Coating motion control method and device

Abstract

The invention provides a coating motion control method and device, and relates to the technical field of coating control, and the coating motion control method comprises the steps that the real-time position of a swing roller at the current moment is obtained; determining a first control parameter based on the real-time position and a configured first preset position; based on the first control parameter, the movement speed of the first mechanism is controlled at the next moment; a second control parameter is generated based on the real-time position of the swing roller after the swing roller moves to the first preset position; and controlling the movement speed of the second mechanism based on the second control parameter. The moving speed of the lower layer passing roller of the belt storage mechanism is controlled based on the real-time position and the stable state position of the swing roller, so that the length of the coiled material conveyed in the belt storage mechanism is changed, the tension of the coiled material is changed, the coating control stability is improved, meanwhile, the coating efficiency is improved, and material waste in the coating process is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of coating control, and in particular to a coating motion control method and a control device. Background Art

[0002] The existing coil coating, rolling and film cutting are each performed separately by the production equipment of a single process. It is difficult to synchronize the speed and tension during the integration process. In addition, due to the poor matching of the online operation speed of the coating, rolling and film cutting equipment, the tension fluctuates greatly, which affects the equipment process production parameters and increases the defective rate of equipment products. At the same time, during the coating control process, the traction structure maintains a constant speed, resulting in a constant speed difference between the traction speed after the belt storage and the traction speed before the belt storage, which causes the speed difference to accumulate, the belt storage continues to grow or decrease, and the speed difference between the mechanisms cannot be accurately adjusted, resulting in the final shutdown failure. In addition, the too slow speed-up and too slow tension fluctuation stabilization process cause a large amount of material to be wasted due to substandard process parameters. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a coating motion control method and a control device to solve the above-mentioned problems existing in the prior art and to achieve stable and efficient coating motion control.

[0004] In a first aspect, a coating motion control method is provided, which is applied to a control device, wherein the control device is provided with: at least one upper layer roller, at least one lower layer roller, a belt storage motor, a swing roller and a cylinder, wherein the belt storage motor is used to drive the lower layer roller to move up and down to change the distance between the lower layer roller and the upper layer roller; the cylinder is used to drive the swing roller to swing along the extension direction and the retraction direction of the cylinder; the coil moves forward in the channel formed by the upper layer roller, the lower layer roller and the swing roller; the method comprises:

[0005] Obtaining the real-time position of the swing roller at the current moment;

[0006] Determine a first control parameter based on the real-time position and a configured first preset position; wherein the first preset position is the position of the swing roller when it is in a stable state;

[0007] Based on the first control parameter, at the next moment, controlling the movement speed of the first mechanism to move the swing roller toward the first preset position;

[0008] generating a second control parameter based on the real-time position of the swing roller after the swing roller moves to the first preset position;

[0009] Based on the second control parameter, the movement speed of the second mechanism is controlled to keep the swing roller at the first preset position.

[0010] In an optional implementation, the control device is further provided with a traction mechanism; the traction mechanism is connected to the swing roller; the traction mechanism is used to drive the coil to move forward in the channel formed by the swing roller and the traction mechanism;

[0011] The first mechanism is a belt storage motor or a traction mechanism.

[0012] In an optional implementation, when the first mechanism is a belt storage motor, the second mechanism is a traction mechanism;

[0013] Based on the first control parameter, controlling the movement speed of the first mechanism at the next moment includes:

[0014] Based on the first control parameter, at the next moment, control the speed at which the storage motor drives the lower layer roller to move;

[0015] Based on the second control parameter, controlling the movement speed of the second mechanism includes:

[0016] Based on the second control parameter, the speed at which the traction mechanism drives the coil to move is controlled at the next moment.

[0017] In an optional implementation, in the process of controlling the speed at which the traction mechanism drives the coil to move at the next moment based on the second control parameter, the method further includes:

[0018] Determining a third control parameter based on the real-time position of the swing roller and the configured first preset position;

[0019] Based on the third control parameter, controlling the belt storage motor to drive the lower layer roller to return to the configured second preset position;

[0020] When the belt storage motor drives the lower layer roller to move to the configured second preset position, the belt storage motor is controlled to be stationary.

[0021] In an optional implementation, when the first mechanism is a traction mechanism, the second mechanism is a belt storage motor;

[0022] Based on the first control parameter, controlling the movement speed of the first mechanism at the next moment includes:

[0023] Based on the first control parameter, at the next moment, control the speed at which the traction mechanism drives the coil to move;

[0024] Based on the second control parameter, controlling the movement speed of the second mechanism includes:

[0025] Based on the second control parameter, the storage motor is controlled to drive the lower layer roller to return to the configured second preset position.

[0026] In an optional implementation, in the process of controlling the storage motor to drive the lower layer roller to return to the configured second preset position, the method further includes:

[0027] Obtaining the position of the lower layer roller;

[0028] generating a third control parameter based on the position of the lower layer roller;

[0029] Based on the third control parameter, the speed at which the traction mechanism drives the coil to move is controlled.

[0030] In a second aspect, a coating motion control method is provided, which is applied to a control device, wherein the control device is provided with: at least one upper layer roller, at least one lower layer roller, a belt storage motor, a swing roller, a cylinder and a traction mechanism, wherein the belt storage motor is used to drive the lower layer roller to move up and down to change the distance between the lower layer roller and the upper layer roller; the cylinder is used to drive the swing roller to swing along the extension direction and the retraction direction of the cylinder; the traction mechanism is connected to the swing roller; the traction mechanism is used to drive the coil to move forward in the channel formed by the upper layer roller, the lower layer roller, the swing roller and the traction mechanism; the method comprises:

[0031] Obtaining the real-time position of the swing roller at the current moment;

[0032] Determine a first control parameter based on the real-time position and a configured first preset position; wherein the first preset position is the position of the swing roller when it is in a stable state;

[0033] Based on the first control parameter, the speed at which the storage motor drives the lower layer roller to move is controlled at the next moment.

[0034] In an optional implementation, the method further includes:

[0035] Obtaining the position of the lower layer roller;

[0036] generating a second control parameter based on the position of the lower layer roller;

[0037] Based on the second control parameter, the speed at which the traction mechanism drives the coil to move is controlled.

[0038] In a third aspect, a coating motion control device is provided, which may include:

[0039] An acquisition unit, used for acquiring the real-time position of the swing roller at the current moment;

[0040] A determination unit, configured to determine a first control parameter based on the real-time position and a configured first preset position; wherein the first preset position is a position when the swing roller is in a stable state;

[0041] a moving unit, configured to control the movement speed of the first mechanism at a next moment based on the first control parameter, so as to move the swing roller toward the first preset position;

[0042] A generating unit, configured to generate a second control parameter based on the real-time position of the swing roller after the swing roller moves to the first preset position;

[0043] The control unit is used to control the movement speed of the second mechanism based on the second control parameter so that the swing roller is kept at the first preset position.

[0044] In a fourth aspect, a coating motion control device is provided, which may include:

[0045] The acquisition unit is used to acquire the real-time position of the swing roller at the current moment; and acquire the position of the lower layer passing roller;

[0046] A determination unit, configured to determine a first control parameter based on the real-time position and a configured first preset position; wherein the first preset position is a position of the swing roller when it is in a stable state; and to generate a second control parameter based on a position of the lower layer roller;

[0047] The control unit is used to control the speed at which the storage motor drives the lower layer roller to move based on the first control parameter at the next moment; and to control the speed at which the traction mechanism drives the coil to move based on the second control parameter.

[0048] In a fifth aspect, an electronic device is provided, the electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0049] Memory, used to store computer programs;

[0050] The processor is used to implement any method step described in the first aspect or any method step described in the second aspect when executing the program stored in the memory.

[0051] In a sixth aspect, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the method steps described in any one of the first aspect or the second aspect are implemented.

[0052] The present application can reduce the waste of coils in the coating process, improve the utilization rate of coils, and efficiently and stably transport coils; by controlling the constant speed of the belt storage mechanism, the interference of multiple controls on the logical stability of the equipment is reduced; the speed PID condition of a single traction roller avoids the multiple interference effects caused by the PID adjustment of the belt storage motor and the motor of the traction mechanism together, resulting in poor stability of the equipment swing roller and a long stabilization process; the moving speed of the belt storage motor is determined directly based on the real-time position of the swing roller, and then the moving speed of the lower layer roller is controlled, thereby improving the speed of the control response, and can quickly and efficiently realize the coating motion control with the fastest response.

[0053] The operation control of this application adopts a unified control logic throughout the process. There is no need to switch the logic control according to different situations, which reduces the program bugs caused by the control logic switching and the abnormal program action due to the scanning cycle, and is convenient for logic control writing; dual closed-loop control and unified control logic are adopted to achieve more stable coating motion control; double adjustment provides the maximum buffering (storage belt distance + swing roller distance) for the situation where the equipment has a large difference in operating speed, and the equipment is more stable in variable speed operation and speed switching, with small fluctuations and gentle amplitude.

[0054] The present application controls the lower layer roller to be in the second preset position, directly shortening the speed fluctuation caused by the lower layer roller returning to the second preset position after the belt storage is ready, avoiding the speed and tension fluctuations of the whole machine and the generation of unstable factors caused by speed fluctuations; the lower layer roller is adjusted according to the position of the swing roller, and the traction roller adjusts the speed according to the position of the lower layer roller, and the double adjustment buffers the speed asynchronism problem between devices to the greatest extent; the equipment is faster and more efficiently entered into a stable operation state from the tension preparation action control stage; the double adjustment buffers the situation where the equipment operation speed difference is large to the greatest extent (storage belt distance + swing roller distance); and the coating motion control process is made more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1 A schematic diagram of the structure of a control device provided in an embodiment of the present application;

[0057] Figure 2 A schematic diagram of the structure of another control device provided in an embodiment of the present application;

[0058] Figure 3 A flow chart of a coating motion control method provided in an embodiment of the present application;

[0059] Figure 4 A flowchart of another coating motion control method provided in an embodiment of the present application;

[0060] Figure 5 A schematic diagram of the structure of a coating motion control device provided in an embodiment of the present application;

[0061] Figure 6 A schematic diagram of the structure of another coating motion control device provided in an embodiment of the present application;

[0062] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0063] In the figure: 1. belt storage mechanism; 2. swing roller; 3. traction mechanism; 4. second traction mechanism; 5. first traction mechanism; 6. traction roller; 7. rubber pressure roller. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0065] The coating motion control method provided in the embodiment of the present application can be applied to Figure 1 In the control device shown, the control device includes a belt storage mechanism 1, a swing roller mechanism 2 and a traction mechanism 3;

[0066] The tape storage mechanism 1 is provided with a second roller fixing device, a plurality of upper rollers, a tape storage motor, a first roller fixing device and a plurality of lower rollers; wherein each roller is kept in a horizontal direction and parallel to each other; the horizontal center line of any upper roller is parallel to the horizontal center line of any lower roller; the vertical center line of any upper roller is parallel to the vertical center line of any lower roller;

[0067] The second roller fixing device is used to fix multiple upper rollers; the first roller fixing device is used to fix multiple lower rollers; the lower roller is fixed with a storage motor, and the end of the telescopic rod of the storage motor is fixedly connected to the upper roller, and the coiled material is transported out of the storage mechanism through different layers of rollers in an alternating manner; the storage motor drives the telescopic rod to extend and retract to drive the lower roller and the storage motor to move up and down synchronously, thereby adjusting the distance between the upper and lower rollers, thereby realizing the storage and release functions of the coiled material in the storage mechanism.

[0068] The swing roller mechanism 2 includes a swing arm that can swing around the rotating axis. The swing arm is fixedly connected to the cylinder fixed bracket at about 1 / 3 of the arm. The swing arm and the horizontal roller fixed at the lower end of the swing arm together form a swing roller. The output shaft of the swing arm can be driven by the cylinder to rotate to drive the swing arm to swing around the rotating axis, thereby changing the position of the horizontal roller fixed at the lower end of the swing arm. The swing roller mechanism also includes a limit block set in the swing direction of the swing roller, which is used to limit the swing of the swing roller in its swing direction to limit the swing angle of the swing roller. The cylinder controlling the swing roller is equipped with a linear sensor, which detects the cylinder push-out position in real time and converts it into a swing angle conversion value of the swing roller. The pulling direction of the coil on the axis of the swing roller is opposite to the direction of the cylinder, so that when the amount of coil transported is small, the swing roller will be pulled to move in the retraction direction of the cylinder.

[0069] The belt storage mechanism 1 and the swing roller mechanism 2 are provided with a traction mechanism 3 behind the swing roller mechanism along the coil transport direction. The traction mechanism 3 includes a traction roller and a rubber pressure roller arranged up and down, and the traction roller is driven by a traction motor to rotate to drive the coil to be transported forward between the traction roller and the rubber pressure roller along the transport direction.

[0070] In one embodiment of the present application, the number of lower layer rollers=the number of upper layer rollers+1.

[0071] like Figure 2 As shown, in another embodiment of the present application, the control device is provided with a first traction mechanism 5 and a second traction mechanism 4; a belt storage mechanism 1 and a swing roller mechanism 2 are sequentially arranged between the first traction mechanism 5 and the second traction mechanism 4; the first traction mechanism 5 is used to transport the coil to the belt storage mechanism 1 at a uniform speed; when the first traction mechanism 5 and the second traction mechanism 4 convey the coil at the same speed, the swing roller is in a stable state.

[0072] The first traction mechanism 5 includes a traction roller 6 and a rubber pressure roller 7 .

[0073] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application may be combined with each other if there is no conflict.

[0074] Figure 3 The following is a flow chart of a coating motion control method provided in an embodiment of the present application. Figure 3 As shown, the method may include:

[0075] Step S310, obtaining the real-time position of the swing roller at the current moment; determining a first control parameter based on the real-time position and the configured first preset position; and controlling the movement speed of the first mechanism at the next moment based on the first control parameter.

[0076] In the embodiment of the present application, the real-time position of the swing roller is acquired by the linear potentiometer in the cylinder. The position of the swing roller changes with the number of coils in the channel or the tension value of the coils, and the number of coils in the channel or the tension value of the coils changes due to the speed difference between the first traction mechanism and the second traction mechanism in conveying the coils.

[0077] In the embodiment of the present application, the first preset position is the position when the swing roller is in a stable state; the swing roller is in a stable state, that is, when the swing roller is vertically downward; the second preset position is the horizontal center line of the moving track.

[0078] In the embodiment of the present application, the first mechanism is a belt storage motor or a traction mechanism; when the first mechanism is a belt storage motor, the second mechanism is a traction mechanism; when the first mechanism is a traction mechanism, the second mechanism is a belt storage motor.

[0079] In the embodiment of the present application, the control parameters are generated based on the real-time position of the swing roller and the configured first position, which may include:

[0080] The real-time position and the first preset position are converted respectively to obtain a first angle value and a second angle value; and a control parameter is determined based on a configured coefficient and an absolute value of a difference between the first angle value and the second angle value.

[0081] In the embodiment of the present application, when the first mechanism is a belt storage motor and the second mechanism is a traction mechanism, the coating motion control device is in the tension preparation stage, and the calculation formula of the first control parameter is:

[0082] V0=5×|M1-M|; wherein V0 represents the speed at which the storage motor drives the lower layer roller to move; M1 represents the real-time value of the swing roller position (i.e., the first angle value); M represents the set swing roller position, i.e., the first preset position (i.e., the second angle value); 5 represents the preset first coefficient; based on the first control parameter, controlling the movement speed of the first mechanism at the next moment, including: based on the first control parameter, controlling the speed at which the storage motor drives the lower layer roller to move at the next moment.

[0083] In the tension preparation action control stage under this embodiment, since the speeds of the first traction mechanism and the second traction mechanism when conveying the coil are different, there is a speed difference between the two; when the first traction mechanism transports the coil at a uniform speed, if the speed of the second traction mechanism transporting the coil is greater than the speed of the first traction mechanism transporting the coil, the amount of coil transported between the first traction mechanism and the second traction mechanism will decrease, and the swing roller will be pulled to move in the retraction direction of the cylinder at this time; when the swing roller will be pulled to move in the retraction direction of the cylinder, it is necessary to control the relative distance between the lower roller and the upper roller to become smaller, and the belt storage mechanism is in the unloading process, and the coil between the belt storage mechanism and the second traction mechanism will increase, and then the swing roller will be pulled back to the first preset position to reach a stable state.

[0084] If the speed of the second traction mechanism transporting the coil is lower than the speed of the first traction mechanism transporting the coil, the amount of coil transported between the first traction mechanism and the second traction mechanism will increase, and at this time the swing roller will be pulled to move in the direction of the cylinder extension; when the swing roller is pulled to move in the direction of the cylinder extension, it is necessary to control the relative distance between the lower roller and the upper roller to become larger. At this time, the storage mechanism is in the material storage process, and the coil between the storage mechanism and the second traction mechanism will decrease, thereby pulling the swing roller back to the first preset position to reach a stable state; during the entire tension preparation process of this method, the second traction mechanism remains stationary, and the speed of the storage motor to drive the lower roller to move is controlled according to the real-time position of the swing roller.

[0085] In the embodiment of the present application, since the coil moves forward in the channel composed of the upper roller, the lower roller, the swing roller and the traction mechanism, the moving direction is the direction from the swing roller to the traction mechanism; when the distance between the upper roller and the lower roller is changed, the length of the coil moving between the upper roller and the lower roller can be changed; when the swing roller swings in the direction of the cylinder extension, the lower roller moves downward, the distance between the lower roller and the upper roller increases, the length of the coil moving between the upper roller and the lower roller increases, and the belt storage mechanism is in the storage process; when the swing roller swings in the direction of the cylinder retraction, the lower roller moves upward, the distance between the lower roller and the upper roller decreases, the length of the coil moving between the upper roller and the lower roller decreases, and the belt storage mechanism is in the discharge process.

[0086] By changing the positions of the swing roller and the lower layer roller, the belt storage mechanism is in the process of storing or discharging materials, thereby changing the tension of the coil; when the coil tension is too large, that is, the coil is tight, the belt storage mechanism is controlled to be in the process of discharging materials, thereby reducing the tension of the coil; when the coil tension is too small, that is, the coil is too loose, the belt storage mechanism is controlled to be in the process of storing materials, thereby increasing the tension of the coil, so that in the subsequent processing process, the coil is in a stable process to avoid waste of coils.

[0087] In an embodiment of the present application, when the first mechanism is a traction mechanism and the second mechanism is a storage motor, the coating motion control device is in a tension preparation stage, and the lower layer roller is located at a second preset position and remains stationary; according to a comparison table of the configured swing roller position and traction mechanism control parameters, the target traction mechanism control parameters corresponding to the real-time position are matched; based on the first control parameter, the movement speed of the first mechanism is controlled at the next moment, including: based on the first control parameter (i.e., the target traction mechanism control parameter), the speed at which the traction mechanism drives the coil to move is controlled at the next moment.

[0088] In the tension preparation action control stage under this embodiment, since the speeds of the first traction mechanism and the second traction mechanism when conveying the coil are different, there is a speed difference between the two; when the first traction mechanism transports the coil at a uniform speed, if the speed of the second traction mechanism conveying the coil is greater than the speed of the first traction mechanism conveying the coil, the amount of coil transported between the first traction mechanism and the second traction mechanism will decrease, and the swing roller will be pulled to move in the direction of cylinder retraction; when it is detected that the position of the swing roller leaves the stable state and moves in the direction of cylinder retraction, it is necessary to control the speed of the second traction mechanism conveying the coil to slow down so that the swing roller returns to the stable state. ; If the speed at which the second traction mechanism transports the coil is lower than the speed at which the first traction mechanism transports the coil, the amount of coil transported between the first traction mechanism and the second traction mechanism will increase, and the swing roller will be pulled to move in the direction of the cylinder extension; when it is detected that the position of the swing roller leaves the stable state and moves in the direction of the cylinder extension, it is necessary to control the speed at which the second traction mechanism transports the coil to increase so that the swing roller returns to the stable state; during the entire tension preparation action control stage, the lower layer roller remains at the second preset position; at the same time, the traction roller is rotated and adjusted according to the position of the swing roller to ensure that the swing rollers are in the first preset position (i.e., the center value of the swing roller).

[0089] Step S320: Generate a second control parameter based on the real-time position of the swing roller after it moves to the first preset position; and control the movement speed of the second mechanism based on the second control parameter.

[0090] In the embodiment of the present application, when the first mechanism is a belt storage motor and the second mechanism is a traction mechanism, after the swing roller moves to the real-time position after the first preset position, the belt storage mechanism reset control stage is entered, and the generation process of the second control parameter at this time includes: inputting the deviation between the real-time position and the first preset position into the PID controller to obtain the second control parameter; based on the second control parameter, controlling the movement speed of the second mechanism, including: based on the second control parameter, controlling the speed at which the traction mechanism drives the coil to move at the next moment;

[0091] At the same time, in the resetting control stage of the belt storage mechanism of this embodiment, it is also necessary to determine the third control parameter based on the real-time position of the swing roller and the configured first preset position. The calculation formula of the third control parameter includes: V0=3-|M1-M|×100; wherein 3 represents the preset second coefficient; based on the third control parameter, the belt storage motor is controlled to drive the lower layer roller to return to the configured second preset position.

[0092] In this embodiment, when the storage motor drives the lower layer roller to move to the configured second preset position, it enters the stable operation control stage. At this time, the storage motor is kept stationary, and the traction mechanism always follows the position of the swing roller to perform PID closed-loop speed condition control to keep the traction mechanism speed synchronized with the set speed of the whole machine.

[0093] In the resetting control stage of the belt storage mechanism in this embodiment, due to the speed difference between the first traction mechanism and the second traction mechanism, the swing roller cannot be in the first preset position in real time. At this time, it is necessary to control the speed of the traction mechanism (second traction mechanism) conveying the coil based on the absolute value of the difference between the real-time position of the swing roller and the first preset position, so that the swing roller is in the first preset position; at the same time, based on the absolute value of the difference between the real-time position of the swing roller and the first preset position, the lower layer roller is controlled to return to the second preset position, thereby reserving a margin for the next adjustment.

[0094] In the resetting control stage of the belt storage mechanism of this embodiment, if the speed at which the second traction mechanism transports the coil is greater than the speed at which the first traction mechanism transports the coil, the amount of the coil transported between the first traction mechanism and the second traction mechanism will decrease, and at this time the swing roller will be pulled to move in the retraction direction of the cylinder; when it is detected that the position of the swing roller leaves the stable state and moves in the retraction direction of the cylinder, it is necessary to control the speed at which the second traction mechanism transports the coil to slow down so that the swing roller returns to the stable state; if the speed at which the second traction mechanism transports the coil is less than the speed at which the first traction mechanism transports the coil, the amount of the coil transported between the first traction mechanism and the second traction mechanism will increase, and at this time the swing roller will be pulled to move in the extension direction of the cylinder; when it is detected that the position of the swing roller leaves the stable state and moves in the extension direction of the cylinder, it is necessary to control the speed at which the second traction mechanism transports the coil to speed up so that the swing roller returns to the stable state.

[0095] In an embodiment of the present application, when the first mechanism is a traction mechanism and the second mechanism is a belt storage motor, after the swing roller moves to the real-time position after the first preset position, the equipment enters a stable operation control stage. At this time, the second control parameter calculation formula includes: V0=3-|M1-M|×100; based on the second control parameter, the movement speed of the second mechanism is controlled, including: based on the second control parameter, controlling the belt storage motor to drive the lower layer roller to return to the configured second preset position.

[0096] During the equipment stable operation control stage under this embodiment, it is also necessary to: obtain the position of the lower layer roller; generate a third control parameter based on the position of the lower layer roller; and control the speed at which the traction mechanism drives the coil to move based on the third control parameter to keep the position of the lower layer roller close to the second preset position.

[0097] In the equipment stable operation control stage under this embodiment, generating the third control parameter based on the position of the lower layer roller includes: inputting the deviation between the position of the lower layer roller and the second preset position into the PID controller to obtain the third control parameter.

[0098] Figure 4 The following is a flow chart of a coating motion control method provided in an embodiment of the present application. Figure 4 As shown, the method may include:

[0099] Step S410, obtaining the real-time position of the swing roller at the current moment; determining the first control parameter based on the real-time position and the configured first preset position; and controlling the speed at which the storage motor drives the lower layer roller to move at the next moment based on the first control parameter.

[0100] In the embodiment of the present application, the first preset position is the position when the swing roller is in a stable state; the second preset position is the horizontal center line of the moving track.

[0101] In this embodiment, the first control parameter is determined based on the real-time position and the configured first preset position, including: calculating the first control parameter using the following formula: V0=3-|M1-M|×100; or performing PID position closed-loop adjustment based on the first preset position and the swing roller position.

[0102] Step S420, obtaining the position of the lower layer roller; generating a second control parameter based on the position of the lower layer roller; and controlling the speed at which the traction mechanism drives the coil to move based on the second control parameter.

[0103] In the embodiment of the present application, based on the position of the lower layer roller, a second control parameter is generated; based on the second control parameter, the speed at which the traction mechanism drives the coil to move is controlled, including: the traction mechanism follows the position of the lower layer roller to perform PID closed-loop speed condition control and motor forward and reverse control. The position of the lower layer roller is kept close to the second preset position.

[0104] In the embodiment of the present application, the tension value of the coil passing before or after the swing roller mechanism can also be detected by a sensor preset in front of the swing roller mechanism or behind the swing roller mechanism. According to the tension value, it is determined whether the force applied by the cylinder to the coil is the same as the force actually received by the coil, and a closed-loop control is performed based on the difference in tension value or the tension value and the output value of the electrical proportional valve, thereby controlling the cylinder, the traction mechanism and / or the belt storage motor.

[0105] In the embodiment of the present application, coating motion control includes three methods: the first method is to directly control the traction mechanism based on the position of the swing roller to adjust the tension of the coil; the second method is to directly control the traction mechanism according to the position of the lower roller to adjust the tension of the coil; the third method is to adjust the position of the lower roller according to the position of the swing roller, and then adjust the traction mechanism based on the position of the lower roller to adjust the tension of the coil.

[0106] The first coating motion control method includes: tension preparation action control stage, belt storage mechanism reset control stage and equipment stable operation control stage;

[0107] Tension preparation action control stage: During the equipment startup and readiness process, the belt storage motor of the belt storage mechanism changes speed and moves according to the current position of the swing roller: when the swing roller swings in the direction of the cylinder extension, the belt storage motor drives the first roller fixing device to move downward, drives the lower roller to move downward, and the distance between the lower roller and the upper roller increases. At this time, the belt storage mechanism is in the material storage process, that is, the amount of coiled material traveling in the belt storage mechanism increases; when the swing roller swings in the direction of the cylinder retraction, the belt storage motor drives the first roller fixing device to move upward, drives the lower roller to move upward, and the distance between the lower roller and the upper roller decreases. At this time, the belt storage mechanism is in the material discharge process, that is, the amount of coiled material traveling in the belt storage mechanism decreases; at the same time, the traction mechanism remains stationary to ensure that the swing rollers are in the first preset position. After the readiness is completed, wait for the equipment to run; wherein, the first preset position is the center position of the swing roller, that is, the vertical downward position of the swing roller;

[0108] The belt storage mechanism reset control stage: when the equipment is ready, the operation program is started, and the traction mechanism follows the swing roller position to perform PID closed-loop speed regulation. During the operation, the swing roller is at the preset position of the swing roller, and the swing roller fluctuation is ±3%. Ensure that the belt storage motor drives the first roller fixing device to move to the second preset position, and the swing roller fluctuation is within the allowable fluctuation range; wherein, the second preset position can be the horizontal center line position of the fixing rod;

[0109] Equipment stable operation control stage: When the storage motor drives the first roller fixing device to the second preset position, the equipment enters a stable operation state (including the equipment speed change process). At this time, the storage motor remains stationary, and the traction roller always follows the swing roller position to perform PID closed-loop speed condition control; the traction roller speed is kept synchronized with the set speed of the whole machine.

[0110] In the embodiment of the present application, the real-time position of the swing roller is detected by using the linear potentiometer provided by the cylinder.

[0111] In the embodiment of the present application, in the tension preparation action control stage, the moving speed V0 of the storage motor is 5×|M1-M|; in the storage mechanism reset control stage, the moving speed V0 of the storage motor is 3-|M1-M|×100.

[0112] For example, the swing roller is calculated according to the program, and the displayed position is a percentage of the total range. Therefore, the preset position of the swing roller is M=50%. In the tension preparation action control stage, when the real-time position of the swing roller M1=70%, the running speed of the storage motor is V0=5×|70%-50%|=1mm / s; in the storage mechanism reset control stage, when M1=70%, the running speed of the storage motor is V0=3-|70%-50%|×100=1mm / s; at the same time, when V0<0, V0=0.

[0113] In this embodiment, during the tension readiness process, the preparation action of the belt storage motor greatly reduces the inconvenience of the motor remaining motionless during the preparation process, the inconvenience of the entire machine coil being transmitted backward, and the waste of materials, and the preparation action before startup is completed more efficiently; by controlling the constant speed of the belt storage mechanism, the interference of multiple controls on the logical stability of the equipment is reduced, and the speed PID condition of the single traction roller avoids the multiple interference effects caused by the PID adjustment of the motor of the belt storage motor and the traction mechanism, resulting in poor stability of the equipment swing roller and a long stabilization process; the moving speed of the belt storage motor is determined directly based on the real-time position of the swing roller, and then the moving speed of the first roller fixing device and the lower roller is controlled, which improves the speed of the control response, and can quickly and efficiently realize the coating motion control with the fastest response.

[0114] The second coating motion control method includes: a tension preparation action control stage and an equipment stable operation control stage;

[0115] Tension preparation action control stage: During the equipment startup process, the first roller fixing device moves to the second preset position and remains stationary; at the same time, the traction mechanism rotates and adjusts according to the position of the swing roller to ensure that the swing roller is at the first preset position;

[0116] Equipment stable operation control stage: the belt storage motor changes speed V0 = 3-|M1-M|×100; ensure that the swing roller fluctuation is within the allowable fluctuation range during the process of the first roller fixing device returning to the second preset position; keep the swing roller in the first preset position during operation, and the fluctuation amount is ±3%;

[0117] The traction mechanism follows the first roller fixing device to perform PID closed-loop speed condition control; and the first roller fixing device is kept close to the second preset position.

[0118] For example, the position displayed by the swing roller is a percentage of the total range, so the first preset position of the swing roller is M=50%. During the stable operation control of the equipment, when M1=70%, the running speed of the storage motor is V0=3-|70%-50%|×100=1mm / s; at the same time, when V0<0, V0=0.

[0119] In this embodiment, during the tension preparation action control stage, the first roller fixing device is in the second preset position, which directly shortens the speed fluctuation caused by the first roller fixing device returning to the second preset position after the belt storage is ready, causing fluctuations in the speed and tension of the whole machine, and generating unstable factors; the first roller fixing device is adjusted according to the swing roller position, and the traction roller adjusts the speed according to the position of the first roller fixing device. Under the dual adjustment, the problem of speed asynchrony between devices is buffered to the greatest extent; the equipment is faster and more efficiently put into a stable operation state from the tension preparation action control stage; the dual adjustment is buffered to the greatest extent for the situation where the equipment operation speed difference is large (storage belt distance + swing roller distance); the coating motion control process is made more stable.

[0120] The coating motion control method of the third mode includes: a tension preparation action control stage and a stable operation control stage of the equipment; the specific steps include: the first roller fixing device always moves according to the position of the swing roller, the storage motor uses the variable speed V0=3-|M1-M|×100 or the second preset position as a reference, and the swing roller position is used as a condition for PID position closed-loop adjustment; ensure that the swing roller fluctuation is within the allowable fluctuation range: the swing roller is at the first preset position during operation, and the fluctuation amount is ±3%; the traction mechanism follows the first roller fixing device to perform PID closed-loop speed condition control and motor forward and reverse control. Keep the first roller fixing device close to the second preset position.

[0121] For example, the swing roller is calculated according to the program, and the displayed position is a percentage of the total range, so the first preset position is M=50%. During operation, V0=3-|70%-50%|×100=1mm / s; at the same time, when V0<0, V0=0; or PID speed adjustment is performed through the program.

[0122] In this embodiment, unified control logic is used throughout the operation control process, and there is no need to switch logic control according to different situations, which reduces program bugs caused by control logic switching and program action abnormalities affected by the scanning cycle, and facilitates logic control writing; dual closed-loop control and unified control logic are used to achieve more stable coating motion control; double adjustment provides the maximum buffering (storage belt distance + swing roller distance) for situations where the equipment has a large difference in operating speed, and makes the equipment more stable in variable speed operation and speed switching, with small fluctuations and a gentle amplitude.

[0123] With the above Figure 3 Corresponding to the method shown, the present application embodiment also provides a coating motion control device, such as Figure 5 As shown, the coating motion control device includes:

[0124] An acquisition unit 510 is used to acquire the real-time position of the swing roller at the current moment;

[0125] The determination unit 520 is used to determine the first control parameter based on the real-time position and the configured first preset position; wherein the first preset position is the position of the swing roller when it is in a stable state;

[0126] The moving unit 530 is used to control the movement speed of the first mechanism at the next moment based on the first control parameter, so as to move the swing roller toward the first preset position;

[0127] A generating unit 540, configured to generate a second control parameter based on the real-time position of the swing roller after the swing roller moves to the first preset position;

[0128] The control unit 550 is used to control the movement speed of the second mechanism based on the second control parameter so that the swing roller remains at the first preset position.

[0129] With the above Figure 4 Corresponding to the method shown, the present application embodiment also provides a coating motion control device, such as Figure 6 As shown, the coating motion control device includes:

[0130] The acquisition unit 610 is used to acquire the real-time position of the swing roller at the current moment; and acquire the position of the lower layer passing roller;

[0131] The determination unit 620 is used to determine the first control parameter based on the real-time position and the configured first preset position; wherein the first preset position is the position of the swing roller when it is in a stable state; and to generate the second control parameter based on the position of the lower layer roller;

[0132] The control unit 630 is used to control the speed at which the storage motor drives the lower layer roller to move based on the first control parameter at the next moment; and to control the speed at which the traction mechanism drives the coil to move based on the second control parameter.

[0133] The functions of each functional unit of the coating motion control device provided in the above embodiments of the present application can be achieved through the above method steps. Therefore, the specific working process and beneficial effects of each unit in the coating motion control device provided in the embodiments of the present application will not be repeated here.

[0134] The present application also provides an electronic device, such as Figure 7 As shown, it includes a processor 710 , a communication interface 720 , a memory 730 and a communication bus 740 , wherein the processor 710 , the communication interface 720 , and the memory 730 communicate with each other via the communication bus 740 .

[0135] Memory 730, for storing computer programs;

[0136] The processor 710 is used to execute the program stored in the memory 730 to implement the following steps:

[0137] Get the real-time position of the pendulum roller at the current moment;

[0138] Determine a first control parameter based on the real-time position and the configured first preset position; wherein the first preset position is the position of the swing roller when it is in a stable state;

[0139] Based on the first control parameter, at the next moment, the movement speed of the first mechanism is controlled so that the swing roller moves toward the first preset position;

[0140] generating a second control parameter based on the real-time position of the swing roller after the swing roller moves to the first preset position;

[0141] Based on the second control parameter, the movement speed of the second mechanism is controlled to keep the swing roller at the first preset position.

[0142] In another embodiment of the present application, the processor 710, when used to execute the program stored in the memory 730, implements the following steps:

[0143] Get the real-time position of the swing roller at the current moment; get the position of the lower layer roller;

[0144] Based on the real-time position and the configured first preset position, a first control parameter is determined; wherein the first preset position is the position of the swing roller when it is in a stable state; based on the position of the lower layer passing roller, a second control parameter is generated;

[0145] Based on the first control parameter, at the next moment, the speed at which the storage motor drives the lower layer roller to move is controlled; based on the second control parameter, the speed at which the traction mechanism drives the coil to move is controlled.

[0146] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0147] The communication interface is used for communication between the above electronic device and other devices.

[0148] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0149] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0150] The implementation methods and beneficial effects of the components of the electronic device in the above embodiments to solve the problems can be seen in Figure 2 The various steps in the illustrated embodiment are implemented, therefore, the specific working process and beneficial effects of the electronic device provided by the embodiment of the present application are not repeated here.

[0151] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes any one of the coating motion control methods in the above embodiments.

[0152] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the coating motion control methods in the above embodiments.

[0153] Those skilled in the art will appreciate that the embodiments in the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt a complete hardware embodiment, a complete software embodiment, or a form of an embodiment combining software and hardware. Moreover, the present application may adopt a form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0154] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0155] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0156] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0157] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present application.

[0158] Obviously, those skilled in the art can make various changes and modifications to the embodiments in the present application without departing from the spirit and scope of the embodiments in the present application. Thus, if these modifications and variations of the embodiments in the present application fall within the scope of the claims and their equivalents in the embodiments of the present application, the embodiments of the present application are also intended to include these modifications and variations.

Claims

1. A coating motion control method, characterized in that: Applied in a control device, the control device is provided with: at least one upper layer roller, at least one lower layer roller, a belt storage motor, a swing roller and a cylinder, the belt storage motor is used to drive the lower layer roller to move up and down to change the distance between the lower layer roller and the upper layer roller; the cylinder is used to drive the swing roller to swing along the extension direction and the retraction direction of the cylinder; the coil moves forward in the channel formed by the upper layer roller, the lower layer roller and the swing roller; the method comprises: Obtaining the real-time position of the swing roller at the current moment; Determine a first control parameter based on the real-time position and a configured first preset position; wherein the first preset position is the position of the swing roller when it is in a stable state; Based on the first control parameter, at the next moment, controlling the movement speed of the first mechanism to move the swing roller toward the first preset position; generating a second control parameter based on the real-time position of the swing roller after the swing roller moves to the first preset position; Based on the second control parameter, the movement speed of the second mechanism is controlled to keep the swing roller at the first preset position.

2. The method according to claim 1, characterized in that The control device is also provided with a traction mechanism; the traction mechanism is connected to the swing roller; the traction mechanism is used to drive the coil to move forward in the channel formed by the swing roller and the traction mechanism; The first mechanism is a belt storage motor or a traction mechanism.

3. The method according to claim 2, characterized in that When the first mechanism is a belt storage motor, the second mechanism is a traction mechanism; Based on the first control parameter, controlling the movement speed of the first mechanism at the next moment includes: Based on the first control parameter, at the next moment, control the speed at which the storage motor drives the lower layer roller to move; Based on the second control parameter, controlling the movement speed of the second mechanism includes: Based on the second control parameter, the speed at which the traction mechanism drives the coil to move is controlled at the next moment.

4. The method according to claim 3, characterized in that In the process of controlling the speed at which the traction mechanism drives the coil to move at the next moment based on the second control parameter, the method further includes: Determining a third control parameter based on the real-time position of the swing roller and the configured first preset position; Based on the third control parameter, controlling the belt storage motor to drive the lower layer roller to return to the configured second preset position; When the belt storage motor drives the lower layer roller to move to the configured second preset position, the belt storage motor is controlled to be stationary.

5. The method according to claim 2, characterized in that When the first mechanism is a traction mechanism, the second mechanism is a belt storage motor; Based on the first control parameter, controlling the movement speed of the first mechanism at the next moment includes: Based on the first control parameter, at the next moment, control the speed at which the traction mechanism drives the coil to move; Based on the second control parameter, controlling the movement speed of the second mechanism includes: Based on the second control parameter, the storage motor is controlled to drive the lower layer roller to return to the configured second preset position.

6. The method according to claim 5, characterized in that In the process of controlling the belt storage motor to drive the lower layer roller to return to the configured second preset position, the method further includes: Obtaining the position of the lower layer roller; generating a third control parameter based on the position of the lower layer roller; Based on the third control parameter, the speed at which the traction mechanism drives the coil to move is controlled.

7. A coating motion control method, characterized in that: Applied in a control device, the control device is provided with: at least one upper layer roller, at least one lower layer roller, a belt storage motor, a swing roller, a cylinder and a traction mechanism, the belt storage motor is used to drive the lower layer roller to move up and down to change the distance between the lower layer roller and the upper layer roller; the cylinder is used to drive the swing roller to swing along the extension direction and the retraction direction of the cylinder; the traction mechanism is connected to the swing roller; the traction mechanism is used to drive the coil to move forward in the channel formed by the upper layer roller, the lower layer roller, the swing roller and the traction mechanism; the method comprises: Obtaining the real-time position of the swing roller at the current moment; Determine a first control parameter based on the real-time position and a configured first preset position; wherein the first preset position is the position of the swing roller when it is in a stable state; Based on the first control parameter, the speed at which the storage motor drives the lower layer roller to move is controlled at the next moment.

8. The method according to claim 7, characterized in that The method further comprises: Obtaining the position of the lower layer roller; generating a second control parameter based on the position of the lower layer roller; Based on the second control parameter, the speed at which the traction mechanism drives the coil to move is controlled.

9. A coating motion control device, characterized in that: The device comprises: An acquisition unit, used for acquiring the real-time position of the swing roller at the current moment; A determination unit, configured to determine a first control parameter based on the real-time position and a configured first preset position; wherein the first preset position is a position when the swing roller is in a stable state; a moving unit, configured to control the movement speed of the first mechanism at a next moment based on the first control parameter, so as to move the swing roller toward the first preset position; A generating unit, configured to generate a second control parameter based on the real-time position of the swing roller after the swing roller moves to the first preset position; The control unit is used to control the movement speed of the second mechanism based on the second control parameter so that the swing roller is kept at the first preset position.

10. A coating motion control device, characterized in that: The device comprises: The acquisition unit is used to acquire the real-time position of the swing roller at the current moment; and acquire the position of the lower layer passing roller; A determination unit, configured to determine a first control parameter based on the real-time position and a configured first preset position; wherein the first preset position is a position of the swing roller when it is in a stable state; and to generate a second control parameter based on the position of the lower layer roller; The control unit is used to control the speed at which the storage motor drives the lower layer roller to move based on the first control parameter at the next moment; and to control the speed at which the traction mechanism drives the coil to move based on the second control parameter.

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