CN116009499A - Control optimization-based gypsum board main line operation method - Google Patents
Control optimization-based gypsum board main line operation method Download PDFInfo
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Abstract
The invention discloses a gypsum board main line operation method based on control optimization, which comprises the following steps: and monitoring the actual main line speed of the gypsum board controlled by the entity servo shaft, quantifying the deviation degree of the virtual servo shaft based on the actual main line speed of the gypsum board and the expected main line speed of the gypsum board, controlling the deviation rectifying mode of the virtual servo shaft based on the deviation degree, setting stationarity and timeliness as multiple optimization targets in slow state deviation rectifying, and determining the deviation rectifying process of the slow state deviation rectifying based on the multiple optimization targets. The invention realizes the optimization and correction of the virtual servo shaft, ensures the stability of the operation of the main line of the gypsum board, avoids the influence of instantaneous speed adjustment on the oscillation of the production line, and directly improves the production effect of the gypsum board.
Description
Technical Field
The invention relates to the technical field of gypsum board production, in particular to a gypsum board main line operation method based on control optimization.
Background
The main line system of the gypsum board production line mainly comprises a forming belt and an open roller way, and in actual production, in order to avoid phenomena such as stretch-breaking, stacking of boards, unqualified quality and the like, synchronous operation of each device of the main line system is required, and the main line system comprises two parts of synchronous speeds of the belt and the belt, the belt and the open roller way, and the open roller way.
The main line speed is matched by mainly adopting a PLC, a servo control system and an encoder for real-time feedback, and when the production upper computer begins to set the production specification and the main line speed, the PLC distributes the read information to the blanking system in real time; after the main line system obtains the command, the command is transmitted to the servo control system in real time, the servo control motor runs to a set speed, meanwhile, the encoder can test and read the running speed of the molding system equipment and feed back the running speed to the controller, and the servo controller has high response speed, and meanwhile, the moment of inertia of the motor can be reduced, so that the production setting requirement can be rapidly met.
In the existing gypsum board production and transportation synchronous regulation and control method, a PLC of each motor establishes a virtual servo control shaft, during production, the production speed set by an upper computer is input into the virtual servo control shaft after being calculated by the PLC, the speed, the position and other information of the virtual shaft are synchronized to the actual servo control shaft in real time, and when the deviation between the speed and a set value is detected, the virtual servo shaft can quickly correct and simultaneously transmit the corrected speed to each servo controller, so that the speed synchronization of each motor is achieved. However, after detecting the speed deviation, the correction of the virtual servo shaft in the prior art generally adopts instantaneous speed adjustment in the process of realizing the correction of the virtual servo shaft, namely, the instantaneous speed is adjusted from the deviation speed to the set speed, if the difference between the deviation speed and the set speed is too large, the instantaneous speed adjustment can influence the oscillation of the production line, and the speed oscillation of the gypsum board can directly influence the production effect of the gypsum board.
Disclosure of Invention
The invention aims to provide a control optimization-based gypsum board main line operation method, which is used for solving the technical problems that after a speed deviation is detected in correction of a virtual servo shaft in the prior art, the deviation speed is instantaneously adjusted to a set speed, if the difference between the deviation speed and the set speed is overlarge, the instantaneous speed adjustment can influence the oscillation of a production line, and the speed oscillation of a gypsum board can directly influence the production effect of the gypsum board.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
a gypsum board main line operation method based on control optimization comprises the following steps:
step S1, setting a virtual servo shaft in a main line synchronous model of a gypsum board production line, and setting an entity servo shaft in the main line synchronous model along with the virtual servo shaft to control the main line speed of the gypsum board, wherein the main line synchronous model is a control model for synchronously running a main line component of the production line in a main multi-slave servo control mode formed by a plurality of entity servo shafts;
s2, monitoring the actual main line speed of the gypsum board controlled by the entity servo shaft, quantifying the deviation degree of the virtual servo shaft based on the actual main line speed of the gypsum board and the expected main line speed of the gypsum board, and controlling a deviation correcting mode of the virtual servo shaft based on the deviation degree, wherein the deviation correcting mode comprises transient deviation correcting and slow state deviation correcting;
and S3, setting stability and timeliness in the slow state deviation correction as multiple optimization targets, and determining a deviation correction process of the slow state deviation correction based on the multiple optimization targets so as to realize the optimization deviation correction on the virtual servo shaft and ensure the stability of the main line operation of the gypsum board.
As a preferred scheme of the invention, the physical servo shafts comprise a first physical servo shaft, a second physical servo shaft, a third physical servo shaft, a fourth physical servo shaft and a fifth physical servo shaft, the main line assembly of the production line corresponds to the physical servo shafts one by one, and the assembly of the production line comprises a first belt controlled by the first physical servo shaft, a second belt controlled by the second physical servo shaft, a third belt controlled by the third physical servo shaft, a first open roller way controlled by the fourth physical servo shaft and a second open roller way controlled by the fifth physical servo shaft.
As a preferred aspect of the present invention, the actual speed of the gypsum board main line comprises an actual speed of the line main assembly, and the desired speed of the gypsum board main line comprises a desired speed of the line main assembly.
As a preferred embodiment of the present invention, the actual speed of the main line assembly of the production line is calculated by multiplying the adjustment coefficient of the main line assembly by the virtual servo axis.
As a preferred aspect of the present invention, the monitoring of the actual main line speed of the gypsum board controlled by the physical servo axis includes:
the actual speeds of the first belt, the second belt, the third belt, the first open roller way and the second open roller way are monitored.
As a preferred embodiment of the present invention, the method for quantifying the deviation degree of the virtual servo axis based on the actual speed of the main gypsum board line and the expected speed of the main gypsum board line includes:
taking the sum of the similarity between the actual speeds of the first belt, the second belt, the third belt, the first open roller way and the second open roller way and the expected speeds of the first belt, the second belt, the third belt, the first open roller way and the second open roller way as the deviation degree of the virtual servo shaft;
the quantization formula of the deviation degree of the virtual servo axis is as follows:
wherein I is the deviation degree of the virtual servo axis, V x At the actual speed of x, V xo The expected speed of x is A, B, C, D and F are respectively a first belt, a second belt, a third belt, a first open roller way and a second open roller way, |V x -V xo I is V x And V xo Is a euclidean distance of (c).
As a preferable mode of the present invention, the deviation correcting mode for controlling the virtual servo axis based on the deviation degree includes:
when the deviation degree is lower than or equal to the stable deviation degree, setting the deviation correcting mode of the virtual servo shaft as transient deviation correcting;
when the deviation degree is higher than the stable deviation degree, setting the deviation correcting mode of the virtual servo shaft as slow deviation correcting;
the quantization formula of the stationary deviation degree is:
wherein I is o To smooth the deviation degree, V xh For a steady jump speed of x, V xo The expected speed of x is A, B, C, D and F are respectively a first belt, a second belt, a third belt, a first open roller way and a second open roller way, |V xh -V xo I is V xh And V xo Is the euclidean distance of (2);
the smooth jump speed is the maximum allowable speed for instantaneously adjusting to the expected speed so that X does not jump.
As a preferable scheme of the invention, the deviation correcting process for determining the slow deviation correcting based on the multiple optimization targets comprises the following steps:
constructing a first optimization objective function according to a stability optimization objective, wherein the function expression of the first optimization objective function is as follows:
wherein F1 is a first optimized objective function value, V x,i+1 、V x,i The correction speeds of x on the (i+1) th correction time sequence and the i th correction time sequence are respectively, t x,i+1 、t x,i The i+1th and i-th deviation correcting time sequences are respectively x, and min is a minimization operator;
constructing a second optimization objective function according to the timeliness optimization objective, wherein the function expression of the second optimization objective function is as follows:
wherein F1 is a first optimized objective function value, t x,i+1 、t x,i The i+1th and i-th deviation correcting time sequences are respectively X, and min is a minimization operator;
at |V x,i+1 、V x,i |≤I o Solving the first optimization objective function and the second optimization objective function to obtain a deviation correcting time sequence t for constraint conditions x,i V on x,i ；
Setting a time sequence expected value t of an ith deviation correcting time sequence io And a speed expectation value V of the correction speed at the ith correction timing io The ith deviation correcting time sequence is quantized and solved into a time sequence expected value t by utilizing a variance formula io Desired value V of speed io ；
The time sequence expected value t io Optimal value as ith deviation correcting time sequence and setting the expected speed value V io As the optimal value of the deviation correcting speed on the ith deviation correcting time sequence, the deviation correcting speeds are arranged according to the deviation correcting time sequence to be used as the deviation correcting process of slow deviation correcting.
As a preferable scheme of the invention, solving the time sequence expected value t io The variance formula of (2) is:
wherein d ti For the time sequence variance value, t at the ith deviation correcting time sequence x,i The i-th deviation correcting time sequence of X is represented by min which is a minimizing operator, and A, B, C, D and F are respectively a first belt, a second belt, a third belt, a first open roller way and a second open roller way;
solving the expected speed value V io The variance formula of (2) is:
wherein d Vi For the velocity variance value at the ith deviation rectifying time sequence, V x,i The deviation rectifying speeds of x on the ith deviation rectifying time sequence are respectively shown, min is a minimization operator, and A, B, C, D and F are respectively shown as a first belt, a second belt, a third belt, a first open roller way and a second open roller way.
As a preferable scheme of the invention, in the deviation rectifying process of slow deviation rectifying, the deviation rectifying speed of each deviation rectifying time sequence is converted into the deviation rectifying speed of the virtual servo shaft of each deviation rectifying time sequence through an adjusting coefficient, and the deviation of the virtual servo shaft is adjusted according to the deviation rectifying speed of the virtual servo shaft of each deviation rectifying time sequence.
Compared with the prior art, the invention has the following beneficial effects:
according to the method, the deviation degree of the virtual servo shaft is quantized based on the actual speed of the main line of the gypsum board and the expected speed of the main line of the gypsum board, the deviation correcting mode of the virtual servo shaft is controlled based on the deviation degree, stability and timeliness are set as multiple optimization targets in slow state deviation correcting, the deviation correcting process of the slow state deviation correcting is determined based on the multiple optimization targets, the optimal deviation correcting of the virtual servo shaft is realized, the running stability of the main line of the gypsum board is guaranteed, the influence of the instantaneous speed adjustment on the production line is avoided, and the gypsum board stability can directly improve the gypsum board production effect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
FIG. 1 is a flow chart of a method of operating a gypsum board main line provided by an embodiment of the invention;
fig. 2 is a block diagram of a main line synchronization model according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 and 2, the present invention provides a gypsum board main line operation method based on control optimization, comprising the steps of:
step S1, setting a virtual servo axis in a main line synchronous model of a gypsum board production line, and setting an entity servo axis in the main line synchronous model along with the virtual servo axis to control the main line speed of the gypsum board, wherein the main line synchronous model is a control model for synchronously operating a main line component of the production line in a main multi-slave servo control mode consisting of a plurality of entity servo axes;
the physical servo shafts comprise a first physical servo shaft, a second physical servo shaft, a third physical servo shaft, a fourth physical servo shaft and a fifth physical servo shaft, the production line main line components are in one-to-one correspondence with the physical servo shafts, and the production line components comprise a first belt controlled by the first physical servo shaft, a second belt controlled by the second physical servo shaft, a third belt controlled by the third physical servo shaft, a first open roller way controlled by the fourth physical servo shaft and a second open roller way controlled by the fifth physical servo shaft.
The actual speed of the gypsum board main line comprises the actual speed of the line main line assembly and the desired speed of the gypsum board main line comprises the desired speed of the line main line assembly.
The actual speed of the main line assembly of the production line is calculated by multiplying the adjustment coefficient of the virtual servo axis and the production line assembly.
Because the tensioning degree is different between each belt, the tension that the belt receives is different, therefore in actual production process, when servo controller given speed is the same, actual gypsum board's operation speed on belt, open roll table is different, consequently increase adjustment coefficient in the synchronous model of main line, the servo control axle that every belt, open roll table correspond different adjustment coefficient, actual adjustment coefficient can be through the actual value to the actual condition test of different main line speeds down of belt operation in test production.
The speed control of the main line equipment is carried out in a main-multi-slave servo control mode, all actual running speeds are obtained by multiplying the virtual servo by the regulating coefficients of the actual tensioning of the corresponding belts, the output of each actual servo controller is a final speed value, and the speed value is obtained by calculating the virtual servo according to the set value of an upper computer in actual production. By means of servo control of one main line and multiple sub lines and the real-time feedback of the external encoder, the speed between the main line and the equipment can be ensured to be synchronous with the speed required by actual production.
S2, monitoring the actual main line speed of the gypsum board controlled by the entity servo shaft, quantifying the deviation degree of the virtual servo shaft based on the actual main line speed of the gypsum board and the expected main line speed of the gypsum board, and controlling a deviation correcting mode of the virtual servo shaft based on the deviation degree, wherein the deviation correcting mode comprises transient deviation correction and slow state deviation correction;
monitoring the actual main line speed of the gypsum board controlled by the entity servo shaft, comprising:
the actual speeds of the first belt, the second belt, the third belt, the first open roller way and the second open roller way are monitored.
Quantifying the deviation degree of the virtual servo axis based on the actual speed of the gypsum board main line and the expected speed of the gypsum board main line, comprising:
taking the sum of the similarity between the actual speeds of the first belt, the second belt, the third belt, the first open roller way and the second open roller way and the expected speeds of the first belt, the second belt, the third belt, the first open roller way and the second open roller way as the deviation degree of the virtual servo shaft;
the quantization formula of the deviation degree of the virtual servo axis is as follows:
wherein I is the deviation degree of the virtual servo axis, V x At the actual speed of x, V xo The expected speed of x is A, B, C, D and F are respectively a first belt, a second belt, a third belt, a first open roller way and a second open roller way, |V x -V xo I is V x And V xo Is a euclidean distance of (c).
Controlling a deviation correcting mode of the virtual servo shaft based on the deviation degree comprises the following steps:
when the deviation degree is lower than or equal to the stable deviation degree, setting the deviation correcting mode of the virtual servo shaft as transient deviation correcting;
when the deviation degree is higher than the stable deviation degree, setting the deviation correcting mode of the virtual servo shaft as slow deviation correcting;
the quantization formula of the stationary deviation degree is:
wherein I is o To smooth the deviation degree, V xh For a steady jump speed of x, V xo The expected speed of x is A, B, C, D and F are respectively a first belt, a second belt, a third belt, a first open roller way and a second open roller way, |V xh -V xo I is V xh And V xo Is the euclidean distance of (2);
the smooth transition speed is the maximum allowable speed that is instantaneously adjusted to the desired speed so that X does not transition.
The deviation degree of the virtual servo shaft is utilized to determine the difference between the deviation speed and the expected speed (namely, the set speed) of the virtual servo shaft, the stable deviation degree is used as a threshold value, under the condition that the deviation degree is instantaneously adjusted to the expected speed, the maximum deviation speed of the production line oscillation can not be generated, the deviation degree between the maximum deviation speed and the expected speed is called the stable deviation degree, when the difference between the deviation speed and the expected speed is smaller than or equal to the stable deviation degree, the difference between the deviation speed and the expected speed is insufficient to generate the production line oscillation in the instantaneous adjustment, the deviation correction mode under the condition can be set as transient deviation correction, namely, the deviation correction mode under the condition is instantaneously adjusted to the expected speed, when the difference between the deviation speed and the expected speed is larger than the stable deviation degree, the deviation mode under the condition that the deviation speed and the expected speed are excessively large can generate the production line oscillation in the instantaneous adjustment, and the deviation correction mode under the condition can be set as slow deviation correction, namely, the deviation correction process with stable balance and time-dependent optimization is set under the slow deviation correction mode.
And S3, setting stability and timeliness in the slow state deviation correction as multiple optimization targets, and determining a deviation correction process of the slow state deviation correction based on the multiple optimization targets so as to realize the optimization deviation correction on the virtual servo shaft and ensure the stability of the main line operation of the gypsum board.
Determining a deviation correcting process of slow deviation correcting based on a plurality of optimization targets, comprising the following steps:
constructing a first optimization objective function according to a stability optimization objective, wherein the function expression of the first optimization objective function is as follows:
wherein F1 is a first optimized objective function value, V x,i+1 、V x,i The correction speeds of x on the (i+1) th correction time sequence and the i th correction time sequence are respectively, t x,i+1 、t x,i The i+1th and i-th deviation correcting time sequences are respectively x, and min is a minimization operator;
constructing a second optimization objective function according to the timeliness optimization objective, wherein the function expression of the second optimization objective function is as follows:
wherein F1 is a first optimized objective function value, t x,i+1 、t x,i I+1 and i correction numbers of X respectivelyTiming offset, min is the minimize operator;
at |V x,i+1 、V x,i |≤I o Solving the first optimization objective function and the second optimization objective function to obtain a deviation correcting time sequence t for constraint conditions x,i V on x,i ；
Setting a time sequence expected value t of an ith deviation correcting time sequence io And a speed expectation value V of the correction speed at the ith correction timing io The ith deviation correcting time sequence is quantized and solved into a time sequence expected value t by utilizing a variance formula io Desired value V of speed io ；
Expected value t of time sequence io Optimal value as ith deviation rectifying time sequence and expected speed value V io As the optimal value of the deviation correcting speed on the ith deviation correcting time sequence, the deviation correcting speeds are arranged according to the deviation correcting time sequence to be used as the deviation correcting process of slow deviation correcting.
The deviation correcting process is solved by utilizing a multi-objective optimization mode, so that the co-optimization of the stability and timeliness of the deviation correcting process is realized, namely, the stability of the deviation correcting process is realized, the productive oscillation is avoided, and the timeliness of the deviation correcting process is ensured to quickly correct the productive operation deviation.
Solving the time sequence expected value t io The variance formula of (2) is:
wherein d ti For the time sequence variance value, t at the ith deviation correcting time sequence x,i The i-th deviation correcting time sequence of X is represented by min which is a minimizing operator, and A, B, C, D and F are respectively a first belt, a second belt, a third belt, a first open roller way and a second open roller way;
solving the expected speed value V io The variance formula of (2) is:
wherein d Vi For the velocity variance value at the ith deviation rectifying time sequence, V x,i The deviation rectifying speeds of x on the ith deviation rectifying time sequence are respectively shown, min is a minimization operator, and A, B, C, D and F are respectively shown as a first belt, a second belt, a third belt, a first open roller way and a second open roller way.
The speed expected value and the time sequence expected value are solved by using a variance formula, the speed expected value and the time sequence expected value are the optimal deviation correcting time sequence of the main line operation and the optimal deviation correcting speed at the optimal deviation correcting time sequence, the average deviation correcting stability performance and the average timeliness performance of each component in the production line component can be guaranteed to be optimal, namely, the deviation correcting stability and timeliness performance of the first belt, the second belt, the third belt, the first open roller way and the second open roller way are enabled to be good, the deviation correcting process is more popular in the operation component, the integral stability and timeliness are emphasized, the whole stable operation of the production line is guaranteed in the deviation correcting process, the vibration is avoided, and the production effect is improved.
In the deviation correcting process of the slow deviation correcting, the deviation correcting speed of each deviation correcting time sequence is converted into the deviation correcting speed of the virtual servo shaft of each deviation correcting time sequence through an adjusting coefficient, and the deviation of the virtual servo shaft is adjusted according to the deviation correcting speed of the virtual servo shaft of each deviation correcting time sequence.
According to the method, the deviation degree of the virtual servo shaft is quantized based on the actual speed of the main line of the gypsum board and the expected speed of the main line of the gypsum board, the deviation correcting mode of the virtual servo shaft is controlled based on the deviation degree, stability and timeliness are set in slow state deviation correcting to serve as multiple optimization targets, the deviation correcting process of the slow state deviation correcting is determined based on the multiple optimization targets, the stability of operation of the main line of the gypsum board is guaranteed through the optimized deviation correcting of the virtual servo shaft, the phenomenon that the production line is oscillated due to instantaneous speed adjustment is avoided, and the gypsum board stability can directly improve the gypsum board production effect.
The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application, the scope of which is defined by the claims. Various modifications and equivalent arrangements may be made to the present application by those skilled in the art, which modifications and equivalents are also considered to be within the scope of the present application.
Claims (10)
1. A gypsum board main line operation method based on control optimization is characterized in that: the method comprises the following steps:
step S1, setting a virtual servo shaft in a main line synchronous model of a gypsum board production line, and setting an entity servo shaft in the main line synchronous model along with the virtual servo shaft to control the main line speed of the gypsum board, wherein the main line synchronous model is a control model for synchronously running a main line component of the production line in a main multi-slave servo control mode formed by a plurality of entity servo shafts;
s2, monitoring the actual main line speed of the gypsum board controlled by the entity servo shaft, quantifying the deviation degree of the virtual servo shaft based on the actual main line speed of the gypsum board and the expected main line speed of the gypsum board, and controlling a deviation correcting mode of the virtual servo shaft based on the deviation degree, wherein the deviation correcting mode comprises transient deviation correcting and slow state deviation correcting;
and S3, setting stability and timeliness in the slow state deviation correction as multiple optimization targets, and determining a deviation correction process of the slow state deviation correction based on the multiple optimization targets so as to realize the optimization deviation correction on the virtual servo shaft and ensure the stability of the main line operation of the gypsum board.
2. A control optimization based gypsum board main line operation method according to claim 1, wherein: the production line main line assembly corresponds to the entity servo shafts one by one, and the production line assembly comprises a first belt controlled by the first entity servo shaft, a second belt controlled by the second entity servo shaft, a third belt controlled by the third entity servo shaft, a first open roller way controlled by the fourth entity servo shaft and a second open roller way controlled by the fifth entity servo shaft.
3. A control optimization based gypsum board main line operation method according to claim 2, wherein: the actual speed of the gypsum board main line comprises an actual speed of the line main assembly and the desired speed of the gypsum board main line comprises a desired speed of the line main assembly.
4. A control-optimized gypsum board main line operation method according to claim 3, wherein: the actual speed of the main line assembly of the production line is obtained by multiplying the adjusting coefficient of the virtual servo shaft and the adjusting coefficient of the main line assembly of the production line.
5. A control-optimized gypsum board main line operation method as set forth in claim 4, wherein: the monitoring of the actual main line speed of the gypsum board controlled by the entity servo shaft comprises the following steps:
the actual speeds of the first belt, the second belt, the third belt, the first open roller way and the second open roller way are monitored.
6. A control-optimized gypsum board main line operation method according to claim 5, wherein: the method for quantifying the deviation degree of the virtual servo axis based on the actual speed of the gypsum board main line and the expected speed of the gypsum board main line comprises the following steps:
taking the sum of the similarity between the actual speeds of the first belt, the second belt, the third belt, the first open roller way and the second open roller way and the expected speeds of the first belt, the second belt, the third belt, the first open roller way and the second open roller way as the deviation degree of the virtual servo shaft;
the quantization formula of the deviation degree of the virtual servo axis is as follows:
wherein I is the deviation degree of the virtual servo axis, V x At the actual speed of x, V xo At a desired speed of x, A, B, C, D, F are the first belt, the second belt, the third belt, the first openRoller way and second open roller way, |V x -V xo I is V x And V xo Is a euclidean distance of (c).
7. The control-optimized gypsum board main line operation method according to claim 6, wherein said controlling the deviation correcting mode of the virtual servo axis based on the deviation degree comprises:
when the deviation degree is lower than or equal to the stable deviation degree, setting the deviation correcting mode of the virtual servo shaft as transient deviation correcting;
when the deviation degree is higher than the stable deviation degree, setting the deviation correcting mode of the virtual servo shaft as slow deviation correcting;
the quantization formula of the stationary deviation degree is:
wherein I is o To smooth the deviation degree, V xh For a steady jump speed of x, V xo The expected speed of x is A, B, C, D and F are respectively a first belt, a second belt, a third belt, a first open roller way and a second open roller way, |V xh -V xo I is V xh And V xo Is the euclidean distance of (2);
the smooth jump speed is the maximum allowable speed for instantaneously adjusting to the expected speed so that X does not jump.
8. The control optimization-based gypsum board main line operation method according to claim 7, wherein the deviation correcting process for determining the slow deviation correcting based on the multiple optimization targets comprises:
constructing a first optimization objective function according to a stability optimization objective, wherein the function expression of the first optimization objective function is as follows:
wherein F1 is a first optimized objective function value, V x,i+1 、V x,i The correction speeds of x on the (i+1) th correction time sequence and the i th correction time sequence are respectively, t x,i+1 、t x,i The i+1th and i-th deviation correcting time sequences are respectively x, and min is a minimization operator;
constructing a second optimization objective function according to the timeliness optimization objective, wherein the function expression of the second optimization objective function is as follows:
wherein F1 is a first optimized objective function value, t x,i+1 、t x,i The i+1th and i-th deviation correcting time sequences are respectively X, and min is a minimization operator;
at |V x,i+1 、V x,i |≤I o Solving the first optimization objective function and the second optimization objective function to obtain a deviation correcting time sequence t for constraint conditions x,i V on x,i ；
Setting a time sequence expected value t of an ith deviation correcting time sequence io And a speed expectation value V of the correction speed at the ith correction timing io The ith deviation correcting time sequence is quantized and solved into a time sequence expected value t by utilizing a variance formula io Desired value V of speed io ；
The time sequence expected value t io Optimal value as ith deviation correcting time sequence and setting the expected speed value V io As the optimal value of the deviation correcting speed on the ith deviation correcting time sequence, the deviation correcting speeds are arranged according to the deviation correcting time sequence to be used as the deviation correcting process of slow deviation correcting.
9. The control optimization-based gypsum board main line operation method according to claim 8, wherein the time sequence expected value t is solved io The variance formula of (2) is:
wherein d ti For the time sequence variance value, t at the ith deviation correcting time sequence x,i The i-th deviation correcting time sequence of X is represented by min which is a minimizing operator, and A, B, C, D and F are respectively a first belt, a second belt, a third belt, a first open roller way and a second open roller way;
solving the expected speed value V io The variance formula of (2) is:
wherein d Vi For the velocity variance value at the ith deviation rectifying time sequence, V x,i The deviation rectifying speeds of x on the ith deviation rectifying time sequence are respectively shown, min is a minimization operator, and A, B, C, D and F are respectively shown as a first belt, a second belt, a third belt, a first open roller way and a second open roller way.
10. The control optimization-based gypsum board main line operation method according to claim 9, wherein in the deviation correcting process of slow deviation correcting, the deviation correcting speed of each deviation correcting time sequence is converted into the deviation correcting speed of the virtual servo shaft of each deviation correcting time sequence through an adjusting coefficient, and the deviation adjustment of the virtual servo shaft is performed according to the deviation correcting speed of the virtual servo shaft of each deviation correcting time sequence.
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