CN201063106Y - Double electrical machine high-precision multifunctional bar flying shear control system - Google Patents
Double electrical machine high-precision multifunctional bar flying shear control system Download PDFInfo
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- CN201063106Y CN201063106Y CNU2007200716977U CN200720071697U CN201063106Y CN 201063106 Y CN201063106 Y CN 201063106Y CN U2007200716977 U CNU2007200716977 U CN U2007200716977U CN 200720071697 U CN200720071697 U CN 200720071697U CN 201063106 Y CN201063106 Y CN 201063106Y
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Abstract
The utility model relates to a control system of a high-precision and multi-functional bar flying shear with double motors. The system is based on start-stop shear, two shear blades of a mechanical drive part of the system respectively consist of a set of DC motors and a set of reducers, and a shearing machine body is integrated into a whole; two DC motors for controlling the shear blades use a set of controlling devices (6RA70) and a PLC system together and armatures of the two DC motors are respectively connected with excitations parallel. The utility model can realize the functions of top shearing, tail shearing, single cutting, chopping, segmental shearing in random, double length shearing, shearing parameter dynamic adjustment, displaying during flying shearing state, etc. The end face of shearing bar is smooth and can collect and export signals of a frame code disk with the precision reaching by plus or minus 7mm, shearing area can reach by 2500mm<2>, and tail shearing does not have short length; the position of the flying shear adopts the same method with shearing blade coaxially installing an encoder and leads the precision to reach by plus or minus 0.5 degrees; the rate of finished products is improved. The utility model realizes the goals of no maintenance, no faults and multifunction.
Description
Technical field
The utility model relates to a kind of flying shear equipment of rolling bar of metallurgical industry, especially a kind of control system that is used for multi-functional bar flying shear equipment.
Background technology
In the rolling bar process of metallurgical industry, flying shear is the key equipment of whole production line of bar, and to the continuous failure-free operation of production line, the lumber recovery of mill product, scale rate have bigger influence.And the shear precision of flying shear and optimization shearing are raised labour productivity influence greatly to alleviating finishing procedure worker's labour intensity, therefore improve the serviceability and a stable great problem that just becomes the continuous steel rolling of bar of flying shear.But the bar flying shear, speed is fast, precision is high, shearing is multiple functional because of requiring, accurate positioning, complex process, and its automatic control is a difficult point of roll line control always.
The early stage flying shear that uses of China bar production producer be external a whole set of import substantially, and the price height has spent a large amount of foreign exchanges, and a complete set of introduction comprises that plant equipment and software programming debugging cost amount to Renminbi up to millions of.And because external producer has carried out encryption to software, China introduction side is short in understanding to the control principle of flying shear, the maintenance difficulties height, the maintenance service cycle is long, in case break down, will have a strong impact on production, cause enormous economic loss for bar production producer.
In recent ten years, the domestic industrial automation Heat ﹠ Control Pty Ltd. of China is on the basis with reference to overseas equipment, progressively developed autonomous Double Dimension Flying Shears control system, relay is chain to be controlled with analogue means having experienced, PLC and the control of digital kinematic train, in the stages such as PLC and digital kinematic train network control, the technical merit of present domestic flying shear control system has moved closer to the level of import equipment, but still has suitable deficiency.
The control system of the most foreign imitation of flying shear control system of China's independent development has roughly the same technical characterstic with external control system: flying shear is driven by the direct current separately excited machine of a hundreds of kilowatt; Reference position and the clipped position that is used for determining flying shear near switch is installed on the mechanical axis of flying shear; Rolling line is arranged, in the front and back of flying shear a hot metal detector is installed respectively and is used to measure the linear velocity of rolled piece, thus the setting speed when calculating flying shear and shearing; According to the speed of measuring, start timer by the hot metal detector after cutting, when the length of rolled piece that calculates equates with preseting length, send to kinematic train and to shear instruction, the transmission system drives motor quickens to finish once to shear and reorientate from starting point gets back to starting point.Just because of above-mentioned several characteristics, the shear precision of flying shear has been produced bigger influence.Determine the reference position and the clipped position of flying shear near switch, there is the dead band in this location, is subject to factor affecting such as temperature, vibrations, and bearing accuracy is not high, and general error causes the stroke difference of each shearing more than 4 degree, influence shear precision; Before employing is installed in and cuts and the bar rolling speed measured of the hot metal detector after cutting be the average velocity of rolled piece in this segment distance walking, can not accurately represent the speed of travel of rolled piece after cutting the back hot metal detector, if bar rolling speed fluctuates after cutting back hot metal detector sensitization, just directly influence the precision of sheared length.In addition, use the direct current separately excited machine of a hundreds of kilowatt to drag, the moment of flywheel that can increase motor makes the capability of fast response variation of system, and transitional processes prolongs, and has reduced the shear precision of production efficiency and flying shear.
Summary of the invention
The utility model is that a kind of bi-motor high-accuracy multifunctional bar flying shear control system will be provided, and it is poor to be used to solve the bearing accuracy that has the flying shear control system existence now, directly influences the technical matters of sheared length precision.
For achieving the above object, the technical solution of the utility model is: a kind of bi-motor high-accuracy multifunctional bar flying shear control system, this system is based on the start stop mode flying shear, and two cutting edges of its mechanical driving part are made of a cover direct current generator and reductor respectively, and its shearing machine body is as a whole; A shared cover control device (6RA70) and the PLC system of two direct current generators of control cutting edge, the armature and the excitation of two motors are connected respectively; Be characterized in: meet control device (6RA70) and PLC system after the direct current generator armature series connection of two parallel connections, the excitation series connection; Velocity setting that control device (6RA70) and PLC system send and steering order are through electromotive force and pre-control adjustment module, exciting current and pre-control adjustment module are handled input single-phase semi-controlling bridge loop, back, and the single-phase semi-controlling bridge loop connects the series excitation of the direct current generator of two parallel connections through shunt; Position signalling that detecting device detects and tachometer signal are through the speed adjustment module, armature supply and pre-control adjustment module are handled input control bridge loop, back, control bridge loop connect two parallel connections direct current generator the series connection armature wherein, tachometer signal also feeds back to electromotive force and pre-control adjustment module, and shunt output exciting current actual signal is given exciting current and pre-control adjustment module.
Be furnished with the CBP communication board in control device (6RA70) and the PLC system, and carry out data communication, send startup and halt instruction and speed command by the PROFIBUS-DP net; Electromotive force and pre-control adjustment module are composed in parallel by potential regulator (EC) and electromotive force pre-control device (EP); Exciting current and pre-control adjustment module are composed in parallel by exciting current controller (FC) and exciting current pre-control device (FP); The speed adjustment module is composed in series by reference integrator (GJ) and speed regulator (SC); Armature supply and pre-control adjustment module are composed in parallel by armature supply regulator (AC) and armature supply pre-control device (AP).The cutting edge bearing accuracy of system is ± 0.5 degree, and rear is sheared the short chi of nothing; The shear rate scope is 1～10m/s, and the power of two direct current motors is 37KW; The PLC Programmable Logic Controller is made up of power module (PS307), high speed counting module (FM350-1), ethernet communication module (6ES7-343), switching input module (DI), switching value output module (DO), analog output module (AO) and analog quantity load module (AI); Flying shear control system comprises the two-level network communication, and the first order is the Industrial Ethernet communication, is used for flying shear PLC and upper machine communication and shows with parameter setting and the state of realizing flying shear; Second level network is the PROFIBUS-DP procotol, is used for flying shear PLC and returns duty to kinematic train control device (6RE70) sending controling instruction and kinematic train.
The utility model beneficial effect compared with prior art is:
(1) two of mechanical driving part cutting edges are made of a cover direct current generator, reductor respectively, and its shearing machine body is as a whole, stable and reliable operation, and failure rate is low; The DC transmission device of two motors is the control system that two closed loop reversible speed controls cooperate with weak-magnetic speed-regulating, and two parallel connection direct motors are by a cover all-digital dc speed-regulating system control, and the employing armature is connected, the form of excitation series connection; This mode can overcome two motors effectively because make the former thereby logical unequal problem of armature electromagnetism occurs, prevented in dual-motor drive system a motor overload, overheated and another underloaded situation makes the percentage speed variation of two motors synchronous.The flying shear control system that adopts bi-motor to drag has good fast-response and stability (shown in Figure 2); Full_digital dc speed regulating device has compact conformation, and control function is complete, debugs advantages such as easy;
(2) the shear rate scope satisfies 1 ~ 10m/s;
(3) can realize crop, back-end crop, singly cut, cataclasm, any nibbling shear, double length shearing, shear parameters is dynamically adjusted and need not to revise the PLC program, and functions such as flying shear duty and failure message demonstration in real time;
(4) the shearing bar section is smooth, and gathers outlet frame code-disc signal, and precision can reach ± 7mm;
(5) shear area can reach 2500mm
2
(6) rear is sheared does not have short chi;
(7) the flying shear blade bearing accuracy reaches ± 0.5 degree;
(8) the finished product lumber recovery improves 0.5%.
Description of drawings
Fig. 1 is a control system schematic diagram of the present utility model;
Fig. 2 is a bi-motor driving machinery performance plot;
Fig. 3 is that pre-control is regulated block diagram;
Fig. 4 is cutting edge running orbit figure;
Fig. 5 is the floor plan of flying shear and HMD;
Action implementation synoptic diagram when Fig. 6 is the flying shear crop;
Action implementation synoptic diagram when Fig. 7 is the flying shear back-end crop.
Embodiment
Below in conjunction with specific embodiment, further set forth the utility model.Should be understood that these embodiment only to be used to the utility model is described and be not used in and limit the scope of the invention.Should be understood that in addition those skilled in the art can make various changes or modifications the utility model after the content of having read the utility model instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
As shown in Figure 1, bi-motor high-accuracy multifunctional bar flying shear control system of the present utility model, based on the start stop mode flying shear, traditional separate unit high power direct-current motor is driven, change in parallel, the connected in electrical series kinematic train form of the machinery of forming by two 37KW direct current motors into.Control system adopts the S7-300PLC Programmable Logic Controller of Siemens, and this controller is made up of power module PS307, high speed counting module FM350-1, switching input module DI, switching value output module DO, analog output module AO and analog quantity load module AI.The direct current motor drive system adopts the all-digital dc speed-regulating system 6RA70 of SIEMENS, and the input of steel is finished by three hot metal detectors that are contained in the flying shear front and back.
Native system adopts the digital control mode of three rings, has full_digital dc speed regulating device and PLC to finish the computing and the control of electric current loop, speed ring, position ring.Operating personnel utilize the industrial computer of operator's console to carry out parameter setting.Adopt Ethernet to carry out communication between industrial computer and the S7-300PLC, adopt the PROFIBUS-DP fieldbus to carry out communication between S7-300PLC and the 6RA70 full_digital dc speed regulating device.
Bi-motor drags, and promptly is to drag upper and lower two cutting edges of flying shear jointly with two miniwatt direct current generators, replaces a high power direct-current motor.With regard to this flying shear electric drive system, two direct current drive acc powers equate to be 37KW only, and have identical electric characteristic and performance, even difference is arranged between them, and also should be in the scope that magnetic field control allows.The DC transmission device of two motors is the control system that two closed loop reversible speed controls cooperate with weak-magnetic speed-regulating, two parallel connection direct motors overlap the all-digital dc speed-regulating system 6RA70 control of SIEMENS by one, and adopt the form (as Fig. 1) of armature series connection, excitation series connection.This mode can overcome two motors effectively because make the former thereby logical unequal problem of armature electromagnetism occurs, prevent in dual-motor drive system a motor overload, overheated and another underloaded situation makes the percentage speed variation of two motors synchronous.
Velocity setting that control device (6RA70) and PLC system send and steering order are through electromotive force and pre-control adjustment module, exciting current and pre-control adjustment module are handled input single-phase semi-controlling bridge loop, back, and the single-phase semi-controlling bridge loop connects the series excitation of the direct current generator of two parallel connections through shunt; Position signalling that detecting device detects and tachometer signal are through the speed adjustment module, armature supply and pre-control adjustment module are handled input control bridge loop, back, control bridge loop connect two parallel connections direct current generator the series connection armature wherein, tachometer signal also feeds back to electromotive force and pre-control adjustment module, and shunt output exciting current actual signal is given exciting current and pre-control adjustment module.
Electromotive force and pre-control adjustment module are composed in parallel by potential regulator EC and electromotive force pre-control device EP; Exciting current and pre-control adjustment module are composed in parallel by exciting current controller FC and exciting current pre-control device FP; The speed adjustment module is composed in series by reference integrator GJ and speed regulator SC; Armature supply and pre-control adjustment module are composed in parallel by armature supply regulator AC and armature supply pre-control device AP.
The utility model is based on the start stop mode flying shear, and two cutting edges of its mechanical driving part are made of a cover direct current generator and reductor respectively, and its shearing machine body is as a whole.A shared cover 6RA70 device and the PLC system of two direct current generators of control cutting edge, the armature and the excitation of two motors are connected respectively.Adopt and the coaxial installation photoelectric encoder of flying shear blade flying shear location, and through the method for Siemens high speed counting module FM350-1 computing, make the flying shear bearing accuracy reach ± 0.5 spend in; Adopt the method for outlet breast roller code device signal counting to calculate sheared length, avoid the influence of rolling mill speed fluctuation the flying shear shear precision; Make full use of of the influence of S7-300PLC scan period to shear precision; Adopt hot metal detector that the rolled piece afterbody is calculated with afterbody and optimize Calculation of Shear; Functions such as the detection network that utilizes three hot metal detectors to form, attached PLC program are realized crop, back-end crop, singly cut, cataclasm, any nibbling shear, double length shearing.
The utility model comprises the hardware configuration and the PLC software programming of flying shear, and the hardware configuration of flying shear comprises: rolling line milling train and checkout equipment layout, flying shear plant equipment and drive motor, flying shear operating equipment, kinematic train design, PLC configuration and network structure; The PLC software programming is divided into positioning control, crop again and shears control, back-end crop and shear control, singly cut and shear control, cataclasm shearing control, nibbling shear control arbitrarily, double length shearing control, rear optimization shearing, monitored picture and design.PLC is that Programmable Logic Controller is the core component of a whole set of flying shear control system.PLC will finish the signals collecting to on-the-spot checkout equipment, and finishes data computation according to the setting of shear parameters, sends to kinematic train and shears instruction, and according to the physical location of cutting arm, position control, makes flying shear get back to reference position quickly and accurately.Therefore, selected the SIMATIC S7-300 series of PLC of SIEMENS company through careful comparison and my seminar of screening, SIMATIC S7-300PLC is the negative bus rack PLC that uses under the industrial environment of SIEMENS company design production, be used for, the high-performance industrial control field, it adopts modular design, different CPU of multiple performance and I/O module are arranged, be easy to system extension and the control that distributes, can dispose according to the user demand flexible combination, have powerful data-handling capacity and multiple network communication function, have good Electro Magnetic Compatibility and shock resistance simultaneously, vibration resistance can adapt to various industrial environments to greatest extent.Control requirement according to flying shear, be furnished with as lower module in the S7-300 frame: high-performance power module 6ES7307, CPU module is selected 6ES7315-2DP for use, ethernet communication module 6ES7-343, high speed counting module FM350-1,32 switching value module 6ES7321 and 32 switching value output module 6ES7322.
Whole flying shear control system adopts the two-level network communication, and the first order adopts the Industrial Ethernet communication, is used for flying shear PLC and upper machine communication and shows with parameter setting and the state of realizing flying shear.The Industrial Ethernet communication speed is 10MB/S, adopt 802.3 international standards, the communication media concentric cable, according to ieee standard, the present networks section can have 100 nodes at most, have only about ten nodes on the planned network at present, to adopting carrier sense, the ETHERNET of collision detection mode can not cause the decay of signaling rate.Second level network using PROFIBUS-DP procotol is used for flying shear PLC and returns duty to kinematic train 6RE70 sending controling instruction and kinematic train.The PROFIBUS-DP network, it is the fieldbus that generally adopts in the world, communication speed 1.5MB/S, communication media adopts shielded twisted pair, maximum communication distance depends on communication speed, if guarantee the communication speed of 1.5MB/S, maximum communication distance＜200M can have 32 nodes (not being with REPEATER) at most on every section bus.The PROFIBUS-DP network is the token network that has master-slave mode, is applicable to industrial time controlling, can detect the adding of network node automatically and withdraws from.
Position control of flying shear is meant the control to flying shear blade, also promptly controls the flying shear shearing and also finally get back to initial position after receiving the shearing instruction.Because this flying shear is to adopt-stop duty, shear and brake and all in a week, finish, so need control to the cutting edge position, therefore outside the required electric current loop of flying shear direct current motor, speed ring, other adds a position ring and controls, being fed back to and the coaxial mounted position coder of cutting edge of position ring is to realize the accurate control to the cutting edge position.
Flying shear control is exactly walking position and the length of judging rolled piece by the rolling line checkout equipment, in time sends and shears instruction, and the sheared length that flying shear is set according to monitored picture is sheared rolled piece.The target of flying shear supervisory system is to realize the dynamic adjustment of flying shear shear parameters, the timely demonstration of flying shear duty and failure message, offer help for the plant maintenance personnel handling failure, accomplish that plant maintenance personnel does not need the PLC program is made amendment and monitored the duty that just can grasp flying shear and on-the-spot utility appliance and on-the-spot checkout equipment.
Velocity setting of the present utility model and steering order:
Two different axles of motor are in parallel, and in order to guarantee the consistance of two motor rotations, control system must guarantee to start simultaneously, brake and stop.Because native system adopts a cover direct-flow controlling device, carry out data communication so be furnished with CBP communication board and S7-300PLC on control device 6RA70 by the PROFIBUS-DP net, S7-300PLC sends startup and halt instruction and speed command to kinematic train simultaneously.
Excitation control of the present utility model:
The Double Motor Control System that different axle is in parallel when designing usually, adopts two to overlap the exciting current that excitation unit is independently supplied with two motors respectively.And in this design, with the field copper series connection of two motors, by a cover excitation unit power supply, though require the output voltage of excitation unit to increase after the field copper series connection, the net synchronization capability of two motors is strengthened.The adjusting part of exciting current is finished in the 6RA70 device, has exciting current and sets, shuts down functions such as excitation and automatic weak-magnetic control.Its power section still is the single-phase semi-controlling bridge loop, and the exciting current actual signal is taken from the shunt in the excitation unit output loop, and regulator parameter all can be in service definite in optimization.
Potential regulating of the present utility model:
Because the control of the excitation of two motors is connected, speed regulator is in two motor common systems, for guaranteeing that two cover systems carry out automatic weak-magnetic control and potential regulating simultaneously, two motors are carried out the characteristic test operation simultaneously, determine the parameter of weak magnetic dot, magnetization curve and potential regulator, thereby reach the synchronous operation of two motors.
Pre-control of the present utility model is regulated:
In digital control system, in order to make given and feedback signal is very fast influences regulated variable by controlling unit, the quickening system has all designed the pre-control link to the response of specified rate.Its principle is to calculate the required control signal of controlling object according to specified rate and systematic parameter, directly acts on controlling object.Armature supply pre-control, EMF pre-control and exciting current pre-control link are arranged in system.Introduce the pre-control structural principle with the armature supply pre-control.
Armature supply pre-control link is given according to armature supply, motor armature loop parameter resistance, inductance and electromotive force, the trigger pip that the system that calculates is required.Theory diagram as shown in Figure 3.
The flying shear control system that the utility model adopts bi-motor to drag has good fast-response and stability (shown in Figure 2).Two motors mechanical property separately identical (characteristic 1) is born total load torque jointly, and the mechanical property of a motor of the composite character of output (characteristic 2) ratio is because of hard a lot.Mechanical property is hard more, and then system is stable more.Therefore, select low power motor, moment of flywheel also reduces a lot.The reducing of moment of flywheel will make the machinery inertial of system reduce, and rise, the transient process of braking shortens, and improved capability of fast response, adapted to the requirement of flying shear equipment high speed motion, reduced locked rotor current and energy consumption.
All-digital dc speed-regulating system (SIEMENS 6RA70 system) is owing to its compact conformation, and control function is complete, debugs advantages such as easy, therefore is widely used in each field of metallurgy industry, and it has following characteristics:
(1) total digitalization, the realization of all controllers and all control function is finished by parameter setting;
(2) speed regulator, the current regulator parameter can be provided with automatically by self-optimizing;
(3) standard set-up adopts electric current, speed double closed loop principle, can realize the four-quadrant operation, satisfies various basic controlling requirements;
(4) this function implement device one device, USS agreement Netcom news.
(5) defencive function is complete;
(6) the field supply closed loop is adjustable, can realize weak-magnetic speed-regulating;
(7) PID process modulator can realize three ring (electric current, voltage, speed) systems; Inner abundant flexibly software function, satisfy the various relatively control requirements of more complicated, by board option PT10 and standard software, can realize curling, tension force, position, high precision control requirement such as synchronous by communication board option CB24, can realize PROFIBUS-DP Netcom news, SITOR power cell in parallel can be realized power expansion.
Automatic control process of the present utility model:
(1) flying shear operational process
This shearing system as system speed, because cutting edge is 360 ° of periodic duties, so cutting edge angle value of living in is represented the flying shear position, is that clipped position is as the angle zero-bit with the cutting edge make-position generally with cutting edge speed.Fig. 4 is the flying shear running orbit, and in the last lower scissor blade connection and same reductor of flying shear, last lower scissor blade moves relatively, the synoptic diagram side of simplification upper scissor blade service chart.As shown in Figure 4, Ax is that flying shear blade goes into to cut the position, generally gets the angle that cutting edge and workpiece are collided and begun, and Ay is that flying shear blade goes out corner cut, generally gets the angle that cutting edge and workpiece leave.Automatically be parked in reference position Az after flying shear starts, receive after the startup command flying shear and accelerate to by reference position Az and reach work speed v when cutting edge is gone into corner cut degree Ax.In shear history, be that cutting edge is being gone into corner cut and gone out to keep in the corner cut scope and workpiece speed together, workpiece P point arrived and shears zero-bit when cutting edge arrived zero position simultaneously, arrive cutting edge go out corner cut Ay shear finish after, reduce speed now, begin the cutting edge positioning control during near reference position, cutting edge is parked in reference position and waits for cut command next time.
(2) control algolithm
The floor plan of flying shear and 3 HMD (as shown in Figure 5).
(3) crop control
A. determine flying shear linear velocity Vj1
The S7-300PLC system obtains last milling train code-disc umber of pulse Pj before the flying shear in the unit interval by high-speed counter FM350-1, and again according to roller diameter D1, code-disc revolution pulse Pr can calculate roll linear velocity Vg1 earlier:
V?1＝πd1·Pj/Pr
Consider the influence that rolled piece is advancing slip, choosing advancing slip coefficient according to practical experience is 1.03, and then the rolled piece actual speed is:
Vg＝1.03Vg1
Flying shear crop speed should be considered certain leading amount, and Vj1=(1.03-1.05) Vg then, leading coefficient choose and can determine according to actual production.
B. calculate the time T 0 of flying shear from starting to shearing
Because the direct current generator mechanical property is harder, total digital DC drive system 6RA70 function admirable, can realize accurate speed control, guarantee that by setting its interior ramp function parameters flying shear is with the constant acceleration raising speed, so flying shear acceleration aj can calculate according to the setup parameter of 6RA70 direct drive, and available scope calibration, then can calculate acceleration time T 1:
T1＝Vj1/αj
Then acceleration distance AzAx is:
Sj＝AzAx＝Vj1·T1/2
Flying shear from start to shear moved apart from S=AzAxO, the angle of measuring by the code-disc that tests the speed behind the flying shear, and calculate by following formula by PLC:
S＝πD3Xα/360
α in the formula--the pairing angle of-AzAxO;
D3---flying shear blade tactical diameter.
Flying shear stable operation to the distance A xO of shearing point O is:
S2＝AxO＝S-S1
Be working time:
T2＝S2·Vj1
So flying shear is working time: T0=T1+T2
C. calculate and start distance L x
After HMD1, HMD2 detected the steel signal simultaneously, the crop program brought into operation, and the distance L x (as Fig. 6) of steel toe operation when calculating flying shear and starting:
Lx＝L+ΔX-(T0+T3)Vg
In the formula: the distance of L---HMD2 when cutting edge aligns;
The crop length that Δ x---sets;
T3---PLC issues instructions to the time delay that flying shear starts moment
Because PLC causes the influence of delay sweep time, the actual range Ls that starts moment is greater than its computed range Lx, and historical facts or anecdotes border error is:
/ΔL＝Ls-Lx
The time that is the steel toe operation is:
ΔT＝/ΔL/Vg
The error that causes for remedying during this period of time, flying shear rate of shear degree should be increased to Vj2 to guarantee shear precision.Speed increment is:
ΔVj＝Vj2-Vj1
For the used time of rising speed is:
Δt＝ΔVj/αj
Speed increases the distance of being moved:
A2＝(T2-ΔT-Δt/2)ΔVj
For benefit is tasted because the error that start delay caused should make A1=A2, and A1=Vj1 Δ T
Get by above-mentioned
Vj1＝αj(T2-ΔT±√(T2-ΔT)2-2T1·ΔT)
In following formula, when getting "+" number, the actual crop length of shearing is less than normal, is unfavorable for safe and reliable shearing, for guaranteeing suitable crop length, number is advisable so get "-".Then the actual speed of flying shear startup shearing is: Vj2=Vj1+ Δ Vj
(4) back-end crop control
Action implementation during the flying shear back-end crop as shown in Figure 3, basic identical when course of action during the flying shear back-end crop and algorithm principle and crop, main difference is a shade of difference of HMD signal detecting mode: during crop, be that HMD1, HMD2 have signal, HMD3 no signal, red steel (head) is by HMD2 simultaneously, and the HMD2 signal becomes high level (promptly going up saltus step) by low level; During back-end crop, be that HMD2, HMD3 have signal, HMD1 no signal, red steel (afterbody) is by HMD2, and the HMD2 signal becomes low level (promptly descending saltus step) by high level, and other content is repeated description no longer here.
(5) even cut (cataclasm) control
It is identical when flying shear connects the course of action cut (cataclasm) and principle with crop, cut the emergency condition that (cataclasm) is mainly used in improper production run (when piling steel and other industrial accident as generation) but connect, it does not need the HMD input, can directly carry out by force by the button (button) of master operating station or the other control box of machine, and can select simple shear one cutter or shear multitool (promptly cataclasm) continuously, can stop at any time midway.
(6) nibbling shear control
S7-300PLC calculates the pulse equivalency of the preceding last frame of flying shear:
Pw＝πD/(I·4P)(mm/P)
Last frame roller diameter before D---the flying shear
Last frame reduction gear ratio before I---the flying shear
P---scrambler is umber of pulse weekly
Utilize Pw section length L can be converted to umber of pulse:
Pf＝(L-V·T)/Pw
V---last frame velocity of discharge
T---cutting edge starts to the time of shearing the position
When rolled piece through behind the HMD2, module FM350-1 zero clearing and begin numeration counts at a high speed.After the umber of pulse of first cutter section length should add that also HMD2 remembers the umber of pulse of section length to the umber of pulse of flying shear apart from correspondence: PO=(L+L1-VT)/PW, send and shear instruction.
(7) double length shearing control principle
As Fig. 5, when the head of red steel arrives HMD3, calculate delay time according to the shearing preseting length that sends by ethernet communication etc., simultaneously, calculate the given n*shear of the digital quantity that send 6RA70, delayed startup flying shear according to the sectional area of bar and red steel speed etc.
What (1) digital quantity was given determines:
ξ vsteel=2 π nsteel Rshear/60 (coefficient ξ is relevant with the bar sectional area)
In the formula: vsteel---red steel speed
Nshear---flying shear rotating speed
Rshear---flying shear radius
Sending the given maximal value of digital quantity of 6RA70 is 2
14=16384, therefore the maximum (top) speed 700r/min of corresponding flying shear motor has:
16384/n*shear＝600/nshear
Be n*shear=27.3 * nshear
(2) start-up time delay determines
vsteel(Ty+Tr)+ΔL＝L
In the formula: L---shear preseting length
Ty---delay time
Tr---flying shear is from the static time that moves to shearing point, and it is an amount relevant with vsteel
Δ L---HMD3 is to the distance between the shearing point
According to actual measurement and regretional analysis, obtain:
Tr＝0.20+0.00267(vsteel-12)
2
Therefore have:
Ty＝(L-ΔL)/vsteel-0.20-0.00267(vsteel-12)
2
(8) cutting edge positioning control
Be simplified system, saved the technology template with self-locating function in the 6RA70 full_digital dc speed regulating device, therefore realize by the FM350-1 high-speed pulse counting device among the S7-300PLC location.After flying shear is cut off hot steel, braking, when running into the Z pulse, the in-position closed loop guarantees that flying shear stops standard and stops.During position closed loop, PLC plays the PD regulator.The position closed loop control law is:
n*(s)＝-(1+TdS)kpα’(s)
In the formula: kp---proportional gain
Td---derivative time
α '---cutter spacing deviation signal
Make kd=kp Td/T λ sampling time T that λ gets 0.01s, write as difference equation to be:
n*(j)＝-kd[α(j)-a(j-1)]-kp?α(j)
In the formula: α (j)---the angle of the expression cutter spacing that j samples constantly
α (j-1)---the angle of the expression cutter spacing that j-1 samples constantly
The parameter assignment of PD regulator appropriately just can make flying shear steadily be parked in α * 0 to expect to stop cutter spacing, after choosing suitable parameter and angle being converted to the FM350-1 count value, has:
N*shear(j)＝-24[N(j)-N(j-1)]-12[N(j)-N*0]
In the formula: the count value of the expression cutter spacing of N (j)---this sampling, the N*0 expectation stops the count value of cutter spacing
N (j-1)---the count value of the expression cutter spacing of last sampling
For improving the stationarity of flying shear off-position, also can add strategies such as suitable digital filtering and amplitude limit.
(9) optimize shearing control
In order to make the multiple length steel delivered on the cold bed and all (Lmin Lmax), has adopted to optimize and sheared control within reasonable range without the tail steel of shearing.Now will realize optimizing one of shearing PLC process applicable is summarized as follows:
begin
Utilize the total length L ∑ of HMD1 forecast finished product bar
Must discuss q and remainder r by L ∑/L
If r E Lmin presses L length and shears the q cutter
Else if L+r F Lmax presses L length and shears the q-1 cutter
Else presses L length and shears the q-1 cutter, cuts a cutter by the length that reduces by a scale again
end
end
end。
Claims (10)
1. bi-motor high-accuracy multifunctional bar flying shear control system, this system is based on the start stop mode flying shear, and two cutting edges of its mechanical driving part are made of a cover direct current generator and reductor respectively, and its shearing machine body is as a whole; A shared cover control device (6RA70) and the PLC system of two direct current generators of control cutting edge, the armature and the excitation of two motors are connected respectively; It is characterized in that, meet control device (6RA70) and PLC system after the direct current generator armature series connection of described two parallel connections, the excitation series connection; Velocity setting that control device (6RA70) and PLC system send and steering order are through electromotive force and pre-control adjustment module, exciting current and pre-control adjustment module are handled input single-phase semi-controlling bridge loop, back, and the single-phase semi-controlling bridge loop connects the series excitation of the direct current generator of two parallel connections through shunt; Position signalling that detecting device detects and tachometer signal are through the speed adjustment module, armature supply and pre-control adjustment module are handled input control bridge loop, back, control bridge loop connect two parallel connections direct current generator the series connection armature wherein, tachometer signal also feeds back to electromotive force and pre-control adjustment module, and shunt output exciting current actual signal is given exciting current and pre-control adjustment module.
2. bi-motor high-accuracy multifunctional bar flying shear control system according to claim 1, it is characterized in that, be furnished with the CBP communication board in described control device (6RA70) and the PLC system, and carry out data communication, send startup and halt instruction and speed command by the PROFIBUS-DP net.
3. bi-motor high-accuracy multifunctional bar flying shear control system according to claim 1 is characterized in that described electromotive force and pre-control adjustment module are composed in parallel by potential regulator (EC) and electromotive force pre-control device (EP).
4. bi-motor high-accuracy multifunctional bar flying shear control system according to claim 1 is characterized in that described exciting current and pre-control adjustment module are composed in parallel by exciting current controller (FC) and exciting current pre-control device (FP).
5. bi-motor high-accuracy multifunctional bar flying shear control system according to claim 1 is characterized in that described speed adjustment module is composed in series by reference integrator (GJ) and speed regulator (SC).
6. bi-motor high-accuracy multifunctional bar flying shear control system according to claim 1 is characterized in that described armature supply and pre-control adjustment module are composed in parallel by armature supply regulator (AC) and armature supply pre-control device (AP).
7. bi-motor high-accuracy multifunctional bar flying shear control system according to claim 1 is characterized in that, the cutting edge bearing accuracy of described system is ± 0.5 degree, and rear is sheared the short chi of nothing; The shear rate scope is 1～10m/s.
8. bi-motor high-accuracy multifunctional bar flying shear control system according to claim 1 is characterized in that the power of described two direct current motors is 37KW.
9. bi-motor high-accuracy multifunctional bar flying shear control system according to claim 1, it is characterized in that described PLC Programmable Logic Controller is made up of power module (PS307), high speed counting module (FM350-1), ethernet communication module (6ES7-343), switching input module (DI), switching value output module (DO), analog output module (AO) and analog quantity load module (AI).
10. bi-motor high-accuracy multifunctional bar flying shear control system according to claim 1, it is characterized in that, described flying shear control system comprises the two-level network communication, and the first order is the Industrial Ethernet communication, is used for flying shear PLC and upper machine communication and shows with parameter setting and the state of realizing flying shear; Second level network is the PROFIBUS-DP procotol, is used for flying shear PLC and returns duty to kinematic train control device (6RE70) sending controling instruction and kinematic train.
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| CNU2007200716977U CN201063106Y (en) | 2007-06-27 | 2007-06-27 | Double electrical machine high-precision multifunctional bar flying shear control system |
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| CNU2007200716977U CN201063106Y (en) | 2007-06-27 | 2007-06-27 | Double electrical machine high-precision multifunctional bar flying shear control system |
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