CN113536510A - Elastic material oscillation suppression method, system, device and storage medium - Google Patents
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Abstract
The embodiment of the invention provides an elastic material oscillation suppression method, an elastic material oscillation suppression system, elastic material oscillation suppression equipment and a storage medium, wherein the elastic material oscillation suppression method is used for suppressing oscillation of an elastic material in a curling operation and comprises the following steps: generating a torque target value regulating quantity according to the operating frequency of the reel; and generating a driving signal of the reel driving motor by taking the difference between the torque target value and the torque target value regulating quantity as a torque set value, and controlling the reel driving motor to operate by the driving signal. According to the embodiment of the invention, the torque target value adjustment quantity is generated according to the operating frequency of the reel, the torque target value is adjusted through the torque target value adjustment quantity, and the oscillation suppression of the elastic material can be realized without acquiring the linear speed and the reel diameter information.
Description
Technical Field
The embodiment of the invention relates to the field of motor control, in particular to an elastic material oscillation suppression method, system, equipment and storage medium.
Background
In the printing and packaging industry, the scale and the structure of equipment can have larger difference according to different processing technologies, but each processing technology requires that a winding and unwinding link can provide stable tension. With the increasing maturity of motor control technology, the accuracy of motor torque control has reached a relatively high level, so a typical application scheme in the industry is to indirectly control the tension of a material to keep constant by controlling the torque of the motor output gradually changing along with the roll diameter, that is, a torque mode indirect tension control scheme. The application scheme does not need an additional tension detection link, is simple to realize and low in cost, and can meet most of requirements on processing technology with low tension precision requirements.
However, since the processing material usually has a certain elasticity, undamped oscillation can be generated under the constant torque control, so that the material tension inevitably fluctuates in the torque mode indirect tension control scheme. On one hand, the stability of the tension of the material is influenced, and further the processing effect of the processes such as printing and the like is influenced, and on the other hand, the neatness of winding is also influenced, and further the attractiveness of a processed finished product is influenced.
In order to solve the problem of the oscillation of the elastic material, the problem of the fluctuation of the material tension is mainly solved by additionally arranging a detection device such as a floating roller or a tension sensor in a tension closed loop mode at present. However, this approach increases the cost and complexity of the equipment on the one hand and the tension closed-loop control loop on the other hand, which may cause stability problems of the system, and increases the parameter adjustment work of the closed-loop control.
Disclosure of Invention
The embodiment of the invention provides an elastic material oscillation suppression method, system, equipment and storage medium aiming at the problem that the tension closed loop mode increases equipment cost and complexity.
In order to solve the above technical problem, an embodiment of the present invention provides an elastic material oscillation suppression method for suppressing oscillation of an elastic material during a curling operation, including:
generating a torque target value regulating quantity according to the operating frequency of the reel;
and generating a driving signal of the reel driving motor by taking the difference between the torque target value and the torque target value regulating quantity as a torque set value, and controlling the reel driving motor to operate by the driving signal.
Preferably, the generating of the torque target value adjustment amount according to the operating frequency of the reel includes:
performing an integral operation on the operating frequency;
and carrying out amplitude limiting processing on the integral operation result to obtain a torque target value adjustment quantity.
Preferably, the performing clipping processing on the integration operation result includes:
when the absolute value of the integral operation result is smaller than or equal to a preset value, taking the integral operation result as a torque target value regulating quantity;
when the integral operation result is larger than the preset value, taking the preset value as a torque target value regulating variable;
when the integral operation result is smaller than the inverse number of the preset value, taking the inverse number of the preset value as a torque target value regulating quantity;
the preset value is the product of a torque target value and a proportionality coefficient, and the proportionality coefficient is less than or equal to 20%.
Preferably, the integration operation on the operating frequency is implemented by the following calculation formula:
and the delta Te is the integral operation result, the Kp is a proportional gain, and the delta omega is a frequency fluctuation amount.
An embodiment of the present invention further provides an elastic material oscillation suppression system, configured to suppress oscillation of an elastic material during a curling operation, where the suppression system includes a regulation amount acquisition unit and a driving signal generation unit, where:
the regulating quantity acquisition unit is used for generating a torque target value regulating quantity according to the operating frequency of the reel;
and generating a driving signal of the reel driving motor by taking the difference between the torque target value and the torque target value regulating quantity as a torque set value, and controlling the reel driving motor to operate by the driving signal.
Preferably, the adjustment quantity obtaining unit comprises an integral operation subunit and an amplitude limiting adjustment subunit;
the integral operation subunit is used for carrying out integral operation on the operating frequency;
and the amplitude limiting regulation subunit is used for carrying out amplitude limiting treatment on the integral operation result to obtain a torque target value regulation quantity.
Preferably, the amplitude limiting adjustment subunit takes the integral operation result as a torque target value adjustment amount when the absolute value of the integral operation result is less than or equal to a preset value; when the integral operation result is larger than the preset value, taking the preset value as a torque target value regulating variable; when the integral operation result is smaller than the inverse number of the preset value, taking the inverse number of the preset value as a torque target value regulating quantity;
the preset value is the product of a torque target value and a proportionality coefficient, and the proportionality coefficient is less than or equal to 20%.
Preferably, the integral operation subunit performs an integral operation by the following calculation formula:
and the delta Te is the integral operation result, the Kp is a proportional gain, and the delta omega is a frequency fluctuation amount.
The embodiment of the present invention further provides an elastic material oscillation suppression apparatus, which includes a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps of the elastic material oscillation suppression method when executing the computer program.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the elastic material oscillation suppression method are implemented as described above.
According to the elastic material oscillation suppression method, the system, the equipment and the storage medium, the torque target value regulating quantity is generated according to the operating frequency of the reel, the torque target value is regulated through the torque target value regulating quantity, and the elastic material oscillation suppression can be realized without acquiring the linear speed and the reel diameter information. The embodiment of the invention has the advantages of small operand, easy engineering realization, no need of complex debugging and good usability, and can greatly improve the control performance of torque mode indirect tension control on winding and unwinding applications.
Drawings
FIG. 1 is a schematic view of a reel windup;
FIG. 2 is a schematic flow chart of a method for suppressing oscillation of an elastic material according to an embodiment of the present invention;
FIG. 3 is a simplified control block diagram of a method for damping vibration of an elastic material according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of an elastic material oscillation suppression system provided by an embodiment of the present invention;
fig. 5 is a schematic diagram of an elastic material oscillation suppression apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, during the winding process (similar to the unwinding process), when the reel 11 is in steady operation, the electromagnetic torque TeWith material tension FTThe electromagnetic torque T is balanced by the torque established by using the radius D of the reel as a force armeConstant, material tension FTAlso a constant value, which is the basic principle of the present invention for achieving damping of elastic material oscillations through torque mode indirect tension control.
During specific implementation, a dynamic model of the system needs to be established. The principle of elastic oscillation generation is further analyzed below. According to Newton's second law:
from hooke's law one can derive:
FT＝ke×Δθ (2)
wherein T iseFor conversion into electromagnetic torque on the reel 11, FTFor material tension, D is the diameter of the reel 11, J is the total inertia of the reel 11, Δ ω is the reel rotational angular velocity variation, Δ θ is the reel angular variation, keIs the elastic coefficient of the elastic material.
According to the formula (1) and the formula (2), the electromagnetic torque T can be establishedeAnd the spool angle change amount Δ θ are as follows:
laplace transform is carried out on the formula (3) to establish delta theta(s) and TeThe transfer function between(s) is as follows:
s is a differential operator, and the system is a second-order undamped oscillation system as shown in the formula (4) when the electromagnetic torque T iseOr material tension FTIs disturbed and the material tension FTWill be provided with
Is an undamped oscillation of angular frequency.
By applying electromagnetic torque TeControl amount of upper stack
(KpFor proportional gain, which may be set based on empirical or experimental data), the time-domain and frequency-domain forms of the system model may be obtained as follows:
in contrast to equation (4), the system represented by equation (6) is a second order damped oscillatory system, with material tension FTThe fluctuation quantity is damped and attenuated, and the elastic oscillation can be inhibited and eliminated.
Due to the fact that
The accurate calculation of the frequency fluctuation quantity delta omega is the key for realizing the scheme, the delta omega is obtained by making a difference between instantaneous frequency and central frequency, the instantaneous frequency is usually easy to obtain in real time detection or estimation, the central frequency is associated with various factors such as linear speed, coil diameter, transmission ratio and the like, the obtaining of the quantity value provides more complex requirements for the scheme of the system, and the accurate obtaining of the central frequency is a main obstacle for realizing the scheme in most application occasions.
Based on the above difficulties, further optimization can be performed by first performing a differential operation on equation (5) when the target torque T is reachedeIf the value is constant, the derivative is 0, and the operation result is as follows:
the system is likewise a second order damped oscillatory system, when Δ ω decays to 0,
is 0, namely delta theta is a constant value, and the tension variation k of the material iseThe value of x Δ θ is also constant, and the hunting phenomenon is suppressed as well. And the control scheme at this time can be expressed as:
by performing an integral operation on equation (8), the expression of the control scheme can be obtained as follows:
ΔTein order to realize the torque target value adjustment amount under the oscillation suppression control scheme, the scheme has the advantage that the key variable for realizing the control scheme is optimized from delta omega to
Since the roll diameter is a gradual change amount, when the linear velocity is not changed, the differential amount of the center frequency can be considered to be 0 in the calculation cycle. Therefore, only the real-time frequency needs to be detected and obtained through differential operation
That is, it is therefore possible to provide an elastic oscillation suppression scheme that is easy to engineer based on the above derivation process.
Specifically, as shown in fig. 2, the method for suppressing oscillation of an elastic material according to an embodiment of the present invention is a flowchart, and the method can be integrated into a control device for driving a motor for operating a reel, and can suppress oscillation of the elastic material during a winding operation. The method of the embodiment comprises the following steps:
step S21: and generating a torque target value regulating quantity according to the operating frequency of the reel. The operating frequency of the reel can be obtained from a control command of the control device, namely the operating frequency is obtained through the target rotating speed of the reel. Of course, in practical applications, the above-mentioned operating frequency can also be obtained by detecting with a position sensor or the like.
Step S22: and generating a driving signal of the reel driving motor by taking the difference between the torque target value and the torque target value regulating quantity as a torque set value, and controlling the reel driving motor to operate by the driving signal.
By superposing the torque target value regulating quantity on the torque target value, the material tension fluctuation quantity in the unreeling and reeling processes is damped and attenuated, and the elastic oscillation can be effectively inhibited and eliminated.
Referring to fig. 3, in step S21, after the operating frequency of the reel is obtained, the operating frequency may be integrated, so as to optimize the critical variable from Δ ω to Δ ω
And considering that the center frequency of the reel changes when the linear velocity of the reel changes, thereby
Also, the integral limiting of the torque target value regulating quantity can be increased, and the limiting quantity is limited by the target torque TeMultiplying by a certain proportionality coefficient a (the proportionality coefficient can be adjusted according to specific application, and the range of the proportionality coefficient does not exceed the target torque Te20%, preferably 10%) to avoid large differences in material tension from the target tension during acceleration and deceleration. That is, in step S21, it is necessary to perform a clipping process on the integration result to obtain a torque target value adjustment amount, which is expressed by the above equation (9).
In the elastic material oscillation suppression method of the embodiment, the control target is
Instead of Δ θ being 0, there may be some deviation of the steady state tension of the material from the target tension, the maximum proportion of which is affected by the limiting process.
Specifically, when the integral operation result is subjected to amplitude limiting processing, and the absolute value of the integral operation result is smaller than or equal to a preset value, the integral operation result is used as a torque target value regulating quantity; when the integral operation result is larger than a preset value, taking the preset value as a torque target value regulating variable; and when the integral operation result is smaller than the inverse number of the preset value, taking the inverse number of the preset value as the torque target value regulating quantity.
As shown in fig. 4, an embodiment of the present invention further provides an elastic material oscillation suppression system, which is used for suppressing oscillation of an elastic material during a curling operation, and includes an adjustment amount acquisition unit 41 and a drive signal generation unit 42, wherein:
the adjustment amount acquisition unit 41 is used to generate a torque target value adjustment amount according to the operating frequency of the spool. The operating frequency of the reel can be obtained from a control command of the control device, namely the operating frequency is obtained through the target rotating speed of the reel. Of course, in practical applications, the above-mentioned operating frequency can also be obtained by detecting with a position sensor or the like.
The driving signal generating unit 42 is used for generating a driving signal of the reel driving motor by using the difference between the torque target value and the torque target value adjustment amount as a torque set value, and controlling the reel driving motor to operate through the driving signal.
In an embodiment of the present invention, the adjustment amount obtaining unit 41 includes an integration sub-unit and an amplitude limiting adjustment sub-unit, where the integration sub-unit is configured to perform integration operation on the operating frequency; and the amplitude limiting regulation subunit is used for carrying out amplitude limiting treatment on the integral operation result to obtain a torque target value regulation quantity.
When the absolute value of the integral operation result is smaller than or equal to a preset value, the amplitude limiting adjustment subunit takes the integral operation result as a torque target value adjustment quantity; when the integral operation result is larger than the preset value, the preset value is used as a torque target value regulating quantity; and when the integral operation result is smaller than the inverse number of the preset value, taking the inverse number of the preset value as the torque target value regulating quantity. The preset value is the product of the torque target value and a proportionality coefficient, and the proportionality coefficient is less than or equal to 20%.
The integration operation subunit may perform an integration operation specifically according to the above equation (9).
The elastic material oscillation suppression system in this embodiment and the elastic material oscillation suppression method in the embodiment corresponding to fig. 2 to 3 belong to the same concept, and specific implementation processes thereof are described in detail in the corresponding method embodiments, and technical features in the method embodiments are correspondingly applicable in this system embodiment, and are not described herein again.
An elastic material oscillation suppression apparatus 5 may specifically be configured by a controller of a reel driving motor, as shown in fig. 5, where the elastic material oscillation suppression apparatus 5 includes a memory 51 and a processor 52, the memory 51 stores a computer program executable by the processor 52, and the processor 52 implements the steps of the elastic material oscillation suppression method as described above when executing the computer program.
The elastic material oscillation suppression device 5 in this embodiment is the same as the elastic material oscillation suppression method in the embodiment corresponding to fig. 2 to 3, and specific implementation processes thereof are described in detail in the corresponding method embodiments, and technical features in the method embodiments are correspondingly applicable in this device embodiment, which is not described herein again.
Embodiments of the present invention further provide a computer-readable storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the elastic material oscillation suppression method are implemented.
The computer-readable storage medium in this embodiment and the elastic material oscillation suppression method in the embodiment corresponding to fig. 2 to 3 belong to the same concept, and specific implementation processes thereof are detailed in the corresponding method embodiments, and technical features in the method embodiments are correspondingly applicable in this apparatus embodiment, and are not described herein again.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing functional units and modules are merely illustrated in terms of division, and in practical applications, the foregoing functions may be distributed as needed by different functional units and modules. Each functional unit and module in the embodiments may be integrated in one processor, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed elastic material oscillation suppression method, system and apparatus may be implemented in other manners. For example, the elastomeric oscillation suppression system embodiments described above are merely illustrative.
In addition, functional units in the embodiments of the present application may be integrated into one processor, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any physical or interface switching device, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signal, telecommunication signal, software distribution medium, etc., capable of carrying said computer program code. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method of damping vibration in an elastic material during a crimping operation, the method comprising:
generating a torque target value regulating quantity according to the operating frequency of the reel;
and generating a driving signal of the reel driving motor by taking the difference between the torque target value and the torque target value regulating quantity as a torque set value, and controlling the reel driving motor to operate by the driving signal.
2. The elastic material oscillation damping method according to claim 1, wherein the generating of the torque target value adjustment amount according to the operating frequency of the reel includes:
performing an integral operation on the operating frequency;
and carrying out amplitude limiting processing on the integral operation result to obtain a torque target value adjustment quantity.
3. The method for suppressing oscillation of an elastic material according to claim 2, wherein said performing a clipping process on the result of said integration operation includes:
when the absolute value of the integral operation result is smaller than or equal to a preset value, taking the integral operation result as a torque target value regulating quantity;
when the integral operation result is larger than the preset value, taking the preset value as a torque target value regulating variable;
when the integral operation result is smaller than the inverse number of the preset value, taking the inverse number of the preset value as a torque target value regulating quantity;
the preset value is the product of a torque target value and a proportionality coefficient, and the proportionality coefficient is less than or equal to 20%.
4. The elastic material oscillation suppression method according to claim 2, wherein the integrating operation of the operating frequency is performed by the following calculation formula:
and the delta Te is the integral operation result, the Kp is a proportional gain, and the delta omega is a frequency fluctuation amount.
5. An elastic material oscillation suppression system for suppressing oscillation of an elastic material in a curling operation, characterized by comprising an adjustment amount acquisition unit and a drive signal generation unit, wherein:
the regulating quantity acquisition unit is used for generating a torque target value regulating quantity according to the operating frequency of the reel;
and generating a driving signal of the reel driving motor by taking the difference between the torque target value and the torque target value regulating quantity as a torque set value, and controlling the reel driving motor to operate by the driving signal.
6. The elastic material oscillation suppression system according to claim 5, wherein the adjustment amount acquisition unit includes an integration operation subunit and a limiting adjustment subunit;
the integral operation subunit is used for carrying out integral operation on the operating frequency;
and the amplitude limiting regulation subunit is used for carrying out amplitude limiting treatment on the integral operation result to obtain a torque target value regulation quantity.
7. The elastic material oscillation suppression system according to claim 6, wherein the amplitude limit adjustment subunit takes the integration operation result as a torque target value adjustment amount when an absolute value of the integration operation result is less than or equal to a preset value; when the integral operation result is larger than the preset value, taking the preset value as a torque target value regulating variable; when the integral operation result is smaller than the inverse number of the preset value, taking the inverse number of the preset value as a torque target value regulating quantity;
the preset value is the product of a torque target value and a proportionality coefficient, and the proportionality coefficient is less than or equal to 20%.
8. The elastic material oscillation suppression system according to claim 6, wherein said integration operation subunit performs an integration operation by the following calculation formula:
and the delta Te is the integral operation result, the Kp is a proportional gain, and the delta omega is a frequency fluctuation amount.
9. An elastic material oscillation suppression apparatus comprising a memory and a processor, the memory having stored therein a computer program executable on the processor, the processor implementing the steps of the elastic material oscillation suppression method according to any one of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the elastic material oscillation suppression method according to any one of claims 1 to 4.
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