Nonlinear real-time compensation control method of belt material unwinding tension

Abstract

The invention discloses a nonlinear real-time compensation control method of belt material unwinding tension. An existing tension closed loop method is complex in systematic structure, high in cost, and large in maintenance amount, needs regular correction on a tension sensor, and simultaneously is poor in dynamic performance, and the like. According to unwinding shaft speed sensor signals, unwinding rolling diameter sensor signals, belt material tension expectation values, belt material thickness, belt material width, belt material density, rolling shaft semi-diameter, rolling shaft inertia and other intrinsic parameters, the current unwinding semi-diameter, the unwinding speed in the unwinding process are calculated, then the unwinding inertia is calculated, on the basis, currently required unwinding torque is calculated, an finally the unwinding torque is converted into voltage control signals to be output to a torque command receiving terminal of an unwinding motor driver so as to achieve control of the unwinding tension. Dynamic performance and static performance of the belt material unwinding tension are enabled to meet production requirements. The nonlinear real-time compensation control method is strong in universality, and simple to realize, and does not need debugging.

Description

technical field [0001] The invention belongs to the field of industrial control, and relates to a nonlinear real-time compensation control method for the unwinding tension of a strip, so that the unwinding tension of the strip is not affected by the change of the coil diameter and the inertia of the material coil. Background technique [0002] During the processing and production of various types of strips, the unwinding tension is unstable due to the large-scale changes in the unwinding diameter and inertia of the strips, which seriously affects the product quality and production speed of the subsequent process. At present, the commonly used control methods for strip unwinding tension are: First, the closed-loop control method of unwinding tension: the tension closed-loop control based on the PID (proportional P+integral I+differential D) adjustment method is adopted, and the tension detection point needs two tension The sensors are respectively installed at both ends of a ...

AI Technical Summary

Problems solved by technology

[0002] During the processing and production of various types of strips, the unwinding tension is unstable due to the large-scale changes in the unwinding diameter and inertia of the strips, which seriously affects the product quality and production speed of the subsequent process.

At present, the commonly used control methods for strip unwinding tension are: First, the closed-loop control method of unwinding tension: the tension closed-loop control based on the PID (proportional P+integral I+differential D) adjustment method is adopted, and the tension detection point needs two tension The sensors are respectively installed at both ends of a floating roller, and the front adjacent roller and the rear adjacent roller need to be installed at the front and back of the floating roller, so that the strip forms a certain wrapping angle on the floating roller. The main problems of this method are: The system structure is complicated, the cost is high, the amount of maintenance is large, the tension sensor needs to be calibrated regularly, etc., and during the production process, the diameter of the unwinding roll and the inertia of the material roll vary from large to small. For this, it is difficult for PID control to make the unwinding The tension control performance remains stable; the second is an open-loop control method based on the unwinding torque decreasing according to the thickness of the strip layer: according to the torque of the unwinding shaft is approximately equal to the relationship between the unwinding radius and the tension product, after setting the initial unwinding radius After the thickness of the strip layer and the expected tension value, every time the rotating shaft rotates a circle, the torque equivalent corresponding to the thickness of the strip layer is subtracted from the torque, so that the unwinding torque changes linearly with the unwinding radius, and then the unwinding torque changes linearly with the unwinding radius. The steady-state value of the coil tension is basically unchanged, and the cost of this method is very low in implementation, but the main problem is: because only the influence of the change of the unwinding radius is considered, the influence of other factors such as the change of the unwinding inertia is not considered , so the tension control precision is low and the dynamic performance is not good

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