CN105329694B - One kind correction control method, controller and deviation correction control system - Google Patents
One kind correction control method, controller and deviation correction control system Download PDFInfo
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- CN105329694B CN105329694B CN201410350942.2A CN201410350942A CN105329694B CN 105329694 B CN105329694 B CN 105329694B CN 201410350942 A CN201410350942 A CN 201410350942A CN 105329694 B CN105329694 B CN 105329694B
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Abstract
This application provides one kind correction control method, controller and deviation correction control system, applied to default matched curve linear equation, the matched curve linear equation characterizes positional value and magnitude of voltage corresponding relation, obtain the actual position value that position sensor collects coiled material, and obtain the voltage actual value that A/D change-over panels are generated according to the actual position value, the actual position value is substituted into the matched curve linear equation, obtain the corresponding voltage prediction value of the actual position value, when the voltage actual value is different from the voltage prediction value, according to the voltage actual value and the voltage prediction value, determine the corresponding positional deviation correction value of the actual position value, and then servo-driver is triggered according to the positional deviation correction value drive motor, so as to realize that the correction to the coiled material is controlled.
Description
Technical field
The application is related to detection control technology field, more particularly to a kind of correction control method, controller and correction control
System.
Background technology
Correction control, is an important technology in technology controlling and process, applies and add in packaging, printing, label, ready-made clothes, metal
Multiple web-handled industries such as work, the coiled material being related to includes polytype materials such as plastics, cable, paper, spinning cloth.Coiled material
Process, it is including the processing to coiled material in itself, such as spraying, printing, punching, laminated, can also include by web-handled into
Product, are such as processed into bag.
Specifically, during web-handled, coiled material needs to move to complete a series of processing technology in trapped orbit,
Do not run if sideslip, i.e. coil edge occurs in transmitting procedure in coiled material in track neat and consistent, then after causing
The error of continuous work step, so as to cause the waste of material or adjustment of stopping work.Accordingly, it would be desirable to which a kind of correction control method, adjustment is run
The position of partial curling material, to ensure being normally carried out for web-handled process.
It should be noted that Application No. CN201310625155.X patent document, which discloses one kind, is based on least square
At least there is following distinguishing characteristics in the method that method provides AD acquisition precisions, the technical scheme that methods described is provided with the present invention：
1st, patent document is fitted to calculate zero partially by input voltage and output voltage curve, and the technology that the present invention is provided
Scheme directly utilizes position and the relation calculation error of voltage.
2nd, the technical scheme that the present invention is provided is directed to specific field, that is, applies in Bag Making Machine correction control field.
The content of the invention
In view of this, the application provides a kind of correction control method, controller and deviation correction control system, to adjust sideslip
The position of coiled material, and then ensure being normally carried out for web-handled process.To achieve the above object, the embodiment of the present invention provides following
Technical scheme：
One kind correction control method, applied to default matched curve linear equation, the matched curve linear equation table
Positional value and magnitude of voltage corresponding relation are levied, this method includes：
Obtain the actual position value that position sensor collects coiled material；
Obtain the voltage actual value that A/D change-over panels are generated according to the actual position value；
The actual position value is substituted into the matched curve linear equation, the corresponding voltage of the actual position value is obtained
Predicted value；
It is pre- according to the voltage actual value and the voltage when the voltage actual value is different from the voltage prediction value
Measured value, determines the corresponding positional deviation correction value of the actual position value；
Servo-driver is triggered according to the positional deviation correction value drive motor, to carry out correction control to the coiled material.
The above method, it is preferable that also include：Default matched curve linear equation；
Wherein, the default matched curve linear equation, including：
Obtain multiple positional values { S1, S2, S3 ... Sn } that the position sensor is collected in preset time period；
Obtain multiple magnitudes of voltage { U1, U2, U3 ... Un } that A/D change-over panels are generated according to each location value respectively；
According to least square method, the relational expression (1) between generation expectation, positional value and magnitude of voltage：
Wherein, E is expects, SiFor position, UiFor voltage, k is the first coefficient, and b is the second coefficient；
According to following formula (2), local derviation is sought the first coefficient and the second coefficient in the formula (1) respectively, obtains formula (3)；
According to the formula (3), the formula (4) for determining the first coefficient k and the second coefficient b is obtained；
Each positional value described in each magnitude of voltage described in acquisition and generation is substituted into the formula (4), obtaining first is
Several numerical value and the numerical value of the second coefficient；
By the numerical value of the first coefficient of acquisition and the numerical value of the second coefficient, it is formula (5) to determine matched curve linear equation；
U=kS+b (5).
The above method, it is preferable that described according to the voltage actual value and the voltage prediction value, determines the actual bit
The corresponding positional deviation correction value of value is put, including：
The voltage prediction value is subtracted into the voltage actual value, the corresponding positional deviation correction of the actual position value is obtained
Value.
The above method, it is preferable that in the triggering servo-driver according to the positional deviation correction value drive motor, with to institute
State coiled material carry out correction control before, in addition to：
Judge whether the positional deviation correction value exceedes default error threshold；
If so, triggering servo-driver is according to the positional deviation correction value drive motor, to carry out correction control to the coiled material
System.
Present invention also provides a kind of controller, applied to default matched curve linear equation, the matched curve line
Property equation characterize positional value and magnitude of voltage corresponding relation, the controller includes：
Actual position value acquiring unit, the actual position value of coiled material is collected for obtaining position sensor；
Voltage actual value generation unit is actual according to the voltage that the actual position value is generated for obtaining A/D change-over panels
Value；
Voltage prediction value obtaining unit, for the actual position value to be substituted into the matched curve linear equation, is obtained
The corresponding voltage prediction value of the actual position value；
Positional deviation correction value determining unit, for when the voltage actual value is different from the voltage prediction value, according to institute
Voltage actual value and the voltage prediction value are stated, the corresponding positional deviation correction value of the actual position value is determined；
Positional deviation correction unit, for triggering servo-driver according to the positional deviation correction value drive motor, with to the volume
Material carries out correction control.
Controller noted above, it is preferable that also preset unit including matched curve linear equation, it is linear for presetting matched curve
Equation；
Wherein, the matched curve linear equation is preset unit and included：
Positional value obtains subelement, for obtaining multiple positions that the position sensor is collected in preset time period
It is worth { S1, S2, S3 ... Sn }；
Magnitude of voltage generates subelement, for obtaining multiple electricity that A/D change-over panels are generated according to each location value respectively
Pressure value { U1, U2, U3 ... Un }；
Relational expression generates subelement, for according to least square method, generating the relation between expectation, positional value and magnitude of voltage
Formula (1)：
Wherein, E is expects, SiFor position, UiFor voltage, k is the first coefficient, and b is the second coefficient；
Coefficient solves subelement, for according to following formula (2), being to the first coefficient in the formula (1) and second respectively
Number seeks local derviation, obtains formula (3)；
Coefficient determination subelement, for according to the formula (3), obtaining the formula for determining the first coefficient k and the second coefficient b
(4)；
Coefficient value obtains subelement, for each positional value described in each magnitude of voltage described in acquisition and generation to be substituted into
The formula (4), obtains the numerical value of the first coefficient and the numerical value of the second coefficient；
Linear equation determination subelement, for by the numerical value of the numerical value of the first coefficient of acquisition and the second coefficient, it is determined that intending
It is formula (5) to close curve linear equation；
U=kS+b (5).
Controller noted above, it is preferable that the voltage prediction value is subtracted the voltage by the positional deviation correction value determining unit
Actual value, obtains the corresponding positional deviation correction value of the actual position value.
Controller noted above, it is preferable that also include：
Error judgment unit, for before triggering servo-driver is according to the positional deviation correction value drive motor, judging
Whether the positional deviation correction value exceedes default error threshold, the unit if so, trigger position is rectified a deviation.
Present invention also provides a kind of deviation correction control system, including：
Position sensor, the positional value for gathering coiled material；
A/D change-over panels, are connected with the position sensor, for institute's location value to be converted into corresponding magnitude of voltage；
Said system, it is preferable that controller, is connected with the A/D change-over panels, for institute's location value to be substituted into described intend
Curve linear equation is closed, the corresponding voltage prediction value of institute's location value is obtained, when the magnitude of voltage and the voltage of the conversion are pre-
When measured value is different, the corresponding positional deviation correction value of institute's location value is determined, servo-driver is triggered；
Servo-driver, for according to the positional deviation correction value drive motor, to carry out correction control to the coiled material.
Said system, it is preferable that the controller in the deviation correction control system, is additionally operable to control web-handled system to volume
Material is processed.
Technical scheme more than, the embodiments of the invention provide one kind correction control method, controller and correction
Control system, applied to default matched curve linear equation, the matched curve linear equation characterizes positional value and magnitude of voltage
Corresponding relation, obtains position sensor and collects the actual position value of coiled material, and obtain A/D change-over panels according to the physical location
It is worth the voltage actual value of generation, the actual position value is substituted into the matched curve linear equation, obtains the physical location
It is worth corresponding voltage prediction value, when the voltage actual value is different from the voltage prediction value, according to the voltage actual value
And the voltage prediction value, the corresponding positional deviation correction value of the actual position value is determined, and then trigger servo-driver according to institute
Positional deviation correction value drive motor is stated, so as to realize that the correction to the coiled material is controlled.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the structured flowchart of deviation correction control system provided in an embodiment of the present invention；
Fig. 2 is the flow chart of correction control method provided in an embodiment of the present invention；
Fig. 3 is the exemplary plot of matched curve linear equation provided in an embodiment of the present invention；
Fig. 4 is the flow chart of default matched curve linear equation in correction control method provided in an embodiment of the present invention；
Fig. 5 is the structured flowchart of controller provided in an embodiment of the present invention；
Fig. 6 is the structured flowchart of the default unit of curve linear equation in controller provided in an embodiment of the present invention；
Fig. 7 is the structured flowchart of bag making system provided in an embodiment of the present invention；
Fig. 8 is the structured flowchart of existing bag making system provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Correction control method provided in an embodiment of the present invention, applied in a kind of deviation correction control system, the system can be found in
Fig. 1, as illustrated, including position sensor, A/D change-over panels, controller, servo-driver, motor.Wherein, controller is used for
Correction control method provided in an embodiment of the present invention is realized, referring to Fig. 2, it illustrates the specific stream of one kind of correction control method
Journey, this method is applied to default matched curve linear equation, and the matched curve linear equation characterizes positional value and magnitude of voltage
Corresponding relation, specifically, this method comprises the following steps：
Step S101：Obtain the actual position value that position sensor collects coiled material.
Wherein, as shown in figure 1, when coiled material is moved, position sensor can gather the position of coiled material with preset sample frequency,
Optionally, the position is coiled material border.
Step S102：Obtain the voltage actual value that A/D change-over panels are generated according to the actual position value.
Wherein, the positional value collected is converted to electric signal by position sensor sensor, passes through the place of A/D change-over panels
Reason, is the magnitude of voltage that controller can be handled by the Electric signal processing.
Step S103：The actual position value is substituted into the matched curve linear equation, the actual position value is obtained
Corresponding voltage prediction value.
In the present invention is implemented, the matched curve linear equation can represent default pair of one kind of magnitude of voltage and positional value
It should be related to.The matched curve linear equation is a kind of linear equation, is the position quantity and electricity obtained by way of curve matching
Linear relationship between pressure amount.The voltage prediction value obtained in this step is obtained by the linear relationship, characterizes coiled material
The corresponding magnitude of voltage of positional value under normal operating conditions.
Step S104：When the voltage actual value is different from the voltage prediction value, according to the voltage actual value and
The voltage prediction value, determines the corresponding positional deviation correction value of the actual position value.
During coiled material actual processing, due to the influence of various extraneous factors, coiled material boundary position sideslip is caused, because
This, coiled material is at a certain sideslip position, and the positional value that position sensor is collected carries out the magnitude of voltage after A/D conversions and normal fortune
Magnitude of voltage under row situation is different.That is, when two magnitudes of voltage are different, illustrate that coiled material occurs in that sideslip, and then,
It needs to be determined that positional deviation correction value, rectifies a deviation for the coiled material to sideslip.
Optionally it is determined that the mode of positional deviation correction value can be：The voltage prediction value is subtracted into the voltage actual value,
Obtain the corresponding positional deviation correction value of the actual position value.The positional deviation correction value can include positive and negative and numerical value, wherein：Positive and negative table
Show the direction of correction, alternatively, direction is represented with angle；Numerical value represents the size of correction.
Step S105：Servo-driver is triggered according to the positional deviation correction value drive motor, to be entangled to the coiled material
Control partially.
Wherein, corrective control signal is generated according to the positional deviation correction value, transmits the signal to servo-driver, so that
The servo-driver is according to the control signal drive motor, for example, the rotating speed of drive motor, steering etc., to realize to the volume
The adjustment of material position.
From above technical scheme, the embodiments of the invention provide one kind correction control method, intend applied to default
Curve linear equation is closed, the matched curve linear equation characterizes positional value and magnitude of voltage corresponding relation, obtains position sensor
The actual position value of coiled material is collected, and obtains the voltage actual value that A/D change-over panels are generated according to the actual position value, by institute
State actual position value and substitute into the matched curve linear equation, obtain the corresponding voltage prediction value of the actual position value, work as institute
State voltage actual value it is different from the voltage prediction value when, according to the voltage actual value and the voltage prediction value, determine institute
State the corresponding positional deviation correction value of actual position value, and then trigger servo-driver according to the positional deviation correction value drive motor, from
And the roll position is adjusted, it is ensured that coiled material boundary alignment.
It should be noted that in above method embodiment, realizing the coiled material boundary position gathered to position sensor
The once adjustment of point, of course, it is possible to recycle methods described, realizes the multiple adjustment to same boundary point.Specifically, in step
After rapid S105, return and perform step S101, obtain after the same boundary point adjustment of coiled material that position sensor is collected again
Positional value, performs subsequent step, until the boundary point is in the location point of alignment.Specifically, when in certain one cycle, conversion
When voltage actual value is identical with voltage prediction value, show that the boundary point of coiled material is in normal condition, then trigger position sensor
The positional value of the next boundary point of coiled material is gathered, until the end of web-handled process.
Meanwhile, the implementation procedure of the step S102 and step S103 in above method embodiment is not limited to this, certainly,
Also step S103 can be first carried out, then performs step S102, or, two steps are performed simultaneously.
Above method embodiment is more intuitively illustrated below with diagram.Referring to Fig. 3, it illustrates the above method
An example of matched curve linear equation in embodiment, as illustrated, straight line indicate it is linear between position S and voltage U
Corresponding relation.In above method embodiment, the positional value that position sensor is collected is St1.A/D is carried out to institute's location value
After conversion, the voltage actual value of acquisition is Ut1, using the linear equation described in Fig. 3, obtain positional value St1Corresponding voltage prediction
It is worth for U't1(the corresponding magnitude of voltage of A points), the voltage actual value Ut1It is likely less than or more than the voltage prediction value U't1(B
Point or the corresponding magnitude of voltage of C points), so as to illustrate that the boundary point of coiled material is in sideslip state.
It should be noted that being previously provided with matched curve linear equation in above method embodiment.The above method is implemented
Example before execution, the step of default matched curve linear equation can also being included.Alternatively, referring to Fig. 4, it illustrates this hair
The utilization least square method that bright embodiment is provided generates the flow of the matched curve fit equation, and the flow specifically includes following
Step：
Step S201：Obtain multiple positional values that the position sensor collects in preset time period S1, S2,
S3 ... Sn }, and obtain multiple magnitude of voltage { U1, U2, U3 ... that A/D change-over panels are generated according to each location value respectively
Un}。
Wherein, n is obtained not in the same time, one group of positional value that position sensor is collected, and correspondence generates each position
It is worth corresponding magnitude of voltage, the corresponding relation is shown in Table 1.
Table 1
| T (moment) | T1 | T2 | T3 | T4 | … | Tn-3 | Tn-2 | Tn-1 | Tn |
| S (position) | S1 | S2 | S3 | S4 | … | Sn-3 | Sn-2 | Sn-1 | Sn |
| U (voltage) | U1 | U2 | U3 | U4 | … | Un-3 | Un-2 | Un-1 | Un |
Step S202：According to least square method, the relational expression (1) between generation expectation, positional value and magnitude of voltage：
Wherein, E is expects, SiFor position, UiFor voltage, k is the first coefficient, and b is the second coefficient.In this method embodiment
In, it is assumed that magnitude of voltage meets default linear relationship, i.e. U=kS+b with positional value.
Step S203：According to following formula (2), local derviation is asked to the first coefficient and the second coefficient in the formula (1) respectively, obtained
Obtain formula (3)；
Step S204：According to the formula (3), the formula (4) for determining the first coefficient k and the second coefficient b is obtained；
Step S205：Each positional value described in each magnitude of voltage described in acquisition and generation is substituted into the formula (4), obtained
The numerical value of the first coefficient and the numerical value of the second coefficient are obtained, and then by the numerical value of the first coefficient of acquisition and the numerical value of the second coefficient,
It is formula (5) to determine matched curve linear equation；
U=kS+b (5).
As shown from the above technical solution, the embodiment of the present invention presets matched curve linear equation using least square method, should
Fit curve equation is used in correction control, obtains the corresponding voltage prediction value of actual position value, and for according to the voltage
Predicted value is adjusted to the position of sideslip.Specifically, the coefficient of unknown quantity first and the is included in the matched curve linear equation
Two coefficients, the error sum of squares between least square method guarantee actual value and the predicted value for utilizing fit curve equation acquisition is most
It is small, the numerical value of the first coefficient and the second coefficient under this kind of situation is calculated, so that it is determined that going out final matched curve linear equation.
It should be noted that least square method is a kind of data-optimized algorithm, it can obtain matched curve using less data volume
Linear equation, it is possible to resolve channel capacity and the technical problem of lack of memory capacity.In addition, the calculating speed of least square method compared with
It hurry up, processing time can be saved, improve treatment effeciency.
Alternatively, before step S105 after the step S104 of above method embodiment, it can also include：
Judge whether the positional deviation correction value exceedes default error threshold；
If so, performing step S105 triggers servo-driver according to the positional deviation correction value drive motor, with to the volume
Material carries out correction control.
It should be noted that including positive and negative and numerical value in position deviation value, correspondingly, default error threshold can be included just
Each self-corresponding different threshold values of negative direction, specifically, positional deviation correction value be on the occasion of when, judge the positional deviation correction value whether exceed just
The corresponding error threshold in direction, otherwise similarly.For example, default error threshold is -3 and+3, wherein, -3 are used as the threshold in negative direction
Value ,+3 are used as the threshold value in positive direction.It is described exceed refer to exceeding for numerical value, if for example, position deviation value be -5, its surpass
Cross error threshold -3.
In embodiments of the present invention, regularization condition is set to position deviation, that is, first determining whether whether position deviation value surpasses
Default error threshold is crossed, in the case where meeting condition, servo driver drives motor is just triggered and correction control is carried out to coiled material.
It is arranged such, can be at some in the less demanding occasion of coiled material boundary alignment degree, it is to avoid repeatedly regulation process reduces coiled material
Processing efficiency.
Hereafter controller provided in an embodiment of the present invention is introduced, it is necessary to explanation is, the explanation of the controller
Can be mutually to should refer to correction control method provided in an embodiment of the present invention.
Referring to Fig. 5, it illustrates the structure of controller provided in an embodiment of the present invention, the controller is applied to default intend
Curve linear equation is closed, the matched curve linear equation characterizes positional value and magnitude of voltage corresponding relation, and the controller can be
The controller in deviation correction control system shown in Fig. 1, is specifically included：
Actual position value acquiring unit 100, the actual position value of coiled material is collected for obtaining position sensor；
Voltage actual value generation unit 200, it is real according to the voltage that the actual position value is generated for obtaining A/D change-over panels
Actual value；
Voltage prediction value obtaining unit 300, for the actual position value to be substituted into the matched curve linear equation, is obtained
Obtain the corresponding voltage prediction value of the actual position value；
Positional deviation correction value determining unit 400, for when the voltage actual value is different from the voltage prediction value, foundation
The voltage actual value and the voltage prediction value, determine the corresponding positional deviation correction value of the actual position value；
Positional deviation correction unit 500, for triggering servo-driver according to the positional deviation correction value drive motor, with to described
Coiled material carries out correction control.
It should be noted that the controller can be independent deviation correcting device, the deviation correcting device is dedicated for right
Web-handled process carries out correction control.Certainly, the controller can also be with controlling the controller of web-handled process to merge
Master controller afterwards, i.e., described master controller can not only control web-handled process, the process can also be rectified a deviation and controlled
System.The processes such as the web-handled process includes but is not limited to spray, prints, is punched, laminated, cutting.
Referring to Fig. 6, alternatively, on the basis of the controller that foregoing invention embodiment is provided, controller can also include：
Matched curve linear equation presets unit 600, for presetting matched curve linear equation.
Specifically, matched curve linear equation presets unit 600, specifically includes：
Positional value obtains subelement 601, multiple for obtain that the position sensor collects in preset time period
Positional value { S1, S2, S3 ... Sn }；
Magnitude of voltage generates subelement 602, for obtaining A/D change-over panels respectively according to the multiple of each location value generation
Magnitude of voltage { U1, U2, U3 ... Un }；
Relational expression generates subelement 603, for according to least square method, generating between expectation, positional value and magnitude of voltage
Relational expression (1)：
Wherein, E is expects, SiFor position, UiFor voltage, k is the first coefficient, and b is the second coefficient；
Coefficient solves subelement 604, for according to following formula (2), respectively to the first coefficient and second in the formula (1)
Coefficient seeks local derviation, obtains formula (3)；
Coefficient determination subelement 605, is used to determine the first coefficient k and the second coefficient b for according to the formula (3), obtaining
Formula (4)；
Coefficient value obtains subelement 606, for by each positional value described in each magnitude of voltage described in acquisition and generation
The formula (4) is substituted into, the numerical value of the first coefficient and the numerical value of the second coefficient is obtained；
Linear equation determination subelement 607, for by the numerical value of the numerical value of the first coefficient of acquisition and the second coefficient, it is determined that
Matched curve linear equation is formula (5)；
U=kS+b (5).
Alternatively, the voltage prediction value is subtracted the voltage actual value by the positional deviation correction value determining unit 400, is obtained
Obtain the corresponding positional deviation correction value of the actual position value.
Alternatively, on the basis of the controller that foregoing invention embodiment is provided, it can also include：
Error judgment unit, difference link position correction value determining unit 400 and positional deviation correction unit 500, for judging
Whether the positional deviation correction value exceedes default error threshold, the unit 500 if so, trigger position is rectified a deviation.
Hereafter deviation correction control system provided in an embodiment of the present invention is introduced, about saying for the deviation correction control system
It is bright to can be found in correction control method and the controller provided in an embodiment of the present invention that the embodiments of the present invention are provided, do not do herein
Repeat.
Such as Fig. 1, it illustrates the structure of deviation correction control system provided in an embodiment of the present invention, the system is specifically included：
Position sensor, the positional value for gathering coiled material.Wherein, the position sensor can be photoelectric sensor.
A/D change-over panels, are connected with the position sensor, for institute's location value to be converted into corresponding magnitude of voltage.
Wherein, the A/D change-over panels are used to carry out signal conversion to the positional value sampled, and being converted to controller can locate
The voltage signal of reason.It is understood that position signalling is analog electrical signal, after being changed by A/D, it is changed into corresponding numeral letter
Number, carry out correction control to be sent to controller.
Controller, is connected with the A/D change-over panels, for institute's location value to be substituted into the matched curve linear equation,
The corresponding voltage prediction value of institute's location value is obtained, when the magnitude of voltage of the conversion is different from the voltage prediction value, it is determined that
The corresponding positional deviation correction value of institute's location value, triggers servo-driver.
Servo-driver, for according to the positional deviation correction value drive motor, to carry out correction control to the coiled material.
Wherein, servo-driver is rotated for drive motor.Specifically, controller is determined after the deviant of position, generates position
Put the electric pulse of deviant.Wherein, positive and negative and numerical value is included in the position deviant, it is positive and negative to show rectify a deviation direction, numerical value
Show size of rectifying a deviation.Electroporation is angular displacement by servo-driver, and drive motor rotates fixed angle by the direction of setting
Degree, position adjustment is carried out so as to realize to coiled material.
Alternatively, the controller in above-mentioned deviation correction control system, is additionally operable to control web-handled system and coiled material is added
Work.Referring to Fig. 7, it illustrates a kind of bag making system, including：Web-handled system and correction control unit.Wherein, web-handled
System includes：Main servo driver element, traction unit, tension force inductor and with multiple servo control mechanisms；Correction control unit includes：
Servo-driver, motor, A/D change-over panels and position sensor.
As shown in figure 8, in the prior art, deviation correction control system and web-handled system are independent two systems, each
Controller is included in system, as shown in figure 8, the control in deviation correction control system is deviation correcting device, in web-handled system
Controller is master controller, and two controllers to control the functional part in respective system respectively.In the process of coiled material
In, after the deviation correcting device in deviation correction control system is rectified a deviation to coiled material, by data transmission bus to web-handled system
In master controller send master controller processing coiled material in control signal, triggering web-handled system, when needing that coiled material is entered
During row position judgment, then the deviation correcting device transmission corrective control signal by data transmission bus into deviation correction control system,
Trigger deviation correcting device and carry out correction control.As can be seen here, bag making system of the prior art, includes two independent controls
Data are transmitted by data transmission bus between device, controller, a whole set of control system cost is higher, and degrees of coordination is relatively low.
It should be noted that the controller that the present invention is provided be able to can also not only be controlled with error correct control unit
Web-handled system processed.Realized that is, the present invention concentrates on the function of existing two controllers in one controller,
Both hardware cost can be reduced, system coordination degree can be improved again.
It should be noted that each embodiment in this specification is described by the way of progressive, each embodiment weight
Point explanation be all between difference with other embodiment, each embodiment identical similar part mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (10)
1. one kind correction control method, it is characterised in that applied to default matched curve linear equation, the matched curve line
Property equation characterize positional value and magnitude of voltage corresponding relation, this method includes：
Obtain the actual position value that position sensor collects coiled material；
Obtain the voltage actual value that A/D change-over panels are generated according to the actual position value；
The actual position value is substituted into the matched curve linear equation, the corresponding voltage prediction of the actual position value is obtained
Value；
When the voltage actual value is different from the voltage prediction value, according to the voltage actual value and the voltage prediction
Value, determines the corresponding positional deviation correction value of the actual position value；
Servo-driver is triggered according to the positional deviation correction value drive motor, to carry out correction control to the coiled material.
2. according to the method described in claim 1, it is characterised in that also include：Default matched curve linear equation；
Wherein, the default matched curve linear equation, including：
Obtain multiple positional values { S1, S2, S3 ... Sn } that the position sensor is collected in preset time period；
Obtain multiple magnitudes of voltage { U1, U2, U3 ... Un } that A/D change-over panels are generated according to each location value respectively；
According to least square method, the relational expression (1) between generation expectation, positional value and magnitude of voltage：
<mrow>
<msup>
<mi>E</mi>
<mn>2</mn>
</msup>
<mo>=</mo>
<munderover>
<mi>&Sigma;</mi>
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<mi>U</mi>
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</msub>
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<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, E is expects, SiFor position, UiFor voltage, k is the first coefficient, and b is the second coefficient；
According to following formula (2), local derviation is sought the first coefficient and the second coefficient in the formula (1) respectively, obtains formula (3)；
<mrow>
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<mtable>
<mtr>
<mtd>
<mfrac>
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</mrow>
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<mo>(</mo>
<mn>3</mn>
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According to the formula (3), the formula (4) for determining the first coefficient k and the second coefficient b is obtained；
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<mo>=</mo>
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</mfrac>
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<mo>=</mo>
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<mi>S</mi>
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</mtable>
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<mrow>
<mo>(</mo>
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</mrow>
</mrow>
Each positional value described in each magnitude of voltage described in acquisition and generation is substituted into the formula (4), the first coefficient is obtained
The numerical value of numerical value and the second coefficient；
By the numerical value of the first coefficient of acquisition and the numerical value of the second coefficient, it is formula (5) to determine matched curve linear equation；
U=kS+b (5).
3. according to the method described in claim 1, it is characterised in that described according to the voltage actual value and the voltage prediction
Value, determines the corresponding positional deviation correction value of the actual position value, including：
The voltage prediction value is subtracted into the voltage actual value, the corresponding positional deviation correction value of the actual position value is obtained.
4. method according to claim 1 or 2, it is characterised in that in the triggering servo-driver according to the position
Correction value drive motor, before to coiled material progress correction control, in addition to：
Judge whether the positional deviation correction value exceedes default error threshold；
If so, triggering servo-driver is according to the positional deviation correction value drive motor, to carry out correction control to the coiled material.
5. a kind of controller, it is characterised in that applied to default matched curve linear equation, the matched curve linear equation
Positional value and magnitude of voltage corresponding relation are characterized, the controller includes：
Actual position value acquiring unit, the actual position value of coiled material is collected for obtaining position sensor；
Voltage actual value generation unit, for obtaining the voltage actual value that A/D change-over panels are generated according to the actual position value；
Voltage prediction value obtaining unit, for the actual position value to be substituted into the matched curve linear equation, obtains described
The corresponding voltage prediction value of actual position value；
Positional deviation correction value determining unit, for when the voltage actual value is different from the voltage prediction value, according to the electricity
Actual value and the voltage prediction value are compacted, the corresponding positional deviation correction value of the actual position value is determined；
Positional deviation correction unit, for triggering servo-driver according to the positional deviation correction value drive motor, to enter to the coiled material
Row correction control.
6. controller according to claim 5, it is characterised in that also preset unit including matched curve linear equation, is used
In default matched curve linear equation；
Wherein, the matched curve linear equation is preset unit and included：
Positional value obtains subelement, for obtaining multiple positional values that the position sensor is collected in preset time period
{S1、S2、S3……Sn}；
Magnitude of voltage generates subelement, for obtaining multiple magnitudes of voltage that A/D change-over panels are generated according to each location value respectively
{U1、U2、U3……Un}；
Relational expression generates subelement, for according to least square method, generating the relational expression between expectation, positional value and magnitude of voltage
(1)：
<mrow>
<msup>
<mi>E</mi>
<mn>2</mn>
</msup>
<mo>=</mo>
<munderover>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>U</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>kS</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<mi>b</mi>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, E is expects, SiFor position, UiFor voltage, k is the first coefficient, and b is the second coefficient；
Coefficient solves subelement, for according to following formula (2), asking respectively the first coefficient and the second coefficient in the formula (1)
Local derviation, obtains formula (3)；
<mrow>
<mfenced open='{' close=''>
<mtable>
<mtr>
<mtd>
<mfrac>
<msup>
<mrow>
<mo>&PartialD;</mo>
<mi>E</mi>
</mrow>
<mn>2</mn>
</msup>
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<mo>&PartialD;</mo>
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</mrow>
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<mtr>
<mtd>
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<mrow>
<mo>&PartialD;</mo>
<mi>E</mi>
</mrow>
<mn>2</mn>
</msup>
<mrow>
<mo>&PartialD;</mo>
<mi>b</mi>
</mrow>
</mfrac>
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</mtd>
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</mfenced>
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<mo>-</mo>
<mrow>
<mo>(</mo>
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<mo>)</mo>
</mrow>
</mrow>
2
<mrow>
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<mtd>
<munderover>
<mi>&Sigma;</mi>
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<mi>i</mi>
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</mrow>
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<mi>&Sigma;</mi>
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<mi>i</mi>
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<mrow>
<mo>(</mo>
<msub>
<mi>kS</mi>
<mi>i</mi>
</msub>
<mo>+</mo>
<mi>b</mi>
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</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
Coefficient determination subelement, for according to the formula (3), obtaining the formula (4) for determining the first coefficient k and the second coefficient b；
<mrow>
<mfenced open='{' close=''>
<mtable>
<mtr>
<mtd>
<mi>k</mi>
<mo>=</mo>
<mfrac>
<mrow>
<munderover>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
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</mrow>
<mi>n</mi>
</munderover>
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<mi>U</mi>
<mi>i</mi>
</msub>
<msub>
<mi>S</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mi>n</mi>
</mfrac>
<munderover>
<mi>&Sigma;</mi>
<mrow>
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</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>U</mi>
<mi>i</mi>
</msub>
<munderover>
<mi>&Sigma;</mi>
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<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msup>
<msub>
<mi>S</mi>
<mi>i</mi>
</msub>
<mn>2</mn>
</msup>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mi>n</mi>
</mfrac>
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</mrow>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>b</mi>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mi>n</mi>
</mfrac>
<munderover>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>U</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<mfrac>
<mi>k</mi>
<mi>n</mi>
</mfrac>
<munderover>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>S</mi>
<mi>i</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>4</mn>
<mo>)</mo>
</mrow>
</mrow>
Coefficient value obtains subelement, described for each positional value described in each magnitude of voltage described in acquisition and generation to be substituted into
Formula (4), obtains the numerical value of the first coefficient and the numerical value of the second coefficient；
Linear equation determination subelement, for by the numerical value of the numerical value of the first coefficient of acquisition and the second coefficient, it is determined that fitting is bent
Line linear equation is formula (5)；
U=kS+b (5).
7. controller according to claim 5, it is characterised in that the positional deviation correction value determining unit is pre- by the voltage
Measured value subtracts the voltage actual value, obtains the corresponding positional deviation correction value of the actual position value.
8. the controller according to claim 5 or 6, it is characterised in that also include：
Error judgment unit, for before triggering servo-driver is according to the positional deviation correction value drive motor, judging described
Whether positional deviation correction value exceedes default error threshold, the unit if so, trigger position is rectified a deviation.
9. a kind of deviation correction control system, it is characterised in that including：
Position sensor, the positional value for gathering coiled material；
A/D change-over panels, are connected with the position sensor, for institute's location value to be converted into corresponding magnitude of voltage；
Controller as described in claim 5 to 8 any one, is connected with the A/D change-over panels, for by institute's location value generation
Enter the matched curve linear equation, obtain the corresponding voltage prediction value of institute's location value, magnitude of voltage and institute when the conversion
When stating voltage prediction value difference, the corresponding positional deviation correction value of institute's location value is determined, servo-driver is triggered；
Servo-driver, for according to the positional deviation correction value drive motor, to carry out correction control to the coiled material.
10. system according to claim 9, it is characterised in that the controller in the deviation correction control system, is additionally operable to control
Web-handled system processed is processed to coiled material.
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| CN201410350942.2A CN105329694B (en) | 2014-07-22 | 2014-07-22 | One kind correction control method, controller and deviation correction control system |
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| CN201410350942.2A CN105329694B (en) | 2014-07-22 | 2014-07-22 | One kind correction control method, controller and deviation correction control system |
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| CN106739555B (en) * | 2016-12-30 | 2019-02-12 | 南京富士通电子信息科技股份有限公司 | A kind of printer paper deviation-rectifying system and method for correcting error |
| CN107225609B (en) * | 2017-07-27 | 2019-07-09 | 拓卡奔马机电科技有限公司 | A kind of cutting and its entangle knife control system and method |
| CN108277314B (en) * | 2018-02-27 | 2020-11-20 | 首钢京唐钢铁联合有限责任公司 | Material distribution method and device |
| CN110487967A (en) * | 2019-08-26 | 2019-11-22 | 广西玉柴机器集团有限公司 | A kind of NOx sensor on-line correction method and signal pickup assembly using air |
| CN112192960B (en) * | 2020-09-17 | 2022-10-04 | 浙江天之元物流科技有限公司 | Automatic deviation-rectifying printing device and automatic deviation-rectifying printing method |
| CN114751224A (en) * | 2022-04-08 | 2022-07-15 | 广州市永麟卫生用品有限公司 | Control system and covering machine |
| CN114919952B (en) * | 2022-04-26 | 2023-10-31 | 广东工业大学 | Ultrasonic small hole detection and deviation correction discrimination method for coiled material with edge perforation |
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| TW201604668A (en) | 2016-02-01 |
| CN105329694A (en) | 2016-02-17 |
| TWI559108B (en) | 2016-11-21 |
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