Removal rate speed measurement system for removing thick coating on deck through electromagnetic heating

Abstract

The invention discloses a removal rate speed measurement system for removing a thick coating on a deck through electromagnetic heating, particularly relates to the technical field of coating removal, and comprises pulley position detection and speed monitoring schemes, so that efficient and accurate coating removal rate control is realized. The system is composed of an infrared pulley position detection module, a pulley encoding module, a signal transmission and PLC counting module and the like, the rotating state of a pulley is detected through infrared rays, a binary signal is transmitted to a PLC for speed calculation, a main control unit adjusts power output of electromagnetic heating according to the pulley speed monitored in real time, and the electromagnetic heating speed is adjusted. By means of the scheme, the system can automatically adapt to changes of different coating thicknesses and removing speeds, and the removing uniformity and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coating removal, and more particularly to a removal rate measuring system for removing thick deck coating by electromagnetic heating. Background Art

[0002] In the prior art, electromagnetic heating equipment has some defects in coating removal and surface treatment. Traditional removal methods mainly rely on mechanical scraping or high-temperature ablation, but these methods are often inefficient in removing thick coatings and it is difficult to accurately control the removal process. In addition, these methods may cause uneven coating removal and affect the integrity of the substrate.

[0003] In actual use, it is difficult for existing technologies to achieve real-time and accurate monitoring of the removal speed, resulting in the inability to adjust the heating power in a timely manner, causing overheating or insufficient heating; this defect makes the removal effect unstable, especially when dealing with coatings of different thicknesses and materials, it is difficult to adapt to complex working conditions, affecting the uniformity and quality of the removal effect. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a removal rate measurement system for removing thick deck paint by electromagnetic heating, which solves the problems raised in the above-mentioned background technology through infrared pulley position detection and encoding.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a removal rate speed measurement system for removing thick deck coatings by electromagnetic heating, comprising: an infrared pulley position detection module, a pulley encoding module, a signal transmission and PLC counting module, a speed display module, a main control unit and a pulse control module, a phase angle adjustment module, a heating effect feedback module and an inverter unit frequency control module;

[0006] The pulley encoding module realizes the rotation encoding function of the pulley by evenly distributing square holes on the inner side of the pulley. The pulley encoding module marks fixed positions on the pulley for the infrared sensor to identify the changes between "0" and "1".

[0007] The infrared pulley position detection module is used to monitor the rotation state of the pulley in real time; the infrared pulley position detection module emits infrared rays through the infrared sensor. When the pulley rotates and the infrared rays pass through the square hole, the infrared sensor records it as "0"; when the infrared rays are blocked by the solid part, it is recorded as "1"; the infrared pulley position detection module converts the physical rotation state of the pulley into a binary signal to provide data support for subsequent speed calculation;

[0008] The signal transmission and PLC counting module transmits the "0" and "1" signals collected by the infrared sensor to the PLC; the counter in the PLC counts according to the input signal to calculate the rotation speed of the pulley; the signal transmission and PLC counting module is used to count and process the binary signal to obtain speed data, providing a decision-making basis for the main control unit.

[0009] In a preferred embodiment, the speed display module obtains the current pulley speed information from the PLC of the signal transmission and PLC counting module, and displays it in a text display; the operator monitors the working sliding speed of the equipment in real time through the speed display module, and determines whether the operating status of the equipment needs to be adjusted.

[0010] In a preferred embodiment, the main control unit and the pulse control module analyze the front-end working sliding speed according to the pulley speed data of the speed display module, generate a pulse signal, and transmit the signal to the trigger circuit board of the rectifier unit; the main control unit and the pulse control module are responsible for outputting the control signal according to the current speed requirement.

[0011] In a preferred embodiment, the phase angle adjustment module receives pulse signals from the main control unit and the pulse control module, and adjusts the power output of the host device by changing the phase angle; the adjustment of the phase angle affects the power size and determines the heating intensity of the metal surface.

[0012] In a preferred embodiment, the heating effect feedback module automatically adjusts the power to achieve the desired heating effect according to the current power output and pulley speed; the heating effect feedback module continuously monitors the heating effect and performs feedback adjustment to provide corresponding heating effects under different speed conditions.

[0013] In a preferred embodiment, the inverter unit frequency control module is used to maintain a constant frequency output state to provide stable power support for the system; the constant frequency output of the inverter unit frequency control module ensures that the system operates under conditions of low frequency fluctuations.

[0014] In a preferred embodiment, the signal transmission and PLC counting module includes binary conversion of infrared signals, time accumulation counting, calculation of instantaneous speed, calculation of accumulated sliding distance, and feedback of control pulse signals;

[0015] Binary conversion of infrared signals; the infrared sensor captures the rotation signal of the pulley and transmits it to the PLC in binary form; assuming that the number of holes of the pulley in time t is represented by S(t), the signal is converted into a binary code stream B(t), which is defined as:

[0016]

[0017] Where B(t) represents the binary state at time t, and this binary signal is used to transmit to the PLC counter of the signal transmission and PLC counting module;

[0018] Count the accumulated time; after the signal stream B(t) is transmitted to the PLC counter, the counter counts the signal "1" in each time period Δt, and obtains the state accumulated value C(t) of the current period. C(t) is used to reflect the rotation state of the pulley in this period;

[0019]

[0020] Where N represents the total number of signals within time t, f i is the frequency factor of the pulley rotation; B(t i ) indicates that at time t i The binary signal value at time t indicates that the pulley is i Whether the infrared signal is penetrated by the square hole (0) or blocked by the solid part (1); the above formula is used to convert the binary signal into an accumulated count value;

[0021] Calculation of instantaneous velocity; the instantaneous velocity V(t) depends on the counting result C(t) and the signal cycle time Δt; the relationship between the angular velocity ω(t) of the pulley and the linear velocity V(t) is:

[0022]

[0023] V(t)=ω(t)·r

[0024] Where r is the radius of the pulley, N represents the total number of signals in time t, and the above formula is used to convert the counts into actual instantaneous speed;

[0025] Calculation of the cumulative sliding distance: To obtain displacement information, the cumulative sliding distance D is obtained by velocity integration:

[0026]

[0027] Where T is the total time of the pulley movement; D is the cumulative sliding distance, which indicates the total displacement distance of the pulley sliding within the total time T; V(t) indicates the instantaneous speed; T indicates the total time of the pulley movement; C(t) indicates the cumulative value of the state within the time t, that is, the cumulative signal of the rotation state of the pulley within the time period; r is the radius of the pulley; N indicates the total number of signals within the time period, which is used to standardize the signal cumulative value C(t); Δt is the time period, which indicates the fixed time interval for each signal statistics; 2π is the time period, which indicates the fixed time interval for each signal statistics; the above formula is the cumulative formula of the sliding distance, which is used to obtain continuous displacement information;

[0028] For the feedback of the control pulse signal, the PLC generates a pulse control signal P(t) according to the calculation results of the sliding speed and displacement. P(t) is calculated according to the speed error E(t) = V d -V(t) adjustment, set V d The target speed is:

[0029]

[0030] Where P(t) is the pulse control signal, which represents the pulse generated at time t and is used to adjust the power output of the system; E(t) is the speed error, which represents the difference between the target speed and the actual speed, and is defined as E(t) = V d -V(t);V d is the target speed; V(t) is the actual speed, which means the current speed of the system at time t; K p K is the proportional gain coefficient, which controls the direct impact of the speed error on the output signal and adjusts the sensitivity of the system response; i K is the integral gain coefficient, which controls the influence of the cumulative error on the output signal and is used to eliminate long-term error deviation; d is the differential gain coefficient, which controls the effect of the error change rate on the output signal and is used to predict the error trend and improve the stability of the system;

[0031] in is the integral term of the error, which represents the accumulated error from the initial moment to the current moment t and is used to correct the continuous error; It is the differential term of the error, indicating the rate of change of the error over time, and is used to predict the changing trend of the error.

[0032] Technical effects and advantages of the present invention:

[0033] 1. This solution uses an infrared pulley position detection module and a pulley encoding module to accurately monitor the pulley speed, and can generate a pulley rotation state signal in real time, providing accurate data support for subsequent speed calculations. This solution not only improves the paint removal efficiency, but also effectively ensures the precise control of the electromagnetic heating power, avoiding poor processing caused by overheating or insufficient power.

[0034] 2. The signal transmission and PLC counting module of this scheme can convert infrared signals into binary signals and perform counting processing, thereby converting the physical rotation state of the pulley into calculable speed data. The module analyzes the rotation frequency through the counter and calculates the instantaneous speed of the pulley in real time, providing a decision-making basis for the dynamic adjustment of the heating power, effectively improving the response speed and regulation ability of the system;

[0035] 3. Through the phase angle adjustment module, this solution realizes the precise control of electromagnetic heating power output. The pulse signal phase angle is adjusted according to the pulley speed, which ensures that the heating power is synchronized with the pulley speed during the paint removal process, so that the heating intensity at different speeds can be effectively adjusted, thereby optimizing the removal effect and reducing energy consumption;

[0036] 4. The heating effect feedback module provides a closed-loop feedback control function for the system. The module continuously monitors the relationship between the current power output and the pulley speed, and adjusts the power to maintain the appropriate heating intensity. This feedback control mechanism ensures that the expected paint removal effect can be stably achieved when the pulley speed changes, thereby enhancing the stability and adaptability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the speed measurement system of the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] Refer to the instruction manual Figure 1 , a removal rate speed measurement system for removing thick deck coatings by electromagnetic heating according to an embodiment of the present invention comprises: an infrared pulley position detection module, a pulley encoding module, a signal transmission and PLC counting module, a speed display module, a main control unit and a pulse control module, a phase angle adjustment module, a heating effect feedback module and an inverter unit frequency control module;

[0040] The pulley encoding module realizes the rotation encoding function of the pulley by evenly distributing square holes on the inner side of the pulley. The pulley encoding module marks fixed positions on the pulley for the infrared sensor to identify the changes between "0" and "1". The pulley encoding module cooperates with the infrared sensor module to provide the system with stable and accurate speed signal input to ensure the accuracy of subsequent calculations.

[0041] The infrared pulley position detection module is used to monitor the rotation state of the pulley in real time; the infrared pulley position detection module emits infrared rays through the infrared sensor. When the pulley rotates and the infrared rays pass through the square hole, the infrared sensor records it as "0"; when the infrared rays are blocked by the solid part, it is recorded as "1"; the infrared pulley position detection module converts the physical rotation state of the pulley into a binary signal to provide data support for subsequent speed calculation;

[0042] The signal transmission and PLC counting module transmits the "0" and "1" signals collected by the infrared sensor to the PLC; the counter in the PLC counts according to the input signal to calculate the rotation speed of the pulley; the signal transmission and PLC counting module is used to count and process the binary signal to obtain speed data, providing a decision-making basis for the main control unit.

[0043] The speed display module obtains the current pulley speed information from the PLC of the signal transmission and PLC counting module, and displays it in the text display; the operator monitors the working sliding speed of the equipment in real time through the speed display module, and determines whether the operating status of the equipment needs to be adjusted; the function of the speed display module is to visualize the speed data, so that the operator can intuitively understand the working condition of the system.

[0044] The main control unit and the pulse control module analyze the front-end working sliding speed according to the pulley speed data of the speed display module, generate a pulse signal, and transmit the signal to the trigger circuit board of the rectifier unit; the main control unit and the pulse control module are responsible for outputting the control signal according to the current speed requirement so that the subsequent power regulation module can accurately control the power size.

[0045] The phase angle adjustment module receives pulse signals from the main control unit and the pulse control module, and adjusts the power output of the host device by changing the phase angle; the adjustment of the phase angle affects the power size and determines the heating intensity of the metal surface; the function of this module is to ensure that the power output matches the pulley speed change to achieve precise control of the heating effect.

[0046] The heating effect feedback module automatically adjusts the power to achieve the desired heating effect according to the current power output and pulley speed; the heating effect feedback module continuously monitors the heating effect and performs feedback adjustment to provide corresponding heating effects under different speed conditions, ensuring that the heating process is stable and effective, and avoiding the impact of overheating or insufficient power on the processing effect; this module is the feedback adjustment core of the system, ensuring that suitable heating effects can be provided under different speed conditions.

[0047] The inverter unit frequency control module is used to maintain a constant state of frequency output and provide stable power support for the system; the constant frequency output of the inverter unit frequency control module ensures that the system operates under conditions of low frequency fluctuations, reduces equipment wear and extends the service life of the system; the inverter unit frequency control module ensures the stability of the system under different workloads by providing a constant frequency.

[0048] The signal transmission and PLC counting module includes binary conversion of infrared signals, time accumulation counting, calculation of instantaneous speed, calculation of accumulated sliding distance and feedback of control pulse signals;

[0049] Binary conversion of infrared signals; the infrared sensor captures the rotation signal of the pulley and transmits it to the PLC in binary form; assuming that the number of holes of the pulley in time t is represented by S(t), the signal is converted into a binary code stream B(t), which is defined as:

[0050]

[0051] Where B(t) represents the binary state at time t, and this binary signal is used to transmit to the PLC counter of the signal transmission and PLC counting module;

[0052] Count the accumulated time; after the signal stream B(t) is transmitted to the PLC counter, the counter counts the signal "1" in each time period Δt, and obtains the state accumulated value C(t) of the current period. C(t) is used to reflect the rotation state of the pulley in this period;

[0053]

[0054] Where N represents the total number of signals within time t, f i is the frequency factor of the pulley rotation; B(t i ) indicates that at time t i The binary signal value at time t indicates that the pulley is i Whether the infrared signal is penetrated by the square hole (0) or blocked by the solid part (1); the above formula is used to convert the binary signal into a count value that can be accumulated;

[0055] Calculation of instantaneous velocity; the instantaneous velocity V(t) depends on the counting result C(t) and the signal cycle time Δt; the relationship between the angular velocity ω(t) of the pulley and the linear velocity V(t) is:

[0056]

[0057] V(t)=ω(t)·r

[0058] Where r is the radius of the pulley, N represents the total number of signals in time t, and the above formula is used to convert the counts into actual instantaneous speed;

[0059] Calculation of the cumulative sliding distance: To obtain displacement information, the cumulative sliding distance D is obtained by velocity integration:

[0060]

[0061] Where T is the total time of the pulley movement; D is the cumulative sliding distance, which indicates the total displacement distance of the pulley sliding within the total time T; V(t) indicates the instantaneous speed; T indicates the total time of the pulley movement; C(t) indicates the cumulative value of the state within the time t, that is, the cumulative signal of the rotation state of the pulley within the time period; r is the radius of the pulley; N indicates the total number of signals within the time period, which is used to standardize the signal cumulative value C(t); Δt is the time period, which indicates the fixed time interval for each signal statistics; 2π is the time period, which indicates the fixed time interval for each signal statistics; the above formula is the cumulative formula of the sliding distance, which is used to obtain continuous displacement information;

[0062] For the feedback of the control pulse signal, the PLC generates a pulse control signal P(t) according to the calculation results of the sliding speed and displacement. P(t) is calculated according to the speed error E(t) = V d -V(t) adjustment, set V d The target speed is:

[0063]

[0064] Where P(t) is the pulse control signal, which represents the pulse generated at time t and is used to adjust the power output of the system; E(t) is the speed error, which represents the difference between the target speed and the actual speed, and is defined as E(t) = V d -V(t);V d is the target speed; V(t) is the actual speed, which means the current speed of the system at time t; K p K is the proportional gain coefficient, which controls the direct impact of the speed error on the output signal and adjusts the sensitivity of the system response; i K is the integral gain coefficient, which controls the influence of the cumulative error on the output signal and is used to eliminate long-term error deviation; d is the differential gain coefficient, which controls the effect of the error change rate on the output signal and is used to predict the error trend and improve the stability of the system;

[0065] in is the integral term of the error, which represents the accumulated error from the initial moment to the current moment t and is used to correct the continuous error; It is the differential term of the error, indicating the rate of change of the error over time, and is used to predict the changing trend of the error.

[0066] It should be further explained that the main purpose of the system is to remove thick paint. The core is to remove the paint through electromagnetic heating equipment and monitor the removal speed in real time so as to adjust the power output according to the actual working state. The system consists of multiple modules, including infrared pulley position detection module, pulley encoding module, signal transmission and PLC counting module, speed display module, main control unit and pulse control module, phase angle adjustment module, heating effect feedback module and inverter unit frequency control module. The collaboration of the whole system ensures the precise control of the paint removal rate, helps to improve the removal efficiency, reduce energy consumption, and is suitable for various complex working conditions.

[0067] During operation, the infrared pulley position detection module first uses an infrared sensor to detect the rotation state of the pulley. The pulley is designed with evenly distributed square holes. When the pulley rotates, the part of the infrared light passing through the square holes is recorded as "0" by the sensor, and when the light is blocked by the solid part, the sensor records it as "1". This alternating change of binary signals is transmitted to the signal transmission and PLC counting module through the pulley encoding module. The pulley encoding module encodes the pulley rotation state into a binary signal by marking a fixed position on the pulley, so that the infrared sensor can effectively identify the changes between "0" and "1";

[0068] After receiving the binary signal from the infrared sensor, the signal transmission and PLC counting module transmits it to the PLC programmable logic controller. The PLC is equipped with a counter, which records the cumulative number of signal "1" to obtain the current rotation speed state of the pulley. The counting process depends on a fixed time period and the frequency factor of the pulley to ensure the accuracy of the speed data. In this process, the signal transmission module converts the physical rotation state of the pulley into calculable speed data and transmits it to the main control unit to provide data support for subsequent power regulation.

[0069] The speed display module is responsible for transmitting the current pulley speed information from the PLC to the text display. The operator can monitor the working sliding speed of the equipment in real time through the display and determine whether the operating status of the equipment needs to be adjusted. This module ensures the visualization of speed data so that the operator can intuitively understand the current working status of the equipment;

[0070] After obtaining the speed data, the main control unit accurately controls the power output of the electromagnetic heating device through the pulse control module. The main control unit generates a pulse signal, which is transmitted to the trigger circuit board of the rectifier unit to control the power of the electromagnetic heating. The size and frequency of the pulse signal are adjusted according to the real-time speed data of the pulley, and the power output is accurately controlled by adjusting the phase angle. After receiving the pulse signal, the phase angle adjustment module adjusts the power output intensity of the host device by changing the phase angle to ensure that the heating power matches the rotation speed of the pulley, thereby achieving control of the heating effect;

[0071] The heating effect feedback module provides a closed-loop feedback control mechanism. The module monitors the relationship between heating power and pulley speed in real time, and automatically adjusts the power output according to the change of pulley speed to ensure that the appropriate heating effect can be achieved at different speeds. This feedback mechanism ensures that the heating intensity always meets the requirements of paint removal, avoids overheating or insufficient power due to speed changes, and further improves the stability and adaptability of the system.

[0072] In order to maintain the power stability of the system, the inverter unit frequency control module ensures that the entire device operates at a constant frequency. The module reduces power instability caused by frequency fluctuations by providing stable frequency output, ensuring long-term continuous operation of the equipment. Constant frequency output plays an important role in maintaining the uniformity of the heating effect and improving the service life of the equipment, enabling the system to maintain a stable state under different workloads;

[0073] In summary, this solution realizes the full-process automated control from infrared pulley position detection to heating power control. The infrared pulley position detection module and the pulley encoding module realize the accurate detection of the pulley rotation state. The signal transmission and PLC counting module converts the detection signal into speed data. The main control unit combines the pulse control module and the phase angle adjustment module to realize the accurate control of the heating power. The heating effect feedback module provides closed-loop feedback adjustment to ensure that the heating intensity adapts to the real-time changes of the pulley speed. The inverter unit frequency control module ensures the stability of the entire system. The system provides an efficient and stable solution for removing thick deck coatings and ensures the uniformity of the coating removal process under different working conditions.

[0074] In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the case of no conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A system for measuring the removal rate of thick deck coatings by electromagnetic heating, characterized in that: include: Infrared pulley position detection module, pulley encoding module, signal transmission and PLC counting module, speed display module, main control unit and pulse control module, phase angle adjustment module, heating effect feedback module and inverter unit frequency control module; The pulley encoding module realizes the rotation encoding function of the pulley by evenly distributing square holes on the inner side of the pulley. The pulley encoding module marks fixed positions on the pulley for the infrared sensor to identify the changes between "0" and "1". The infrared pulley position detection module is used to monitor the rotation state of the pulley in real time; the infrared pulley position detection module emits infrared rays through the infrared sensor. When the pulley rotates and the infrared rays pass through the square hole, the infrared sensor records it as "0"; when the infrared rays are blocked by the solid part, it is recorded as "1"; the infrared pulley position detection module converts the physical rotation state of the pulley into a binary signal to provide data support for subsequent speed calculation; The signal transmission and PLC counting module transmits the "0" and "1" signals collected by the infrared sensor to the PLC; the counter in the PLC counts according to the input signal to calculate the rotation speed of the pulley; the signal transmission and PLC counting module is used to count and process the binary signal to obtain speed data, providing a decision-making basis for the main control unit.

2. A system for measuring the removal rate of thick deck coatings by electromagnetic heating according to claim 1, characterized in that: The speed display module obtains the current pulley speed information from the PLC of the signal transmission and PLC counting module, and displays it in the text display; the operator monitors the working sliding speed of the equipment in real time through the speed display module, and determines whether the operating status of the equipment needs to be adjusted.

3. A system for measuring the removal rate of thick deck coatings by electromagnetic heating according to claim 2, characterized in that: The main control unit and the pulse control module analyze the front-end working sliding speed according to the pulley speed data of the speed display module, generate a pulse signal, and transmit the signal to the trigger circuit board of the rectifier unit; The main control unit and the pulse control module are responsible for outputting control signals according to the current speed requirements.

4. A system for measuring the removal rate of thick deck coatings by electromagnetic heating according to claim 3, characterized in that: The phase angle adjustment module receives pulse signals from the main control unit and the pulse control module, and adjusts the power output of the host device by changing the phase angle; the adjustment of the phase angle affects the power size and determines the heating intensity of the metal surface.

5. A system for measuring the removal rate of thick deck coatings by electromagnetic heating according to claim 4, characterized in that: The heating effect feedback module automatically adjusts the power according to the current power output and the pulley speed to achieve the desired heating effect; the heating effect feedback module continuously monitors the heating effect and performs feedback adjustment to provide corresponding heating effects under different speed conditions.

6. A system for measuring the removal rate of thick deck coatings by electromagnetic heating according to claim 5, characterized in that: The inverter unit frequency control module is used to maintain a constant state of frequency output and provide stable power support for the system; the constant frequency output of the inverter unit frequency control module ensures that the system operates under conditions of low frequency fluctuations.

7. A system for measuring the removal rate of thick deck coatings by electromagnetic heating according to claim 6, characterized in that: The signal transmission and PLC counting module includes binary conversion of infrared signals, time accumulation counting, calculation of instantaneous speed, calculation of accumulated sliding distance and feedback of control pulse signals; Binary conversion of infrared signals; the infrared sensor captures the rotation signal of the pulley and transmits it to the PLC in binary form; assuming that the number of holes of the pulley in time t is represented by S(t), the signal is converted into a binary code stream B(t), which is defined as: Where B(t) represents the binary state at time t, and this binary signal is used to transmit to the PLC counter of the signal transmission and PLC counting module; Count the accumulated time; after the signal stream B(t) is transmitted to the PLC counter, the counter counts the signal "1" in each time period Δt, and obtains the accumulated state value C(t) of the current period. C(t) is used to reflect the rotation state of the pulley in this period; Where N represents the total number of signals within time t, f i is the frequency factor of the pulley rotation; B(t i ) indicates that at time t i The binary signal value at time t indicates that the pulley is i Whether the infrared signal is penetrated by the square hole "0" or blocked by the solid part "1"; The above formula is used to convert the binary signal into an accumulated count value; Calculation of instantaneous velocity; the instantaneous velocity V(t) depends on the counting result C(t) and the signal cycle time Δt; the relationship between the angular velocity ω(t) of the pulley and the linear velocity V(t) is: V(t)=ω(t)·r Where r is the radius of the pulley, N represents the total number of signals in time t, and the above formula is used to convert the counts into actual instantaneous speed; Calculation of the cumulative sliding distance: To obtain displacement information, the cumulative sliding distance D is obtained by velocity integration: Where T is the total time of the pulley movement; D is the cumulative sliding distance, which indicates the total displacement distance of the pulley sliding within the total time T; V(t) indicates the instantaneous speed; T indicates the total time of the pulley movement; C(t) indicates the cumulative value of the state within the time t, that is, the cumulative signal of the rotation state of the pulley within the time period; r is the radius of the pulley; N indicates the total number of signals within the time period, which is used to standardize the signal cumulative value C(t); Δt is the time period, which indicates the fixed time interval for each signal statistics; 2π is the time period, which indicates the fixed time interval for each signal statistics; the above formula is the cumulative formula of the sliding distance, which is used to obtain continuous displacement information; For the feedback of the control pulse signal, the PLC generates a pulse control signal P(t) according to the calculation results of the sliding speed and displacement. P(t) is calculated according to the speed error E(t) = V d -V(t) adjustment, set V d The target speed is: Where P(t) is the pulse control signal, which represents the pulse generated at time t and is used to adjust the power output of the system; E(t) is the speed error, which represents the difference between the target speed and the actual speed, and is defined as E(t) = V d -V(t);V d is the target speed; V(t) is the actual speed, which means the current speed of the system at time t; K p K is the proportional gain coefficient, which controls the direct impact of the speed error on the output signal and adjusts the sensitivity of the system response; i K is the integral gain coefficient, which controls the influence of the cumulative error on the output signal and is used to eliminate long-term error deviation; d is the differential gain coefficient, which controls the effect of the error change rate on the output signal and is used to predict the error trend and improve the stability of the system; in is the integral term of the error, which represents the accumulated error from the initial moment to the current moment t and is used to correct the continuous error; It is the differential term of the error, indicating the rate of change of the error over time, and is used to predict the changing trend of the error.

Images