controlled by the outside given signal of actuator, and given signal (pulse wave row) has the restriction of incoming frequency.Realize that cost of the present invention is also comparatively cheap.
Simultaneously, the functional software program is under the pattern of position control, set about length parameter and coiling form design-calculated, be that direct setting by parameter realizes, and do not need modification or change Design of Mechanical Structure by mechanism, or any adjustment correction, and set according to these parameters linear velocity control is provided.
Above-mentioned is preferred embodiment of the present invention only, is not to be used for limiting the scope of the present invention.Be that all equalizations of being done according to the present patent application claim change and modification, be all claim of the present invention and contain.
Claims (17)
1, a kind of servo driving special machine with high-speed winding function is applied to the servo-drive control setup of wire coil around control, comprising:
At least one winding mechanism;
Control the rotation control mechanism of described winding mechanism rotation;
Control the crosswise movement control mechanism that described winding mechanism carries out horizontal reciprocating action;
Origin detector is in order to detect the coiling initial point.
2, servo driving special machine as claimed in claim 1, wherein, described special machine also comprises potentiometer, and described potentiometer is connected with described winding mechanism, and with detection coiling thickness, and output testing result voltage signal is as an incoming signal of servo-driver.
3, servo driving special machine as claimed in claim 1, wherein, described rotation control mechanism comprises:
Induction motor;
Be located at the coder on the described induction motor; And,
Drive the frequency converter of described induction motor action.
4, servo driving special machine as claimed in claim 1, wherein, described crosswise movement control mechanism comprises:
Servomotor; And,
Drive the servo-driver of described servomotor.
5, servo driving special machine as claimed in claim 4, wherein, described servo-driver also comprises: be built in the software program of described coiling command process unit in coiling command process unit reaches, with setting, computing function parameter output control command.
6, servo driving special machine as claimed in claim 5, wherein, described coiling command process unit comprises:
Signal converter receives the voltage potential analog signal that potentiometer is exported;
First low-pass filter is connected with signal converter, the voltage digital signal after changing through filtering with output;
Pulse wave pattern finder receives the pulse wave signal from coder;
Counting machine is connected with described winding controller, and output is through the signal of counting processing;
Winding controller, be connected with the mouth of described first low-pass filter and described counting machine, with received signal and carry out software program and calculate, described winding controller is by being arranged at its in-to-in software program, and a succession of pulse wave signal of the parameter of setting, voltage potential analog signal that potentiometer is exported and coder output, the pulse wave order of calculating servomotor;
The command selection switch, optionally switching is connected with described winding controller, with the order of output pulse wave; And,
Second low-pass filter is connected with described command selection switch.
7, servo driving special machine as claimed in claim 1, wherein, described special machine also comprises level controller, utilize RS232 or RS485 coffret, connect described rotation control mechanism and described crosswise movement control mechanism, to set controlled variable and target, demonstration control result and to coordinate the function actions such as sequence of operation of described each link of device.
8, servo driving special machine as claimed in claim 1, whether wherein, described special machine also comprises thread break detector, break in order to detect wound skein product, the signal that described thread break detector produces is as an incoming signal of described servo-driver.
9, a kind of servo driving special machine control method with high-speed winding function comprises:
Parameter is set step, and according to the coiling form demand, the input function parameter is set;
Initialization initial point reset process receives external start signal by servo-driver, carries out winding function after execution coiling initial point resets;
Coiling THICKNESS CALCULATION step, the voltage potential analog signal of being exported by described servo-driver reading potential meter detection thickness is calculated the linear velocity control in coiling thickness and the winding process;
The spinning movement controlled step of winding mechanism, calculate commentaries on classics order frequently by described servo-driver according to the result of calculation and the linear velocity order of described parameter setting, coiling thickness, to export the frequency converter of rotation control mechanism to, drive the winding mechanism spinning movement by described Frequency Converter Control induction motor;
The crosswise movement controlled step of winding mechanism, respond to described revolution driving coder and produce a succession of pulse wave signal output, set according to described coiling parameter to drive coiling command process unit, reel positioning control and the order of servomotor pulse wave calculated, and control described servomotor according to the result of calculation output signal and produce the forward and backward action, thereby drive between two ends that described winding mechanism commutes reel;
Wherein, when reel arriving stop condition, described special machine stops coiling action automatically, perhaps in winding process, when described servo-driver receives outside closing signal, stops coiling action.
10, control method as claimed in claim 9, also comprise: set two sections convoluting speed orders, when reeling beginning, convoluting speed begins to reel with first section convoluting speed order, coiling thickness reaches when switching thickness, and order switches to second section convoluting speed command execution coiling action by changeing frequently.
11, control method as claimed in claim 10, also comprise: utilization will be switched thickness value and be set for and stop with coiling that thickness is identical closes described second section convoluting speed order, and beginning with first section convoluting speed order to reel and reach at convoluting speed stops to reel after setting coiling thickness.
12, control method as claimed in claim 9, also comprise: utilize linear velocity to calculate and control, with the velocity of rotation of change S. A., and when rotating shaft coiling thickness was thick more, control frequency converter rotating speed reduced to keep identical line pulling force of wire rod and fixing linear velocity coiling action.
13, control method as claimed in claim 12, wherein, described linear velocity calculate the maximum operating frequency when using described frequency converter driven in rotation axle be by convoluting speed order, turning cylinder induction motor number of poles and reel winding diameter number set with a constant between relation calculating and the value that obtains.
14, control method as claimed in claim 12, it is to calculate resulting value by the relation between convoluting speed order, the setting of reel winding diameter number and the constant that maximum when wherein, described linear velocity is calculated use servo driver drives S. A. can reach rotating speed.
15, control method as claimed in claim 9, wherein, described linear velocity controlled step is mainly calculated according to spiral thickness, and its method also comprises:
Read the voltage potential analog signal that described potentiometric thickness detects output by described servo-driver;
According to the conversion of the voltage potential analog signal of thickness parameter than calculating coiling thickness;
Calculate commentaries on classics order frequently and output according to linear velocity control formula.
16, control method as claimed in claim 9, wherein, the described coiling positioning control of carrying out according to parameter command comprises the steps:
Receive corner degree and the pairing receipts of coiling THICKNESS CALCULATION receipts edge lengths limit pulse number according to parameter;
Calculate crosswise movement mechanism constant speed pulse wave recruitment according to coder input pulse wave;
Product according to parameter saltation velocity ratio and described constant speed pulse wave increment number calculates the jump pulse wave increment number of turning back a little;
Produce irregular pulse wave increment number;
Winding controller produces actual pulse wave order according to described pulse wave increment number;
Calculate the pulse wave order and the output control of servomotor than formula according to actual pulse wave order and mechanism equivalence gear.
17, control method as claimed in claim 16, wherein, described pulse wave order of calculating than formula according to the equivalent gear of actual pulse wave order and mechanism is to be the value that is calculated by the pass between coiling range, the ratio of reeling, turning cylinder coder output parsing, horizontal shaft transmission device diameter and the constant.
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| CNA2005101258172A CN1978300A (en) | 2005-11-30 | 2005-11-30 | Servo driving special machine with high-speed winding function |
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| CNA2005101258172A CN1978300A (en) | 2005-11-30 | 2005-11-30 | Servo driving special machine with high-speed winding function |
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| CN110316617A (en) * | 2019-09-04 | 2019-10-11 | 李进丁 | Pallet-free reducing multi link coil winding system |
| CN111665780A (en) * | 2020-06-16 | 2020-09-15 | 京华派克邯郸机械科技有限公司 | Reciprocating motion reversing control method |
| CN113746383A (en) * | 2021-11-05 | 2021-12-03 | 天津赛象科技股份有限公司 | Multi-blade longitudinal cutting curling and unwinding speed control method, system, equipment and storage medium |
| CN115064755A (en) * | 2022-08-16 | 2022-09-16 | 江苏时代新能源科技有限公司 | Winding method and winding system |
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2005
- 2005-11-30 CN CNA2005101258172A patent/CN1978300A/en active Pending
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| CN103140815A (en) * | 2010-07-23 | 2013-06-05 | Abb股份公司 | Method and device for coordinating two consecutive production steps of a production process |
| CN102540957A (en) * | 2011-12-21 | 2012-07-04 | 台达电子企业管理（上海）有限公司 | Programmable logic controller with wobble frequency function and method thereof |
| CN102540957B (en) * | 2011-12-21 | 2013-12-04 | 台达电子企业管理（上海）有限公司 | Programmable logic controller with wobble frequency function and method thereof |
| CN102553968A (en) * | 2012-02-17 | 2012-07-11 | 无锡市常欣软件科技有限公司 | Position error eliminating method and device of wire arrangement mechanism of water tank wire drawing machine |
| CN106774142A (en) * | 2016-12-20 | 2017-05-31 | 中达电通股份有限公司 | Coil winding machine electronic cam control system and control method |
| CN110316617A (en) * | 2019-09-04 | 2019-10-11 | 李进丁 | Pallet-free reducing multi link coil winding system |
| CN110316617B (en) * | 2019-09-04 | 2024-01-23 | 李进丁 | Pallet-free variable-diameter multi-connecting-rod winding system |
| CN111665780A (en) * | 2020-06-16 | 2020-09-15 | 京华派克邯郸机械科技有限公司 | Reciprocating motion reversing control method |
| CN113746383A (en) * | 2021-11-05 | 2021-12-03 | 天津赛象科技股份有限公司 | Multi-blade longitudinal cutting curling and unwinding speed control method, system, equipment and storage medium |
| CN115064755A (en) * | 2022-08-16 | 2022-09-16 | 江苏时代新能源科技有限公司 | Winding method and winding system |
| CN115064755B (en) * | 2022-08-16 | 2022-11-25 | 江苏时代新能源科技有限公司 | Winding method and winding system |
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