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Horizontal position accurate positioning control method of coil conveying trolley with encoder

A rolling trolley and precise positioning technology, applied in two-dimensional position/channel control, vehicle position/route/height control, non-electric variable control, etc., can solve problems such as unfavorable production and complex equipment, and achieve improved stability , to meet the effect of on-site transportation

Inactive Publication Date: 2016-08-17
UNIV OF SCI & TECH BEIJING
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At the same time, considering the accuracy of the trolley parking position, a brake valve is set; this method requires the support of the hydraulic system, and the equipment is relatively complicated, which is not conducive to the needs of actual production, and sometimes the brake valve is still required for braking

Method used

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  • Horizontal position accurate positioning control method of coil conveying trolley with encoder
  • Horizontal position accurate positioning control method of coil conveying trolley with encoder
  • Horizontal position accurate positioning control method of coil conveying trolley with encoder

Examples

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Effect test

Embodiment 1

[0032] A method for accurately positioning and controlling the horizontal position of a rolling trolley with an encoder. The method is used to realize the smooth control of the running and starting and stopping of the rolling trolley. The wheels of the rolling trolley are installed to detect the actual displacement of the rolling trolley. Value of the rotary encoder, the rotary encoder is a rotary encoder with absolute value encoding, the current value of the actual displacement of the rolling trolley is transmitted to the programmable controller (PLC), the programmable controller is set There is a PI controller, the programmable controller generates a ramp signal, the ramp signal is input to the PI controller (ie proportional integral controller), the PI controller calculates the output signal according to the ramp signal and The output signal is sent to the speed actuator of the rolling trolley via the field bus to realize the closed-loop control of the position of the rolling...

Embodiment 2

[0097] A method for precise positioning and control of the horizontal position of the rolling trolley with encoder. The wheels of the rolling trolley are equipped with a rotary encoder with absolute value encoding, which can detect the horizontal position of the trolley, and the acceleration and deceleration of the rolling trolley are controlled by a reduction motor , The built-in brake of the geared motor is used for parking of the trolley. The control of the rolling trolley is a double closed loop system, the inner loop is a speed loop, and the outer loop is a position loop. The position loop calculates the required speed value according to the position deviation, and sends the speed command to the speed control unit. The speed control unit outputs the signal to the servo motor, and controls the speed of the rolling trolley by controlling the servo motor. In the acceleration and deceleration process, the PI controller is put into the position loop, the input of the PI control...

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Abstract

The invention mainly belongs to the field of coil conveying trolley control, and specifically relates to a horizontal position accurate positioning control method of a coil conveying trolley with an encoder. According to the control method, a PI controller is arranged in a programmable controller on the coil conveying trolley, and the programmable controller, according to an actual displacement current value, an object displacement value and displacement adjustment time of the coil conveying trolley, generates slope signals and inputs the slope signals into the PI controller so as to realize accurate positioning of the coil conveying trolley and smooth transition of a speed. At the same time, in terms of controller parameter setting, an iteration learning control method is added, and parameters of the PI controller are optimized. The method provided by the invention can realize accurate positioning and stationary start-stop of the coil conveying trolley, and the method has a good control effect under the condition that conventional equipment conditions are not changed.

Description

Technical field [0001] The invention mainly belongs to the field of control of rolling trolleys, and specifically relates to a method for accurately positioning the horizontal position of the rolling trolley with an encoder. Background technique [0002] In the strip production process, the coil transport trolley must realize the movement of reciprocating and lifting the coil. Due to the continuous operation and the high quality of the coil, there are strict requirements on the speed and safety of the coil transport trolley. At present, ordinary electromagnetic reversing valves are commonly used in actual systems to control the start, run and stop of the trolley through the proximity switch signal. The start and stop instantaneously impact the trolley and easily cause the coil on the trolley to shake or even fall. In addition, the positioning accuracy is poor and cannot meet the requirements of precise positioning. [0003] In the control process of the horizontal movement of the ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 张飞王彬彬任晓怀宗胜悦申屠南凯
Owner UNIV OF SCI & TECH BEIJING
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