CN203352517U - Servo motion control all-in-one machine used for flying saw machine - Google Patents

Abstract

A servo motion control all-in-one machine used for a flying saw machine belongs to the technical field of automatic control and comprises a rectification circuit, a filter circuit, a braking circuit, a switching power supply circuit, a protection circuit, an inversion circuit, a current sampling circuit, an encoder circuit, a PWM drive circuit, a CPLD circuit, a DSP circuit, a power down storage circuit, a communication control circuit and an I/O interface circuit. The servo motion control all-in-one machine has the beneficial effects that a problem that control signal interference caused by different ground potentials of two devices results in that a flying saw actuating mechanism, i.e., a servo motor vibrates, and is unstable or even out of control is prevented; the production precision is improved; and the reliability is enhanced, and the response speed is raised.

Description

A kind of for the servo control integrative machine on flying saw

Technical field

The utility model belongs to the automatic control technology field, particularly a kind of for the servo control integrative machine on flying saw.

Background technology

Flying saw is the common equipment of the continuously online scale cutting of various tubing, section bar, and the application of servo system has met high accuracy, high-level Production requirement.In the prior art, fly to saw the control to servomotor in control system by servo-driver and fly to saw motion controller and jointly complete.Fly to saw the length requirement of motion controller according to institute's Pipe Cutting material, section bar, by detecting current speed of production and the length of tubing, computing output movement control signal, make flying saw be moved according to the movement locus of expection and the kinematic parameter of regulation.Servomotor is the actuator that flies to saw motion controller.The control signal that flies to saw motion controller output is sent to servo-driver by cable, and servo-driver passes the signal to servomotor again, to complete the control requirement.The mode that this motion controller separates with servo controller is usually introduced interference signal, affects equipment reliability of operation and required precision, and manufacturing cost is higher, and required installing space is larger.

Summary of the invention

For the deficiencies in the prior art, it is a kind of for the servo control integrative machine on flying saw that the utility model provides, and reached and can effectively control flying saw, makes flying saw have the purpose of higher response speed, integrated level and reliability.

To achieve these goals, it is a kind of for the servo control integrative machine on flying saw that the utility model provides, and comprises rectification circuit, filter circuit, braking circuit, switching power circuit, protective circuit, inverter circuit, current sampling circuit, encoder circuit, PWM drive circuit, CPLD circuit, DSP circuit, power down memory circuit, communication control circuit and I/O interface circuit;

Rectification circuit, filter circuit and inverter circuit are connected successively, and braking circuit is connected on DC bus.Encoder circuit is connected with the capturing unit (QEP) of DSP circuit, current sampling circuit is connected with the ADC module of DSP circuit, communication control circuit is connected with the SCI module of DSP circuit, the I/O interface circuit is connected on the data/address bus of DSP circuit, the data of power down memory circuit and DSP circuit, address bus is connected, six road PWM output ports of DSP circuit are connected with the CPLD circuit, six road PWM outputs of CPLD circuit connect the input of PWM drive circuit, the PWM drive circuit connects inverter circuit, protective circuit is connected on DC bus, switching power circuit respectively with protective circuit, current sampling circuit, encoder circuit, the PWM drive circuit, the CPLD circuit, the DSP circuit, the power down memory circuit, communication control circuit is connected with the I/O interface circuit.

The 380V alternating current becomes direct current through rectification circuit, and direct current is connected with inverter circuit after circuit after filtering, and braking circuit is connected on DC bus.Encoder circuit, current sampling circuit, power down memory circuit, communication control circuit and I/O interface circuit are connected with the DSP circuit.DSP circuit output pwm pulse, through the CPLD circuit, give the PWM drive circuit and encourage inverter circuit work.Protective circuit is connected on DC bus, and when producing overvoltage or under voltage during signal, or while when inverter circuit, because of the fault of installing, sending rub-out signal, these signals will be sent to the CPLD circuit.Switching power circuit changes DC bus-bar voltage into various chips and optocoupler required voltage.

A kind of control method for the servo control integrative machine on flying saw, comprise the steps:

Step 1, initialization;

Step 2, self check, if fault is arranged, show failure code; If nothing, program is carried out downwards;

Whether step 3, step 3, judgement saw car get back to initial point, if the DSP circuit receives the signal of zero-bit optoelectronic switch, mean it is to perform step 4; If do not receive, mean noly, perform step 3;

Step 4, read the parameters of touch-screen;

Step 5, the motor pattern that reads touch-screen are selected information, when the saw car, during not at origin position, by manual mode, return to zeros, when flying saw work, select automatic mode, when debugging, and the selection debugging mode;

Step 6, saw car are followed the trail of tubing speed;

Step 7, primer fluid cylinder pressure; Device, by I/O interface circuit output control signal, is connected the hydraulic cylinder electromagnetically operated valve on flying saw, and the primer fluid cylinder pressure realizes building compression functions;

Step 8, saw blade cut tubing;

Step 9, cut release; Device disconnects the hydraulic cylinder electromagnetically operated valve on flying saw by I/O interface circuit output control signal, realizes pressure relief;

Step 10, saw car return.

Tracing control method in described step 6 comprises the steps:

Step 6.1: initialization;

Step 6.2: according to formula S=L-Vt, in formula, S is the tubing in-position, and L is that Pipe Cutting is long, V is tubing speed, and t to returning to the time used at zero point, judges whether tubing arrives assigned address S when starting to follow the trail of zero point from the saw car, if continue execution step 6.3, if not, return;

Step 6.3: call the SERVO CONTROL program, start the servomotor on flying saw, according to the mode of serpentine, realize speed increase, concrete speed formula is v wherein ₀for the speed of tubing is synchronizing speed, t ₀(ms) follow the trail of the time for the saw car, can be arranged by touch-screen, v means to saw the real-time speed of car;

Step .6.4: whether the real-time speed of judgement saw car equals tubing speed, if finish to follow the trail of, returns if not, continues to accelerate according to the mode of serpentine.

Described SERVO CONTROL program in step 6.3 comprises the steps:

Step 6.3.1: preservation state register accumulator;

Step 6.3.2: the current value of reading the A/D conversion;

Step 6.3.3: read motor speed;

Step 6.3.4: rotating speed PI controls;

Step 6.3.5: the current value under stator a, b, c coordinate system is obtained to the current value under α, β coordinate system by Clarke conversion in formula 1 respectively;

$\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\·\begin{array}{}\end{array}\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]---\left(1\right)$

In formula: i _a, i _b, i _c---be respectively the electric current under stator a, b, c coordinate system;

I _α, i _β---be respectively the electric current under α, β coordinate system;

Step 6.3.6: the current value under α, β coordinate system is obtained to the current value under d, q coordinate system by formula 2Park conversion respectively;

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& \sin \mathrm{\θ}\\ -\sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\·\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]---\left(2\right)$

In formula: i _d, i _q---be respectively the electric current under d, q coordinate system;

I _α, i _β---be respectively the electric current under α, β coordinate system;

Step 6.3.7:d, q shaft current PI control;

Step 6.3.8: the magnitude of voltage under α, β coordinate system is obtained to the magnitude of voltage under d, q coordinate system by formula 3Park inverse transformation respectively;

$\left[\begin{array}{c}{U}_{\mathrm{\α}}\\ U_{\mathrm{\β}}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\·\left[\begin{array}{c}{U}_d\\ U_q\end{array}\right]---\left(3\right)$

In formula: U _a, U _β---be respectively the voltage under α, β coordinate system;

U _d, U _q---be respectively the voltage under d, q coordinate system;

Step 6.3.9: call the SVPWM algorithm routine;

Step 6.3.10: the register accumulator returns to form;

Step 6.3.11: return.

PI control program in described step 6.3.4 and 6.3.7 comprises the steps:

Step (1), beginning, set initial value e (k)=e (k-1)=0, u (k-1)=0;

Step (2), this sampling input e (k);

Step (3), deviation are calculated Δ e (k)=e (k)-e (k-1);

Step (4), calculating output controlling increment Δ u (k)=k _p* Δ e (k)+k _i* e (k);

Step (5), calculating output variable u (k)=u (k-1)+Δ u (k);

Step (6), amplitude limit $u\left(k\right)=\left\{\begin{array}{cc}{u}_{\max },& u\left(k\right)\&GreaterEqual;u_{\max }\\ u_{\min },& u\left(k\right)\&le;u_{\min }\\ u\left(k\right),& u_{\mathrm{main}}<u\left(k\right)<u_{\max }\end{array}\right.;$

Step (7), translation are preserved, e (k-1)=e (k), u (k-1)=u (k);

E in formula (k)-deviation;

U (k)-output controlled quentity controlled variable;

The calculation deviation that e (k-1)-last time preserves;

The output controlled quentity controlled variable that u (k-1)-last time preserves;

K _p-proportionality coefficient;

K _i-integral coefficient;

U _minthe lower limit of-amplitude limit;

U _maxthe higher limit of-amplitude limit;

K-iterations.

Saw blade cutting process in described step 8 comprises the steps:

Step 8.1: start;

Step 8.2: read the encoder in the servomotor on flying saw and be arranged on the pipe code device signal on pipe production line, whether the real-time speed of judgement saw car synchronizes with tubing speed, if, by I/O interface circuit output clamping signal, control the fixture block electromagnetically operated valve on flying saw, realize clamping function;

Step 8.3: read the clamping time of setting parameter in touch-screen, export the saw signal by the I/O interface after postponing this clamping time, control and fall to sawing electromagnetically operated valve on flying saw, realize falling to sawing function;

Step 8.4: the Pipe Cutting time of reading setting parameter, whether the signal that approach switch is cut off in inquiry simultaneously has feedback signal, if the shutoff signal of finding, the number of it is believed that is lifted in output, controls to lift the saw electromagnetically operated valve on flying saw, realizes lifting the saw function, through this time, if sawing can not complete, force saw blade to lift, play a protective role;

Step 8.5: read the lifting according to the time of setting parameter, postpone this time after output pine folder signal, control the fixture block two way solenoid valve on flying saw, realize pine folder function.

Operation principle of the present utility model: rectification module becomes direct current by the 380V alternating current of access, and its voltage stabilizing is processed.Direct current after voltage stabilizing is transported on the one hand the inversion of inverter circuit voltage supplied and uses, and is transported on the one hand switch power module.Switch power module changes busbar voltage into 24V, 5V, 3.3V, 1.8V etc., for various chips and optocoupler provide required power supply.Hall current sensor in device is responsible for detecting the phase current of permanent magnet synchronous servo motor.Six road signal A, A/, B, B/, Z, the Z/ that photoelectric encoder produces delivers to the QEP/CAP module of DSP after the processing such as difference, filtering, utilizes the signal of photoelectric encoder can realize the detection to motor position and rotating speed.DSP, as the control core of device, realizes the communication of same host computer by communication interface, and the control command that sends of the input command fed back according to some switching signals on touch-screen and flying saw or upper computer software completes and flies the control requirement of sawing; Recycle the photoelectric encoder signal after processing, calculate position and the speed of permanent-magnetic synchronous motor rotor, realize closed-loop control; The three-phase current that DSP also detects the current Hall transducer carries out the AD conversion, and the Clark conversion, the Park that complete electric current convert, after the adjusting that completes each PID adjuster and anti-Park conversion, DSP completes the duty ratio that the SVPWM algorithm calculates the PWM waveform, exports six road pwm pulses and PWM is sent to CPLD.CPLD is as Auxiliary Control Element, and auxiliary DSP realizes the control and management to device.CPLD receives the pwm pulse signal from DSP, and determines the output of PWM according to the security situation of device.When voltage protection circuit produces overvoltage or brownout signal; while perhaps when inverter circuit, because of the fault of device, sending rub-out signal; these signals will be sent to CPLD; CPLD will stop to high speed photo coupling transmission pwm pulse signal; the output of blocking-up PWM; switch in the assurance inverter circuit is in off state, and motor is now out of service, thus the safety of assurance device.By constantly collection, computing, realize closed-loop control like this.If the saw vehicle speed that servomotor drives and line speed equate, just as the I/O interface output signal, clamped, build pressures, fall to sawing, lift a series of actions such as saw, Song Jia; After completing these actions, the saw car returns, and waits for action next time, successively circulation.

The beneficial effects of the utility model: adopt the form that flies to saw motion controller and servo controller all-in-one, solved and installed control signal that differently current potential causes and introduce and disturb because of two, caused and fly to saw actuator---servomotor concussion, unstable problem even out of control.The signal that simultaneously adopts the all-in-one form also to remove because of the connection cable introducing disturbs, and has improved the production precision.Machine of the present utility model has saved a lot of hardware circuits, comprises a CPU, some change-over circuits and signal processing circuit, has saved significantly space and cost.Adopt inner pure digi-tal amount to control, solved the problem that analog quantity easily is disturbed, strengthened reliability, improve response speed.Control unit adopts the form of DSP+CPLD, rational Resources allocation, the occupancy of reduction DSP.Adopt the external touch screen to carry out parameter setting and data analysis, make and fly to saw more convenient, the directly perceived and hommization of control operation.The research and development that the utility model of this all-in-one is later multiaxis all-in-one simultaneously lay the foundation.

The accompanying drawing explanation

Fig. 1 is structured flowchart of the present utility model;

The connection layout that Fig. 2 is the utility model DSP circuit and CPLD circuit;

Fig. 3 is that the utility model flies to saw control flow chart;

The period of motion schematic diagram that Fig. 4 is the utility model saw car;

Fig. 5 is the utility model Tracing Control flow chart;

Fig. 6 is the utility model saw car S shape movement profiles;

Fig. 7 is the utility model vector control structured flowchart;

Fig. 8 is the utility model SERVO CONTROL program flow diagram;

Fig. 9 is the utility model PI control program flow chart;

Figure 10 is the utility model SVPWM algorithm flow chart.

Embodiment

Detailed construction of the present utility model describes in conjunction with specific embodiments.

A kind of for the servo control integrative machine on flying saw; as illustrated in fig. 1 and 2, comprise rectification circuit, filter circuit, braking circuit, switching power circuit, protective circuit, inverter circuit, current sampling circuit, encoder circuit, PWM drive circuit, CPLD circuit, DSP circuit, power down memory circuit, communication control circuit and I/O interface circuit.

The DSP circuit chip adopts the digital signal processor of the TMS320F2812 model of TI company in the present embodiment, the CPLD circuit adopts the EPM1270 chip of altera corp, the power down memory circuit adopts the FM24CL16 chip, rectification circuit is selected the MDS-100-16 module, select the SKM150GB173D model IGBT module of Xi Menkang to build inverter circuit and braking circuit, current sensor is selected the LA100-P model transducer of LEM, select the 400V4700 μ F electric capacity of Hunan Ai Hua to build filter circuit, drive circuit is selected the A316J special driving chip, the kernel control chip of switching power circuit is selected UC3844 high-performance fixed frequency current mode controller, 3.3V with 1.8V voltage is respectively by TPS7333Q, after the conversion of TPS76801Q chip, provide, overvoltage, under-voltage protecting circuit is by over-voltage comparator LM2901 by electric resistance partial pressure, judged whether that according to the low and high level of output fault occurs, encoder circuit selects the AM26LS32 receiver chip to carry out the differential signal of received code device, communication control circuit is by HCPL0601 optocoupler and MAX232, the MAX488 chip forms, the RS232 mode is used for and the upper computer software communication, the RS422 mode is used for and the touch-screen communication, the I/O interface circuit is by the HA245 bus transceiver, the SN74HC574 trigger, the P127 optocoupler builds.

Rectification circuit, filter circuit and inverter circuit are connected successively, and braking circuit is connected on DC bus.Encoder circuit is connected with the capturing unit (QEP) of DSP, current sampling circuit is connected with the ADC module of DSP, communication control circuit is connected with the SCI module of DSP, the I/O interface circuit is connected on the data/address bus of DSP, the data of power down memory circuit and DSP, address bus is connected, DSP six road PWM output ports are connected with the CPLD circuit, the six road PWM outputs of CPLD connect the input of PWM drive circuit, the PWM drive circuit connects inverter circuit, protective circuit is connected on DC bus, switching power circuit respectively with protective circuit, current sampling circuit, encoder circuit, the PWM drive circuit, the CPLD circuit, the DSP circuit, the power down memory circuit, communication control circuit is connected with the I/O interface circuit.

The DSP circuit receives on flying saw by the I/O interface circuit and switching signal cashier's office in a shop of electrical control, by communication bus receives touch-screen control information, receive the speed of tubing and length information by the code device signal Acquisition Circuit and complete and fly the calculating of saw action related algorithm, the output pwm pulse signal, processed through CPLD afterwards, then be delivered to inverter circuit and control servomotor and moved according to the objective speed curve of setting.The DSP circuit is by address bus and data/address bus and program storage, CPLD circuit, and the power down memory circuit is connected and carries out information exchange.The DSP circuit carries out communication by inner SCI module and upper computer software, by encoder circuit and current sampling circuit, receives motor speed, position and current signal.The DSP circuit is the core of whole device, to the read-write of other peripheral circuit, control and all realize by it.It is very suitable for being applied in high performance motor control assembly.The dominant frequency of 150M and high performance 32 bit CPUs can carry out mathematical operation at a high speed, for control device uses complicated control algolithm and a large amount of mathematical operations, provide hardware foundation.

The CPLD circuit receives the six road pwm pulse signals that the DSP circuit sends, and receives error protection signal UFO, VFO, WFO, FO and brake signal Br from inverter circuit simultaneously, the overvoltage signal H_VS that the over voltage protective circuit produces and under-voltage signal L_VS etc.The CPLD unit will determine whether to inverter circuit output pwm pulse, with the safety of assurance device operation according to whether receiving these signals.CPLD also couples together by the storage space S RAM that extends out of data, address bus and DSP, thereby guarantees the memory space that CPLD could store and access DSP, realizes the data exchange between DSP and CPLD unit.The connection layout of DSP and CPLD as shown in Figure 2.This chip cost is low, stable, easy to use, flexible in programming, for device has been saved hardware space.

The power down memory circuit is selected FRAM.The characteristics of FRAM are that speed is fast, can not be subject to the impact of external condition (such as the magnetic field factor), and the advantages such as unlimited read-write, high-speed read-write and low-power consumption of the non-volatile data storage characteristic of ROM and RAM are combined.

Switching power circuit the direct current after rectification through Switching Power Supply change into 24V ,+15V ,-15V, 5V, and convert 5V to 3.3V, 1.8V through the voltage stabilizing chip, for various chips and optocoupler provide required power supply.

Filter circuit, inverter circuit, braking circuits etc. belong to the main circuit part of integrative machine.Rectification circuit becomes direct current to the alternating current from electrical network, and filter circuit carries out filtering, shaping by it, is sent to P, the N interface of inverter circuit.The six road pwm pulses that send from CPLD, after high speed photo coupling, are sent to the corresponding interface of inverter circuit, the shutoff of power ratio control switch, thus realize the galvanic inversion of P, N.After inversion, U, V, W delivery outlet provide the three-phase drive power supply for servomotor.

Current sampling circuit is that the electric current to motor is detected by Hall current sensor, and it is sent into to the A/D module of DSP, participates in the vector control algorithm computing.

Encoder circuit to six road signal A, the A of the generation of photoelectric encoder, B, B, Z, Z deliver to the QEP/CAP module of DSP after the processing such as difference, filtering, utilize the signal of photoelectric encoder can realize the detection to motor position and rotating speed.

The overvoltage that protective circuit is DC bus, under-voltage protection.Export under-voltage fault, output overvoltage fault when busbar voltage is greater than 800V when DC bus during lower than 300V.Block pwm pulse signal through CPLD.

The I/O interface circuit: input mainly contains limit switch, zero position switch signal, crawl, lifts saw, shutoff signal etc.; Output mainly contains clampings, fall to saw, lift according to etc.

Communication control circuit is for carrying out communication with upper computer software, touch-screen.

A kind of control method for the servo control integrative machine on flying saw, comprise the steps: as shown in Figure 3,

Step 1, initialization;

Step 2, self check, if fault is arranged, show failure code, as abnormal as preseting length, shows E-OL; Follow the trail of distance not enough, show E-LS; Low pressure, show E-OFF; Overcurrent, show E-OC; Overvoltage, show E-OV etc.If nothing, program is carried out downwards.

Concrete failure diagnosis:

The diagnostic program arranged in controller, can prevent generation or the expansion of fault, and can find out rapidly fault type and position after fault occurs, reduces the downtime.Diagnostic program is included in program, carries out Checking and diagnosis in running.

The servo control integrative machine is provided with different operational modes, facilitates equipment debugging; Can read in real time the cutting accuracy of saw vehicle speed curve and pipe simultaneously by touch-screen, be beneficial to the monitoring of product.By the hardware designs optimized and control mode can make sizing accuracy<± 1mm, line speed reaches 200m/min, and the otch that guarantees pipe is without burr.

Whether step 3, step 3, judgement saw car get back to initial point, if the DSP circuit receives the signal of zero-bit optoelectronic switch, mean it is to perform step 4; If do not receive, mean noly, perform step 3;

Step 4, read the parameters (the long 6m of institute's Pipe Cutting, synchronously adjust time 1ms, clamping time 50ms, lift saw time 350ms, loose folder time 1ms, Pipe Cutting time 300ms, tubing simulation speed 80m/min) of touch-screen;

Step 5, the motor pattern that reads touch-screen are selected information, when the saw car, during not at origin position, by manual mode, return to zeros, when flying saw work, select automatic mode, when debugging, and the selection debugging mode;

Manual mode of operation: selection " manual mode " on touch-screen, enter the manual operation program, pin " clamping " and " saw falls " manually sawing simultaneously, decontrol pine and press from both sides, lift saw; While will " manually advance, manual retraction " switch being adjusted to " manually advancing ", the saw car is walked forward, and while being converted to " manual retraction " position, the saw car is walked backward.The manual operation program comprises all subprograms of a cycle of operation, comprises the parameter setting, saw car motion, the saw of lifting, fall, clamp, the pine folder, seek zero, the anxious control program such as stop.

Automatic operational mode: select on touch-screen " automatic mode ", enter automated operator, not only comprised the subprogram of operation in automatic mode, and comprised all kinematic parameters in the running.In automatic running, flying saw, by the parameter operation of setting, completes the scale cutting to pipe.If exit automatically, select " manual mode ", exit automatically after completing once circulation.

Simulation mode of operation: select on touch-screen " simulation model ", enter simulated operating procedure.Simulation model can be simulated the material line speed when debugging, checks the performance of flying saw.To dispatching from the factory debugging and play good effect during malfunction test, avoided the waste to material.Simulation model is identical with the implementation of automatic mode.

Step 6, saw car are followed the trail of tubing speed;

Step 7, primer fluid cylinder pressure; Device, by I/O interface circuit output control signal, is connected the hydraulic cylinder electromagnetically operated valve on flying saw, and the primer fluid cylinder pressure realizes building compression functions.

Step 8, saw blade cut tubing;

A period of motion of saw car can be divided into 5 stages (as shown in figure tetra-): wait for section (AB), forward tracking section (BC), a forward sync section (CD), forward braking section (DE), inverted running section (EF).Wherein forward is followed the trail of the process that section BC is saw car tracking tubing, until reach with tubing, synchronizes.Sync section CD is that the speed of production of the saw speed of service of car and tubing is identical, the cutting movement of saw blade is laterally static with respect to tubing, only do the radial cuts motion, can improve cut quality like this, especially improved evenness and the end face squareness of cutting end face.Decelerate to zero at forward braking section DE saw car by synchronizeing with tubing, it is symmetrical that its curve movement and forward are followed the trail of section.And inverted running section EF can adopt the running orbit identical with the forward target phase, like this when flying saw operation one-period, the pulse number that its inverted running receives is identical with the pulse number that the forward operation receives, and the saw car just in time is parked in initial position, the error that does not exist the secondary operation to bring.

In the telecontrol equipment that flies saw, produce excessive impact, the excess of stroke or vibration in order to guarantee to saw vehicle motor starting or stoping Shi Buhui, must carry out acceleration and deceleration control to motor, when electric motor starting, when namely sawing car and start to be followed the trail of the tubing motion, the rotating speed that guarantees motor increases gradually, when the speed of saw car reaches speed with tubing when identical, saw vehicle motor constant speed, and after the cutting task completes, when the saw car runs slowly, the rotating speed of motor reduces gradually.Therefore, extremely important in the selection of the curve movement of the section of chasing for flying to saw car, it is the key that guarantees whole device stable operation, is also the main movement part that improves sizing accuracy.

Step 9, cut release; Device disconnects the hydraulic cylinder electricity on flying saw by I/O interface circuit output control signal

Magnet valve, realize pressure relief.

Step 10, saw car return;

Tracing Control in described step 6 is as follows: as shown in Figure 5,

Step 6.1: initialization;

Step 6.2: whether tubing arrives assigned address S(S=L-Vt=6m-80m/min*3204ms=1.728m, and L is that Pipe Cutting is long, and V is tubing speed, t when starting to follow the trail of zero point from the saw car to returning to the time used at zero point), if continue to carry out third step, if not, return;

Step 6.3: call the SERVO CONTROL program, start the servomotor on flying saw, according to the mode of serpentine, realize speed increase.Concrete speed formula is

v wherein ₀for the speed of tubing is synchronizing speed, t ₀(ms) follow the trail of the time for the saw car, can be arranged by touch-screen, v means to saw the real-time speed of car;

Step .6.4: whether the real-time speed of judgement saw car equals tubing speed, if finish to follow the trail of, returns if not, continues to accelerate according to the mode of serpentine.

As shown in Figure 6, within the very short a period of time of following the trail of before section is transitioned into sync section, the step value A (t) of device is more and more less, overshoot is also more and more less, the saw car accelerates with such curve movement, can improve the stability of device operation, to the scale cutting accuracy of tubing, be very favourable simultaneously, when the transmission speed of tubing is v0=80m/min, when the tracking segment distance is 300mm, follow the trail of the point that produces peak acceleration in section and be positioned at midpoint, from the change curve of acceleration, can find out: at start position and destination county acceleration, be all zero, whether this makes the saw car both not produce rigid shock in the motion process of following the trail of section soft impulse.

SERVO CONTROL in step 6.3:

SERVO CONTROL adopts vector control mode (the vector control block diagram as shown in Figure 7), and vector control is comprised of following several parts: the speed detection module; Speed ring, current loop controller; Coordinate transformation module; The SVPWM module; Rectification and inversion module.

When receiving speed command, given speed is compared with the spinner velocity signal detected, through the adjusting of speed control, the given signal of output current controller.Pass through coordinate transform simultaneously, the three-phase current of stator feedback becomes Id, Iq, make Id=0 by current controller, Iq equates with given Iq, and current controller is output as the voltage of d, q axle, through coordinate transform, becomes α, β voltage, export six road PWM by the SVPWM module and drive IGBT, produce the three phase sine electric current input motor stator of variable frequency and amplitude, come drive motors to rotate.

The SERVO CONTROL program is as follows: flow chart as shown in Figure 8

Step 6.3.1: preservation state register accumulator;

Step 6.3.2: the current value of reading the A/D conversion;

Step 6.3.3: read motor speed;

Step 6.3.4: rotating speed PI controls;

Step 6.3.5: the current value under stator a, b, c coordinate system is obtained to the current value under α, β coordinate system by Clarke conversion in formula 1 respectively;

$\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\&CenterDot;\begin{array}{}\end{array}\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]---\left(1\right)$

In formula: i _a, i _b, i _c---be respectively the electric current under stator a, b, c coordinate system;

I _α, i _β---be respectively the electric current under α, β coordinate system;

Step 6.3.6: the current value under α, β coordinate system is obtained to the current value under d, q coordinate system by formula 2Park conversion respectively;

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\&CenterDot;\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]---\left(2\right)$

In formula: i _d, i _q---be respectively the electric current under d, q coordinate system;

I _α, i _β---be respectively the electric current under α, β coordinate system;

Step 6.3.7:d, q shaft current PI control;

Step 6.3.8: the magnitude of voltage under α, β coordinate system is obtained to the magnitude of voltage under d, q coordinate system by formula 3Park inverse transformation respectively;

$\left[\begin{array}{c}{U}_{\mathrm{\&alpha;}}\\ U_{\mathrm{\&beta;}}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& -\sin \mathrm{\&theta;}\\ \sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\&CenterDot;\left[\begin{array}{c}{U}_d\\ U_q\end{array}\right]---\left(3\right)$

In formula: U _a, U _β---be respectively the voltage under α, β coordinate system;

U _d, U _q---be respectively the voltage under d, q coordinate system;

Step 6.3.9: call the SVPWM algorithm routine;

Step 6.3.10: the register accumulator returns to form;

Step 6.3.11: return.

Call the SVPWM algorithm routine as shown in figure 10.

PI control program in step 6.3.4 and 6.3.7 all carries out as follows: flow chart as shown in Figure 9.

Step (1), beginning, set initial value e (k)=e (k-1)=0, u (k-1)=0;

Step (2), this sampling input e (k);

Step (3), deviation are calculated Δ e (k)=e (k)-e (k-1);

Step (4), calculating output controlling increment Δ u (k)=k _p* Δ e (k)+k _i* e (k);

Step (5), calculating output variable u (k)=u (k-1)+Δ u (k);

Step (6), amplitude limit $u\left(k\right)=\left\{\begin{array}{cc}{u}_{\max },& u\left(k\right)\&GreaterEqual;u_{\max }\\ u_{\min },& u\left(k\right)\&le;u_{\min }\\ u\left(k\right),& u_{\mathrm{main}}<u\left(k\right)<u_{\max }\end{array}\right.;$

Step (7), translation are preserved, e (k-1)=e (k), u (k-1)=u (k);

E in formula (k)-deviation;

U (k)-output controlled quentity controlled variable;

The calculation deviation that e (k-1)-last time preserves;

The output controlled quentity controlled variable that u (k-1)-last time preserves;

K _p-proportionality coefficient;

K _i-integral coefficient;

U _minthe lower limit of-amplitude limit;

U _maxthe higher limit of-amplitude limit;

K-iterations.

Saw blade cutting process in step 8 is as follows:

Step 8.1: start;

Step 8.2: read the encoder in the servomotor on flying saw and be arranged on the pipe code device signal on pipe production line, whether the real-time speed of judgement saw car synchronizes with tubing speed, if, by I/O interface circuit output clamping signal, control the fixture block electromagnetically operated valve on flying saw, realize clamping function;

Step 8.3: read the clamping time of setting parameter in touch-screen, export the saw signal by the I/O interface after postponing this clamping time, control and fall to sawing electromagnetically operated valve on flying saw, realize falling to sawing function;

Step 8.4: read the Pipe Cutting time of setting parameter, whether the signal that approach switch is cut off in inquiry simultaneously has feedback signal, if the shutoff signal of finding, the number of it is believed that is lifted in output, controls to lift the saw electromagnetically operated valve on flying saw, realizes lifting the saw function.Through this time, if sawing can not complete, force saw blade to lift, play a protective role;

Step 8.5: if read lifting according to time saw vehicle speed of setting parameter, follow the trail of upper tubing speed, with it, synchronize, device output clamping signal, when the T2 time (clamping time 50ms), finish, output falls to sawing signal, and when the T3 time (Pipe Cutting time 300ms), the number of it is believed that is lifted in end output, when T4 time (lifting saw time 350ms) end output pine is pressed from both sides signal, export afterwards the release signal, a cutting process finishes.(as shown in Figure 4).

Claims (1)

1. one kind for the servo control integrative machine on flying saw, it is characterized in that: comprise rectification circuit, filter circuit, braking circuit, switching power circuit, protective circuit, inverter circuit, current sampling circuit, encoder circuit, PWM drive circuit, CPLD circuit, DSP circuit, power down memory circuit, communication control circuit and I/O interface circuit;

Rectification circuit, filter circuit is connected successively with inverter circuit, braking circuit is connected on DC bus, encoder circuit is connected with the capturing unit of DSP circuit, current sampling circuit is connected with the ADC module of DSP circuit, communication control circuit is connected with the SCI module of DSP circuit, the I/O interface circuit is connected on the data/address bus of DSP circuit, the data of power down memory circuit and DSP circuit, address bus is connected, six road PWM output ports of DSP circuit are connected with the CPLD circuit, six road PWM outputs of CPLD circuit connect the input of PWM drive circuit, the PWM drive circuit connects inverter circuit, protective circuit is connected on DC bus, switching power circuit respectively with protective circuit, current sampling circuit, encoder circuit, the PWM drive circuit, the CPLD circuit, the DSP circuit, the power down memory circuit, communication control circuit is connected with the I/O interface circuit.

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