Rotary positioning system control method and system based on time distribution and medium

Abstract

The invention provides a rotary positioning system control method based on time distribution. The method comprises the following steps: step 1, acquiring the highest rotating speed Nmax of a motor, the speed reduction ratio i of equipment, an action period T, a radian S of one action period, a stop angle beta and a real-time angle gamma; 2, dividing T into three sections: uniformly accelerated motion t1, uniform speed motion t2 and uniformly decelerated motion t3; 3, determining the angular speed omega of the motor at the time period t2; step 4, according to omega, calculating a motor rotating speed N set in a time period t2, an angular acceleration alpha 1 in a time period t1 and an angular acceleration alpha 2 in a time period t3; 5, determining the ramp time of a ramp function generator according to the N set; sixthly, a position ring is introduced in the slope descending process, and position ring parameters are determined; and step 7, the motor takes the N set as the target rotating speed, the speed is increased through the ramp function generator, then the motor keeps constant-speed motion for t2 duration after reaching the N set, then the motor is switched to position loop control, and Nposout is taken as the target rotating speed.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control of steel rolling production lines in the metallurgical industry, and in particular to a rotation positioning system control method, system and computer storage medium based on time allocation. Background Art

[0002] There are many devices in the steel rolling production workshop that are driven by motors and use reducers to perform 0-360° periodic start-stop rotation. This type of equipment is more concerned with the total duration of the action and the accuracy of positioning, such as rotating hubs and cooling bed equipment. At present, the control of this type of equipment on the production line mostly adopts the following two methods: one is to set the speed, and after the equipment is started, it depends on the proximity switch on the equipment side to slow down and stop. Although this method is simple to control, it is necessary to readjust the position of the proximity switch after changing the speed setting, so there is great inconvenience in actual operation. Another method is to set the speed, and after the equipment is started, it reaches a certain position and enters the position loop, and relies on the position loop for positioning. This method introduces a position loop. If the position loop ratio is not appropriate during the positioning process, it needs to be adjusted repeatedly to complete the positioning. However, the traditional position loop adjustment method is not efficient and accurate enough.

[0003] Therefore, in view of the current situation, a more reliable, fast and accurate rotation positioning system control method is needed. Summary of the invention

[0004] In order to solve the above problems, the present invention aims to provide a rotation positioning system control method, system and computer storage medium based on time allocation.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] The present invention provides a rotation positioning system control method based on time allocation, which is used to control a device that is driven by a motor and performs periodic start-stop rotation motion via a reducer, and is characterized in that it includes the following steps:

[0007] Step 1: Obtain known parameters of the device, including the maximum speed Nmax of the motor, the reduction ratio i of the device, the action cycle T of the device, the arc S of one action cycle of the device, the stop angle β of the device, and the real-time angle γ of the device;

[0008] Step 2: Divide the action cycle T of the device into three time periods t1, t2, and t3, so that T=t1+t2+t3, where t1 is the time of uniform acceleration, t2 is the time of uniform speed, and t3 is the time of uniform deceleration;

[0009] Step 3, determine the angular velocity ω of the uniformly moving motor;

[0010] Step 4: Calculate the motor speed Nset during uniform motion, the angular acceleration α1 during uniform acceleration motion, and the angular acceleration α2 during uniform deceleration motion according to the motor angular velocity ω;

[0011] Step 5, determining the ramp time of the ramp function generator according to the speed Nset, including the ramp up time Tramp_up and the ramp down time Tramp_down;

[0012] Step 6: Introduce the position loop during the ramp down process and determine the parameters of the position loop: the deviation L of the position loop, the output direction of the position loop, the ratio of the position loop, and the output ωpos_out of the position loop.

[0013] Among them, ωpos_out=SQRT(2*α2*ABS(L)), SQRT is the function of square root, ABS is the function of absolute value, * represents multiplication operation,

[0014] Then determine the output Npos_out of the position loop, Npos_out = ωpos_out * 60 / 2π;

[0015] Step seven, when the device issues a start command, the motor takes Nset obtained in step four as the target speed, and increases the speed through the ramp function generator in step five. Then, after the motor reaches the target speed Nset, it maintains uniform motion for t2 time, and then switches to position loop control, using the output Npos_out of the position loop as the target speed.

[0016] Furthermore, in the time allocation-based rotation positioning system control method provided by the present invention, there may also be such a feature: wherein, in step 3, determining the angular velocity ω of the uniformly moving motor specifically comprises the following steps:

[0017] Step 3-1, calculate the rotation arc of the motor corresponding to one rotation cycle of the device: S*i, where i is the reduction ratio i of the device, and S is the arc S of one action cycle of the device;

[0018] Step 3-2, construct the formula for the radian traveled by the motor in the period T: 0.5*ω*t1+ω*t2+0.5*ω*t3;

[0019] Step 3-3, according to S*i=0.5*ω*t1+ω*t2+0.5*ω*t3, derive the angular velocity ω of the uniform motion motor:

[0020] Furthermore, in the rotation positioning system control method based on time allocation provided by the present invention, it can also have the following characteristics: wherein, in step four, the motor speed N set of uniform motion is N*60 / 2π; the acceleration of uniform accelerated motion is α1=Δω / Δt=ω / t1; the acceleration of uniform decelerated motion is α2=Δω / Δt=ω / t3.

[0021] Furthermore, the time allocation-based rotation positioning system control method provided by the present invention may also have the following features: wherein, in step five, the ramp up time T ramp_up = t1*Nmax / Nset, and the ramp down time Tramp_down = t3*Nmax / Nset*0.98.

[0022] Furthermore, in the time allocation-based rotation positioning system control method provided by the present invention, the following features may also be provided: wherein, in step six, the deviation L of the position loop is expressed by the radian difference between the stop angle β and the real-time angle γ: L = (β-γ) / 180*π; the output direction of the position loop is determined by the positive or negative value of the deviation L of the position loop; the proportion of the position loop is expressed by the angular acceleration α2 of the uniform deceleration motion obtained in step four.

[0023] The present invention also provides a rotation positioning control system based on time allocation, characterized in that it includes: a known parameter acquisition and storage module, which obtains the maximum speed Nmax of the motor, the reduction ratio i of the device, the arc S traveled by the device in one action cycle, the stop angle β of the device, the action cycle T of the device, and the real-time angle γ of the device in real time, and stores the data; a three-segment allocation module for the action cycle, which is used to allocate the action cycle T into three time segments: uniform acceleration time t1, uniform speed time t2, and uniform deceleration time t3; a first calculation module, which is used to calculate the motor angular velocity ω; a second calculation module, which is used to calculate the motor speed Nset of uniform motion, the angular acceleration α1 during uniform acceleration motion, and the angular acceleration α2 during uniform deceleration motion; a third calculation module, which is provided with a ramp function generator Ramp, which is used to calculate the ramp up time T ramp_up and the ramp down time T ramp_down; a fourth calculation module, used to calculate the deviation L of the position loop, the output direction of the position loop, the output ωpos_out of the position loop, and the output Npos_out of the position loop; an instruction generation module, which generates motor control instructions and position loop control instructions according to the calculation results of the calculation module; an instruction execution module, which executes control of the motor and the position loop according to the instructions generated by the instruction generation module.

[0024] The present invention also provides a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the above-mentioned time-allocation-based rotation positioning system control method is implemented.

[0025] Beneficial effects of the present invention:

[0026] 1. The time allocation-based rotation positioning system control method of the present invention has an adjustable action cycle, and the acceleration time and deceleration time can be freely allocated according to the capacity of the equipment to ensure the followability of the system.

[0027] 2. The time allocation-based rotation positioning system control method of the present invention has fast and accurate positioning, and can ensure that the target position is reached just at the same time when the ramp speed drops to 0, without the need for multiple adjustments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of an angular velocity curve and time allocation in a rotation positioning system control method based on time allocation in an embodiment of the present invention;

[0029] Figure 2 It is a schematic diagram of a speed setting method in a rotation positioning system control method based on time allocation in an embodiment of the present invention. ;

[0030] Figure 3 4 is a block diagram of a rotation positioning control system based on time allocation in an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments are combined with the accompanying drawings to specifically illustrate the technical solutions of the present invention.

[0032] The embodiment of the present invention provides a method for controlling a rotation positioning system based on time allocation, which is used to control a device that is driven by a motor and performs periodic start-stop rotation motion through a reducer, such as a hub and a cooling bed. In this embodiment, the device is a cooling bed in a steel rolling workshop, which is an important part of the production process. It is a device that is driven by a motor and performs periodic start-stop rotation motion of 0-360° through a reducer.

[0033] This method uses Figure 3 The time allocation-based rotation positioning control system 100 shown is executed, and the system includes a known parameter acquisition and storage module 101, a three-stage action cycle allocation module 102, a first calculation module 103, a second calculation module 104, a third calculation module 105, a fourth calculation module 106, an instruction generation module 107, and an instruction execution module 108.

[0034] The time allocation-based rotation positioning system control method comprises the following steps:

[0035] Step 1: Get the known parameters of the device, including the following parameters:

[0036] The maximum rotation speed Nmax of the motor, in this embodiment, is Nmax=1600 rpm.

[0037] The reduction ratio i of the equipment is i=12.5 in this embodiment.

[0038] The action cycle T of the equipment is determined according to production requirements. In this embodiment, T=1.2 (s).

[0039] The radian S covered by one action cycle of the device is S=2π in this embodiment.

[0040] The stopping angle of the device is β, in this embodiment β = 180°

[0041] The real-time angle of the device is γ, and the angle γ is collected in real time.

[0042] The known parameter acquisition and storage module 101 of the control system 100 obtains the maximum speed Nmax of the motor, the reduction ratio i of the device, the arc S covered by one action cycle of the device, the stop angle β of the device, the action cycle T of the device, and the real-time angle γ of the device, and stores the data.

[0043] Step 2, see Figure 1 , divided into three time periods t1, t2, and t3 according to the action cycle T of the device, so that T=t1+t2+t3, where t1 is the time of uniform acceleration, t2 is the time of uniform speed movement, and t3 is the time of uniform deceleration. The action cycle three-segment allocation module 103 of the control system 100 is used to set three time periods. In this embodiment, the time of uniform acceleration movement t1=0.45s, the time of uniform speed movement t2=0.3s, and the time of uniform deceleration movement t3=0.45s.

[0044] Step 3: Determine the angular velocity ω of the uniformly moving motor as follows:

[0045] Step 3-1, calculate the rotation radian of the motor corresponding to one rotation cycle of the device: S*i, where i is the reduction ratio i of the device, and S is the radian S of one action cycle of the device. In this embodiment, S*i=2π*12.5=25π.

[0046] Step 3-2, construct a formula for the radian traveled by the motor in the period T: 0.5*ω*t1+ω*t2+0.5*ω*t3. In this embodiment, 0.5*ω*t1+ω*t2+0.5*ω*t3=0.75ω.

[0047] Step 3-3, according to S*i=0.5*ω*t1+ω*t2+0.5*ω*t3, derive the motor angular velocity ω of uniform motion: ω=S*i / (0.5*t1+t2+0.5*t3). In this embodiment, ω=33.33π.

[0048] The first calculation module 104 of the control system 100 is provided with the motor angular velocity calculation rule during uniform motion in the above step three. The first calculation module 104 automatically obtains the parameters S, i, t1, t2, t3, and calculates the motor angular velocity ω according to the motor angular velocity calculation rule.

[0049] Step 4: Calculate based on the motor angular velocity ω:

[0050] The motor speed of uniform motion is N set = ω*60 / 2π, and in this embodiment, N set = 999.9 rpm.

[0051] The acceleration of uniformly accelerated motion is α1=Δω / Δt=ω / t1, and in this embodiment, α1=74.07π.

[0052] The acceleration of uniform deceleration motion is α2=Δω / Δt=ω / t3, and in this embodiment, α2=74.07π.

[0053] The second calculation module 105 of the control system 100 is provided with the motor speed calculation rule of uniform motion, the acceleration calculation rule of uniform acceleration motion, and the acceleration calculation rule of uniform deceleration motion in step 4. The second calculation module 105 automatically obtains the parameters of the motor angular velocity ω, t1, and t3, and correspondingly calculates the motor speed Nset of uniform motion, the angular acceleration α1 of uniform acceleration motion, and the angular acceleration α2 of uniform deceleration motion.

[0054] Step 5: Determine the ramp time of the ramp function generator according to the speed N set:

[0055] The ramp-up time T ramp_up=t1*Nmax / Nset. In this embodiment, T ramp_up=0.72 s.

[0056] The ramp-down time T ramp_down=t3*Nmax / Nset*0.98. In the present embodiment, T ramp_down=0.71 s.

[0057] The third calculation module 106 of the control system 100 is provided with a ramp function generator Ramp, see Figure 2 The third calculation module 106 obtains the parameters Nmax, Nsett1, and t3, and calculates the ramp-up time T ramp_up and the ramp-down time Tramp_down accordingly.

[0058] Step 6: Introduce the position loop during the ramp down process and determine the following parameters of the position loop:

[0059] The deviation L of the position loop is expressed by the radian difference between the stop angle β and the real-time angle γ of the device: L = (β-γ) / 180*π.

[0060] The output direction of the position loop is determined by the positive or negative value of the deviation L of the position loop.

[0061] The ratio of the position loop is represented by the angular acceleration α2 of the uniform deceleration motion obtained in step 4.

[0062] The output ωpos_out of the position loop satisfies: ωpos_out=SQRT(2*α2*ABS(L)), where SQRT is a function of square roots, ABS is a function of absolute values, and * represents a multiplication operation.

[0063] The output Npos_out of the position loop satisfies: Npos_out=ωpos_out*60 / 2π.

[0064] The fourth calculation module 107 of the control system 100 is provided with a plurality of calculation rules corresponding to the position loop in step 6, for calculating the deviation L of the position loop, the output direction of the position loop, the output ωpos_out of the position loop, and the output Npos_out of the position loop.

[0065] Step seven, when the device issues a start command, the motor takes Nset obtained in step four (Nset = 999.9rpm in this embodiment) as the target speed, and increases the speed through the ramp function generator Ramp in step five. Then, after the motor reaches the target speed Nset, it maintains uniform motion for a time of t2 (t2 = 0.3s in this embodiment), and then switches to position loop control, using the output Npos_out of the position loop as the target speed.

[0066] The instruction generation module 108 of the control system 100 generates motor control instructions and position loop control instructions according to the calculation results of the calculation module. The instruction execution module 109 executes the control of the motor and the position loop according to the instructions generated by the instruction generation module.

[0067] The output Npos_out of the position loop will decrease as the difference between the set angle β and the real-time angle γ decreases until the difference is 0, and the output Npos_out of the position loop = 0. At this time, the cooling bed just stops at the 180° position.

[0068] The embodiment of the present invention also provides a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the steps of the above-mentioned time-based rotation positioning system control method are implemented. The storage medium refers to a carrier for storing data, including but not limited to a floppy disk, an optical disk, a DVD, a hard disk, a flash memory, a U disk, a CF card, an SD card, a SM card, etc.

[0069] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the protection scope of the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made by those skilled in the art within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A method for controlling a rotation positioning system based on time allocation, which is used to control a device that is driven by a motor and performs periodic start-stop rotation motion via a reducer, characterized in that: The following steps are involved: Step 1: Obtain known parameters of the device, including the maximum speed Nmax of the motor, the reduction ratio i of the device, the action cycle T of the device, the arc S of one action cycle of the device, the stop angle β of the device, and the real-time angle γ of the device; Step 2: Divide the action cycle T of the device into three time periods t1, t2, and t3, so that T=t1+t2+t3, where t1 is the time of uniform acceleration, t2 is the time of uniform speed, and t3 is the time of uniform deceleration; Step 3, determine the angular velocity ω of the uniformly moving motor; Step 4: Calculate the motor speed Nset during uniform motion, the angular acceleration α1 during uniform acceleration motion, and the angular acceleration α2 during uniform deceleration motion according to the motor angular velocity ω; Step 5, determining the ramp time of the ramp function generator according to the speed Nset, including the ramp up time Tramp_up and the ramp down time Tramp_down; Step 6: Introduce the position loop during the ramp down process and determine the parameters of the position loop: the deviation L of the position loop, the output direction of the position loop, the ratio of the position loop, and the output ωpos_out of the position loop. Among them, ωpos_out=SQRT(2*α2*ABS(L)), SQRT is the function of square root, ABS is the function of absolute value, * represents multiplication operation, Then determine the output Npos_out of the position loop, Npos_out = ωpos_out * 60 / 2π; Step 7: When the device issues a start command, the motor uses the Nset obtained in step 4 as the target speed and increases the speed through the ramp function generator in step 5. Then, after the motor reaches the target speed Nset, it keeps moving at a constant speed for a time t2. After that, it switches to position loop control, and uses the output Npos_out of the position loop as the target speed.

2. The time allocation based rotation positioning system control method according to claim 1, characterized in that: in, In step 3, determining the angular velocity ω of the uniformly moving motor specifically includes the following steps: Step 3-1, calculate the rotation arc of the motor corresponding to one rotation cycle of the device: S*i, where i is the reduction ratio i of the device, and S is the arc S of one action cycle of the device; Step 3-2, construct the formula for the radian traveled by the motor in the period T: 0.5*ω*t1+ω*t2+0.5*ω*t3; Step 3-3, according to S*i=0.5*ω*t1+ω*t2+0.5*ω*t3, derive the angular velocity ω of the uniform motion motor: ω=S*i / (0.5*t1+t2+0.5*t3).

3. The time allocation based rotation positioning system control method according to claim 1, characterized in that: in, In step 4, the motor speed of uniform motion is N set = ω*60 / 2π; The acceleration of uniformly accelerated motion is α1 = Δω / Δt = ω / t1; The acceleration of uniform deceleration motion is α2=Δω / Δt=ω / t3.

4. The time allocation based rotation positioning system control method according to claim 1, characterized in that: in, In step 5, ramp up time T ramp_up = t1*Nmax / Nset, Ramp-down time T ramp — down = t3 * Nmax / Nset * 0.

98.

5. The time allocation based rotation positioning system control method according to claim 1, Features: In step 6, the deviation L of the position loop is expressed by the radian difference between the stop angle β and the real-time angle γ: L = (β-γ) / 180*π; The output direction of the position loop is determined by the positive or negative value of the position loop deviation L; The ratio of the position loop is represented by the angular acceleration α2 of the uniform deceleration motion obtained in step 4.

6. A rotation positioning control system based on time allocation, characterized in that: include: The known parameter acquisition and storage module obtains the maximum speed Nmax of the motor, the reduction ratio i of the device, the arc S of one action cycle of the device, the stop angle β of the device, the action cycle T of the device, and the real-time angle γ of the device, and stores the data; The action cycle three-segment allocation module is used to allocate the action cycle T into three time segments: uniform acceleration time t1, uniform speed time t2, and uniform deceleration time t3; The first calculation module is used to calculate the motor angular velocity ω; The second calculation module is used to calculate the motor speed Nset of uniform motion, the angular acceleration α1 of uniform acceleration motion, and the angular acceleration α2 of uniform deceleration motion; The third calculation module is provided with a ramp function generator Ramp, which is used to calculate the ramp up time T ramp_up and the ramp down time T ramp_down; A fourth calculation module is used to calculate the deviation L of the position loop, the output direction of the position loop, the output ωpos_out of the position loop, and the output Npos_out of the position loop; An instruction generation module generates motor control instructions and position loop control instructions according to the calculation results of the calculation module; The instruction execution module controls the motor and the position loop according to the instruction generated by the instruction generation module.

7. A computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the time allocation-based rotation positioning system control method according to any one of claims 1 to 5.

Images