A high-response automatic winding servo control system

Abstract

The application relates to the winding technical field, in particular to a high-response automatic winding servo control system, which comprises an inner loop control module, an outer loop control module, an adder, a swing rod angle sensor and a winding motor; the output end of the outer loop control module is connected with the input end of the inner loop control module; the output end of the inner loop control module is connected with the input end of the winding motor; and the output end of the swing rod angle sensor is connected with the input end of the outer loop control module. The inner loop control module is used for controlling the rotating speed and the torque of the winding motor; the outer loop control module and the swing rod angle sensor are used for taking the swing rod angle sensor as the input signal of the outer loop control module, and the closed-loop control of the winding length of the winding material is completed, so that the accurate machining control of the strip-shaped material is realized on the basis of keeping the winding tension constant.

Description

TECHNICAL FIELD

[0001] The present application relates to the winding technical field, in particular to a high response automatic winding servo control system. BACKGROUND

[0002] The winding equipment is the material receiving part of the material winding production line, which winds the raw material into a roll by mechanical method, and is widely used in paper roll, cloth roll, plastic roll and metal roll production line; if the tension of the strip-shaped material (such as cotton thread, adhesive tape, etc.) cannot be controlled during the winding process, the product quality will be directly reduced, causing loss to the enterprise; the existing winding equipment uses a winding special frequency converter with internal PID function to control the winding tension, and the use of the frequency converter will make the system response slow, the tension control precision low, and the tension fluctuation large during operation. SUMMARY

[0003] The technical problem to be solved by the present application is to provide a high response automatic winding servo control system for accurate processing control of the winding of the strip-shaped material.

[0004] In order to solve the above technical problems, the technical scheme adopted by the present application is:

[0005] A high response automatic winding servo control system, comprising an inner loop control module, an outer loop control module, an adder, a swing rod angle sensor and a winding motor, the output end of the outer loop control module is connected with the input end of the inner loop control module, the output end of the inner loop control module is connected with the input end of the winding motor, the output end of the swing rod angle sensor is connected with the input end of the outer loop control module, the output end of the winding motor is connected with one input end of the adder, the other input end of the adder is connected with the feeding device of the external device, and the output end of the adder is connected with the input end of the swing rod angle sensor.

[0006] The present application has the following beneficial effects:

[0007] The inner loop control module is used to control the speed and torque of the winding motor, the swing rod angle sensor is used as the input signal of the outer loop control module, and the closed loop control of the winding length is completed through the outer loop control module and the swing rod angle sensor; the real-time processing is carried out according to the real-time speed signal of the winding motor, the vibration signal of the winding motor proportional to the winding radius is obtained, and the control parameters of the winding PID are adjusted in real time, so that the quick response and accurate constant tension control of the winding system can be maintained without external winding radius detection sensor device. BRIEF DESCRIPTION OF DRAWINGS

[0008] Figure 1 It is a structure diagram of a high response automatic winding servo control system according to the present application.

[0009] Figure 2 The structural schematic diagram of a current loop of a high-response automatic winding servo control system according to the present application;

[0010] Figure 3 The structural schematic diagram of a speed loop of a high-response automatic winding servo control system according to the present application;

[0011] Label explanation:

[0012] 1, inner loop control module; 101, current loop; 102, speed loop; 2, outer loop control module; 3, adder; 4, swing rod angle sensor; 5, winding motor; 6, winding radius monitoring module. DETAILED DESCRIPTION

[0013] In order to explain the technical content, the purpose and the effect of the present application in detail, the following will be described in combination with the embodiments and the accompanying drawings.

[0014] Please refer to Figure 1 The technical scheme provided by the present application is:

[0015] A high-response automatic winding servo control system, comprising an inner loop control module, an outer loop control module, an adder, a swing rod angle sensor and a winding motor, the output end of the outer loop control module is connected with the input end of the inner loop control module, the output end of the inner loop control module is connected with the input end of the winding motor, the output end of the swing rod angle sensor is connected with the input end of the outer loop control module, the output end of the winding motor is connected with one input end of the adder, the other input end of the adder is connected with the feeding device of the external device, and the output end of the adder is connected with the input end of the swing rod angle sensor.

[0016] From the above description, the beneficial effects of the present application are as follows:

[0017] The inner loop control module is used to control the rotating speed and torque of the winding motor, the swing rod angle sensor is used as the input signal of the outer loop control module through the outer loop control module and the swing rod angle sensor, and the closed-loop control of the winding length is completed; the real-time processing is performed according to the real-time rotating speed signal of the winding motor, the winding motor vibration signal proportional to the winding radius is obtained, and is used for real-time adjustment of the control parameters of the winding PID, so that the quick response and the accurate constant tension control of the winding system can be maintained without the external winding radius detection sensor device.

[0018] Further, the inner loop control module comprises a current loop and a speed loop, the input end of the speed loop is connected with the output end of the outer loop, the output end of the speed loop is connected with the input end of the current loop, and the output end of the current loop is connected with the input end of the winding motor.

[0019] From the above description, the current loop and the speed loop constitute the inner loop control module, and the control of the rotating speed and torque of the winding motor is completed.

[0020] Further, the outer loop control module comprises a PID controller, an input end of the PID controller is connected with an output end of the pendulum rod angle sensor, and an output end of the PID controller is connected with an input end of the inner loop control module.

[0021] From the above description, the outer loop control module comprises a PID controller, and the closed loop control of the winding length of the material is completed by taking the pendulum rod angle sensor as an input signal.

[0022] Further, the PID controller is a PID controller with parameter adjustment function.

[0023] Further, a winding radius monitoring module is further included, and an input signal of the winding radius monitoring module is a real-time rotating speed feedback signal of the winding motor.

[0024] From the above description, by arranging the winding radius monitoring module, the control parameters of the winding PID can be automatically adjusted.

[0025] Further, the winding motor is a permanent magnet synchronous motor.

[0026] Please refer to Figures 1 to 3 , the embodiment one of the present application is:

[0027] Please refer to Figure 1 , a high-response automatic winding servo control system, comprising an inner loop control module 1, an outer loop control module 2, an adder 3, a pendulum rod angle sensor 4 (adopting a precision conductive plastic potentiometer of model WDD35D4 of Tengou Electrical Company) and a winding motor 5, an output end of the outer loop control module 2 is connected with an input end of the inner loop control module 1, an output end of the inner loop control module 1 is connected with an input end of the winding motor 5, an output end of the pendulum rod angle sensor 4 is connected with an input end of the outer loop control module 2, an output end of the winding motor 5 is connected with one input end of the adder 3, the other input end of the adder 3 is connected with an external feeding device, and an output end of the adder 3 is connected with an input end of the pendulum rod angle sensor 4.

[0028] Please refer to Figure 1, the inner loop control module 1 comprises a current loop 101 and a speed loop 102, the input end of the speed loop 102 is connected with the output end of the outer loop, the output end of the speed loop 102 is connected with the input end of the current loop 101, and the output end of the current loop 101 is connected with the input end of the winding motor 5. The output of the outer loop control module 2 is input as the speed command of the speed loop 102; the output of the speed loop 102 is input as the current loop 101; and the output of the current loop 101 is used for controlling the current output of the winding motor 5. The specific structure of the current loop 101 please refer to Figure 2 (i.e. using the traditional current loop structure); and the specific structure of the speed loop 102 please refer to Figure 3 (i.e. using the traditional speed loop structure).

[0029] Please refer to Figure 1 , the outer loop control module 2 comprises a PID controller, the input end of the PID controller is connected with the output end of the pendulum rod angle sensor 4, and the output end of the PID controller is connected with the input end of the inner loop control module 1.

[0030] The PID controller is a PID controller with parameter adjustment function.

[0031] Please refer to Figure 1 , further comprising a winding radius monitoring module 6 (also called winding PID parameter self-tuning module), and the input signal of the winding radius monitoring module 6 is a real-time speed feedback signal of the winding motor. The winding radius monitoring module 6 calculates the corresponding real-time winding radius according to the vibration amplitude and frequency of the actual speed, and adjusts the proportional gain parameter of the PID controller correspondingly.

[0032] The winding motor 5 is a permanent magnet synchronous motor.

[0033] The pendulum rod angle sensor 4 is arranged on the pendulum rod, the pendulum rod is similar to a balance, has a rotating shaft in the middle, can rotate by a certain angle around the rotating shaft, and the pendulum rod angle sensor 4 can output the angle of rotation according to the rotation degree of the pendulum rod:

[0034] a) when the winding tension is equal to the target tension, the pendulum rod is in a horizontal position;

[0035] b) when the winding tension is too large (i.e. the winding tension is greater than the target tension), the left side of the pendulum rod is higher than the right side;

[0036] c) when the winding tension is too small (i.e. the winding tension is less than the target tension), the left side of the pendulum rod is lower than the right side.

[0037] The position state of the swing rod can be fed back by the swing rod angle sensor 4, so as to reflect the tension of the material at this time, and thus the precise processing control of the strip material (such as cotton thread, adhesive tape, etc.) can be performed on the basis of keeping the winding tension constant.

[0038] According to the formula Circumference = 2π*radius, it can be known that the material length under unit angular velocity is in direct proportion to the size of the winding shaft radius.

[0039] According to the above conclusion, it can be obtained that the optimal proportional coefficient Kp of the winding control PID is a variable in direct proportion to the size of the winding radius.

[0040] Through the analysis and processing of the feedback signal of the swing rod angle sensor 4, the winding radius data can be automatically and real-timely obtained; according to the obtained winding radius, the control parameters of the winding PID can be real-timely adjusted to obtain the winding PID control with the highest bandwidth, and thus the higher responsiveness and control accuracy can be achieved.

[0041] In the winding control PID module, the optimal proportional coefficient (also called proportional gain) Kp of the winding control PID = 2*PI*winding radius*swing rod angle sensor voltage coefficient;

[0042] It can be known from the above formula that the proportional gain Kp of the winding control PID is a variable in direct proportion to the size of the winding radius. Since the winding radius is monotonously increased with the winding action, the winding PID parameter self-tuning algorithm module sets the initial winding radius as the minimum winding radius, and introduces a variable Kr which is automatically adjusted according to the winding radius. The above formula can be expressed as: proportional gain Kp = Kr*2*PI*minimum winding radius (rmin)*swing rod angle sensor voltage coefficient.

[0043] The winding PID parameter self-tuning algorithm module automatically adjusts the coefficient Kr according to the measured winding radius related quantity. The specific implementation is as follows:

[0044] 1. When the system is powered on and operated, the initial proportional gain Kp = Kr*2*PI*minimum winding radius (rmin)*swing rod angle sensor voltage coefficient is set; and the winding radius automatic adjustment variable Kr = 1.

[0045] 2. When the winding radius gradually increases, the value of the proportional gain Kp in the winding control PID module will be larger than the corresponding target setting, and the speed of the winding motor will vibrate;

[0046] 3. The amplitude of the speed vibration is measured;

[0047] 4. When the vibration amplitude is greater than the set amplitude A, the winding radius automatic adjustment variable Kr is multiplied by 0.9.

[0048] When the vibration amplitude is greater than the set amplitude B, the winding radius automatic adjustment variable Kr is multiplied by 0.8;

[0049] According to the maximum radius of the winding system, the minimum value Kr of the winding radius automatic adjustment variable Kr is set Min ;

[0050] In summary, the application provides a high-response automatic winding servo control system, which controls the speed and torque of the winding motor through the inner loop control module, and controls the winding length through the outer loop control module and the swing lever angle sensor, taking the swing lever angle sensor as the input signal of the outer loop control module; the real-time processing of the real-time speed signal of the winding motor is performed to obtain the winding motor vibration signal proportional to the winding radius, which is used to adjust the control parameters of the winding PID in real time, so that the fast response and accurate constant tension control of the winding system can be maintained without external winding radius detection sensor device.

[0051] The above is only an embodiment of the application, and does not limit the patent scope of the application, and any equivalent transformation or direct or indirect application in the related technical field based on the content of the specification and drawings is also included in the patent protection scope of the application.

Claims

1. A high response automatic winding servo control system characterized by, The device comprises an inner loop control module, an outer loop control module, an adder, a swing rod angle sensor and a winding motor, the output end of the outer loop control module is connected with the input end of the inner loop control module, the output end of the inner loop control module is connected with the input end of the winding motor, the output end of the swing rod angle sensor is connected with the input end of the outer loop control module, the output end of the winding motor is connected with one input end of the adder, the other input end of the adder is connected with a feeding device of an external device, and the output end of the adder is connected with the input end of the swing rod angle sensor. The inner loop control module comprises a current loop and a speed loop, the input end of the speed loop is connected with the output end of the outer loop control module, the output end of the speed loop is connected with the input end of the current loop, and the output end of the current loop is connected with the input end of the winding motor. The device further comprises a winding radius monitoring module, the input signal of the winding radius monitoring module is a real-time rotating speed feedback signal of the winding motor, the winding radius monitoring module calculates the corresponding real-time winding radius according to the vibration amplitude and frequency of the actual rotating speed, and adjusts the proportional gain parameter of the PID controller correspondingly. The outer loop control module comprises a PID controller, the input end of the PID controller is connected with the output end of the swing rod angle sensor, and the output end of the PID controller is connected with the input end of the inner loop control module. The PID controller is a PID controller with automatic parameter adjustment function.

2. The high response automatic winding servo control system according to claim 1, wherein The winding motor is a permanent magnet synchronous motor.

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