CN113353704B - Multi-level main drive non-cache tension control mechanism, method, device and storage medium - Google Patents
Multi-level main drive non-cache tension control mechanism, method, device and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H23/00—Registering, tensioning, smoothing or guiding webs
- B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
- B65H23/26—Registering, tensioning, smoothing or guiding webs longitudinally by transverse stationary or adjustable bars or rollers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H20/00—Advancing webs
- B65H20/02—Advancing webs by friction roller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
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Abstract
The invention discloses a multi-level main drive non-cache tension control mechanism, a method, a device and a storage medium, wherein the non-cache tension control mechanism comprises a plurality of main drive rollers, a plurality of main drive compression rollers, a plurality of tension rollers and a plurality of passing rollers; each main driving roller is provided with a main driving pressing roller, a tension roller is arranged between every two adjacent main driving pressing rollers, at least one passing roller is arranged between each tension roller and the adjacent main driving roller, and each tension roller is provided with at least one tension sensor; according to the control method, the speed regulating quantity or the torque regulating quantity of the second main driving roller is calculated through a closed-loop feedback control algorithm according to the tension value fed back by the tension sensor and the preset first tension; so that the operating angular speed or torque of the second main drive roller can be readjusted according to the calculated speed adjustment amount or torque adjustment amount; the tension of the material belt is kept within the allowable fluctuation range of the set value; the tension control device can be widely applied to the technical field of tension control.
Description
Technical Field
The invention relates to the technical field of tension control, in particular to a multi-level main drive cache-free tension control mechanism, method and device and a storage medium.
Background
In order to realize constant tension control of the existing strip coiling system equipment, a tension swing rod cache structure, a low-friction cylinder linear cache structure, a floating roller/swing roller cache structure and other cache structures are often arranged between adjacent main drive rollers, so that the strip coiling system equipment has the problems of complex structure, high cost, inconvenience in adjustment and the like;
in many industries of industrial production, winding control problems are often encountered. The unwinding and winding tension of the strip or wire is critical to the quality of the product, as in the production of paper, textiles, plastic films, electrical wires, printed matter, magnetic tape, metal strips and wires, and the like, for which constant tension control is required, i.e. the product is subjected to an optimum tension during winding and remains constant from start to finish. If the tension is too large, the processing material can be stretched and deformed; if the tension is too low, the stress between layers of the coiled material is deformed, the coiling is irregular, and the processing quality is affected.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a multi-level main drive cache-free tension control mechanism, a method, a device and a storage medium.
The technical scheme adopted by the invention is as follows:
in one aspect, the embodiment of the invention comprises a multi-stage main drive buffer-free tension control mechanism, which comprises a plurality of main drive rollers, a plurality of main drive compression rollers, a plurality of tension rollers and a plurality of passing rollers; each main driving roller is provided with one main driving pressing roller, one tension roller is arranged between every two adjacent main driving pressing rollers, at least one passing roller is arranged between each tension roller and the adjacent main driving roller, and each tension roller is provided with at least one tension sensor;
the main driving compression roller is used for cutting off tension on two sides of the main driving roller;
the roller is a free rotating assembly and is used for guiding and supporting the material belt system;
the tension sensor is used for detecting the tension on the corresponding tension roller material belt.
Further, the tension roller is of a single cantilever structure or a double-support structure;
when the tension roller is of a single cantilever structure, the tension roller is provided with a tension sensor;
when the tension roller is of a double-support structure, two shaft ends of the tension roller are respectively provided with a tension sensor.
On the other hand, the embodiment of the invention also comprises a method for controlling the tension of the multi-level main drive without the cache, which comprises the following steps:
setting a tension value between a first main driving roller and a second main driving roller as a first tension, wherein the first main driving roller and the second main driving roller are any two adjacent main driving rollers;
acquiring the running linear speed of the virtual main shaft;
measuring a first radius, wherein the first radius is the outer diameter radius of a rotor of the second main driving roller;
controlling the second main driving roller to constantly run at a first angular speed through a speed control mode according to the running linear speed of the virtual main shaft and the first radius;
acquiring a second tension, wherein the second tension is a tension value detected by a tension sensor on a first tension roller, and the first tension roller is a tension roller between a first main drive roller and a second main drive roller;
calculating the speed regulating quantity of the second main driving roller through a closed-loop feedback control algorithm according to the first tension and the second tension;
and calculating to obtain a second angular speed of the second main driving roller according to the speed regulating quantity of the second main driving roller and the first angular speed, and controlling the second main driving roller to run constantly at the second angular speed in a speed control mode.
Further, the step of controlling the second main driving roller to constantly run at the first angular speed by the speed control mode according to the running linear speed of the virtual main shaft and the first radius includes:
calculating to obtain a first angular speed according to the running linear speed of the virtual main shaft and the first radius;
and controlling the second main driving roller to constantly run at the first angular speed through a speed control mode.
Further, the method further comprises:
selecting the first main driving roller as a whole main driving roller;
measuring a second radius, wherein the second radius is the outer diameter radius of a rotor of the first main driving roller;
and controlling the first main driving roller to constantly run at a third angular speed through a speed control mode according to the running linear speed of the virtual main shaft and the second radius.
Further, the step of controlling the first main drive roller to constantly operate at a third angular velocity by a velocity control mode according to the linear velocity of the virtual main shaft and the second radius includes:
calculating to obtain a third angular velocity according to the running linear velocity of the virtual main shaft and the second radius;
and controlling the first main driving roller to constantly run at the third angular speed through a speed control mode.
On the other hand, the embodiment of the invention also comprises a method for controlling the tension of the multi-level main drive without the cache, which comprises the following steps:
setting a tension value between a first main driving roller and a second main driving roller as a first tension, wherein the first main driving roller and the second main driving roller are any two adjacent main driving rollers;
controlling the second main drive roller to operate at a first torque constant by a torque control mode;
acquiring a second tension, wherein the second tension is a tension value detected by a tension sensor on a first tension roller, and the first tension roller is a tension roller between a first main drive roller and a second main drive roller;
calculating the torque regulating quantity of the second main driving roller through a closed-loop feedback control algorithm according to the first tension and the second tension;
and calculating to obtain a second torque of the second main driving roller according to the torque adjustment quantity of the second main driving roller and the first torque, and controlling the second main driving roller to run constantly at the second torque through a torque control mode.
On the other hand, the embodiment of the invention also includes a multi-stage main drive non-buffer tension control device, which includes:
the device comprises a setting module, a setting module and a control module, wherein the setting module is used for setting a tension value between a first main driving roller and a second main driving roller as a first tension, and the first main driving roller and the second main driving roller are any two adjacent main driving rollers;
the first acquisition module is used for acquiring the linear speed of the virtual main shaft;
the measuring module is used for measuring a first radius, and the first radius is the outer diameter radius of a rotating body of the second main driving roller;
the control module is used for controlling the second main driving roller to constantly run at a first angular speed in a speed control mode according to the running linear speed of the virtual main shaft and the first radius;
the second acquiring module is used for acquiring second tension, wherein the second tension is a tension value detected by a tension sensor on a first tension roller, and the first tension roller is a tension roller between a first main driving roller and a second main driving roller;
the calculating module is used for calculating the speed regulating quantity of the second main driving roller through a closed-loop feedback control algorithm according to the first tension and the second tension;
and the calculating and controlling module is used for calculating and obtaining a second angular speed of the second main driving roller according to the speed regulating quantity of the second main driving roller and the first angular speed, and controlling the second main driving roller to operate at the second angular speed in a constant mode through a speed control mode.
On the other hand, the embodiment of the invention also includes a multi-stage main drive non-buffer tension control device, which includes:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one program causes the at least one processor to implement the tension control method of the multi-level master drive uncached tension control mechanism.
In another aspect, the embodiment of the present invention further includes a computer readable storage medium, on which a processor executable program is stored, where the processor executable program is used to implement the tension control method of the multi-level main drive cache-free tension control mechanism when being executed by a processor.
The invention has the beneficial effects that:
(1) The invention discloses a multi-stage main drive buffer-free tension control mechanism which comprises a plurality of main drive rollers, a plurality of main drive compression rollers, a plurality of tension rollers and a plurality of passing rollers; each main driving roller is provided with a main driving pressing roller, a tension roller is arranged between two adjacent main driving pressing rollers, at least one passing roller is arranged between the tension roller and the adjacent main driving roller, and each tension roller is provided with at least one tension sensor; the multi-stage main drive buffer-free tension control mechanism can ensure that the strip coiling system equipment can also carry out constant tension control without installing a buffer structure, greatly reduces the equipment cost and simultaneously ensures that the equipment structure is simpler.
(2) According to the multi-stage main drive non-buffer tension control method, the speed regulating quantity of a second main drive roller is calculated through a closed-loop feedback control algorithm according to a tension value fed back by a tension sensor and a preset first tension; so that the operating angular velocity of the second main drive roller can be readjusted according to the calculated velocity adjustment amount; the running angular speed of the main driving roller can be adjusted and controlled in real time according to the tension change, so that the tension of the material belt is kept within the allowable fluctuation range of a set value; and further improve the processing precision of the strip or wire rod and ensure the processing quality.
(3) According to the multi-stage main drive non-buffer tension control method, the torque regulating quantity of a second main drive roller is calculated through a closed-loop feedback control algorithm according to a tension value fed back by a tension sensor and a preset first tension; so that the running torque of the second main driving roller can be readjusted according to the calculated torque adjustment amount; the torque of the main driving roller can be adjusted and controlled in real time according to the tension change, so that the tension of the material belt is kept within the allowable fluctuation range of a set value; and further, the processing precision of the strip or the wire rod is improved, and the processing quality is ensured.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a multi-level master drive non-cache tension control mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a multi-level driver non-cache tension control mechanism according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating steps of a method for controlling a multi-level primary drive non-buffer tension according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating another step of the method for controlling the non-buffer tension of the multi-level primary drive according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a multi-stage main drive buffer-less tension control device according to an embodiment of the present invention;
fig. 6 is another schematic structural diagram of the multi-stage main drive buffer-less tension control device according to the embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, a plurality of means is one or more, a plurality of means is two or more, and greater than, less than, more than, etc. are understood as excluding the essential numbers, and greater than, less than, etc. are understood as including the essential numbers. If there is a description of first and second for the purpose of distinguishing technical features only, this is not to be understood as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
The embodiments of the present application will be further explained with reference to the drawings.
Referring to fig. 1, an embodiment of the present invention provides a multi-stage main drive non-buffer tension control mechanism, which includes a plurality of main drive rollers, a plurality of main drive compression rollers, a plurality of tension rollers, and a plurality of passing rollers; each main driving roller is provided with a main driving pressing roller, a tension roller is arranged between every two adjacent main driving pressing rollers, at least one passing roller is arranged between each tension roller and the adjacent main driving roller, and each tension roller is provided with at least one tension sensor;
the main drive compression roller is used for separating tension on two sides of the main drive roller;
the roller is a free rotating component and is used for guiding and supporting the material belt system;
the tension sensor is used for detecting the tension on the corresponding tension roller material belt.
Optionally, the tension roller is of a single cantilever structure or a double-support structure;
when the tension roller is of a single cantilever structure, the tension roller is provided with a tension sensor;
when the tension roller is of a double-support structure, two shaft ends of the tension roller are respectively provided with a tension sensor.
In this embodiment, the multi-level master drive non-cache tension control mechanism includes the following components: more than 2 main driving rollers, main driving roller press rollers, tension rollers between adjacent main drives, and passing rollers between the tension rollers and the main driving rollers; each main driving roller is matched with a main driving pressing roller, and the main driving roller, the tension roller and the passing roller can be in a single cantilever structure, a double-support structure or other structural forms; the number of main drive shafts in the multi-stage main drive buffer-free structure is not limited, main drive rollers and tension rollers can be added at the left end and the right end of the structure in figure 1 infinitely, and one tension roller must be arranged between every two adjacent main drive rollers. An unlimited number of over rollers can be arranged between the tension roller and the main driving roller and are used for guiding and supporting the material belt system.
Referring to fig. 2, fig. 2 shows one structure of a multi-stage main drive non-buffer tension control mechanism, which includes a main drive roller 1, a main drive compression roller 1, a main drive roller 2, a main drive compression roller 2, a main drive roller 3, a main drive compression roller 3, a main drive roller 4, a main drive compression roller 4, a tension roller 1, a tension roller 2, and a tension roller 3; the tension roller 1 is positioned between the main drive roller 1 and the main drive roller 2, the tension roller 2 is positioned between the main drive roller 2 and the main drive roller 3, the tension roller 3 is positioned between the main drive roller 3 and the main drive roller 4, at least one passing roller is arranged between the tension roller and the adjacent main drive roller, and the passing rollers between the tension roller and the adjacent main drive roller are omitted in the drawing 2, but the number of the passing rollers can be set to be multiple according to actual needs; meanwhile, the left end and the right end of the roller frame in the figure 2 can be infinitely added with a main driving roller and a tension roller. In this embodiment, fig. 2 only shows an exemplary structure of the multi-stage main drive buffer-less tension control mechanism, and the corresponding multi-stage main drive buffer-less tension control mechanism has a different structure according to different numbers of the main drive rollers, the tension rollers and the pass rollers.
Next, each roller of the multi-stage main drive no-buffer tension control mechanism will be further explained:
1) A main driving roller: the roller is a component which is connected with a rotating roller by a servo motor, a DD motor and other driving motors through a speed reducing device or directly through a coupling; the main driving roller driving motor can be controlled by adopting a speed control mode or a torque control mode;
2) Main drive compression roller: the roller is used for separating tension on two sides of the main driving roller, and each main driving roller is provided with a main driving pressing roller in principle;
3) Tension roller: the roll is an assembly with a tension sensor mounted at the end of the roll. The tension roller is of a single cantilever structure or a double-support structure; when the tension roller is of a single cantilever structure, the tension roller is provided with a tension sensor, and when the tension roller is of a double-support structure, two shaft ends of the tension roller are respectively provided with a tension sensor. The tension sensor on the tension roller can output analog quantity signals, and each tension roller only outputs one analog quantity signal;
4) And (3) roller passing: the roller is an assembly which can rotate freely along the material belt path, and the roller plays a role in supporting and guiding.
The multi-stage main drive non-buffer tension control mechanism provided by the embodiment of the invention has the following technical effects:
the multi-stage main drive non-buffer tension control mechanism comprises a plurality of main drive rollers, a plurality of main drive compression rollers, a plurality of tension rollers and a plurality of passing rollers; each main driving roller is provided with a main driving pressing roller, a tension roller is arranged between every two adjacent main driving pressing rollers, at least one passing roller is arranged between each tension roller and the adjacent main driving roller, and each tension roller is provided with at least one tension sensor; the multi-stage main drive buffer-free tension control mechanism can enable strip coiling system equipment to be capable of carrying out constant tension control without installing a buffer structure, greatly reduces equipment cost, and simultaneously enables the equipment structure to be simpler.
Referring to fig. 3, an embodiment of the present invention provides a method for controlling tension of a multi-level main drive without cache, including but not limited to the following steps:
s301, setting a tension value between a first main drive roller and a second main drive roller as a first tension, wherein the first main drive roller and the second main drive roller are any two adjacent main drive rollers;
s302, acquiring the running linear speed of the virtual main shaft;
s303, measuring a first radius, wherein the first radius is the outer diameter radius of a rotating body of the second main driving roller;
s304, controlling a second main driving roller to constantly run at a first angular speed through a speed control mode according to the running linear speed and the first radius of the virtual main shaft;
s305, acquiring a second tension, wherein the second tension is a tension value detected by a tension sensor on a first tension roller, and the first tension roller is a tension roller between a first main driving roller and a second main driving roller;
s306, calculating the speed regulating quantity of the second main driving roller through a closed-loop feedback control algorithm according to the first tension and the second tension;
and S307, calculating to obtain a second angular speed of the second main driving roller according to the speed regulating quantity and the first angular speed of the second main driving roller, and controlling the second main driving roller to operate at the constant second angular speed in a speed control mode.
In an embodiment, the step S304 of controlling the second main driving roller to constantly operate at the first angular velocity by the speed control mode according to the operating linear velocity of the virtual main shaft and the first radius includes:
s304-1, calculating to obtain a first angular velocity according to the running linear velocity and the first radius of the virtual spindle;
and S304-2, controlling the second main driving roller to constantly run at the first angular speed through the speed control mode.
Optionally, the method further comprises:
s308, selecting a first main drive roller as a whole main drive roller;
s309, measuring a second radius, wherein the second radius is the outer diameter radius of the rotating body of the first main driving roller;
and S310, controlling the first main driving roller to constantly run at a third angular speed through a speed control mode according to the running linear speed and the second radius of the virtual main shaft.
In this embodiment, the step S310 of controlling the first main driving roller to constantly operate at the third angular velocity by the velocity control mode according to the operating linear velocity of the virtual main shaft and the second radius includes:
s310-1, calculating to obtain a third angular velocity according to the running linear velocity and the second radius of the virtual spindle;
and S310-2, controlling the first main driving roller to constantly run at a third angular speed through a speed control mode.
In this embodiment, taking the multi-level main drive non-buffer tension control mechanism shown in fig. 2 as an example, the tension control method is further described, which includes the following steps:
1) Setting the running linear speed V of the virtual main shaft;
2) Setting the tension on the material belt path, wherein the material belt tension between the main driving roller 1 and the main driving roller 2 is T1set, the material belt tension between the main driving roller 2 and the main driving roller 3 is T2set, and the material belt tension between the main driving roller 3 and the main driving roller 4 is T3set;
3) Measuring the roll diameters of all main drive roll rotating bodies to obtain that the outer diameter radius of the rotating bodies of the main drive roll 1 is R1, the outer diameter radius of the rotating bodies of the main drive roll 2 is R2, the outer diameter radius of the rotating bodies of the main drive roll 3 is R3, and the outer diameter radius of the rotating bodies of the main drive roll 4 is R4;
4) And selecting any one main drive roller as a whole machine main drive roller, wherein the running linear speed of the main drive roller is the same as the running linear speed of the virtual main shaft, namely V. The control mode of the main driving roller driving motor is speed mode control, and the main driving roller driving motor is controlled to constantly run at an angular speed V/R1; assuming that the tape running direction is the arrow direction in fig. 2, generally selecting the first main drive roller as a complete machine main drive roller, that is, selecting the main drive roller 1 in fig. 2 as a complete machine main drive roller, and controlling the main drive roller 1 to constantly run at an angular velocity V/R1 through a velocity mode;
5) Controlling the main driving roller 2, the main driving roller 3 and the main driving roller 4 to operate at initial constant angular speeds of V/R2, V/R3 and V/R4 respectively in a speed mode;
6) The tension sensor feeds back the current tension value, and the feedback values of the tension sensors on the tension roller 1, the tension roller 2 and the tension roller 3 are respectively T1p, T2p and T3p;
7) According to a closed-loop feedback control algorithm, the speed regulating quantities of the main driving roller 2, the main driving roller 3 and the main driving roller 4 are calculated and obtained through a PID control algorithm and are respectively f (T1 p-T1 set), f (T2 p-T2set, f (f (T1 p-T1 set)), f (T3 p-T3set, f (T2 p-T2set, f (T1 p-T1 set)));
8) Recalculating the angular velocities of the main drive roller 2, the main drive roller 3 and the main drive roller 4 according to the calculated velocity adjustment amounts of the main drive roller 2, the main drive roller 3 and the main drive roller 4, and controlling the main drive roller 2, the main drive roller 3 and the main drive roller 4 to operate at angular velocities of V/R2+ f (T1 p-T1 set)/R2, V/R3+ f (T2 p-T2set, f (f (T1 p-T1 set))/R3, V/R4+ f (T3 p-T3set, f (T2 p-T2, f (f (T1 p-T1 set)))/R4 respectively through a velocity control mode;
9) And (4) repeatedly executing the steps 6) to 8), thereby adjusting the angular speed of the driving motor of the main driving roller in a closed loop in real time according to the tension change, and keeping the tension on the material belt path within the allowable fluctuation range of the set value.
The multi-level main drive non-cache tension control method provided by the embodiment of the invention has the following technical effects:
according to the multi-stage main drive non-buffer tension control method, the speed regulating quantity of a second main drive roller is calculated through a closed-loop feedback control algorithm according to the tension value fed back by a tension sensor and a preset first tension; so that the operating angular velocity of the second main drive roller can be readjusted according to the calculated velocity adjustment amount; the running angular speed of the main driving roller can be adjusted and controlled in real time according to the tension change, so that the tension of the material belt is kept within the allowable fluctuation range of a set value; and further, the processing precision of the strip or the wire rod is improved, and the processing quality is ensured.
Referring to fig. 4, an embodiment of the present invention further provides a method for controlling multi-level main drive non-buffer tension, including but not limited to the following steps:
s401, setting a tension value between a first main drive roller and a second main drive roller as a first tension, wherein the first main drive roller and the second main drive roller are any two adjacent main drive rollers;
s402, controlling the second main driving roller to operate in a first torque constant mode through a torque control mode;
s403, acquiring a second tension, wherein the second tension is a tension value detected by a tension sensor on a first tension roller, and the first tension roller is a tension roller between a first main driving roller and a second main driving roller;
s404, calculating the torque regulating quantity of the second main driving roller through a closed-loop feedback control algorithm according to the first tension and the second tension;
s405, calculating to obtain a second torque of the second main driving roller according to the torque adjusting quantity of the second main driving roller and the first torque, and controlling the second main driving roller to run constantly at the second torque through a torque control mode.
Similarly, in this embodiment, taking the multi-stage main drive non-buffer tension control mechanism shown in fig. 2 as an example, the tension control method is further described, which includes the following steps:
1) Setting the running linear speed V of the virtual main shaft;
2) Setting the tension on the material belt path, wherein the material belt tension between the main driving roller 1 and the main driving roller 2 is T1set, the material belt tension between the main driving roller 2 and the main driving roller 3 is T2set, and the material belt tension between the main driving roller 3 and the main driving roller 4 is T3set;
3) And selecting any one main driving roller as a whole machine main driving roller, wherein the running linear speed of the main driving roller is the same as the running linear speed of the virtual main shaft, namely V. The control mode of the main driving roller driving motor is speed mode control, and the main driving roller driving motor is controlled to constantly run at an angular speed V/R1; assuming that the tape running direction is the arrow direction in fig. 2, generally selecting the first main drive roller as the main drive roller of the whole machine, that is, selecting the main drive roller 1 in fig. 2 as the main drive roller of the whole machine, and controlling the main drive roller 1 to operate constantly at an initial constant torque Td1 through a torque mode;
4) Controlling the main drive roller 2, the main drive roller 3, the main drive roller 4 to operate with initial constant torques Td2, td3, td4, respectively, in a torque mode;
5) The tension sensor feeds back the current tension value, and the feedback values of the tension sensors on the tension roller 1, the tension roller 2 and the tension roller 3 are respectively T1p, T2p and T3p;
6) Calculating torque adjustment amounts of the main driving roller 2, the main driving roller 3 and the main driving roller 4 through a PID control algorithm according to a closed-loop feedback control algorithm, wherein the torque adjustment amounts are f (T1 p-T1 set), f (T2 p-T2set, f (f (T1 p-T1 set))), f (T3 p-T3set, f (T2 p-T2set, f (f (T1 p-T1 set)));
7) Recalculating the torques of the main drive roller 2, the main drive roller 3 and the main drive roller 4 according to the calculated torque adjustment amounts of the main drive roller 2, the main drive roller 3 and the main drive roller 4, and controlling the main drive roller 2, the main drive roller 3 and the main drive roller 4 to operate respectively at torques Td2+ f (T1 p-T1 set)/R2 and Td3+ f (T2 p-T2set, f (f (T1 p-T1 set))/R3 and Td4+ f (T3 p-T3set, f (T2 p-T2set, f (f (T1 p-T1 set)))/R4 by a torque control mode;
8) And (5) repeatedly executing the steps 5) to 7), thereby adjusting the angular speed of the driving motor of the main driving roller in a closed loop in real time according to the tension change, and keeping the tension on the material belt path within the allowable fluctuation range of the set value.
The multi-stage main drive non-cache tension control method provided by the embodiment of the invention has the following technical effects:
according to the multi-stage main drive non-buffer tension control method, the torque regulating quantity of a second main drive roller is calculated through a closed-loop feedback control algorithm according to the tension value fed back by a tension sensor and a preset first tension; so that the running torque of the second main driving roller can be readjusted according to the calculated torque adjustment amount; the torque of the main driving roller can be adjusted and controlled in real time according to the tension change, so that the tension of the material belt is kept within the allowable fluctuation range of a set value; and further improve the processing precision of the strip or wire rod and ensure the processing quality.
Referring to fig. 5, an embodiment of the present invention further provides a multi-level main drive non-buffer tension control apparatus, including:
the setting module 501 is used for setting a tension value between a first main driving roller and a second main driving roller as a first tension, wherein the first main driving roller and the second main driving roller are any two adjacent main driving rollers;
a first obtaining module 502, configured to obtain a linear velocity of a virtual spindle;
a measuring module 503, configured to measure a first radius, where the first radius is an outer radius of a rotor of the second main drive roller;
a control module 504, configured to control the second main drive roller to constantly operate at a first angular velocity in a speed control mode according to the operating linear velocity of the virtual spindle and the first radius;
a second obtaining module 505, configured to obtain a second tension, where the second tension is a tension value detected by a tension sensor on a first tension roller, and the first tension roller is a tension roller between the first main drive roller and a second main drive roller;
a calculating module 506, configured to calculate, according to the first tension and the second tension, a speed adjustment amount of the second main drive roller through a closed-loop feedback control algorithm;
and the calculating and controlling module 507 is configured to calculate a second angular velocity of the second main driving roller according to the speed adjustment amount of the second main driving roller and the first angular velocity, and control the second main driving roller to operate at the second angular velocity in a constant manner through a speed control mode.
The contents in the method embodiment shown in fig. 3 are all applicable to the embodiment of the present system, the functions implemented in the embodiment of the present system are the same as those in the method embodiment shown in fig. 3, and the beneficial effects achieved by the embodiment of the present system are also the same as those achieved by the method embodiment shown in fig. 3.
Referring to fig. 6, an embodiment of the present invention further provides a multi-stage main drive non-buffer tension control apparatus 600, which specifically includes:
at least one processor 610;
at least one memory 620 for storing at least one program;
when the at least one program is executed by the at least one processor 610, the at least one processor 610 may be caused to implement the method as shown in fig. 3 and 4.
The memory 620, as a non-transitory computer-readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer-executable programs. The memory 620 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 620 optionally includes remote memory located remotely from the processor 610, and such remote memory may be coupled to the processor 610 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
It will be understood that the device configuration shown in fig. 6 does not constitute a limitation of device 600, and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components. In the apparatus 600 shown in fig. 6, the processor 610 may retrieve the program stored in the memory 620 and execute, but is not limited to, the steps of the embodiments shown in fig. 3 and fig. 4.
The above-described embodiments of the apparatus 600 are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purposes of the embodiments.
Embodiments of the present invention also provide a computer-readable storage medium storing a program executable by a processor, where the program executable by the processor is used to implement the methods shown in fig. 3 and 4 when executed by the processor.
Embodiments of the present application also disclose a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read by a processor of a computer device from a computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the methods as shown in fig. 3 and 4.
It will be understood that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, or suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (8)
1. A multi-level main drive buffer-free tension control method is characterized in that the method is applied to a multi-level main drive buffer-free tension control mechanism and comprises a plurality of main drive rollers, a plurality of main drive compression rollers, a plurality of tension rollers and a plurality of passing rollers; each main driving roller is provided with one main driving pressing roller, one tension roller is arranged between every two adjacent main driving pressing rollers, at least one passing roller is arranged between each tension roller and the adjacent main driving roller, and each tension roller is provided with at least one tension sensor; the main driving compression roller is used for separating tension on two sides of the main driving roller, the passing roller is a free rotating assembly and is used for guiding and supporting a material belt system, and the tension sensor is used for detecting tension on a corresponding tension roller material belt; the main driving roller is a component which is connected with the rotating roller through a speed reducer by a driving motor, or the main driving roller is a component which is connected with the rotating roller through a coupling by the driving motor; the method comprises the following steps:
setting a tension value between a first main driving roller and a second main driving roller as a first tension, wherein the first main driving roller and the second main driving roller are any two adjacent main driving rollers;
acquiring the running linear speed of the virtual main shaft;
measuring a first radius, wherein the first radius is the outer diameter radius of a rotor of the second main drive roller;
controlling the second main driving roller to constantly run at a first angular speed through a speed control mode according to the running linear speed of the virtual main shaft and the first radius;
acquiring a second tension, wherein the second tension is a tension value detected by a tension sensor on a first tension roller, and the first tension roller is a tension roller between a first main drive roller and a second main drive roller;
calculating the speed regulating quantity of the second main driving roller through a closed-loop feedback control algorithm according to the first tension and the second tension;
and calculating to obtain a second angular speed of the second main driving roller according to the speed regulating quantity of the second main driving roller and the first angular speed, and controlling the second main driving roller to operate at the second angular speed in a constant mode through a speed control mode.
2. The method for controlling the tension of a multi-level main drive without buffer according to claim 1, wherein the step of controlling the second main drive roller to operate constantly at a first angular velocity according to the linear velocity of the virtual main shaft and the first radius by a velocity control mode comprises:
calculating to obtain a first angular velocity according to the running linear velocity of the virtual main shaft and the first radius;
and controlling the second main driving roller to constantly run at the first angular speed through a speed control mode.
3. The method according to claim 1, wherein the method further comprises:
selecting the first main driving roller as a whole main driving roller;
measuring a second radius, wherein the second radius is the outer diameter radius of a rotor of the first main driving roller;
and controlling the first main driving roller to constantly run at a third angular speed through a speed control mode according to the running linear speed of the virtual main shaft and the second radius.
4. The method according to claim 3, wherein the step of controlling the first main drive roller to operate constantly at a third angular velocity by a velocity control mode according to the linear velocity of the virtual spindle and the second radius comprises:
calculating to obtain a third angular velocity according to the running linear velocity of the virtual spindle and the second radius;
and controlling the first main driving roller to constantly run at the third angular speed through a speed control mode.
5. A multi-level main drive non-buffer tension control method is characterized in that the method is applied to a multi-level main drive non-buffer tension control mechanism and comprises a plurality of main drive rollers, a plurality of main drive compression rollers, a plurality of tension rollers and a plurality of passing rollers; each main driving roller is provided with one main driving pressing roller, one tension roller is arranged between every two adjacent main driving pressing rollers, at least one passing roller is arranged between each tension roller and the adjacent main driving roller, and each tension roller is provided with at least one tension sensor; the main driving compression roller is used for separating tension on two sides of the main driving roller, the passing roller is a free rotating assembly and is used for guiding and supporting a material belt system, and the tension sensor is used for detecting tension on a corresponding tension roller material belt; the main driving roller is a component which is connected with the rotating roller through a speed reducer by a driving motor, or the main driving roller is a component which is connected with the rotating roller through a coupling by the driving motor; the method comprises the following steps:
setting a tension value between a first main driving roller and a second main driving roller as a first tension, wherein the first main driving roller and the second main driving roller are any two adjacent main driving rollers;
controlling the second main drive roller to operate at a first torque constant by a torque control mode;
acquiring a second tension, wherein the second tension is a tension value detected by a tension sensor on a first tension roller, and the first tension roller is a tension roller between a first main drive roller and a second main drive roller;
calculating the torque regulating quantity of the second main driving roller through a closed-loop feedback control algorithm according to the first tension and the second tension;
and calculating to obtain a second torque of the second main driving roller according to the torque adjustment quantity of the second main driving roller and the first torque, and controlling the second main driving roller to run constantly at the second torque through a torque control mode.
6. A multi-level main drive non-buffer tension control device is characterized in that the device is applied to a multi-level main drive non-buffer tension control mechanism and comprises a plurality of main drive rollers, a plurality of main drive compression rollers, a plurality of tension rollers and a plurality of passing rollers; each main driving roller is provided with one main driving pressing roller, one tension roller is arranged between every two adjacent main driving pressing rollers, at least one passing roller is arranged between each tension roller and the adjacent main driving roller, and each tension roller is provided with at least one tension sensor; the main driving compression roller is used for cutting off tension on two sides of the main driving roller, the passing roller is a free rotating assembly and used for guiding and supporting a material belt system, and the tension sensor is used for detecting tension on a corresponding tension roller material belt; the main driving roller is a component which is connected with the rotating roller through a speed reducing device by a driving motor, or the main driving roller is a component which is connected with the rotating roller through a coupling by the driving motor; the device comprises:
the device comprises a setting module, a setting module and a control module, wherein the setting module is used for setting a tension value between a first main driving roller and a second main driving roller as a first tension, and the first main driving roller and the second main driving roller are any two adjacent main driving rollers;
the first acquisition module is used for acquiring the running linear speed of the virtual main shaft;
the measuring module is used for measuring a first radius, and the first radius is the outer diameter radius of a rotating body of the second main driving roller;
the control module is used for controlling the second main driving roller to constantly run at a first angular speed through a speed control mode according to the running linear speed of the virtual main shaft and the first radius;
the second acquisition module is used for acquiring second tension, wherein the second tension is a tension value detected by a tension sensor on a first tension roller, and the first tension roller is a tension roller between the first main driving roller and a second main driving roller;
the calculating module is used for calculating the speed regulating quantity of the second main driving roller through a closed-loop feedback control algorithm according to the first tension and the second tension;
and the calculating and controlling module is used for calculating and obtaining a second angular speed of the second main driving roller according to the speed regulating quantity of the second main driving roller and the first angular speed, and controlling the second main driving roller to operate at the second angular speed in a constant mode through a speed control mode.
7. A multi-level main drive non-buffer tension control device is characterized by comprising:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement the method of any one of claims 1-5.
8. Computer-readable storage medium, on which a processor-executable program is stored, which, when being executed by a processor, is adapted to carry out the method according to any one of claims 1-5.
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| CN114497680B (en) * | 2022-01-28 | 2023-02-28 | 广东利元亨智能装备股份有限公司 | Pole piece composite cutting machine and pole piece composite cutting method |
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| US8079539B2 (en) * | 2010-01-26 | 2011-12-20 | Delta Electronics, Inc. | Built-in module for inverter and having tension control with integrated tension and velocity closed loops |
| DE102011101842A1 (en) * | 2011-05-17 | 2012-11-22 | Robert Bosch Gmbh | Method of controlling web tension in a web-processing machine |
| CN207158436U (en) * | 2017-07-14 | 2018-03-30 | 湖南泰嘉新材料科技股份有限公司 | A kind of composite strip production line |
| CN110116928B (en) * | 2019-06-10 | 2020-08-25 | 江南大学 | Soft synchronous control method for three-axis linear velocity of film winding machine |
| CN111438198B (en) * | 2020-03-04 | 2022-04-26 | 首钢京唐钢铁联合有限责任公司 | Control method and device for tension roller set |
| CN111591813B (en) * | 2020-05-27 | 2021-11-23 | 青岛归来科技有限公司 | Metal foil coating control system and method |
| CN112050985A (en) * | 2020-08-12 | 2020-12-08 | 北京首钢自动化信息技术有限公司 | Method and device for acquiring tension value |
| CN214692461U (en) * | 2021-02-25 | 2021-11-12 | 佛山市金银河智能装备股份有限公司 | Tension adjusting device |
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