Method, system, device and storage medium for suppressing vibration of elastic material

Abstract

The embodiment of the present invention provides a method, system, device and storage medium for suppressing oscillation of elastic materials, the method for suppressing oscillation of elastic materials in a winding operation, and the method comprises: generating a torque target value adjustment amount according to the operating frequency of the reel; using the difference between the torque target value and the torque target value adjustment amount as the torque setting value, generating a drive signal of the reel drive motor, and controlling the operation of the reel drive motor by the drive signal. The embodiment of the present invention generates a torque target value adjustment amount according to the operating frequency of the reel, and adjusts the torque target value by the torque target value adjustment amount, so that the oscillation suppression of the elastic material can be achieved without obtaining the linear speed and the winding diameter information.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of motor control, and more specifically, to a method, system, device and storage medium for suppressing oscillation of an elastic material. Background Art

[0002] In the printing and packaging industry, the scale and structure of equipment vary greatly depending on the processing technology, but each processing technology requires that the winding and unwinding links can provide stable tension. With the increasing maturity of motor control technology, the accuracy of motor torque control has reached a relatively high level. Therefore, a typical application solution in the industry is to indirectly control the material tension to remain constant by controlling the motor output torque that changes gradually with the roll diameter, that is, the torque mode indirect tension control solution. This application solution does not require additional tension detection links, is simple to implement, and has low cost. It can also meet the requirements of most processing technologies that do not require high tension accuracy.

[0003] However, since the processed materials usually have a certain elasticity, they will produce undamped oscillations under constant torque control, so the material tension will inevitably fluctuate in the torque mode indirect tension control scheme. This affects the stability of the material tension and thus the processing effect of printing and other processes, and also affects the neatness of the winding and thus the appearance of the processed product.

[0004] In order to solve the above-mentioned problem of elastic material oscillation, the current method is mainly to install detection devices such as floating rollers or tension sensors to solve the fluctuation problem of material tension through a tension closed loop. However, this method increases the cost and complexity of the equipment on the one hand, and increases the tension closed loop control loop on the other hand, which may cause system stability problems and increase the parameter adjustment work of the closed loop control. Summary of the invention

[0005] In order to solve the problem that the above-mentioned tension closed-loop method increases equipment cost and complexity, the embodiments of the present invention provide an elastic material oscillation suppression method, system, equipment and storage medium.

[0006] The technical solution to the above technical problem provided by the embodiment of the present invention is to provide a method for suppressing vibration of an elastic material, which is used to suppress vibration of the elastic material during a curling operation. The method comprises:

[0007] generating a torque target value adjustment amount according to the operating frequency of the reel;

[0008] The difference between the torque target value and the torque target value adjustment amount is used as the torque setting value to generate a drive signal for the reel drive motor, and the operation of the reel drive motor is controlled by the drive signal.

[0009] Preferably, generating the torque target value adjustment amount according to the operating frequency of the reel includes:

[0010] Performing an integration operation on the operating frequency;

[0011] The integral operation result is limited to obtain the torque target value adjustment amount.

[0012] Preferably, the limiting processing of the integral operation result includes:

[0013] When the absolute value of the integral operation result is less than or equal to a preset value, the integral operation result is used as a torque target value adjustment amount;

[0014] When the integral operation result is greater than the preset value, the preset value is used as the torque target value adjustment amount;

[0015] When the integral operation result is less than the negative number of the preset value, the negative number of the preset value is used as the torque target value adjustment amount;

[0016] The preset value is the product of the torque target value and a proportional coefficient, and the proportional coefficient is less than or equal to 20%.

[0017] Preferably, the integration operation of the operating frequency is implemented by the following calculation formula:

[0018]

[0019] The ΔTe is the integral operation result, the Kp is the proportional gain, and the Δω is the frequency fluctuation amount.

[0020] The embodiment of the present invention further provides an elastic material oscillation suppression system for suppressing oscillation of the elastic material during a curling operation, wherein the suppression system comprises an adjustment amount acquisition unit and a drive signal generation unit, wherein:

[0021] The adjustment amount acquisition unit is used to generate a torque target value adjustment amount according to the operating frequency of the reel;

[0022] The difference between the torque target value and the torque target value adjustment amount is used as the torque setting value to generate a drive signal for the reel drive motor, and the operation of the reel drive motor is controlled by the drive signal.

[0023] Preferably, the adjustment amount acquisition unit includes an integral operation subunit and a limit adjustment subunit;

[0024] The integral operation subunit is used to perform an integral operation on the operating frequency;

[0025] The limit adjustment subunit is used to perform limit processing on the integral operation result to obtain the torque target value adjustment amount.

[0026] Preferably, when the absolute value of the integral operation result is less than or equal to a preset value, the limit adjustment subunit uses the integral operation result as the torque target value adjustment amount; when the integral operation result is greater than the preset value, the preset value is used as the torque target value adjustment amount; when the integral operation result is less than the opposite number of the preset value, the opposite number of the preset value is used as the torque target value adjustment amount;

[0027] The preset value is the product of the torque target value and a proportional coefficient, and the proportional coefficient is less than or equal to 20%.

[0028] Preferably, the integral operation subunit performs integral operation by the following calculation formula:

[0029]

[0030] The ΔTe is the integral operation result, the Kp is the proportional gain, and the Δω is the frequency fluctuation amount.

[0031] An embodiment of the present invention also provides an elastic material oscillation suppression device, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, the steps of the elastic material oscillation suppression method described above are implemented.

[0032] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the elastic material oscillation suppression method as described above are implemented.

[0033] The elastic material oscillation suppression method, system, device and storage medium of the embodiment of the present invention generates a torque target value adjustment amount according to the operating frequency of the reel, and adjusts the torque target value through the torque target value adjustment amount, and can achieve elastic material oscillation suppression without obtaining line speed and reel diameter information. The embodiment of the present invention has a small amount of calculation, is easy to implement in engineering, does not require complex debugging, has good usability, and can greatly improve the control performance of torque mode indirect tension control in winding and unwinding applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the reel winding;

[0035] Figure 2 is a schematic flow chart of a method for suppressing oscillation of an elastic material provided in an embodiment of the present invention;

[0036] Figure 3 is a simplified control block diagram of an elastic material oscillation suppression method provided by another embodiment of the present invention;

[0037] Figure 4 is a schematic diagram of an elastic material oscillation suppression system provided by an embodiment of the present invention;

[0038] Figure 5 Schematic diagram of an elastic material oscillation suppression device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] like Figure 1 As shown, during the winding process (similar to the unwinding process), when the reel 11 is running in a steady state, the electromagnetic torque T e and material tension F T The electromagnetic torque T is balanced by the torque established by the roller radius D as the lever arm. e Constant, material tension F T It is also a constant value, which is the basic principle of the present invention to achieve elastic material oscillation suppression through indirect tension control in torque mode.

[0041] In the specific implementation, it is necessary to establish a dynamic model of the system. The following further analyzes the principle of elastic oscillation. According to Newton's second law:

[0042]

[0043] According to Hooke's law, we can get:

[0044] F T =k e ×Δθ (2)

[0045] Where T e is the electromagnetic torque converted to the reel 11, F T is the material tension, D is the diameter of the reel 11, J is the total inertia of the reel 11, Δω is the change in the angular velocity of the reel, Δθ is the change in the angle of the reel, and k e is the elastic modulus of the elastic material.

[0046] According to equation (1) and equation (2), the electromagnetic torque T can be established e The relationship between the change in the scroll angle Δθ is as follows:

[0047]

[0048] Perform Laplace transform on equation (3) to establish the relationship between Δθ(s) and T e The transfer function between (s) is as follows:

[0049]

[0050] The above s is a differential operator. From equation (4), it can be seen that the system is a second-order undamped oscillation system. When the electromagnetic torque T e Or material tension F T Under disturbance, the material tension F T Will be is an angular frequency oscillation without attenuation.

[0051] By the electromagnetic torque T e Upper superposition control amount (K p is the proportional gain, which can be set according to experience or experimental data), the time domain and frequency domain forms of the system model can be obtained as follows:

[0052]

[0053]

[0054] Compared with equation (4), the system represented by equation (6) is a second-order damped oscillation system, and the material tension F T The fluctuation amount is damped and the elastic oscillation can be suppressed and eliminated.

[0055] because Accurate calculation of the frequency fluctuation Δω is the key to implementing this solution. Δω is obtained by subtracting the instantaneous frequency from the center frequency. The instantaneous frequency is usually easier to detect or estimate in real time, while the center frequency is related to many factors such as line speed, winding diameter, transmission ratio, etc. Obtaining this value puts more complex requirements on the system solution. In most applications, accurately obtaining the center frequency is the main obstacle to the implementation of this solution.

[0056] Based on the above difficulties, further optimization can be carried out. First, differential operation is performed on equation (5). When the target torque T e is a constant value, then its derivative is 0, and the calculation results are as follows:

[0057]

[0058] Similarly, this system is also a second-order damped oscillation system. When Δω decays to 0, is 0, that is, Δθ is a constant value, and the material tension change k e ×Δθ is also a constant value, and the oscillation phenomenon is also suppressed. The control scheme at this time can be expressed as:

[0059]

[0060] By integrating equation (8), the control scheme expression can be obtained as follows:

[0061]

[0062] ΔT e In order to achieve the torque target value adjustment under the oscillation suppression control scheme, the advantage of this scheme is that the key variable of the control scheme is optimized from Δω to Since the winding diameter is a gradual variable, the differential of the center frequency can be considered to be 0 during the calculation cycle when the line speed does not change. Therefore, it is only necessary to detect the real-time frequency and obtain it through differential calculation. Therefore, based on the above derivation process, a solution for elastic oscillation suppression that is easy to implement in engineering can be provided.

[0063] Specifically, Figure 2 FIG. 1 is a flow chart of a method for suppressing oscillation of an elastic material provided by an embodiment of the present invention. The method can be integrated into a control device for a motor driving a reel to operate, and the oscillation of the elastic material during the winding operation can be suppressed by the method. The method of the present embodiment includes:

[0064] Step S21: Generate a torque target value adjustment amount according to the operating frequency of the reel. The operating frequency of the reel can be obtained from the control instruction of the control device, that is, the operating frequency is obtained through the target speed of the reel. Of course, in actual applications, the operating frequency can also be obtained through detection by a position sensor or the like.

[0065] Step S22: taking the difference between the torque target value and the torque target value adjustment amount as the torque setting value, generating a drive signal for the reel drive motor, and controlling the operation of the reel drive motor by the drive signal.

[0066] By superimposing the torque target value adjustment amount on the torque target value, the material tension fluctuation during the unwinding and rewinding process can be damped and attenuated, and the elastic oscillation can be effectively suppressed and eliminated.

[0067] Combination Figure 3 As shown, in the above step S21, after the operating frequency of the reel is obtained, the above operating frequency can be integrated, so that the key variable Δω is optimized from And considering that when the linear speed of the reel changes, its center frequency will change, It will also produce a relatively large change, so the torque target value adjustment amount can be increased to increase the integral limit, the limit value is determined by the target torque T e Multiply by a certain proportional coefficient a to obtain (the proportional coefficient can be adjusted according to the specific application, and its range does not exceed the target torque T e20%, preferably 10%), to avoid a large difference between the material tension and the target tension during acceleration and deceleration. That is, in the above step S21, it is also necessary to limit the integral operation result to obtain the torque target value adjustment amount, that is, the torque target value adjustment amount is shown in the above calculation formula (9).

[0068] In the elastic material oscillation suppression method of this embodiment, the control target is Instead of Δθ=0, there may be a certain deviation between the steady-state tension of the material and the target tension, and the maximum proportion of the deviation is affected by the amplitude limiting process.

[0069] Specifically, when the integral operation result is limited, when the absolute value of the integral operation result is less than or equal to the preset value, the integral operation result is used as the torque target value adjustment amount; when the integral operation result is greater than the preset value, the preset value is used as the torque target value adjustment amount; when the integral operation result is less than the opposite of the preset value, the opposite of the preset value is used as the torque target value adjustment amount.

[0070] like Figure 4 As shown, an embodiment of the present invention further provides an elastic material oscillation suppression system, which is used to suppress the oscillation of the elastic material during the curling operation, and the suppression system includes an adjustment amount acquisition unit 41 and a drive signal generation unit 42, wherein:

[0071] The adjustment amount acquisition unit 41 is used to generate the torque target value adjustment amount according to the operating frequency of the reel. The operating frequency of the reel can be obtained from the control instruction of the control device, that is, the operating frequency is obtained through the target speed of the reel. Of course, in actual applications, the operating frequency can also be obtained by detection by a position sensor or the like.

[0072] The driving signal generating unit 42 is used to take the difference between the torque target value and the torque target value adjustment amount as the torque setting value, generate a driving signal for the reel driving motor, and control the operation of the reel driving motor through the driving signal.

[0073] In one embodiment of the present invention, the above-mentioned adjustment amount acquisition unit 41 includes an integral operation subunit and a limiting adjustment subunit, wherein the integral operation subunit is used to perform integral operation on the operating frequency; the limiting adjustment subunit is used to perform limiting processing on the integral operation result to obtain the torque target value adjustment amount.

[0074] When the absolute value of the integral operation result is less than or equal to the preset value, the limit adjustment subunit uses the integral operation result as the torque target value adjustment amount; when the integral operation result is greater than the preset value, the preset value is used as the torque target value adjustment amount; when the integral operation result is less than the opposite of the preset value, the opposite of the preset value is used as the torque target value adjustment amount. The above preset value is the product of the torque target value and the proportional coefficient, and the proportional coefficient is less than or equal to 20%.

[0075] The above-mentioned integral operation subunit can specifically perform integral operation through the above-mentioned calculation formula (9).

[0076] The elastic material oscillation suppression system in this embodiment is similar to the above Figure 2-3 The elastic material oscillation suppression method in the corresponding embodiment belongs to the same concept, and its specific implementation process is detailed in the corresponding method embodiment, and the technical features in the method embodiment are applicable in the present system embodiment, which will not be repeated here.

[0077] The embodiment of the present invention further provides an elastic material vibration suppression device 5, which can be specifically composed of a controller of a reel drive motor, such as Figure 5 As shown, the elastic material oscillation suppression device 5 includes a memory 51 and a processor 52. The memory 51 stores a computer program executable by the processor 52, and the processor 52 implements the steps of the elastic material oscillation suppression method described above when executing the computer program.

[0078] The elastic material vibration suppression device 5 in this embodiment is the same as the above Figure 2-3 The elastic material oscillation suppression method in the corresponding embodiment belongs to the same concept, and its specific implementation process is detailed in the corresponding method embodiment, and the technical features in the method embodiment are applicable in the device embodiment, which will not be repeated here.

[0079] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the elastic material oscillation suppression method as described above are implemented.

[0080] The computer-readable storage medium in this embodiment is the same as the above Figure 2-3 The elastic material oscillation suppression method in the corresponding embodiment belongs to the same concept, and its specific implementation process is detailed in the corresponding method embodiment, and the technical features in the method embodiment are applicable in the device embodiment, which will not be repeated here.

[0081] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0082] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed. The functional units and modules in the embodiments can be integrated into a processor, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0083] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0084] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0085] In the embodiments provided in the present application, it should be understood that the disclosed elastic material oscillation suppression method, system and device can be implemented in other ways. For example, the elastic material oscillation suppression system embodiments described above are merely illustrative.

[0086] In addition, each functional unit in each embodiment of the present application may be integrated into one processor, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0087] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or interface switching device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0088] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for suppressing oscillation of an elastic material, for suppressing oscillation of an elastic material during a curling operation, characterized in that: The method comprises: generating a torque target value adjustment amount according to the operating frequency of the reel; The difference between the torque target value and the torque target value adjustment amount is used as the torque setting value to generate a drive signal for the reel drive motor, and the operation of the reel drive motor is controlled by the drive signal; The step of generating the torque target value adjustment amount according to the operating frequency of the reel comprises: Performing an integration operation on the operating frequency; The integral operation result is limited to obtain the torque target value adjustment amount; The integration operation of the operating frequency is realized by the following calculation formula: Said is the integral operation result, Kp is the proportional gain, is the frequency fluctuation.

2. The elastic material vibration suppression method according to claim 1, characterized in that: The step of performing a limiting process on the integral operation result includes: When the absolute value of the integral operation result is less than or equal to a preset value, the integral operation result is used as a torque target value adjustment amount; When the integral operation result is greater than the preset value, the preset value is used as the torque target value adjustment amount; When the integral operation result is less than the negative number of the preset value, the negative number of the preset value is used as the torque target value adjustment amount; The preset value is the product of the torque target value and the proportional coefficient, and the proportional coefficient is less than or equal to 20%.

3. An elastic material oscillation suppression system for suppressing the oscillation of an elastic material during a curling operation, characterized in that: The suppression system comprises a regulation amount acquisition unit and a drive signal generation unit, wherein: The adjustment amount acquisition unit is used to generate a torque target value adjustment amount according to the operating frequency of the reel; The difference between the torque target value and the torque target value adjustment amount is used as the torque setting value to generate a drive signal for the reel drive motor, and the operation of the reel drive motor is controlled by the drive signal; The adjustment amount acquisition unit includes an integral operation subunit and a limit adjustment subunit; The integral operation subunit is used to perform an integral operation on the operating frequency; The limit adjustment subunit is used to perform limit processing on the integral operation result to obtain the torque target value adjustment amount; The integral operation subunit performs integral operation by the following calculation formula: Said is the integral operation result, Kp is the proportional gain, is the frequency fluctuation.

4. The elastic material oscillation suppression system according to claim 3, characterized in that: When the absolute value of the integral operation result is less than or equal to a preset value, the limit adjustment subunit uses the integral operation result as the torque target value adjustment amount; When the integral operation result is greater than the preset value, the preset value is used as the torque target value adjustment amount; When the integral operation result is less than the negative number of the preset value, the negative number of the preset value is used as the torque target value adjustment amount; The preset value is the product of the torque target value and the proportional coefficient, and the proportional coefficient is less than or equal to 20%.

5. An elastic material vibration suppression device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, the steps of the elastic material oscillation suppression method as claimed in any one of claims 1 to 2 are implemented.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the elastic material oscillation suppression method according to any one of claims 1 to 2 are implemented.

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