CN201069528Y - Control device for rotary flying cutter - Google Patents
Control device for rotary flying cutter Download PDFInfo
- Publication number
- CN201069528Y CN201069528Y CNU200720169988XU CN200720169988U CN201069528Y CN 201069528 Y CN201069528 Y CN 201069528Y CN U200720169988X U CNU200720169988X U CN U200720169988XU CN 200720169988 U CN200720169988 U CN 200720169988U CN 201069528 Y CN201069528 Y CN 201069528Y
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- flying shears
- rotary encoder
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Abstract
The utility model discloses a rotary flying shear control device, which comprises a high-speed counter input with at least two ways, a one-way analog input, a two-way analog output, an eight-way digital input, an eight-way digital output interface, a PLC programmable controller with at least one interface, a communication interface corresponding to the PLC, an HMI human-machine interface which can be convenient to set data and modify, a drive motor for driving the rotary flying shear, a motor controller corresponding to the drive motor, three rotary encoders and a direct current regulator power. The PLC programmable controller is loaded with a PLC control program containing a 'two-position approaching-speed synchronization algorithm' and an 'expect zero point slowdown algorithm'. By applying the generalized motor driver, the programmable controller and the generalized program language, the utility model achieves the control of the rotary flying shear, and solves the problems of integration of the entire machine control, economic feature and hardware maintenance convenience.
Description
Technical field
The utility model belongs to the industrial control technology field, particularly a kind of device that rotary flying shears equipment is carried out technology controlling and process.
Background technology
Rotary flying shears control device technical field mainly is to carry out the exploitation of nonshared control unit at the driving governor of rotary flying shears drive motor at present, in driver, increase intelligence control circuit and expansion interface circuit and load special-purpose control program, realize technology controlling and process rotary flying shears.Its subject matter is that the special-purpose driving governor of rotary flying shears drive motor is not easy to maintenance, repair, and the back of breaking down recovers chronic normally; Moreover rotary flying shears is not an equipment that works alone, and rotary flying shears always carries out work with machine row of the common composition of miscellaneous equipment, and all there is inconvenience in special-purpose driving governor at aspects such as hardware formation, communication interface compatibility and control function expansions.
The utility model content
The amalgamation that the technical problems to be solved in the utility model provides the control of a kind of hardware maintenance machine easy to maintenance, whole row is the rotary flying shears control device preferably.
In order to solve the problems of the technologies described above, rotary flying shears control device of the present utility model comprises following device:
A PLC Programmable Logic Controller;
One has and the corresponding communication interface of PLC Programmable Logic Controller the HMI man-machine interface of conveniently carrying out data setting and modification;
With the corresponding electric machine controller of the drive motor of driven in rotation flying shear, this drive motor can be low inertia AC/DC motor or alternating current-direct current servomotor, and this electric machine controller correspondingly can be alterating and direct current machine controller or alternating current-direct current servo controller;
Three rotary encoders are respectively the rotary encoder of the long detection of meter, the rotary encoder and the motor speed feedback rotating coder of detection cutting edge position;
A D.C. regulated power supply;
The control program that described PLC Programmable Logic Controller operation loads in conjunction with the detection to each rotary encoder, sends control signal to electric machine controller, and the drive motor of electric machine controller drive controlling rotary flying shears is realized required technology controlling and process.
The band length information that the long rotary encoder that detects of meter provides feeding roller to send, detecting the rotary encoder of cutting edge position locatees automatically, the speed of control flying shear blade accelerating sections, make when cutting edge enters interlock that the band length of passing through just in time is the sheet material scale that needs, just in time the speed with band is equal for the horizontal velocity component of cutting edge simultaneously, after shearing is finished synchronously, the control flying shear slows down, and is parked in upper dead center X point exactly, thereby accurately finishes cutting to length one time.
The method of the speed of control flying shear blade accelerating sections can be that the speed Vr of flying shear blade accelerating sections satisfies following formula and requires:
In the formula, Vl is machine row speed, and a is the cutting edge acceleration, and Δ P is a position deviation, Δ P=(L-A)-(Bo-B),
Wherein, L is the sheared length of setting, and A is the actual meter of the band long pulse strokes per minute of passing through, and Bo is the umber of pulse that cutting edge turns around, and B is the umber of pulse of cutting edge position feedback.
The method of the speed of control flying shear blade braking section can be that the speed Vr of flying shear blade braking section satisfies following formula and requires:
β is that cutting edge subtracts acceleration in the formula, and Co is the umber of pulse of braking section ZX segmental arc, and Bj is that relative Z point is the cutting edge position feedback umber of pulse at zero point.
The rotary encoder of detection cutting edge of the present utility model position can be installed on the rotary flying shears apparatus body, and the long rotary encoder that detects of meter can be installed on the measuring roller.
The PLC Programmable Logic Controller possesses interface and at least one communication interface of two-way high-speed counter input at least, the input of one tunnel analog quantity, the output of two-way analog quantity, the input of eight road digital quantities, the output of eight road digital quantities.
The utility model is owing to adopted unitized motor driver, unitized Programmable Logic Controller and general programming language, realization has solved the compatibility of communication interface, the extendability of control function and the amalgamation of controlling with whole machine row, the convenience of hardware maintenance maintenance, the problems such as economy of whole machine row control section to the control of rotary flying shears.
Description of drawings
The utility model is described in further detail below in conjunction with drawings and embodiments:
Fig. 1 is flying shear control relevant device and system's pie graph.
Fig. 2 is a upper scissor blade movement locus synoptic diagram.
Fig. 3 is the cutting edge velocity wave form.
Fig. 4 is the main program structure block diagram.
Embodiment
Fig. 1 is relevant major equipment and system's pie graph of flying shear speed control, and the utility model rotary flying shears control device comprises following device:
A PLC Programmable Logic Controller, this PLC Programmable Logic Controller possess interface and at least one communication interface of two-way high-speed counter input at least, the input of one tunnel analog quantity, the output of two-way analog quantity, the input of eight road digital quantities, the output of eight road digital quantities;
One has and the corresponding communication interface of PLC Programmable Logic Controller the HMI man-machine interface of conveniently carrying out data setting and modification;
With the corresponding electric machine controller of the drive motor of driven in rotation flying shear, this drive motor can be low inertia AC/DC motor, or the alternating current-direct current servomotor;
Three rotary encoders are respectively the rotary encoder of the long detection of meter, the rotary encoder and the motor speed feedback rotating coder of detection cutting edge position;
A D.C. regulated power supply;
Use the electrical source of power of No. one three-phase alternating-current supply as whole rotary flying shears control device;
Wherein the rotary encoder of drive motor, detection cutting edge position is installed on the rotary flying shears apparatus body; The long rotary encoder that detects of meter is installed on the measuring roller apart from rotary flying shears supplied materials direction 1-2 rice scope; The electric machine controller of drive motor, PLC Programmable Logic Controller and part low-voltage electrical apparatus and D.C. regulated power supply are assemblied in the switch board, and switch board is installed near electric control chamber or the machine row device context; Low voltage operated element of part and HMI man-machine interface are assemblied on an operator's console or the case, and this operator's console or case are installed in to be convenient to observe near the scene of machine row equipment.
Operating personnel are in machine row device context, by the HMI man-machine interface parameter is set, send steering order by low voltage operated element to the PLC Programmable Logic Controller, " two-position is approached-the speed synchronization algorithm " that the operation of PLC Programmable Logic Controller loads and " expecting the algorithm that slows down zero point " control program, in conjunction with detection to each rotary encoder, send control signal to electric machine controller, the drive motor of electric machine controller drive controlling rotary flying shears is realized required technology controlling and process.
Rotary flying shear whenever revolves to turn around to finish once to be sheared, the band length information that the long rotary encoder that detects of meter provides feeding roller to send, detecting the rotary encoder of cutting edge position locatees automatically, adopt the speed of "----speed synchronization is approached in the two-position " control mode control flying shear blade accelerating sections, make when cutting edge enters interlock, the band length of passing through just in time is the sheet material scale that needs, just in time the speed with band is equal for the horizontal velocity component of cutting edge simultaneously, after shearing is finished synchronously, slow down according to " expectation retardation method at zero point " control flying shear, and be parked in upper dead center exactly (during high speed shear weak point scale sheet material, flying shear can switch to acceleration from deceleration at suitable switching point, continue to shear next time), thus cutting to length accurately finished one time.
The shear history of flying shear mainly is along the rectilinear motion of machine column direction and the circular motion of cutting edge with aluminum strip, good by the technological requirement cooperation, owing to adopt the speed of the high total digital DC device controller row of control accuracy, in shear history, mainly be the motion of control cutting edge.Fig. 2 is the movement locus synoptic diagram of cutting edge.X is a upper dead center, and the Y point is the biting point, and the Z point is a burble point, and the XY segmental arc is the accelerating sections of cutting edge, reads in the meter long pulse strokes per minute of measuring roller at the Y point, simultaneously with cutting edge pulse and meter long pulse counter O reset and restart counting, prepares for shearing next; The YZ segmental arc is a sync section, and at this moment cutting edge speed component and machine row speed (window of web velocities just) in the horizontal direction is consistent, and guarantees the quality of shearing area, does not scratch the surface of band; The ZX segmental arc is a braking section, the shearing of the long scale of centering, and cutting edge can stop at upper dead center X point and wait for that the shearing to short scale need change acceleration mode over to reposefully from deceleration regime.Fig. 3 is cutting edge velocity wave form figure.
Specify "----speed synchronization is approached in the two-position " control method and " expectation retardation method at zero point " below:
By analyzing the utility model rotary flying shears cutting edge and the band kinematic relation in shearing each time, according to the uniform variable motion equation, the derivation cutting edge at the rate pattern of XY accelerating sections is:
In the formula, Vr is a cutting edge speed, and Vl is machine row speed, and a is the cutting edge acceleration, and Δ P is a position deviation, and its computing formula is:
ΔP＝(L-A)-(Bo-B)
Wherein, L is the sheared length of setting (changing into umber of pulse), A is the actual meter of the band long pulse strokes per minute of passing through, and Bo is the umber of pulse (by the definite fixed number of cutting edge position measurement rotary encoder pulse equivalency) that cutting edge turns around, and B is the umber of pulse of cutting edge position feedback.Position deviation value Δ P controls the motion of cutting edge as a parameter of flying shear Velocity Reference, and when making cutting edge arrive the Y point, position deviation reduces to zero, that is:
ΔP＝(L-A)-(Bo-B)＝0
Because the Y point is the zero point of counting, and the location feedback value that cutting edge turns around is Bo, so when cutting edge moves to the Y point, have following formula to exist:
ΔP＝(L-A)-(Bo-Bo)＝0
So: L=A
Just Shi Ji band feed length is that sheared length equals preseting length.Certainly in the accelerator of flying shear, all be to level off to zero gradually (L-A) and (Bo-B), so position deviation value Δ P levels off to zero gradually, Here it is, and so-called two-position is approached.
See Vr again, when cutting edge moves to the Y point, as mentioned above,
Δ P=0, then Vr=Vl
As seen cutting edge speed at this moment equals machine row speed, has accomplished the synchronous of two speed.So the control method of flying shear accelerating sections is called " two-position is approached-the speed synchronization method ".
It should be noted that: the cutting edge movement locus is round, and the ribbon motion track is a straight line, so in the calculating of Δ P that two pulse equivalencies are unified.As shown in Figure 2, cross the Y point and make a tangent line, suppose that the corresponding point of cutting edge B1 on tangent line are B2, promptly
The B1Y segmental arc=
The B2Y line segment, and B is exactly the equivalent pulse value of cutting edge pulse in the ribbon motion direction.
From the Y point, cutting edge speed keeps and machine row speed equates, band is sheared, and when cutting edge arrived the Z point, flying shear entered braking section, and the rate pattern of its braking section is:
In the formula, β is that cutting edge subtracts acceleration, Co is the umber of pulse of braking section ZX segmental arc, Bj is that relative Z point is the cutting edge position feedback umber of pulse at zero point, and when cutting edge when the zero velocity point X point of expectation moves, (Co-Bj) go to zero gradually, then Vr also goes to zero gradually, when arriving the X point, cutting edge speed Vr just in time equals zero.Here it is " expectation retardation method at zero point ".
The entry condition of flying shear is:
Just, when Δ P made that following formula is set up, flying shear began to enter acceleration.
When short cutting to length, flying shear from slowing down to the condition of quickening conversion is, when equaling the cutting edge speed Vr of braking section calculated with mathematical model by the cutting edge speed Vr of accelerating sections calculated with mathematical model, stops to slow down, and transfers acceleration to.
Main program structure as shown in Figure 4, interrupt routine mainly is a response cutting edge when arriving Y point, according to default location interrupting value, triggers the host CPU interruption at the high-speed counter of cutting edge position.Interrupt routine reads in the instantaneous value of measuring roller meter long pulse counter, and with cutting edge P-pulse counter and meter long pulse counter reset, while accelerating sections sign resets, the sync section flag set.
The utility model is owing to adopted the programming language of unitized motor driver, unitized Programmable Logic Controller and the current international practice, realization has solved the compatibility of communication interface, the extendability of control function and the amalgamation of controlling with whole machine row, the convenience of hardware maintenance maintenance, the problems such as economy of whole machine row control section to the control of rotary flying shears.
The utility model is not limited to the foregoing description, and is any based on simple transformation that design philosophy of the present utility model is done, and the control such as the utility model control device being used for swing roller is cut all falls into protection domain of the present utility model.
Claims (10)
1. rotary flying shears control device is characterized in that comprising:
A PLC Programmable Logic Controller;
One has and the corresponding communication interface of PLC Programmable Logic Controller the HMI man-machine interface of conveniently carrying out data setting and modification;
With the corresponding electric machine controller of the drive motor of driven in rotation flying shear;
Three rotary encoders are respectively the rotary encoder of the long detection of meter, the rotary encoder and the motor speed feedback rotating coder of detection cutting edge position;
A D.C. regulated power supply;
The control program that described PLC Programmable Logic Controller operation loads in conjunction with the detection to each rotary encoder, sends control signal to electric machine controller, and the drive motor of electric machine controller drive controlling rotary flying shears is realized required technology controlling and process.
2. rotary flying shears control device according to claim 1, it is characterized in that: the band length information that the long rotary encoder that detects of described meter provides feeding roller to send, detecting the rotary encoder of cutting edge position locatees automatically, the speed of control flying shear blade accelerating sections, make when cutting edge enters interlock, the band length of passing through just in time is the sheet material scale that needs, just in time the speed with band is equal for the horizontal velocity component of cutting edge simultaneously, after shearing is finished synchronously, the control flying shear slows down, and be parked in upper dead center X point exactly, thereby accurately finish cutting to length one time.
3. rotary flying shears control device according to claim 2 is characterized in that: the speed Vr of described flying shear blade accelerating sections satisfies following formula and requires:
In the formula, Vl is machine row speed, and a is the cutting edge acceleration, and Δ P is a position deviation, Δ P=(L-A)-(Bo-B),
Wherein, L is the sheared length of setting, and A is the actual meter of the band long pulse strokes per minute of passing through, and Bo is the umber of pulse that cutting edge turns around, and B is the umber of pulse of cutting edge position feedback.
4. according to claim 2 or 3 described rotary flying shears control device, it is characterized in that: the speed Vr of described flying shear blade braking section satisfies following formula and requires:
β is that cutting edge subtracts acceleration in the formula, and Co is the umber of pulse of braking section ZX segmental arc, and Bj is that relative Z point is the cutting edge position feedback umber of pulse at zero point.
5. according to claim 1 or 2 or 3 described rotary flying shears control device, it is characterized in that: described PLC Programmable Logic Controller possesses interface and at least one communication interface of two-way high-speed counter input at least, the input of one tunnel analog quantity, the output of two-way analog quantity, the input of eight road digital quantities, the output of eight road digital quantities.
6. rotary flying shears control device according to claim 4 is characterized in that: described PLC Programmable Logic Controller possesses interface and at least one communication interface of two-way high-speed counter input at least, the input of one tunnel analog quantity, the output of two-way analog quantity, the input of eight road digital quantities, the output of eight road digital quantities.
7. according to claim 1 or 2 or 3 described rotary flying shears control device, it is characterized in that: the rotary encoder of described detection cutting edge position is installed on the rotary flying shears apparatus body; The long rotary encoder that detects of described meter is installed on the measuring roller.
8. rotary flying shears control device according to claim 4 is characterized in that: the rotary encoder of described detection cutting edge position is installed on the rotary flying shears apparatus body; The long rotary encoder that detects of described meter is installed on the measuring roller.
9. rotary flying shears control device according to claim 5 is characterized in that: the rotary encoder of described detection cutting edge position is installed on the rotary flying shears apparatus body; The long rotary encoder that detects of described meter is installed on the measuring roller.
10. want 6 described rotary flying shears control device according to right, it is characterized in that: the rotary encoder of described detection cutting edge position is installed on the rotary flying shears apparatus body; The long rotary encoder that detects of described meter is installed on the measuring roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200720169988XU CN201069528Y (en) | 2007-07-31 | 2007-07-31 | Control device for rotary flying cutter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200720169988XU CN201069528Y (en) | 2007-07-31 | 2007-07-31 | Control device for rotary flying cutter |
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| CN201069528Y true CN201069528Y (en) | 2008-06-04 |
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| CNU200720169988XU Expired - Lifetime CN201069528Y (en) | 2007-07-31 | 2007-07-31 | Control device for rotary flying cutter |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102279585A (en) * | 2011-07-22 | 2011-12-14 | 北京金自天正智能控制股份有限公司 | Flying shear control system of cold continuous rolled strip steel and control method thereof |
| CN102744741A (en) * | 2012-07-24 | 2012-10-24 | 中达电通股份有限公司 | Fixed-length cutting control device |
| CN102773256A (en) * | 2011-05-11 | 2012-11-14 | 上海宝信软件股份有限公司 | Optimal control method for strip tail shear by flying shear at continuous annealing unit inlet |
| CN103786034A (en) * | 2012-10-29 | 2014-05-14 | 苏州建莱机械工程技术有限公司 | Efficient automobile heat exchanger key component pseudo-flexible manufacturing complete device |
| CN103808290A (en) * | 2012-11-12 | 2014-05-21 | 博世力士乐(西安)电子传动与控制有限公司 | Knife bench displacement measuring device, frequency converter, control method and rotary cutter |
| CN104407566A (en) * | 2014-10-23 | 2015-03-11 | 上海理工大学 | Control method of rotary type flying shear punching device |
| CN104808569A (en) * | 2014-01-28 | 2015-07-29 | 北京二十一世纪科技发展有限公司 | Open mill closed-loop electric distance adjusting control and active safety protection device and method |
| CN107052444A (en) * | 2016-12-20 | 2017-08-18 | 中冶南方（武汉）自动化有限公司 | Flying shear control method based on vector controller |
| CN107150146A (en) * | 2016-03-04 | 2017-09-12 | 北新集团建材股份有限公司 | Flying shear control system |
| CN110497248A (en) * | 2019-08-30 | 2019-11-26 | 攀钢集团攀枝花钢钒有限公司 | Flying shear scale shear precision real-time detecting system and method |
| CN111649775A (en) * | 2020-07-03 | 2020-09-11 | 重庆钢铁股份有限公司 | Fault diagnosis method and device for fixed-length shear crankshaft encoder |
| CN114932265A (en) * | 2022-06-15 | 2022-08-23 | 中冶南方工程技术有限公司 | Flying shear control method and system |
-
2007
- 2007-07-31 CN CNU200720169988XU patent/CN201069528Y/en not_active Expired - Lifetime
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102773256A (en) * | 2011-05-11 | 2012-11-14 | 上海宝信软件股份有限公司 | Optimal control method for strip tail shear by flying shear at continuous annealing unit inlet |
| CN102773256B (en) * | 2011-05-11 | 2015-04-08 | 上海宝信软件股份有限公司 | Optimal control method for strip tail shear by flying shear at continuous annealing unit inlet |
| CN102279585A (en) * | 2011-07-22 | 2011-12-14 | 北京金自天正智能控制股份有限公司 | Flying shear control system of cold continuous rolled strip steel and control method thereof |
| CN102279585B (en) * | 2011-07-22 | 2012-09-05 | 北京金自天正智能控制股份有限公司 | Flying shear control system of cold continuous rolled strip steel and control method thereof |
| CN102744741A (en) * | 2012-07-24 | 2012-10-24 | 中达电通股份有限公司 | Fixed-length cutting control device |
| CN102744741B (en) * | 2012-07-24 | 2015-08-26 | 中达电通股份有限公司 | Fixed length cut-off control |
| CN103786034A (en) * | 2012-10-29 | 2014-05-14 | 苏州建莱机械工程技术有限公司 | Efficient automobile heat exchanger key component pseudo-flexible manufacturing complete device |
| CN103808290A (en) * | 2012-11-12 | 2014-05-21 | 博世力士乐(西安)电子传动与控制有限公司 | Knife bench displacement measuring device, frequency converter, control method and rotary cutter |
| CN104808569A (en) * | 2014-01-28 | 2015-07-29 | 北京二十一世纪科技发展有限公司 | Open mill closed-loop electric distance adjusting control and active safety protection device and method |
| CN104808569B (en) * | 2014-01-28 | 2017-10-27 | 北京二十一世纪科技发展有限公司 | Mill closed loop motorized nip adjustment is controlled and active safety protection device and method |
| CN104407566A (en) * | 2014-10-23 | 2015-03-11 | 上海理工大学 | Control method of rotary type flying shear punching device |
| CN107150146A (en) * | 2016-03-04 | 2017-09-12 | 北新集团建材股份有限公司 | Flying shear control system |
| CN107052444A (en) * | 2016-12-20 | 2017-08-18 | 中冶南方（武汉）自动化有限公司 | Flying shear control method based on vector controller |
| CN110497248A (en) * | 2019-08-30 | 2019-11-26 | 攀钢集团攀枝花钢钒有限公司 | Flying shear scale shear precision real-time detecting system and method |
| CN111649775A (en) * | 2020-07-03 | 2020-09-11 | 重庆钢铁股份有限公司 | Fault diagnosis method and device for fixed-length shear crankshaft encoder |
| CN114932265A (en) * | 2022-06-15 | 2022-08-23 | 中冶南方工程技术有限公司 | Flying shear control method and system |
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Granted publication date: 20080604 |