CN111153280B - Method for realizing constant tension output of tensioner by controlling current of servo motor - Google Patents
Method for realizing constant tension output of tensioner by controlling current of servo motor Download PDFInfo
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- CN111153280B CN111153280B CN202010027904.9A CN202010027904A CN111153280B CN 111153280 B CN111153280 B CN 111153280B CN 202010027904 A CN202010027904 A CN 202010027904A CN 111153280 B CN111153280 B CN 111153280B
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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
- B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
- B65H59/38—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension
- B65H59/384—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension using electronic means
- B65H59/387—Regulating unwinding speed
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- Tension Adjustment In Filamentary Materials (AREA)
Abstract
A method for realizing constant tension output of a tensioner by controlling current of a servo motor comprises the following steps: firstly, measuring a servo motor to obtain output tension values which are respectively generated by a tensioner according to different driving current values of the servo motor, and recording the output tension values into a data table for later use; the process comprises the following steps: firstly, determining a target value of tension control, wherein the target value corresponds to an output tension value of a tensioner; comparing the target value with the data table, matching the target value with the corresponding servo motor driving current value, and determining the target current value; measuring the current driving current value of the servo motor, and comparing the current driving current value with a target current value; if the driving current value is smaller than the target current value, increasing the current driving current value; if the driving current value is larger than the target current value, reducing the current driving current value; and if the driving current value is equal to the target current value, controlling the servo motor to work, and realizing the constant tension output control of the tensioner. The invention has good constant tension control effect, avoids control misoperation caused by instability of the tension sensor and has high stability.
Description
Technical Field
The invention relates to the technical field of tensioners, in particular to a method for realizing constant tension output of a tensioner by controlling the current of a servo motor.
Background
A servo tensioner, generally defined as a constant tension controlled tensioner that actively feeds wire. The constant tension control of the active wire feeding means that a motor of the servo tensioner actively outputs a linear velocity within a controllable torque and rotating speed range, the output linear velocity is always changed along with the linear velocity change of a wound product, and a relatively fixed speed difference is maintained, namely the aim of maintaining the tension of two ends of a wire unchanged is achieved.
The structure of a common servo tensioner comprises a main wire wheel, a guide wheel, a tension rod, an attenuation tension rod and an attenuation spring. Wherein, one end of the tension rod rotates relative to the base plate of the tensioner, and the other end is connected with a wire outlet wheel. In a use state, the wire is led out from the main wire wheel, sequentially bypasses the guide wheel to the wire outlet wheel and is wound on the framework of a wound product. The main wire wheel is connected with a motor to actively rotate. The tension rod is connected with the attenuation tension rod through a tension spring, and the attenuation tension rod rotates relative to the base plate. The inside of servo tensioner is installed angle sensor usually, the drive and control circuit electric connection of angle sensor and motor, angle sensor's output shaft and the one end mechanical connection of a pivot, the other end of pivot and the afterbody mechanical connection of tension bar, and the tension bar is rotatory with the pivot center. One end of the attenuation tension rod and a swing stop block are jointly arranged on the rotating shaft. The swing stop block is tightly matched with the rotating shaft, and the attenuation tension rod is in clearance fit with the rotating shaft and can swing freely around the rotating shaft. The rotating shaft is connected with a cylinder adjusting component in the device.
A motor starting voltage position and a control method are set in a tensioner control program, and the motor is set to start to rotate after the tension rod reaches a certain starting angle, the faster the motor rotates when the swing angle of the tension rod is larger than the starting angle, and otherwise, the motor stops rotating when the swing angle of the tension rod is smaller. When the coiling machine begins to wind, can stimulate the wire rod to twine on the product, at this moment, the tension bar can be to the slope of product skeleton direction to tensile tension spring. When the tension rod swings to a starting angle, starting voltage is triggered, and the motor immediately rotates to send out the wire below. The tension of the wire between the tension rod and the framework is reduced along with the sending of the wire below, at the moment, the tension rod swings in the opposite direction under the action of the tension spring, the swing angle of the tension rod is smaller than the starting angle, the motor stops rotating according to a control algorithm, the wire below is not sent out under the action of the torque kept by the motor, the processed product continues to be wound under the action of the winding machine, and the tension rod can be driven by the wire to swing forwards until the motor rotates again. This process is constantly being reciprocated during the winding process. In the actual winding process, the above process is more complicated. For example, when the instantaneous acceleration of the winding machine for starting the winding is too fast, the swing angle of the tension rod can overshoot, the swing angle can be far larger than the starting angle, the tension spring is greatly stretched, the reaction force of the opposite tension spring can also be increased, and the swing angle of the tension rod designed in the control algorithm is larger than the starting angle, the motor rotates faster, so that the wire feeding below the wire feeding is more during the overshoot, and the reverse overshoot can also occur. Therefore, the PID algorithm is added into the actual control algorithm, so that the tension rod is quickly balanced at the starting angle position after the winding process is started, which is the balance in a macroscopic angle, and the actual condition is that the tension rod slightly fluctuates around the starting angle. Meanwhile, a motor rotating speed self-increasing algorithm is added in the actual control algorithm, so that the rotating speed of the motor keeps matching with the winding speed under the combined action of the motor rotating speed self-increasing algorithm and the PID algorithm and is always in a relatively stable speed difference state.
When the tension rod reaches macroscopic balance, the tension of the wire rod between the tension rod and the wound product, the torque force of the motor and the tension of the tension spring also realize three-force balance, and the tension output by the servo tensioner is relatively constant at the moment, which is the existing constant tension control.
The problems of the prior art are as follows:
firstly, the design-setting tensioner is improved on the basis of the existing constant tension control scheme, the technology is too complex, the implementation cost is high, and particularly, the problem of huge mechanism exists in the design of the large-tension setting tensioner;
the tension response of the electric control tensioner produced by adopting the electromagnetic damper is slow, the tension range of batch production is consistent and poor, and the balance of output tension is poor;
thirdly, the tension sensor has the problem of poor reliability, which may cause misoperation of tension control, resulting in poor working stability of the tensioner.
Therefore, how to solve the above-mentioned deficiencies of the prior art is a problem to be solved by the present invention.
Disclosure of Invention
The invention aims to provide a method for realizing constant tension output of a tensioner by controlling the current of a servo motor.
In order to achieve the purpose, the invention adopts the technical scheme that:
a method for realizing constant tension output of a tensioner by controlling current of a servo motor, wherein the servo motor is used for driving a main wire wheel of the tensioner to rotate, and the method comprises the following steps:
detecting the servo motor in advance to obtain output tension values which can be generated by the tensioner respectively by different driving current values of the servo motor, taking the output tension values as different target set values, and recording the output tension values and the driving current values into a data table for later use;
the constant output tension control flow path of the tensioner includes:
step one, predetermining a target value of tension control at the time, wherein the target value corresponds to an output tension value of a tensioner;
comparing the target value with the data in the data table, finding the target set value corresponding to the target value in the data table so as to match the corresponding servo motor driving current value, and determining the servo motor driving current value as a target current value (I);
secondly, measuring the current driving current value (I1) of the servo motor, and comparing the current driving current value (I1) with the target current value (I);
if the current driving current value (I1) is smaller than the target current value (I), increasing the current driving current value through a driver;
if the present drive current value (I1) is greater than the target current value (I), reducing the present drive current value by the driver;
and if the current driving current value (I1) is equal to the target current value (I), controlling the servo motor to work, thereby realizing the constant tension output control of the tensioner.
The relevant content in the above technical solution is explained as follows:
1. in the above solution, the method for detecting the servo motor to obtain different driving current values of the servo motor to enable the tensioner to generate the output tension value includes:
and in the torque range of the servo motor, the load force of the servo motor is gradually increased from small to large, meanwhile, the driving current value is detected through a current meter, the unit load and the driving current value corresponding to the unit load are stored in a memory of a control circuit to form the data table, the data table is used as a standard for controlling the torque of the servo motor and the output tension of a tensioner, and the load force or the tension corresponding to the unit current amount is calculated and obtained for controlling the tension precision.
2. In the above scheme, the servo motor is driven to work by a driver, and the bus current value of the driver corresponds to the driving current value.
3. In the scheme, the SVPWM algorithm is adopted to obtain the torque of the servo motor through the bus current value calculation.
The working principle and the advantages of the invention are as follows:
the invention provides a control scheme, which is characterized in that a servo motor is used for replacing an electromagnetic damper, the high-response control characteristic of a torque ring of the servo motor is utilized, and the real-time torque of the servo motor is controlled by controlling the input current of the servo motor, so that the method for constantly outputting tension of a tensioner is realized.
Compared with the prior art, the servo motor is used as the servo hysteresis device, and the characteristics that the larger the torque of the servo motor is, the larger the current is, namely, the torque and the current are in a direct proportional relation are utilized. The servo motor detects the bus current provided by the driver during passive dragging, converts the bus current into a corresponding output tension value, and sets and controls the servo tensioner by utilizing the output tension value.
The advantages of the invention include:
firstly, the consistency of the high response performance of the servo motor and the performance of the motor is utilized, and the defects that an original electric control tensioner produced by an electromagnetic damper is slow in tension response and poor in consistency range of batch production tension are thoroughly overcome. Greatly improves the balance of output tension and can achieve the constant tension control effect of the active wire feeding tension control scheme.
And secondly, self factors of the tension sensor are completely avoided in tension setting control, tension control misoperation caused by instability of the tension sensor is avoided, and the working stability of the setting type tensioner is ensured.
Drawings
FIG. 1 is a flow diagram of an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples:
example (b): the present disclosure will be described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the disclosure may be shown and described, and which, when modified and varied by the techniques taught herein, can be made by those skilled in the art without departing from the spirit and scope of the disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms "a", "an", "the" and "the", as used herein, also include the plural forms.
As used herein, the terms "comprising," "including," "having," and the like are open-ended terms that mean including, but not limited to.
As used herein, the term (terms), unless otherwise indicated, shall generally have the ordinary meaning as commonly understood by one of ordinary skill in the art, in this written description and in the claims. Certain words used to describe the disclosure are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the disclosure.
Referring to fig. 1, a method for realizing constant tension output of a tensioner by controlling current of a servo motor, wherein the servo motor is used for driving a main wire wheel of the tensioner to rotate, and the method comprises the following steps:
in advance, the servo motor is detected to obtain output tension values which can be range values or point values and can be generated by the tensioner respectively according to different driving current values of the servo motor, each output tension value is used as a different target set value and is recorded into a data table together with each driving current value for standby, and the load force or the tension corresponding to the unit current amount can be calculated at the same time and used for tension precision control.
The constant output tension control flow path of the tensioner includes:
step one, predetermining a target value of tension control at the time, wherein the target value corresponds to an output tension value of a tensioner;
comparing the target value with the data in the data table, finding the target set value corresponding to the target value in the data table so as to match the corresponding servo motor driving current value, and determining the servo motor driving current value as a target current value (I);
secondly, measuring the current driving current value (I1) of the servo motor, and comparing the current driving current value (I1) with the target current value (I);
if the current driving current value (I1) is smaller than the target current value (I), increasing the current driving current value through a driver;
if the present drive current value (I1) is greater than the target current value (I), reducing the present drive current value by the driver;
and if the current driving current value (I1) is equal to the target current value (I), controlling the servo motor to work, thereby realizing the constant tension output control of the tensioner.
The method for detecting the servo motor to obtain the output tension values which can be respectively generated by the tensioner by different driving current values of the servo motor comprises the following steps:
and in the torque range of the servo motor, the load force of the servo motor is gradually increased from small to large, meanwhile, the drive current value is detected by a current meter, and the unit load and the drive current value corresponding to the unit load are stored in a memory of a control circuit to form the data table which is used as a standard for controlling the torque of the servo motor and the output tension of a tensioner.
The servo motor is driven to work through a driver, and the bus current value of the driver corresponds to the driving current value. And calculating the torque of the servo motor by adopting an SVPWM algorithm through the bus current value. The specific algorithm is the prior art that can be grasped by those skilled in the art, and since it is not the point of the invention of the present application, it will not be described in detail in the present application.
When the invention is implemented, the invention can comprise the following components: mechanical part, motor drive, tension controller.
The mechanical part comprises a servo motor, a driver, a controller, a power signal input/output interface component and other parts, and further comprises a mechanical assembly and an electric control assembly, wherein the mechanical assembly is used for adjusting wire take-up force and wire take-up.
The motor driver is used for driving the servo motor to work, and comprises a single chip microcomputer, an MOS (metal oxide semiconductor) tube, a sampling resistor, a plurality of bypass devices and an energy release and release circuit when the motor is dragged at a high speed and stops suddenly.
The tension controller is used for constant tension control in the winding process and is respectively connected with the driver and the external controller through different interfaces. The tension control device comprises a singlechip, a communication control component, a digital display circuit, a memory, a setting control and tension out-of-tolerance alarm circuit and the like.
The mechanical part, the motor driver and the tension controller can be realized by adopting the prior art, and are the techniques which can be mastered by the technical personnel in the field.
The servo motor is used as the servo hysteresis device, and the characteristics that the larger the torque of the servo motor is, the larger the current is, namely, the torque and the current are in a direct proportional relation are utilized. The servo motor detects the bus current provided by the driver during passive dragging, converts the bus current into a corresponding output tension value, and sets and controls the servo tensioner by utilizing the output tension value. Because the consistency of the high response performance of the servo motor and the performance of the motor is utilized, the defects of slow tension response and poor consistency of the tension range in batch production of the original electric control tensioner produced by adopting the electromagnetic damper are thoroughly overcome. Greatly improves the balance of the output tension and can achieve the constant tension output control effect of the active wire feeding tension control scheme. The tension setting control of the invention completely avoids the self factors of the tension sensor, avoids the tension control misoperation caused by the instability of the tension sensor and ensures the working stability of the setting type tensioner.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (2)
1. A method for realizing constant tension output of a tensioner by controlling the current of a servo motor, wherein the servo motor is used for driving a main wire wheel of the tensioner to rotate, and is characterized in that: the method comprises the following steps:
detecting the servo motor in advance to obtain output tension values which can be generated by the tensioner respectively by different driving current values of the servo motor, taking the output tension values as different target set values, and recording the output tension values and the driving current values into a data table for later use;
the constant output tension control flow path of the tensioner includes:
step one, predetermining a target value of tension control at the time, wherein the target value corresponds to an output tension value of a tensioner;
comparing the target value with the data in the data table, finding the target set value corresponding to the target value in the data table so as to match the corresponding servo motor driving current value, and determining the servo motor driving current value as a target current value (I);
secondly, measuring the current driving current value (I1) of the servo motor, and comparing the current driving current value (I1) with the target current value (I);
if the current driving current value (I1) is smaller than the target current value (I), increasing the current driving current value through a driver;
if the present drive current value (I1) is greater than the target current value (I), reducing the present drive current value by the driver;
if the current driving current value (I1) is equal to the target current value (I), controlling the servo motor to work, thereby realizing the constant tension output control of the tensioner;
the method for detecting the servo motor to obtain the output tension values which can be respectively generated by the tensioner by different driving current values of the servo motor comprises the following steps:
and in the torque range of the servo motor, the load force or tension of the servo motor is gradually increased from small to large, meanwhile, the drive current value is detected through a current meter, the unit load and the drive current value corresponding to the unit load are stored in a memory of a control circuit to form a data table, the data table is used as a standard for controlling the torque of the servo motor and the output tension of a tensioner, and the load force or tension corresponding to the unit current is calculated and obtained for controlling the tension precision.
2. The method of claim 1, wherein: the servo motor is driven to work through a driver, and the bus current value of the driver corresponds to the driving current value.
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| CN114318615B (en) * | 2021-12-29 | 2022-11-11 | 苏州盈宇纺织科技有限公司 | Method and device for controlling tension of warping machine |
| CN114789941B (en) * | 2022-05-27 | 2023-08-08 | 成都工业职业技术学院 | Intelligent winding control method and device based on fuzzy control and neural network |
| CN115043261B (en) * | 2022-07-28 | 2024-07-19 | 西安英利科电气科技有限公司 | Constant tension yarn feeder and control method |
| CN117775832B (en) * | 2024-02-26 | 2024-05-07 | 合肥安迅精密技术有限公司 | Method and system for ensuring tension of material film in feeding process of flyer and storage medium |
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| DE4424619A1 (en) * | 1993-07-28 | 1995-02-02 | Barmag Spinnzwirn Gmbh | Method for regulating a winding speed of thread-like material |
| GB2507771B (en) * | 2012-11-09 | 2020-03-04 | Dover Europe Sarl | Tape drive and method of operation of a tape drive |
| CN103147186B (en) * | 2013-03-15 | 2016-12-28 | 浙江日发纺织机械股份有限公司 | Straight twister method for controlling yarn tension produced |
| CN105366436B (en) * | 2015-11-17 | 2018-04-10 | 苏州创易技研股份有限公司 | A kind of tension determining method based on servo constant tension device |
| CN109264505B (en) * | 2018-08-23 | 2020-12-15 | 苏州创易技研股份有限公司 | Tension controller suitable for active/passive wire feeding mode and control method thereof |
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