A multi-roll synchronous control method and related device

Abstract

The application discloses a multi-roller synchronous control method and related devices, including the linear velocity of the given master pinch roll motor and the slave pinch roll motor; according to the linear velocity, the master frequency given value of the slave pinch roll motor is determined; when it is judged that the working state of the slave pinch roll motor is the power generation state, the working state of the slave pinch roll motor is adjusted from the power generation state to the electric state; the output torque of the master pinch roll motor when running at the linear velocity is taken as the given value of the speed regulation PID of the slave pinch roll motor, the output torque of the slave pinch roll motor in the electric state is taken as the feedback value of the speed regulation PID, and the output of the speed regulation PID is taken as the auxiliary frequency given value of the slave pinch roll motor; the master frequency given value and the auxiliary frequency given value are superimposed to obtain the frequency given value of the slave pinch roll motor. The method can realize the linear velocity synchronization of the master pinch roll motor and the slave pinch roll motor without external sensors, and avoids the generation of internal loss.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial control, in particular to a multi-roller synchronous control method; and relates to a multi-roller synchronous control device, equipment and computer readable storage medium. BACKGROUND

[0002] Steel strip secondary processing generally uses winding and unwinding equipment, and the pinch roller device in the winding and unwinding equipment generally uses a cylinder pressing device. The pinch roller is generally made of polyurethane rubber or silica rubber, and the extrusion friction force between the steel strip and the pinch roller is much smaller than the tension. The friction force can be increased by increasing the contact area, but mechanical and electrical accessories such as frequency conversion, cylinder and motor need to be increased. In order to meet the mechanical compactness, the line speed calibration sensor cannot be installed, and the given synchronization is ensured by using a high-speed communication method. The whole scheme needs to be debugged in full speed section, which is complex and requires high mechanical processing.

[0003] Therefore, how to realize the line speed synchronization of the master pinch roller motor and the slave pinch roller motor without external sensors and avoid internal loss has become a technical problem to be solved by those skilled in the art. SUMMARY

[0004] The purpose of the present application is to provide a multi-roller synchronous control method, which can realize the line speed consistency of the master pinch roller motor and the slave pinch roller motor without external sensors, reduce the mechanical processing requirements and equipment manufacturing cost, avoid internal loss, and reduce system energy consumption. Another purpose of the present application is to provide a multi-roller synchronous control device, equipment and computer readable storage medium, which have the above technical effects.

[0005] To solve the above technical problems, the present application provides a multi-roller synchronous control method, comprising:

[0006] Given the line speed of the master pinch roller motor and the slave pinch roller motor;

[0007] According to the line speed, determine the master frequency given value of the slave pinch roller motor;

[0008] Determine whether the working state of the slave pinch roller motor is an electric state or a power generation state; when it is determined that the working state of the slave pinch roller motor is an electric state, maintain the master frequency given value of the slave pinch roller motor; when it is determined that the working state of the slave pinch roller motor is a power generation state, adjust the master frequency given value of the slave pinch roller motor, so that the working state of the slave pinch roller motor is adjusted from the power generation state to the electric state;

[0009] The output torque of the main pinch roller motor when running at the linear speed is taken as a given value of a speed regulation PID of the slave pinch roller motor, the output torque of the slave pinch roller motor in the motoring state is taken as a feedback value of the speed regulation PID, and the output of the speed regulation PID is taken as an auxiliary frequency given value of the slave pinch roller motor.

[0010] The main frequency given value and the auxiliary frequency given value are superimposed to obtain a frequency given value of the slave pinch roller motor.

[0011] Optionally, the adjusting the main frequency given value of the slave pinch roller motor, so that the working state of the slave pinch roller motor is adjusted from the generating state to the motoring state comprises:

[0012] Adjusting the torque gain of the slave pinch roller motor;

[0013] Adjusting the main frequency gain of the slave pinch roller motor according to the torque gain;

[0014] Adjusting the main frequency given value of the slave pinch roller motor according to the main frequency gain of the slave pinch roller motor, so that the working state of the slave pinch roller motor is changed from the generating state to the motoring state.

[0015] Optionally, the adjusting the main frequency gain of the slave pinch roller motor according to the torque gain comprises:

[0016] According to K gain = K gain0 *K adj Adjusting the main frequency gain of the slave pinch roller motor;

[0017] K gain represents the main frequency gain, K gain0 represents the initial main frequency gain, K adj represents the torque gain; wherein, F main represents the given reference frequency of the main pinch roller motor, D main represents the roll diameter of the main pinch roller motor, i main represents the transmission ratio of the main pinch roller motor, F slave represents the given reference frequency of the slave pinch roller motor, D slave represents the roll diameter of the slave pinch roller motor, i slave represents the transmission ratio of the slave pinch roller motor.

[0018] Optionally, it further comprises: when the working state of the slave pinch roller motor is the motoring state, keeping the torque gain as 1.

[0019] Optionally, the method for determining whether the operating state of the pinch roller motor is electric or generator is as follows:

[0020] Determine whether the output torque of the main pinch roller motor is less than or equal to zero;

[0021] If the output torque of the main pinch roller motor is less than or equal to zero, then the working state of the slave pinch roller motor is the power generation state.

[0022] If the output torque of the main pinch roller motor is greater than zero, then the working state of the slave pinch roller motor is electric.

[0023] To address the aforementioned technical problems, this application also provides a multi-roller synchronous control device, comprising:

[0024] The linear speed setting module is used to set the linear speed of the main clamping roller motor and the slave clamping roller motor;

[0025] The main frequency setpoint determination module is used to determine the main frequency setpoint of the feed roller motor based on the linear velocity.

[0026] The working state setting module is used to determine whether the working state of the feed roller motor is electric or generator; when it is determined that the working state of the feed roller motor is electric, the main frequency setpoint of the feed roller motor is maintained; when it is determined that the working state of the feed roller motor is generator, the main frequency setpoint of the feed roller motor is adjusted to change the working state of the feed roller motor from generator to electric.

[0027] The auxiliary frequency setpoint determination module is used to take the output torque of the main pinch roller motor running at the linear speed as the setpoint of the speed adjustment PID of the slave pinch roller motor, take the output torque of the slave pinch roller motor in the electric state as the feedback value of the speed adjustment PID, and take the output of the speed adjustment PID as the auxiliary frequency setpoint of the slave pinch roller motor.

[0028] The given value superposition module is used to superimpose the main frequency given value and the auxiliary frequency given value to obtain the frequency given value of the pinch roller motor.

[0029] Optionally, the working status setting module includes:

[0030] A torque gain adjustment unit is used to adjust the torque gain of the pinch roller motor.

[0031] A main frequency gain adjustment unit is used to adjust the main frequency gain of the feed roller motor according to the torque gain.

[0032] The main frequency setpoint adjustment unit is used to adjust the main frequency setpoint of the slave pinch roller motor according to the main frequency gain of the slave pinch roller motor, so that the working state of the slave pinch roller motor changes from the generator state to the motor state.

[0033] Optional, also includes:

[0034] A torque gain holding module is used to maintain the torque gain at 1 when the operating state of the feed roller motor is electric.

[0035] To address the aforementioned technical problems, this application also provides a multi-roller synchronous control device, comprising:

[0036] Memory, used to store computer programs;

[0037] A processor for executing the computer program to implement the steps of the multi-roller synchronous control method as described in any of the preceding claims.

[0038] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the multi-roller synchronous control method as described in any of the preceding claims.

[0039] The multi-roller synchronous control method provided in this application includes: setting the linear speeds of a main pinch roll motor and a slave pinch roll motor; determining the main frequency setpoint of the slave pinch roll motor based on the linear speeds; determining whether the working state of the slave pinch roll motor is electric or generator; maintaining the main frequency setpoint of the slave pinch roll motor when the working state is determined to be electric; adjusting the main frequency setpoint of the slave pinch roll motor when the working state is determined to be generator, so that the working state of the slave pinch roll motor is adjusted from generator to electric; using the output torque of the main pinch roll motor running at the linear speed as the setpoint of the speed adjustment PID of the slave pinch roll motor, using the output torque of the slave pinch roll motor in the electric state as the feedback value of the speed adjustment PID, and using the output of the speed adjustment PID as the auxiliary frequency setpoint of the slave pinch roll motor; and superimposing the main frequency setpoint and the auxiliary frequency setpoint to obtain the frequency setpoint of the slave pinch roll motor.

[0040] As can be seen, the multi-roller synchronous control method provided in this application, based on the given linear speeds of the main and driven pinch roller motors and ensuring that the driven pinch roller motor is in motored mode, allows the driven pinch roller motor to self-adjust its linear speed according to the output torque of the main pinch roller motor and its own output torque. This ensures that the linear speeds of the driven pinch roller motor and the main pinch roller motor are consistent, preventing internal friction and reducing system energy consumption. Furthermore, this application can achieve consistent linear speeds between the main and driven pinch roller motors without external sensors, reducing both machining requirements and equipment manufacturing costs.

[0041] The multi-roller synchronous control device, equipment, and computer-readable storage medium provided in this application all have the aforementioned technical effects. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 A flowchart illustrating a multi-roller synchronous control method provided in an embodiment of this application;

[0044] Figure 2 This is a schematic diagram of an S-roller structure model provided in an embodiment of this application;

[0045] Figure 3 This is a schematic diagram of a multi-roller structure model provided in an embodiment of this application;

[0046] Figure 4 This is a schematic diagram of a multi-roller synchronous control device provided in an embodiment of this application;

[0047] Figure 5 This is a schematic diagram of a multi-roller synchronous control device provided in an embodiment of this application. Detailed Implementation

[0048] The core of this application is to provide a multi-roller synchronous control method that enables the main pinch roll motor and the driven pinch roll motor to achieve the same linear speed without external sensors. This reduces machining requirements and equipment manufacturing costs, avoids internal friction, and lowers system energy consumption. Another core aspect of this application is to provide a multi-roller synchronous control device, equipment, and computer-readable storage medium, all of which possess the aforementioned technical advantages.

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a multi-roller synchronous control method provided in an embodiment of this application. (Refer to...) Figure 1 As shown, the method mainly includes:

[0051] S101: Given the linear speeds of the main pinch roll motor and the slave pinch roll motor;

[0052] This embodiment employs multi-machine frequency conversion synchronous control, which increases the friction area and friction force between the steel strip and the pinch rolls, and enables multi-stage synchronous control of the pinch rolls without the need for sensors. Taking S-roll synchronous control as an example, refer to... Figure 2 The S-roller structure shown mainly includes a system unwinding reel (0), an unwinding motor (1) controlled by a frequency converter, a system take-up reel (2), a take-up motor (3) controlled by a frequency converter, an S-roller main pinch roll (4), an S-roller slave pinch roll (6), an S-roller main pinch roll motor (5), an S-roller slave pinch roll motor (7), an S-roller main pinch roll frequency converter (8), and an S-roller slave pinch roll frequency converter (9). The S-roller main pinch roll motor and the S-roller slave pinch roll motor rotate in opposite directions.

[0053] The main control objective of this embodiment is to ensure that the linear speeds of the S-roll main pinch roller motor (hereinafter referred to as the main pinch roller motor) and the S-roll driven pinch roller motor (hereinafter referred to as the driven pinch roller motor) are consistent, while avoiding internal friction. Therefore, in this embodiment, both the main pinch roller motor and the driven pinch roller motor adopt speed mode, and their linear speeds are given by the same potentiometer.

[0054] S102: Determine the set value of the main frequency of the feed roller motor based on the linear velocity;

[0055] The linear velocity of the main pinch roller motor is the given linear velocity via the potentiometer and remains constant, corresponding to a frequency of Fmain1. Due to factors such as transmission ratio and roller diameter, to maintain consistent linear velocity, the frequency of the pinch roller motor is Fslave1 = Kgain0 * Fmain1. The main frequency given value calculated in step S102 is the initial given value of the main frequency of the pinch roller motor.

[0056] Specifically, for the feed roller motor, based on the given linear velocity of the feed roller motor and assuming that the linear velocities of the main feed roller motor and the feed roller motor are equal, the initial main frequency gain of the feed roller motor is first calculated, and then the initial given value of the main frequency of the feed roller motor is obtained.

[0057] in, K gain0 F represents the initial master frequency gain. main D represents the given reference frequency of the main pinch roller motor. main Indicates the roller diameter of the main pinch roller motor, i main F represents the transmission ratio of the main pinch roller motor. slave D represents the given reference frequency from the pinch roller motor. slave Indicates the roller diameter from the pinch roller motor, i slave This indicates the transmission ratio from the pinch roller motor. F main F slave These are the reference frequencies for the main and driven pinch roll motors under a given voltage, when no linear velocity is specified. For example, when the given voltage is 10V, the reference frequencies for both the main and driven pinch roll motors are 50Hz. When a linear velocity is specified, based on the main pinch roll motor frequency and considering factors such as the transmission ratio and roll diameter, K can be used to determine the reference frequency. gain0 Calculate the setpoint of the main frequency from the pinch roller motor.

[0058] S103: Determine whether the working state of the feed roller motor is electric or generator; when it is determined that the working state of the feed roller motor is electric, maintain the main frequency setpoint of the feed roller motor; when it is determined that the working state of the feed roller motor is generator, adjust the main frequency setpoint of the feed roller motor to change the working state of the feed roller motor from generator to electric.

[0059] The operating states of the feed roller motor include two types: generator mode and motor mode. When the feed roller motor is in motor mode, its main frequency setpoint is maintained. When the feed roller motor is in generator mode, it is first adjusted to the same motor mode as the main feed roller motor.

[0060] In some embodiments, the method for determining whether the operating state of the pinch roller motor is a power generation state is as follows:

[0061] Determine whether the output torque of the main pinch roller motor is less than or equal to zero;

[0062] If the output torque of the main pinch roller motor is less than or equal to zero, then the working state of the slave pinch roller motor is the power generation state.

[0063] If the output torque of the main pinch roller motor is greater than zero, then the working state of the slave pinch roller motor is electric.

[0064] In some embodiments, adjusting the main frequency setpoint of the feed roller motor to change the operating state of the feed roller motor from a generator state to an electric motor state includes:

[0065] Adjust the torque gain of the pinch roller motor;

[0066] The main frequency gain of the feed roller motor is adjusted according to the torque gain;

[0067] Based on the gain of the main frequency of the feed roller motor, the setpoint of the main frequency of the feed roller motor is adjusted so that the working state of the feed roller motor changes from the generator state to the motor state.

[0068] From the torque gain K of the pinch roller motor adj =-K p *T out ;K p T represents the proportional gain of the pinch roller motor as it switches from generator mode to motor mode. out This indicates the output torque of the main pinch roller motor.

[0069] In some embodiments, the method of adjusting the main frequency gain of the pinch roller motor according to the torque gain is as follows:

[0070] According to K gain =K gain0 *K adj Adjust the main frequency gain of the pinch roller motor;

[0071] K gain K represents the main frequency gain. gain0 K represents the initial master frequency gain. adj Represents the torque gain; wherein, F main D represents the given reference frequency of the main pinch roller motor. main Indicates the roller diameter of the main pinch roller motor, i main F represents the transmission ratio of the main pinch roller motor. slave D represents the given reference frequency from the pinch roller motor. slave Indicates the roller diameter from the pinch roller motor, i slave This indicates the transmission ratio from the pinch roller motor.

[0072] In addition, when the operating state of the pinch roller motor is electric, the torque gain is kept at 1.

[0073] In other words, the torque gain of the pinch roller motor satisfies:

[0074]

[0075] It should be noted that the above-mentioned linear adjustment of the torque gain of the pinch roller motor, and accordingly adjusting the main frequency gain of the pinch roller motor to make the pinch roller motor in motor state, is a self-correction process of the main frequency source of the pinch roller motor. The speed regulation PID of the pinch roller motor has not yet played a role.

[0076] S104: The output torque of the main pinch roller motor when running at the linear speed is used as the setpoint value of the speed adjustment PID of the slave pinch roller motor, the output torque of the slave pinch roller motor in the electric state is used as the feedback value of the speed adjustment PID, and the output of the speed adjustment PID is used as the auxiliary frequency setpoint value of the slave pinch roller motor.

[0077] S105: Superimpose the main frequency setpoint and the auxiliary frequency setpoint to obtain the frequency setpoint of the pinch roller motor.

[0078] Before step S104, during the process of calculating the frequency of the feed roller motor based on the consistent linear velocity and adjusting the frequency of the feed roller motor to switch from generator to motor mode, the linear velocity of the feed roller motor is only close to, but not completely consistent with, that of the main feed roller motor. After steps S104 and S105, the linear velocities of the main and feed roller motors can be completely consistent.

[0079] Specifically, to ensure that the output percentage of the main pinch roll motor and the driven pinch roll motor are consistent, i.e., their linear velocities are consistent, this embodiment of the application, based on both the main pinch roll motor and the driven pinch roll motor operating in motored mode, uses the output torque of the main pinch roll motor, calibrated to its rated torque per unit, as the setpoint value for the speed regulation PID of the driven pinch roll motor, and uses the output torque of the driven pinch roll motor, calibrated to its rated torque per unit, as the feedback value for the speed regulation PID. Furthermore, this embodiment uses the output of the speed regulation PID as the auxiliary frequency setpoint value for the driven pinch roll motor, and superimposes this auxiliary frequency setpoint value with the main frequency setpoint value to obtain the final frequency setpoint value for the driven pinch roll motor. The S-roll driven pinch roll frequency converter controls the driven pinch roll motor according to this frequency setpoint value.

[0080] When the slave pinch roller motor operates in motored mode, the output torque percentage of the slave pinch roller motor can be calculated based on the iq and id controlled by the slave pinch roller motor. When the main pinch roller motor operates in motored mode, the output torque percentage of the main pinch roller motor can be calculated based on the iq and id controlled by the main pinch roller motor. The corresponding voltage output can then be obtained from the output torque percentage of the main pinch roller motor. id and iq are obtained by projecting the three-phase symmetrical current onto the dq coordinate axis.

[0081] by Figure 3 Taking the multi-roller structure shown as an example, the process of multi-roller synchronous control can be as follows:

[0082] Relative to motor M2, motor M1 can act as the main pinch roller motor, and motor M2 as the slave pinch roller motor. By performing the steps described in the above embodiments, the linear velocities of motors M1 and M2 can be made consistent. Similarly, relative to motor M3, motor M2 can again act as the main pinch roller motor, and motor M3 as the slave pinch roller motor. By performing the steps described in the above embodiments, the linear velocities of motors M2 and M3 can again be made consistent. Likewise, relative to motor M4, motor M3 can again act as the main pinch roller motor, and motor M4 as the slave pinch roller motor. By performing the steps described in the above embodiments, the linear velocities of motors M3 and M4 can again be made consistent. Thus, by performing the steps described in the above embodiments, the linear velocities of motors M1, M2, M3, and M4 can ultimately be made consistent.

[0083] In summary, the multi-roller synchronous control method provided in this application, based on the given linear speeds of the main and driven pinch roller motors and ensuring that the driven pinch roller motor operates in a motored state, allows the driven pinch roller motor to self-adjust its linear speed according to the output torque of the main pinch roller motor and its own output torque. This ensures that the linear speeds of the driven pinch roller motor and the main pinch roller motor are consistent, preventing internal losses and reducing system energy consumption. Furthermore, this application can achieve consistent linear speeds between the main and driven pinch roller motors without external sensors, reducing both machining requirements and equipment manufacturing costs.

[0084] This application also provides a multi-roller synchronous control device, which is described below and can be referred to in conjunction with the method described above. Please refer to... Figure 4 , Figure 4 This is a schematic diagram of a multi-roller synchronous control device provided in an embodiment of this application, combined with... Figure 4 As shown, the device includes:

[0085] Linear speed setting module 10 is used to set the linear speed of the main clamping roller motor and the slave clamping roller motor;

[0086] The main frequency setpoint determination module 20 is used to determine the main frequency setpoint of the feed roller motor based on the linear velocity.

[0087] The working state setting module 30 is used to determine whether the working state of the feed roller motor is electric or generator; when it is determined that the working state of the feed roller motor is electric, the main frequency setpoint of the feed roller motor is maintained; when it is determined that the working state of the feed roller motor is generator, the main frequency setpoint of the feed roller motor is adjusted so that the working state of the feed roller motor is changed from generator to electric.

[0088] The auxiliary frequency setpoint determination module 40 is used to take the output torque of the main pinch roller motor running at the linear speed as the setpoint of the speed adjustment PID of the slave pinch roller motor, take the output torque of the slave pinch roller motor in the electric state as the feedback value of the speed adjustment PID, and take the output of the speed adjustment PID as the auxiliary frequency setpoint of the slave pinch roller motor.

[0089] The given value superposition module 50 is used to superimpose the main frequency given value and the auxiliary frequency given value to obtain the frequency given value of the pinch roller motor.

[0090] Based on the above embodiments, as a specific implementation method, the working status setting module includes:

[0091] A torque gain adjustment unit is used to adjust the torque gain of the pinch roller motor.

[0092] A main frequency gain adjustment unit is used to adjust the main frequency gain of the feed roller motor according to the torque gain.

[0093] The main frequency setpoint adjustment unit is used to adjust the main frequency setpoint of the slave pinch roller motor according to the main frequency gain of the slave pinch roller motor, so that the working state of the slave pinch roller motor changes from the generator state to the motor state.

[0094] Based on the above embodiments, as a specific implementation method, the main frequency gain adjustment unit is specifically used for:

[0095] According to K gain =K gain0 *K adj Adjust the main frequency gain of the pinch roller motor;

[0096] K gain K represents the main frequency gain. gain0 K represents the initial master frequency gain. adj Represents the torque gain; wherein, Fmain D represents the given reference frequency of the main pinch roller motor. main Indicates the roller diameter of the main pinch roller motor, i main F represents the transmission ratio of the main pinch roller motor. slave D represents the given reference frequency from the pinch roller motor. slave Indicates the roller diameter from the pinch roller motor, i slave This indicates the transmission ratio from the pinch roller motor.

[0097] Based on the above embodiments, as a specific implementation method, it further includes:

[0098] A torque gain holding module is used to maintain the torque gain at 1 when the operating state of the feed roller motor is electric.

[0099] The multi-roller synchronous control device provided in this application, based on the given linear speeds of the main and driven pinch roller motors and ensuring that the driven pinch roller motor is in motored mode, allows the driven pinch roller motor to self-adjust its linear speed according to the output torque of the main pinch roller motor and its own output torque. This ensures that the linear speeds of the driven pinch roller motor and the main pinch roller motor are consistent, preventing internal losses and reducing system energy consumption. Furthermore, this application can achieve consistent linear speeds between the main and driven pinch roller motors without external sensors, reducing both machining requirements and equipment manufacturing costs.

[0100] This application also provides a multi-roller synchronous control device, see reference. Figure 5 As shown, the device includes a memory 1 and a processor 2.

[0101] Memory 1 is used to store computer programs;

[0102] Processor 2 is used to execute computer programs to perform the following steps:

[0103] Given the linear velocities of the main and driven pinch roller motors; determine the main frequency setpoint of the driven pinch roller motor based on the linear velocities; determine whether the driven pinch roller motor is in motoring or generating mode; when it is determined that the driven pinch roller motor is in motoring mode, maintain the main frequency setpoint of the driven pinch roller motor; when it is determined that the driven pinch roller motor is in generating mode, adjust the main frequency setpoint of the driven pinch roller motor to change the operating mode from generating mode to motoring mode; use the output torque of the main pinch roller motor running at the given linear velocity as the setpoint of the speed adjustment PID of the driven pinch roller motor, use the output torque of the driven pinch roller motor in motoring mode as the feedback value of the speed adjustment PID, and use the output of the speed adjustment PID as the auxiliary frequency setpoint of the driven pinch roller motor; superimpose the main frequency setpoint and the auxiliary frequency setpoint to obtain the frequency setpoint of the driven pinch roller motor.

[0104] For a description of the equipment provided in this application, please refer to the above method embodiments; further details will not be provided here.

[0105] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the following steps:

[0106] Given the linear velocities of the main and driven pinch roller motors; determine the main frequency setpoint of the driven pinch roller motor based on the linear velocities; determine whether the driven pinch roller motor is in motoring or generating mode; when it is determined that the driven pinch roller motor is in motoring mode, maintain the main frequency setpoint of the driven pinch roller motor; when it is determined that the driven pinch roller motor is in generating mode, adjust the main frequency setpoint of the driven pinch roller motor to change the operating mode from generating mode to motoring mode; use the output torque of the main pinch roller motor running at the given linear velocity as the setpoint of the speed adjustment PID of the driven pinch roller motor, use the output torque of the driven pinch roller motor in motoring mode as the feedback value of the speed adjustment PID, and use the output of the speed adjustment PID as the auxiliary frequency setpoint of the driven pinch roller motor; superimpose the main frequency setpoint and the auxiliary frequency setpoint to obtain the frequency setpoint of the driven pinch roller motor.

[0107] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0108] For a description of the computer-readable storage medium provided in this application, please refer to the above method embodiments; further details will not be repeated here.

[0109] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatuses, devices, and computer-readable storage media disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant details can be found in the method section.

[0110] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0111] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0112] The multi-roller synchronous control method, apparatus, device, and computer-readable storage medium provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and its core ideas. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A multi-roller synchronous control method, characterized in that, include: Given the linear velocities of the main pinch roller motor and the slave pinch roller motor; The main frequency setpoint of the feed roller motor is determined based on the linear velocity. Determine whether the working state of the pinch roller motor is electric or generator. When it is determined that the working state of the feed roller motor is electric, the main frequency setpoint of the feed roller motor is maintained; when it is determined that the working state of the feed roller motor is generator, the main frequency setpoint of the feed roller motor is adjusted so that the working state of the feed roller motor is changed from generator to electric. The output torque of the main pinch roller motor when running at the linear speed is used as the setpoint value of the speed adjustment PID of the slave pinch roller motor, the output torque of the slave pinch roller motor in the electric state is used as the feedback value of the speed adjustment PID, and the output of the speed adjustment PID is used as the auxiliary frequency setpoint value of the slave pinch roller motor. The frequency setpoint of the feed roller motor is obtained by superimposing the main frequency setpoint and the auxiliary frequency setpoint.

2. The multi-roller synchronous control method according to claim 1, characterized in that, The step of adjusting the main frequency setpoint of the feed roller motor to change the operating state of the feed roller motor from generator state to motor state includes: Adjust the torque gain of the pinch roller motor; The main frequency gain of the feed roller motor is adjusted according to the torque gain; Based on the gain of the main frequency of the feed roller motor, the setpoint of the main frequency of the feed roller motor is adjusted so that the working state of the feed roller motor changes from the generator state to the motor state.

3. The multi-roller synchronous control method according to claim 2, characterized in that, The step of adjusting the main frequency gain of the feed roller motor according to the torque gain includes: According to K gain =K gain0 *K adj Adjust the main frequency gain of the pinch roller motor; K gain K represents the main frequency gain. gain0 K represents the initial master frequency gain. adj Represents the torque gain; wherein, F main D represents the given reference frequency of the main pinch roller motor. main Indicates the roller diameter of the main pinch roller motor, i main F represents the transmission ratio of the main pinch roller motor. slave D represents the given reference frequency from the pinch roller motor. slave Indicates the roller diameter from the pinch roller motor, i slave This indicates the transmission ratio from the pinch roller motor.

4. The multi-roller synchronous control method according to claim 2, characterized in that, Also includes: When the operating state of the feed roller motor is electric, the torque gain is kept at 1.

5. The multi-roller synchronous control method according to claim 1, characterized in that, The method for determining whether the working state of the pinch roller motor is electric or generator is as follows: Determine whether the output torque of the main pinch roller motor is less than or equal to zero; If the output torque of the main pinch roller motor is less than or equal to zero, then the working state of the slave pinch roller motor is the power generation state. If the output torque of the main pinch roller motor is greater than zero, then the working state of the slave pinch roller motor is electric.

6. A multi-roller synchronous control device, characterized in that, include: The linear speed setting module is used to set the linear speed of the main clamping roller motor and the slave clamping roller motor; The main frequency setpoint determination module is used to determine the main frequency setpoint of the feed roller motor based on the linear velocity. The working status setting module is used to determine whether the working status of the feed roller motor is electric or generator. When it is determined that the working state of the feed roller motor is electric, the main frequency setpoint of the feed roller motor is maintained; when it is determined that the working state of the feed roller motor is generator, the main frequency setpoint of the feed roller motor is adjusted so that the working state of the feed roller motor is changed from generator to electric. The auxiliary frequency setpoint determination module is used to take the output torque of the main pinch roller motor running at the linear speed as the setpoint of the speed adjustment PID of the slave pinch roller motor, take the output torque of the slave pinch roller motor in the electric state as the feedback value of the speed adjustment PID, and take the output of the speed adjustment PID as the auxiliary frequency setpoint of the slave pinch roller motor. The given value superposition module is used to superimpose the main frequency given value and the auxiliary frequency given value to obtain the frequency given value of the pinch roller motor.

7. The multi-roller synchronous control device according to claim 6, characterized in that, The working status setting module includes: A torque gain adjustment unit is used to adjust the torque gain of the pinch roller motor. A main frequency gain adjustment unit is used to adjust the main frequency gain of the feed roller motor according to the torque gain. The main frequency setpoint adjustment unit is used to adjust the main frequency setpoint of the slave pinch roller motor according to the main frequency gain of the slave pinch roller motor, so that the working state of the slave pinch roller motor changes from the generator state to the motor state.

8. The multi-roller synchronous control device according to claim 6, characterized in that, Also includes: A torque gain holding module is used to maintain the torque gain at 1 when the operating state of the feed roller motor is electric.

9. A multi-roller synchronous control device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the multi-roller synchronous control method as described in any one of claims 1 to 5 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the multi-roller synchronous control method as described in any one of claims 1 to 5.

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