CN108023511B - Control method for winding and unwinding of abrasive belt wheel in abrasive belt grinding machine constant-force grinding control system - Google Patents
Control method for winding and unwinding of abrasive belt wheel in abrasive belt grinding machine constant-force grinding control system Download PDFInfo
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- CN108023511B CN108023511B CN201610969204.5A CN201610969204A CN108023511B CN 108023511 B CN108023511 B CN 108023511B CN 201610969204 A CN201610969204 A CN 201610969204A CN 108023511 B CN108023511 B CN 108023511B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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Abstract
The invention relates to a method for controlling the winding and unwinding of a belt wheel in a constant-force grinding control system of a belt grinder, which comprises the following steps: carrying out instruction trimming on a rotating speed instruction of the numerical control system to be used as a rotating speed reference value, carrying out difference with an actual rotating speed to obtain a deviation signal, and obtaining a control signal through a speed controller and a current control loop; meanwhile, carrying out torque dynamic compensation on the rotating speed instruction and the actual rotating speed to obtain a compensation signal; and superposing the control signal and the compensation signal to control the motor. The invention realizes the automatic switching of the winding/unwinding control mode through the instruction trimming function; under the unreeling mode, a new torque dynamic compensation relation is established, and further the abrasive belt is not broken or run in the quick acceleration and deceleration stages of the motor.
Description
Technical Field
The invention relates to a control method for retracting/unwinding an abrasive belt wheel, which is applied to a constant-force grinding control system of an abrasive belt grinding machine.
Background
The abrasive belt grinding is a novel process in the technical field of advanced manufacturing, is called universal grinding, and combines the academic conferences of various machine tools and tool exhibitions and international production engineering society at home and abroad in recent years and the application conditions of abrasive belt grinding in various industries at home and abroad, and a servo control system is adopted by a grinding machine winding/unwinding unit to gradually replace a traditional mechanical transmission system. On the basis, the abrasive belt wheel retraction/unwinding control system of the abrasive belt grinding machine constant-force grinding control system mainly comprises a high-precision numerical control system (or a high-performance PLC), a servo driving unit and a sensor part for detecting and feeding back signals. The numerical control system realizes the functions of roll diameter measurement, speed setting calculation, tension adjustment control, moment dynamic compensation calculation and the like. The servo driving unit is configured in a speed control mode, and receives a speed value (a speed given calculation value) and a moment value (the sum of a tension adjustment control value and a moment dynamic compensation value) sent by a system as a speed given value and a torque limiting value of the driving unit respectively.
After tension is generated, the basic requirement of the unreeling control of the abrasive belt wheel is to keep the tension of the abrasive belt constant, the abrasive belt can run at a high linear speed and is relatively constant, and the grinding head can accelerate to a set speed in a short time without breaking or running the abrasive belt. At present, a common control method is to implement dynamic torque compensation on an unwinding wheel motor when a winding wheel motor performs acceleration and deceleration control; when the uniform speed control is carried out, the tension adjustment control is carried out on the unwinding wheel motor.
The torque dynamic compensation formula is as follows:
in the formula: t isDynamic stateDynamic torque of motor, diameter of coiled material of abrasive belt, diameter of empty roll of unwinding shaft, density of material of rho abrasive belt, width of material of b abrasive belt, and JMMoment of inertia of the idler roll, dv/dtThe change rate of unwinding speed.
The tension adjustment control formula is as follows:
in the formula: t isStatic stateTension static moment, D belt coil diameter, F constant tension.
The relation formula of the motor current and the moment is as follows:
in the formula: i isqMotor stator current component, T motor torque, phi constant coefficient.
Therefore, the abrasive belt grinding equipment in China continuously enters a flexible, automatic and efficient grinding stage, and dynamic torque compensation is one of key technologies for abrasive belt wheel control. Along with the integration of a machine tool and a robot, the related torque dynamic compensation technology is more and more emphasized, the secondary development of the abrasive belt wheel torque dynamic compensation control software on a general numerical control system has certain complexity, and the torque dynamic compensation technology is urgently needed to be researched and perfected.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method for controlling retraction/unwinding of an abrasive belt wheel, which establishes a new torque dynamic compensation relationship, and realizes tension adjustment control and torque dynamic compensation in an ac servo drive unit, wherein the servo drive unit only needs a speed command and a tension static torque value. By the method, the difficulty of secondary software development on a general numerical control system is reduced, the development period is shortened, and the selection of the numerical control system is widened.
The technical scheme adopted by the invention for solving the technical problems is as follows: the control method for winding and unwinding the abrasive belt wheel in the constant-force grinding control system of the abrasive belt grinding machine comprises the following steps:
carrying out instruction trimming on a rotating speed instruction of the numerical control system to be used as a rotating speed reference value, carrying out difference with an actual rotating speed to obtain a deviation signal, and obtaining a control signal through a speed controller and a current control loop;
meanwhile, carrying out torque dynamic compensation on the rotating speed instruction and the actual rotating speed to obtain a compensation signal;
and superposing the control signal and the compensation signal to control the motor.
The instruction trimming comprises the following steps:
performing XOR on the current beat rotating speed instruction and the previous beat rotating speed instruction to obtain a logic value 0 or 1 for switching a state identification bit; the state identification bits 0 and 1 respectively represent winding and unwinding;
when the logic value is 0, the state identification bit is unchanged; when the logic value is 1, the state identification bit is changed;
then judging the status identification bit:
if the state identification bit is 1, negating the current beat rotating speed instruction, and outputting a value as a rotating speed reference value after amplitude constraint; and if the state identification bit is 0, outputting the current beat rotating speed instruction as a rotating speed reference value.
Negating the current beat rotating speed instruction, and specifically comprising the following steps of through amplitude constraint:
and (4) negating the rotating speed direction in the current beat rotating speed instruction, outputting the set value when the negated rotating speed value does not exceed the set value, and otherwise, outputting the negated rotating speed value.
The dynamic moment compensation method comprises the following steps:
y＝(nref-nback)K1+nbackK2
where y is the compensation signal, nrefAs a rotational speed command, nbackIs the actual rotational speed, K1、K2To compensate for the coefficient, K1≤K2。
The invention has the following beneficial effects and advantages:
1. the method better solves the problem that the abrasive belt is broken or loosened in the process of quickly starting and stopping the abrasive belt wheel.
2. The method is simple, reliable and convenient to implement; has certain universality and good economic benefit.
3. The method can also be applied to the occasion of fusing the machine tool and the robot with the same motion requirement.
4. The invention realizes the automatic switching of the winding/unwinding control mode through the instruction trimming function; under the unreeling mode, a new torque dynamic compensation relation is established, and further the abrasive belt is not broken or run in the quick acceleration and deceleration stages of the motor.
Drawings
FIG. 1 is a schematic block diagram of a belt wheel control system of the present method;
FIG. 2 is a schematic block diagram of a tension control mode of the servo drive unit;
FIG. 3 is a functional block diagram of a command trimming module;
FIG. 4 is a schematic block diagram of a torque dynamics compensation module.
Detailed Description
The present invention will be described in further detail with reference to examples.
The invention relates to a control method for abrasive belt wheel retraction/unwinding, which is characterized by comprising the following steps: the automatic switching of the winding/unwinding control mode is realized through the instruction trimming function; under the unreeling mode, a new torque dynamic compensation relation is established, and further the abrasive belt is not broken or run in the quick acceleration and deceleration stages of the motor.
The instruction trimming function is that the initial state of the winding/unwinding identification bit is set according to the requirement, and 0 represents the winding state; 1 represents an unwinding state. The module triggers whether the flag bit state is switched or not according to the XOR processing of the polarities of the speed instruction values acquired in the previous and next times, the polarities in the previous and next times are the same, the XOR processing is 0, and the switching is not triggered; the polarities of the two previous times are opposite, the XOR processing is 1, the switching is triggered, and the state is switched from 0 to 1 or from 1 to 0. When the state of the identification bit is 1, inputting an instruction to be trimmed, and outputting a trimming structure; and when the input command is 0, directly connecting the input command to output.
And carrying out instruction trimming on the speed instruction sent by the system, outputting the speed instruction by a trimming module, and then entering speed loop control. The output type of the trimming module is determined by the winding/unwinding identification position, if the unwinding control is performed, the output amplitude limiting value of the speed controller is the tension static torque value sent by the system, the speed controller is always in an output saturation state, and the dynamic torque compensation starts to play a role when the motor operates in the acceleration and deceleration states. During acceleration, the current loop outputs an additional dynamic value; during deceleration, the current loop outputs a reduced dynamic value.
The instruction trimming module is internally provided with two structures, wherein one structure is a direct connection structure, and the input structure is the output structure; the other is a trimming structure, and the input needs to be output after being negated and judged with a set value. The direct connection structure means that the maximum amplitude limit of the motor is determined by the driving capability of the driving unit when the motor is controlled to be rolled, and the trimming structure ensures that the motor can quickly enter the saturation state when the motor is controlled to be rolled.
And the state of the winding/unwinding identification position determines the output structure of the trimming module. The identification position is in a rolling state, and the module is directly connected with the structure for outputting; the identification position is in an unreeling state, and the module trimming structure outputs. The switching of the state of the identification bit is determined by the change of the polarity of the speed instruction, the polarity is changed, and the state of the identification bit is switched (the receiving state is switched to the releasing state, or the releasing state is switched to the receiving state); the polarity is not changed, and the state of the identification bit is kept unchanged.
The moment dynamic compensation module is a two-input one-output module. The two inputs are respectively speed instruction and motor speed, the output compensation value is superposed on the output point of current loop control, and the two inputs are used for regulating control electrode of power supply power device of driver together. The input and output compensation relationship is as follows:
y＝(nref-nback)K1+nbackK2(4)
in the formula: compensation component of control electrode of y power device, nrefSpeed command, nbackMotor speed value, K1、K2And (4) compensating the coefficient.
The method is implemented on a GJS series alternating current servo driver of Shenyang high-precision numerical control technology Limited company, a grinding head abrasive belt is controlled by a double-reel motor, when the grinding head abrasive belt rotates clockwise, a No. 1 reel is used as a winding wheel, and a No. 2 reel is used as an unwinding wheel; and during reverse rotation, the winding wheel No. 2 is used as a winding wheel, and the winding wheel No. 1 is used as an unwinding wheel. The abrasive belt is always tensioned during operation, the linear speed is relatively constant and is at least 6m/s, and the grinding head can accelerate to a set value within at least 1 s.
FIG. 1 is a schematic block diagram of a belt wheel control system with a numerical control system sending tension static torque values through a roll diameter calculation unit; by the speed setting calculation, a speed setting instruction is sent. In this embodiment, the system needs two sets of servo drive units to control the abrasive belt wheel 1 and the abrasive belt wheel 2 respectively, and the position of the motor is absolute, but the winding and unwinding are relative, and the switching is performed according to the motion direction of the abrasive belt. The servo driving unit has a tension control mode, namely consists of a speed loop and a current loop and comprises functions of an instruction trimming module, a moment dynamic compensation module and the like. In addition, the communication between the numerical control system and the servo drive unit is realized through an SSBIII bus in the embodiment.
Fig. 2 is a schematic block diagram of a tension control mode of the servo drive unit, wherein the command trimming module is disposed at an inlet of the tension control mode. The winding/unwinding identification position not only determines an instruction trimming structure, but also determines an output amplitude limiting form of the speed controller. The winding state means that the device is under winding control, the instruction trimming structure is a direct connection structure, the output amplitude limit of the speed controller is not restricted by an external (numerical control system), the device is set according to actual conditions, the maximum value is related to the driving capability of the selected driving unit, and the moment dynamic compensation calculation cannot be used in the whole control process. The unreeling state indicates that unreeling control is performed, the instruction trimming structure is a trimming structure, the output amplitude limit of the speed controller is provided by the numerical control system, the output of the speed controller is always in saturation, and the constant tension is ensured; when acceleration and deceleration are needed, the torque dynamic compensation module starts to function, and the output of the torque dynamic compensation module directly controls the gate drive of the device so as to compensate the limitation of the tension static torque amplitude on the torque output during acceleration and deceleration. And in the tension control mode, the state of the identification bit can be automatically switched according to the speed instruction.
Fig. 3 is a schematic block diagram of an instruction trimming module, which first sets an initial state of a winding/unwinding flag according to a requirement, and 0 represents a winding state; 1 represents an unwinding state. The module triggers whether the flag bit state is switched or not according to the XOR processing of the polarities of the speed instruction values acquired in the previous and next times, the polarities in the previous and next times are the same, the XOR processing is 0, and the switching is not triggered; the polarities of the two previous times are opposite, the XOR processing is 1, the switching is triggered, and the state is switched from 0 to 1 or from 1 to 0. When the state of the identification bit is 1, the input instruction is modified, firstly, the input instruction is multiplied by-1, namely, the polarity of the input instruction is inverted; then judging the inverted value and the set value, if the inverted value does not exceed the set value, modifying the inverted value into the set value, otherwise, keeping the inverted value unchanged; and finally, sending out the judged result as a trimmed instruction. The set value is recommended to be greater than 40% of the rated rotating speed value of the motor.
FIG. 4 is a schematic block diagram of the moment dynamics compensation module, the structure of which is obtained from equation (4). First, K is determined2，K2Determining the relation between the rotation speed and the controlled variable in the steady state, wherein each type of motor has a fixed constant, and determining K according to the motor characteristic2。K1Determining the response speed of the dynamic adjustment, ideally K1＝K2But not greater than K2。K1Overshoot is easily caused, and the belt is run; when too smallThe abrasive belt is broken, and the value of the abrasive belt is required to be set according to specific conditions in the embodiment.
Claims (3)
1. A control method for winding and unwinding a belt wheel in a constant-force grinding control system of a belt sander is characterized by comprising the following steps of:
carrying out instruction trimming on a rotating speed instruction of the numerical control system to be used as a rotating speed reference value, carrying out difference with an actual rotating speed to obtain a deviation signal, and obtaining a control signal through a speed controller and a current control loop;
the instruction trimming comprises the following steps:
performing XOR on the current beat rotating speed instruction and the previous beat rotating speed instruction to obtain a logic value 0 or 1 for switching a state identification bit; the state identification bits 0 and 1 respectively represent winding and unwinding;
when the logic value is 0, the state identification bit is unchanged; when the logic value is 1, the state identification bit is changed;
then judging the status identification bit:
if the state identification bit is 1, negating the current beat rotating speed instruction, and outputting a value as a rotating speed reference value after amplitude constraint; if the state identification bit is 0, outputting a current beat rotating speed instruction as a rotating speed reference value;
in the unreeling state, carrying out torque dynamic compensation on the rotating speed instruction and the actual rotating speed to obtain a compensation signal;
and superposing the control signal and the compensation signal to control the motor.
2. The method for controlling the retraction and release of the abrasive belt wheel in the constant-force grinding control system of the abrasive belt grinding machine as claimed in claim 1, wherein the step of negating the current beat rotation speed instruction is specifically performed by amplitude constraint:
and (4) negating the rotating speed direction in the current beat rotating speed instruction, outputting the set value when the negated rotating speed value does not exceed the set value, and otherwise, outputting the negated rotating speed value.
3. The method of claim 1, wherein the torque dynamic compensation comprises the steps of:
y＝(nref-nback)K1+nbackK2
where y is the compensation signal, nrefAs a rotational speed command, nbackIs the actual rotational speed, K1、K2To compensate for the coefficient, K1≤K2。
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| CN113682866B (en) * | 2021-07-27 | 2023-06-23 | 深圳弘博智能数码设备有限公司 | Material roll conveying control method and device and roll-to-roll printing equipment |
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| CN101997479A (en) * | 2009-08-07 | 2011-03-30 | Lg电子株式会社 | Apparatus for driving motor of air conditioner and method for driving the same |
| CN102906995A (en) * | 2010-05-26 | 2013-01-30 | 三菱电机株式会社 | Motor control device |
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Address after: No. 16-2, Nanping East Road, Dongling District, Shenyang City, Liaoning Province, 110168 Patentee after: Shenyang Zhongke CNC Technology Co.,Ltd. Address before: No. 16-2, Nanping East Road, Dongling District, Shenyang City, Liaoning Province, 110168 Patentee before: Shenyang Golding Nc Intelligence Tech.co.,ltd. |