CN206819077U - One kind is based on the more synchronous machine master ＆ slave control systems of fuzzy-adaptation PID control two-for-one twister - Google Patents
One kind is based on the more synchronous machine master ＆ slave control systems of fuzzy-adaptation PID control two-for-one twister Download PDFInfo
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- CN206819077U CN206819077U CN201720688481.9U CN201720688481U CN206819077U CN 206819077 U CN206819077 U CN 206819077U CN 201720688481 U CN201720688481 U CN 201720688481U CN 206819077 U CN206819077 U CN 206819077U
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Abstract
The utility model discloses one kind to be based on the more synchronous machine master ＆ slave control systems of fuzzy-adaptation PID control two-for-one twister, belongs to two-for-one twister electric control system field, which solves the problem of existing two-for-one twister twists motor master slaver motor synchronous and poor actual effect.The utility model includes main permagnetic synchronous motor, connected from permagnetic synchronous motor, main synchronous frequency changer and from synchronous frequency changer, described main synchronous frequency changer with described from synchronous frequency changer by CAN；Described main synchronous frequency changer is connected by main fuzzy controller with described main permagnetic synchronous motor；It is described from synchronous frequency changer by being connected from fuzzy controller with described from permagnetic synchronous motor.The utility model communicates by using CAN, and combines fuzzy PID algorithm, improves the synchronism and actual effect of two-for-one twister twisting motor principal and subordinate's motor.
Description
Technical field
The utility model belongs to two-for-one twister electric control system field, specifically, is related to one kind and is based on fuzzy-adaptation PID control
The more synchronous machine master ＆ slave control systems of two-for-one twister.
Background technology
The motor of two-for-one twister twisting at this stage is driven using V belt translation mode more, because motor goes out force difference, it may appear that pine
The problem of side and pilled-in selvedge.To solve this problem, contributed using bi-motor, typically controlled using an asynchronous frequency changer using VF
Mode drives two motors to realize, the motor is asynchronous machine.
Energy consumption index turns into two-for-one twister technical indicator in recent years.To reduce energy consumption, utilization rate of electrical is improved, it is same using permanent magnetism
Walk motor and substitute asynchronous machine, power factor brings up to the 95% of permagnetic synchronous motor from the 85% of asynchronous machine；Because permanent magnetism is same
Walk motor characteristic to determine a synchronous frequency changer can not be used to drive two motors, drive meeting using a synchronous frequency changer by force
Cause the wild effects such as motor stall to occur, occur that the slack list of V belt translation and pilled-in selvedge are asked again using a permagnetic synchronous motor
Topic, these affect the quality of two-for-one twister.
Chinese Patent Application No. 201620131237.8, the patent document in publication date on July 27th, 2016, discloses one kind
Double permagnetic synchronous motor synchronous control systems of two-for-one twister, the control system include being installed on the machine at the timing belt both ends of two-for-one twister
Head permagnetic synchronous motor and tail permagnetic synchronous motor, the head permagnetic synchronous motor and tail permagnetic synchronous motor are nothing
The permasyn morot of velocity sensor；The control system also includes the main transformer frequency being installed on head permagnetic synchronous motor
Device and it is installed on tail permagnetic synchronous motor from frequency converter, primary transducer RS485 is passed through by main controller controls, primary transducer
Agreement is connected with from frequency converter.The utility model passes through in permanent-magnet synchronous of the timing belt both ends of the two-for-one twister installation with frequency converter
Motor so that the parameter such as the speed of front and rear motor, torque is always consistent, avoids two caused by the factors such as load disturbance
Platform motor speed is asynchronous, the High Precision Open-loop run-in synchronism of two permasyn morots is realized, so as to effectively improve
The even rate of ingot speed and the twist uniformity of yarn.But the defects of utility model is present is, used between principal and subordinate's frequency converter
RS485 protocol speed is relatively low, and Communications failure rate is higher, especially dominates winding, traversing motor simultaneously in use, it is controlled
The synchronism and actual effect of motor can not meet required precision.
Chinese Patent Application No. 201610485476.8, the patent application document in publication date on October 12nd, 2016 are open
A kind of master-slave mode multi-motor synchronous control method based on fuzzy, wherein, from motor use fuzzy controller.It is fuzzy
PID is combined traditional PID control with fuzzy control, and it according to the change of environment, can adjust PID three parameters in real time, real
The Self-tuning System of existing pid parameter, fuzzy have very important effect in industrial practical application.The invention propose based on
The master-slave mode multi-motor synchronous control method of fuzzy, when main motor is disturbed and velocity variations occur, due to from motor
Using fuzzy controller, it can perceive the velocity variations of main motor, adjust three parameters of PID controller in real time,
To follow the speed of main motor, the high-precise synchronization between principal and subordinate's motor is realized.The patent gives fuzzy controller realization
More synchronous motor master/slave control functions, to improve synchronization accuracy；How it is applied to the more synchronous machine master ＆ slave control systems of two-for-one twister
In system with improve two-for-one twister twisting motor synchronism be improve two-for-one twister twisting precision key.
The content of the invention
1st, to solve the problems, such as
The problem of for existing two-for-one twister twisting motor master slaver motor synchronous and poor actual effect, the utility model provides
One kind is based on the more synchronous machine master ＆ slave control systems of fuzzy-adaptation PID control two-for-one twister, is communicated by using CAN, and combines fuzzy
Pid algorithm, improve the synchronism and actual effect of two-for-one twister twisting motor principal and subordinate's motor.
2nd, technical scheme
To solve the above problems, the utility model adopts the following technical scheme that.
One kind is based on the more synchronous machine master ＆ slave control systems of fuzzy-adaptation PID control two-for-one twister, including main permagnetic synchronous motor, from forever
Magnetic-synchro motor, main synchronous frequency changer and from synchronous frequency changer, described main synchronous frequency changer and described from synchronous frequency changer
Connected by CAN；Described main synchronous frequency changer is connected by main fuzzy controller and described main permagnetic synchronous motor
Connect；It is described from synchronous frequency changer by being connected from fuzzy controller with described from permagnetic synchronous motor.
Preferably, described main synchronous frequency changer is connected by dc bus with winding frequency converter；It is described from synchronous change
Frequency device is connected by dc bus with traversing servo-driver.
Preferably, described main synchronous frequency changer is bi-directionally connected by 485 buses with controller.
Preferably, described winding frequency converter and described traversing servo-driver are double by 485 buses and controller
To connection.
Preferably, some sensors are connected with described controller.
Preferably, described sensor includes constant speed sensor, speed limit sensor, origin sensor, traversing limit on the left biography
Sensor and traversing limit on the right-right-hand limit sensor.
3rd, beneficial effect
Compared to prior art, the beneficial effects of the utility model are：
(1) the utility model sets CAN between twisting motor principal and subordinate's permagnetic synchronous motor of two-for-one twister, and it is transmitted
Speed is high, and Communications failure rate is extremely low, there is reliable error handle and error-detection mechanism, and these are for the speed from VFC from motor
Degree and moment follow-up main transformer frequency control main motor synchronism and it is ageing can improve a lot；
(2) between the main synchronous frequency changer of the utility model and winding frequency converter, from synchronous frequency changer and traversing servo-drive
Dc bus is respectively provided between device, on the premise of synchronization, it is contemplated that the domination of direct current bus bar energy, can be this part electric energy
Branch dispensing uses to winding, traversing motor, it is ensured that power-off is synchronous to shut down normal operation；
(3) between the main synchronous frequency changer of the utility model and main permagnetic synchronous motor, from synchronous frequency changer with it is same from permanent magnetism
Fuzzy controller is set between step motor, can further improve the synchronism between principal and subordinate's motor；
(4) the utility model is in terms of digital independent, and main synchronous frequency conversion is read by controller, main synchronous frequency conversion read from
The segmented mode of synchronous frequency conversion, it is ensured that data it is ageing.
(5) the utility model is simple in construction, reasonable in design, easily fabricated.
Brief description of the drawings
Fig. 1 is the structural representation of principal and subordinate's synchronous motor device；
Fig. 2 is system structure diagram of the present utility model；
Fig. 3 is system topological figure of the present utility model.
In figure：100th, main permagnetic synchronous motor；200th, from permagnetic synchronous motor；101st, winding motor；102nd, frequency conversion is wound
Device；201st, traversing motor；202nd, traversing servo-driver；
1st, three phase mains；3rd, CAN；4th, 485 bus；5th, controller；6th, sensor；7th, dc bus；
11st, main synchronous frequency changer；21st, from synchronous frequency changer；12nd, main fuzzy controller；22nd, from fuzzy-adaptation PID control
Device.
Embodiment
The utility model is further described below with reference to specific embodiment.
Embodiment 1
As shown in figure 1, Dual-motors Driving two-for-one twister twist system can effectively avoid the occurrence of slack list caused by transmission V belt translation
With pilled-in selvedge problem.
But the synchronous sex chromosome mosaicism between bi-motor reduces two-for-one twister work quality, therefore, the present embodiment uses following skill
Art scheme.
The more synchronous machine master ＆ slave control systems of fuzzy-adaptation PID control two-for-one twister are based on as shown in Fig. 2 a kind of, including main permanent magnetism is same
Walk motor, from permagnetic synchronous motor, main synchronous frequency changer and from synchronous frequency changer,
Main synchronous frequency changer and from synchronous frequency changer by three phase mains 1 provide electric power；
Described main synchronous frequency changer is connected with described from synchronous frequency changer by CAN；Described main synchronous change
Frequency device is connected by main fuzzy controller with described main permagnetic synchronous motor；It is described from synchronous frequency changer by from mould
Paste PID controller is connected with described from permagnetic synchronous motor；
Main fuzzy controller and identical fuzzy PID algorithm and arrow are used in the present embodiment from fuzzy controller
Amount control；
Described main synchronous frequency changer is connected by dc bus with winding frequency converter；Described passes through from synchronous frequency changer
Dc bus is connected with traversing servo-driver；Double synchronous frequency changers dominate dc bus electric energy jointly, distribute to winding motor
101st, traversing motor 201 uses, it is ensured that power-off is synchronous to shut down normal operation.
Described main synchronous frequency changer is bi-directionally connected by 485 buses with controller；
Described winding frequency converter and described traversing servo-driver are bi-directionally connected by 485 buses with controller.
As shown in figure 3, some sensors are connected with described controller；
Described sensor includes constant speed sensor, speed limit sensor, origin sensor, traversing limit on the left sensor and horizontal stroke
Dynamic limit on the right-right-hand limit sensor.
The present invention takes double double permagnetic synchronous motors of synchronous frequency changer driving, is driven using principal and subordinate, type of drive is vector
Control, had both met that permagnetic synchronous motor characteristic was driven using single synchronous frequency changer, avoided the occurrence of pine caused by transmission V belt translation again
Side and pilled-in selvedge problem；Synchronous frequency changer and permagnetic synchronous motor divide equally main frame, slave；Controller is communicated to main synchronization by 485
Frequency converter sends startup and frequency instruction, main synchronous frequency changer control main permagnetic synchronous motor using fuzzy PID algorithm；Main synchronization
Frequency converter is communicated by CAN and sends constantly frequency instruction and torque instruction to from synchronous frequency changer, frequency instruction control from
Synchronous frequency changer speed, torque instruction control from synchronous frequency changer torque, from synchronous frequency changer using fuzzy PID algorithm control from
Permagnetic synchronous motor.It is only 2ms from synchronous frequency changer processing and response time, so as to realize from permagnetic synchronous motor and main permanent magnetism
Synchronous motor constantly follows, and speed and torque constantly match, and reaches Synchronous Transmission effect.
The main synchronous frequency changer of the present invention is read from synchronous frequency changer motor internal frequency, electric current by CAN communication, turned
Main synchronous frequency conversion internal register is arrived in the data such as square, storage；Controller is read by 485 communications and deposited inside main synchronous frequency changer
Device, so as to obtain the data such as master and slave synchronous frequency changer motor internal frequency, electric current, torque.
Claims (6)
1. one kind is based on the more synchronous machine master ＆ slave control systems of fuzzy-adaptation PID control two-for-one twister, including main permagnetic synchronous motor (100),
From permagnetic synchronous motor (200), main synchronous frequency changer (11) and from synchronous frequency changer (21), it is characterised in that：Described master is same
Walk frequency converter (11) and it is described from synchronous frequency changer (21) pass through CAN (3) connection；Described main synchronous frequency changer (11)
It is connected by main fuzzy controller (12) with described main permagnetic synchronous motor (100)；It is described from synchronous frequency changer (21)
By being connected from fuzzy controller (22) with described from permagnetic synchronous motor (200).
2. one kind according to claim 1 is based on the more synchronous machine master ＆ slave control systems of fuzzy-adaptation PID control two-for-one twister, its feature
It is：Described main synchronous frequency changer (11) is connected by dc bus (7) with winding frequency converter (102)；It is described from synchronization
Frequency converter (21) is connected by dc bus (7) with traversing servo-driver (202).
3. one kind according to claim 2 is based on the more synchronous machine master ＆ slave control systems of fuzzy-adaptation PID control two-for-one twister, its feature
It is：Described main synchronous frequency changer (11) is bi-directionally connected by 485 buses (4) and controller (5).
4. one kind according to claim 3 is based on the more synchronous machine master ＆ slave control systems of fuzzy-adaptation PID control two-for-one twister, its feature
It is：Described winding frequency converter (102) and described traversing servo-driver (202) pass through 485 buses (4) and controller
(5) it is bi-directionally connected.
5. one kind according to claim 4 is based on the more synchronous machine master ＆ slave control systems of fuzzy-adaptation PID control two-for-one twister, its feature
It is：Some sensors (6) are connected with described controller (5).
6. one kind according to claim 5 is based on the more synchronous machine master ＆ slave control systems of fuzzy-adaptation PID control two-for-one twister, its feature
It is：Described sensor (6) includes constant speed sensor, speed limit sensor, origin sensor, traversing limit on the left sensor and horizontal stroke
Dynamic limit on the right-right-hand limit sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720688481.9U CN206819077U (en) | 2017-06-14 | 2017-06-14 | One kind is based on the more synchronous machine master ＆ slave control systems of fuzzy-adaptation PID control two-for-one twister |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720688481.9U CN206819077U (en) | 2017-06-14 | 2017-06-14 | One kind is based on the more synchronous machine master ＆ slave control systems of fuzzy-adaptation PID control two-for-one twister |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110835053A (en) * | 2019-11-16 | 2020-02-25 | 徐州铭博矿山科技有限公司 | Engineering machinery hoisting equipment |
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2017
- 2017-06-14 CN CN201720688481.9U patent/CN206819077U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110835053A (en) * | 2019-11-16 | 2020-02-25 | 徐州铭博矿山科技有限公司 | Engineering machinery hoisting equipment |
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