JPS5814216A - Controlling method for automatic positioning - Google Patents

Abstract

PURPOSE:To decrease the settling time for automatic position control, by decelerating a reel at the maximum deceleration of an electric machine at that time at all times until a deviation after the start of control of automatic positioning. CONSTITUTION:When a reel 21 completes the winding, a reel winding speed reference 6 is switched to a waiting speed reference and the reel 21 starts deceleration. The rate of deceleration of the reel is performed with the maximum deceleration rate determined with a Leonard device (ASR)2. When the reel 21 is decelerated and the speed is detected at the settling range at a settling end range detection circuit 20, after a prescribed time is elapsed, a settling end signal is outputted to a distance speed converting circuit 19, the speed reference is turned off and a contact 8a which is closed during the automatic position control is opened and the control is completed.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic positioning control method for automatically setting an electromechanical device to nine specified positions.

Generally, when an electromechanical device is automatically stopped, the moment of inertia during torque that the device can produce varies depending on the load condition 11, so the deceleration rate of the electromechanical device also changes accordingly. In addition to this rounding, the deceleration rate when automatically decelerating and stopping is assumed to be the worst condition of the electromechanical device. However, in this case, the output of the electromechanical device cannot be fully utilized.

On the other hand, in ideal automatic positioning control, the settling time will be the shortest if the deceleration and stop are performed at the maximum deceleration rate determined by the maximum output of the Hiro electromechanical device after the start of deceleration. If the relationship between speed and positional deviation at this time is shown with time on the horizontal axis and speed and distance on the vertical axis, it will look like Figure 1.In Figure 1, the solid line is the speed V, and the broken line is the positional deviation 8. It shows. The velocity V1 position deviation 8 can be shown below.

V■2t ・−(1) 8WTvt ・−・・−) However, α: deceleration rate, 8′: position deviation, t: time, V: speed According to the above equations (1) and (2), v=4ii − (3) Positioning control is performed by calculating the speed V corresponding to the positional deviation S according to equation (3) and controlling this speed V. If the deceleration rate α in equation (3) is set to the maximum deceleration rate determined by the maximum output of the electromechanical device, the settling time of positioning control can be minimized.

Since the deceleration rate α changes due to the reasons mentioned above, the deceleration rate is set at 9 o'clock, assuming the worst condition of the electromechanical device, so even if the load is less than the worst condition, the settling time will be It's impossible to make it shorter.

The present invention has been made in view of the above circumstances, and its purpose is to always decelerate the electromechanical device at the maximum deceleration rate at that time until a certain deviation amount after the start of automatic position resolution control. The settling time of automatic positioning control can be shortened. An object of the present invention is to provide an automatic positioning control method.

Hereinafter, one embodiment of the present invention will be described with reference to the drawings. t
First, in general, when the rolling pitch is short in wire rod and steel bar rolling equipment, it is necessary to process the product in the finishing equipment in a short time. For this reason, automatic positioning control (hereinafter referred to as APC) is used to stop the winding machine at a fixed position according to the position of the equipment for transporting the product rolled up by the winding machine to the next process.
Also, the time from start to completion must be kept as short as possible.

Figure 2 shows the positional relationship between a winding machine (hereinafter referred to as a reel) in a steel bar rolling facility and a fork that is part of the transfer equipment for taking out the nine coils wound on the reel from the reel. 1 is a reel, and 2 is a fork that is part of the transfer equipment.The APC of the 0-piece equipment is the reel 1 body in order to extract the coil of steel bar (not shown) that has been wound up on the reel IK. is fixed at the fork 2 position.

FIG. 3 shows each tiger and king point on the circumference of the reel 10, and the shaded area in the figure is the settling range in the PC. 9, zP is the zero point of reel 1, and in APC, this point is automatically stopped within the setting range. IPG is the reference point for the tiger and king and is set at an angle of 0R from the zero point ZP.

FIG. 4 shows a professional configuration example of automatic positioning control according to the present invention. In FIG.
(hereinafter referred to as A8B), 3 is a tachometer generator attached to the motor 1 and detects its rotation speed, 4 is a reel connected to the motor 1 via a gear Q This is a 4 pulse oscillator for detecting the rotation speed, and outputs 2 pulses (180° phase difference) per reel rotation. 5 is a pulse transmitter for detecting the rotation angle of the reel, which is connected to the same axis as the pulse transmitter 4, and it generates 300I in one rotation of the reel.
Outputs 4 pulses. t, 6 is based on the reel winding speed of 9,
1 is an inching reference, and B is a mupc reference, which are switched by speed switching command contacts 1m, 7m, and Ja, respectively. Tsumashi part 6a
is a contact that closes during reel winding and while lowering to the waiting speed, F& is a contact that closes when the reel is inching, and Ja is a contact that closes during 0 APC after reel winding is completed. On the other hand, reference numeral 9 denotes an addition counter 10 for detecting the rotational speed of the reel, which inputs the output of the pulse transmitter 4. A reversible counter 11 for detecting the rotational angle of the reel receives the output of the pulse transmitter 5 as an input. Or-to for addition power 9 counter 9, 12 for reversible counter 10 for reel rotation angle detection? -), 11 is an open command for counter date 1. Furthermore, 14 is a reel waiting speed passenger detector circuit, 15 is a reel deceleration rate detection circuit, and 16
is a reel position correction calculation circuit, 11 is an angle difference calculation circuit between the stop position and the current reel position, 1.18 is a PC start rotation calculation detection circuit, and 1 is calculated by the angle difference calculation circuit 17. A distance-speed conversion circuit converts the angle difference into a speed standard, 10 is a settling completion range detection circuit, and 21 is a turtle indicating a reel.

In addition, Pl is Δ Lux oscillator 40 output% Pl is d Lux
The output of the transmitter 5, which is detected by the addition counter 9, is the number of reel rotations, l is the output of the reversible counter 10, which is the rotation angle of the reel, and - is the rotation angle of θ' plus the rotation angle. The angle of the zero point zP axis, θ, depends on the angle difference calculation circuit 1r,
Each shows the angular difference between the calculated stop position and the current reel position.

Figure 5 shows the relationship between the positional error and reel speed from the completion of winding to the reel stop, with the horizontal axis representing the positional deviation and the vertical axis representing the speed. Each broken line represents the actual speed, and except for the thick broken line, the actual speed matches the speed reference represented by the solid line. In the figure, (
I) The point at which the beam has been rolled up, the deviation) is the APC starting point, (to)
is the %NIDIII a period speed reference % at the stopping point, NI
D111F2 indicates the deceleration speed reference, NOD indicates the seasonal speed detection level, and R8P indicates the actual reel speed.

In this configuration, when the reel 21 completes winding,
Reel winding speed standard 6 is seasonal speed standard NgD1mF1
As a result, the reel 21 starts decelerating. At this time, the reel deceleration rate α is the maximum deceleration rate determined by M8RJK and the maximum deceleration rate determined by the current limit value t9, and the speed at this time is expressed by the above-mentioned equation (3). At this time again,
Depends on the reel deceleration vehicle detection circuit 15, detects the deceleration rate α,
This can be obtained by detecting the amount of change (ΔV/Δt) in the speed per unit time. From this deceleration rate α, the distance 8 that the reel J1 moves when decelerating from the initial speed at the maximum deceleration rate can be determined (by modifying equation (3)).

Therefore, it is sufficient to set the starting point of MPC at a distance of 80 points from the target position.
If this is done, the APC control system will become unstable near the position deviation of 8-0, so the actual 0APC starting point will be 8Apc = 8 + 1m (5) ('
e: fixed value), position deviation near S-O, rima l)a
- Set the PCM start point with the control gain constant during the interval.

Next, when the reel 21 further decelerates to the timing speed detection level, the reel timing speed detection circuit 14 detects this, and the r-t1 of the reel rotation speed detection addition counter 9
1, an open command 13 is output. Depending on this, the addition counter 9 for detecting the number of reel rotations starts counting the number of rotations of the reel 21 after the deceleration to the desired speed is completed.

Further, the reversible counter 10 for detecting the reel rotation angle is
2 is controlled depending on the output/4 pulse of the pulse generator 4.
Zero adjustment is made every 80 degrees.

Exit θ' is the current position of the IPG tiger and king reference points. However, the actual zero point of Noriru 11 is zp (#),
Since there is an angular deviation of 0R from the reel reference point of 91PG, this is corrected by the reel position inter-tower correction calculation circuit 16 and output as the output θ.

θtsu θ'+θR (6) This - is the current position of the reel zero point with respect to the settling position. The angular difference calculation circuit 11 that inputs this 0 is (5
) Calculate how many revolutions the reel 21 must make to stop after the set speed from the starting point 8m PC using the formula 0 For example, if the reel director is L, the number of rotations N is N w 2Rhpc IL... Song (η and Nasi, this is calculated and the reel rotation is counted based on 9N and the addition color for rotation number detection. From the number n1 and the output θ of the reel position inter-tower correction calculation circuit 16, the angular difference #e between the stop position and the current reel position is determined by #@-=(Nf+180°)-((n-1)f-)J)
Detected as song (8). This is output to the distance-speed conversion circuit 19, the PC start rotation angle calculation detection circuit 18, and the settling completion range detection circuit Jul', respectively.
- Depending on this, the APC start rotation angle calculation detection circuit 18 is θ・<8hpc... (9) 0・>0 breath... (G) 0・≦#1...
・・・ Check αυ and distance-speed conversion circuit 1GIIC
Output fhwo. t*, (9) Formula O condition di is satisfied, and at time point 9, the PC is started and the contact point 8a is closed. In the case of (conversion) type, distance speed conversion circuit 1#beam/ru is m8
After outputting the speed reference 1 that causes the RJ to decelerate at the maximum deceleration rate, the wheel 21 decelerates again.

Then, when the reel 21 decelerates to the state of formula 00, and when the speed standard at the start of deceleration and the actual speed of the reel match with the constant control r-in, the reel 21 (1) deceleration rate is lowered, Switch to the speed reference corresponding to the angular difference #@(#・) from the target position. This causes Reel 2J to further decelerate,
The settling completion range detection circuit "K'Q!D" detects that it has entered the setting range (shaded area in Figure 3), and after a certain period of time has passed, outputs a settling completion signal to the distance speed conversion circuit 711g, and sets the speed standard. The control is completed by turning off the contact 8a and opening the contact 8a which is closed during APC.

In this way, when performing automatic positioning control that automatically sets an electromechanical device to a specified position, calculate the maximum deceleration rate of the electromechanical device during deceleration before starting positioning control, and use this maximum deceleration rate as the positioning control starting point. After starting the positioning control, a speed reference signal is given such that the position deviation is decelerated at a large dose deceleration rate outside the control gain constant control range, and when the position deviation is within the control gain constant control range, the wrinkle Since positioning control is performed by giving a nine-speed change standard to the electromechanical device in response to positional deviation, the settling time of automatic positioning control can be shortened.

It should be noted that the present invention is not limited to the above embodiments, and may be modified in various ways without changing the gist thereof.
A is 1! It's something.

As explained above, according to the present IJiK, the electromechanical device is always decelerated at the maximum deceleration rate at that time at a certain deviation amount t after the start of automatic positioning control, so the settling time of automatic positioning control is extremely short. A highly reliable automatic positioning control method that can be shortened can be provided.

[Brief explanation of the drawing]

Figure 1 is a diagram showing the characteristic curve during xs type automatic positioning control, Figure 2 is a senryo diagram showing the approximate machine layout, and Figure 3 is m +
Figure 4 is a configuration block diagram showing an embodiment of the present invention; Figure 5 is a diagram showing characteristic curves during automatic positioning control according to the present invention. It is. J, JJ-・Reel, 2... Fork, 3... Tachometer generator, 4, 5... Rise transmitter, 6a-8a...
・Speed switching command contact, 9... Addition counter, 1°...
・Reversible counter, xs, ix...? -), 14...
Reel timing speed detection circuit, 15... Reel deceleration vehicle detection circuit, IC... Reel position adjustment correction calculation circuit, 11.
...Angular velocity calculation circuit, 18.-Ai'C start rotation angle calculation detection circuit, Jjl-..Distance-speed conversion circuit, JO-.
-Settling completion range detection circuit. Applicant's agent, patent attorney Takehiko Suzue! 11 Figure 211

Claims (1)

[Claims] When performing automatic positioning control that automatically sets an electromechanical device to a designated nine position, calculate the maximum deceleration rate of the electromechanical device during deceleration before starting positioning control, and use this maximum deceleration rate to determine the positioning control starting point. After positioning control is started, if the position deviation is outside the constant control range, a speed reference signal is given that decelerates at the maximum deceleration rate, and if the position deviation is within the constant control range, the speed is reduced at the 9th point. An automatic positioning control method, characterized in that positioning control is performed by giving a nine-speed reference to the electromechanical device in response to a positional deviation.