CN1060938A - The load impact controller that is used for speed regulator system - Google Patents
The load impact controller that is used for speed regulator system Download PDFInfo
- Publication number
- CN1060938A CN1060938A CN91101909A CN91101909A CN1060938A CN 1060938 A CN1060938 A CN 1060938A CN 91101909 A CN91101909 A CN 91101909A CN 91101909 A CN91101909 A CN 91101909A CN 1060938 A CN1060938 A CN 1060938A
- Authority
- CN
- China
- Prior art keywords
- speed
- load impact
- velocity
- signal
- error
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Control Of Electric Motors In General (AREA)
Abstract
One cover load impact controller compensation is because load disturbance is added on the speed decline of this motor that drive motor causes.Controller is a pure ratio controller, and its input is converted to the velocity error rate of change, and velocity error is gone to take advantage of by gain factor.Originally the gain value product that obtains is increased to provide a high input signal to (PI) of motor speed control, to a low pass filter precharge by predetermined factor.After, the output of load impact controller is the function of low pass filter time constant, comprises the product gain index decay of velocity error rate of change.This load impact controller can be the microprocessor type, also can be analogue type.
Description
The present invention relates to a speed regulator system that is used for DC motor, relate more specifically to a load impact controller that is used for this system's medium velocity controller.
To carrying out as steel band and so on steel rolling material the feeding stage of heat or cold continuous steel rolling, steel band is by several milling trains.Steel band enters the roll gap of milling train, just an impact load moment is added in steel band is pulled through on the drive motor of that work roll of roll gap.When this load is added to governing system, actuating speed just descends suddenly.Any decline of the milling train actuating speed of positive charging will cause gathering or bending of steel band between the milling train of positive charging and last the milling train that steel band comes out.The increase of band storage will cause the minimizing or the forfeiture of the steel band pulling force between two milling trains that steel band just passing.It is a serious operation problem to milling train that the steel band mid portion does not have pulling force, forces milling train operator manual operation control to change one or the actuating speed of several milling trains of charging.
Manual operation control causes actuating speed too to increase sometimes, thereby the band storage shifts out too much between the milling train, causes the steel band fracture.
The important actuating speed of being not only the milling train that steel band just sending into is recovered as soon as possible, and appropriate amount of overshoot, make accumulating of the steel band between the milling train of causing to shift out as soon as possible and do not cause the fracture of steel band because the speed that the impact load of drive motor is caused descends.
More than attempt can reach by the impact load disturbance that causes drive motor speed to descend on the speed regulator drive system that is added in milling train is compensated.But these system's neither ones reach the compensation with same mode of the present invention and same efficient.
The present invention adopts a load impact controller, and this controller is operated with the rate of change of velocity error, at first makes the limit of a safety of rolling mill speed overshoot, promptly makes overshoot speed drop to the reference velocity that charging rate or milling train are adjusted then.
The present invention adopts a load impact controller that uses with (PI) speed regulator of the speed regulator system that is used for drive motor, and the present invention is used to compensate the speed that causes owing to the load disturbance that is added on the motor and descends.
The present invention is accomplished by a load impact controller is provided, and this controller has apparatus and method and decides difference between present velocity error and the previous velocity error, and velocity error is updated continuously.This difference between the speed error value obtains a yield value after multiply by " advancing gain " (goose gain) factor.Originally this gain value product presses rate factor increases, and originally its signal is added on the low pass filter so that low pass filter is given charging, also is added on the summing unit of (PI) speed control in the operation governing system.After several milliseconds, the gain value product of load impact controller is partly owing to the updating value of present velocity error and last velocity error changes.New gain product directly passes through low pass filter.The output and the speed error signal of low pass filter are comprehensive, simultaneously selectively condensation one (PI)
2Speed control.This controller is also by the speed error signal action, so that obtain output signal from a summing unit.In the time period of a requirement, for example 2 seconds, the output that produces summing unit should (PI) speed control with operation after steel band enters roll gap.At this moment, load impact controller and (PI)
2Speed control is closed, and (PI) speed control returns to its normal operation, promptly only relies on the speed error signal operation.
The control arrangement of load impact controller of the present invention can be a digitized microprocessor or an analogue type control system.When being attached to the speed control of rolling mill, this load impact controller relies on the operation of " steel band is in milling train " logical signal, and this signal is the part in the control of milling train main logic.The condition that the logic system operation must be satisfied is distinguishing to hot-rolling mill and cold-rolling mill.
Thereby main purpose of the present invention provides apparatus and method, to compensate rapidly and effectively because the speed that causes drive motor that impact load is added on the motor descends.
Further aim of the present invention provides apparatus and method, in the milling train charging stage, when workpiece begins to enter the roll gap of milling train, because impact load causes the speed of a milling train drive motor to descend and can be compensated automatically.
Further object of the present invention provides apparatus and method and comes compensation speed to descend, and makes speed Hui Fu And have enough overshoot soon but can not cause the workpiece fracture.
Further object of the present invention provides a cover load impact controller, and it can be a microprocessor or analogue type control, selectively with (PI)
2Speed control uses together, only a few operations in second after workpiece enters milling train of load impact controller.
Further object of the present invention provides apparatus and method, with change (PI) speed control dynamically, thereby reduce the influence of impact load disturbance to the governing system response.
Further object of the present invention provides a cover load impact controller, the output of this controller is the function of velocity error rate of change, thereby, the velocity error rate is the direct function that is added in the impact load torque disturbance amplitude on the drive motor, that is to say, it is big more to load, and the output signal of load impact controller is just big more.
Further object of the present invention provides apparatus and method to produce an auxiliary signal, and this signal is the function of velocity error rate of change, and it both combined with error signal, again selectively in conjunction with (PI)
2The output signal of speed control is regulated drive motor speed to control (PI) speed control.
Further object of the present invention provides a cover load impact controller, its can self-adaptation in the impact load that changes, thereby make best decline of velocity error of drive motor.
By following to narration ， And of the present invention with reference to the accompanying drawings, will understand these and other objects of the present invention more completely.
Fig. 1 is many rings calcspar of a drive motor speed regulator system cooperating with the present invention;
Fig. 2 is the schematic diagram of two milling trains of a multi-stage rolling mill, and the accumulation problems of material to be solved by this invention is shown;
Fig. 3 is a detailed block diagram, and some parts among the present invention and Fig. 1 are shown;
Fig. 4 has shown the derivation of the dynamic rate of load impact controller transfer function of the present invention;
Fig. 5 is the software figure of load impact controller of the present invention;
Fig. 6 is the more detailed calcspar of load impact controller of the present invention;
Fig. 7 A and 7B are the logic diagram of the present invention's operation;
Fig. 8 A, 8B, 9A, 9B, 10A, 10B, 11A and 11B are the flow charts of load impact controller of the present invention;
Figure 12 a and 12b are proportional integral square (PI)
2Speed control has (PI) speed control but not with the curve of load impact controller of the present invention;
Figure 12 c and 12d are proportional integral square (PI)
2Speed control has the curve that (PI) speed Kong Zhi Qi And has load impact controller of the present invention;
Figure 13 a and 13b are that proportional integral (PI) speed control is not with (PI)
2The curve of speed control and load impact controller of the present invention
Figure 12 c and 13d are that proportional integral (PI) speed control is not with (PI)
2Speed Kong Zhi Qi And has the curve of load impact controller of the present invention;
Figure 14 a, 14b and 14c are the proportional integrals square (PI) that is similar to Figure 12 c and 12d
2Speed Kong Zhi Qi And comprises the curve of the output signal of a load impact controller of the present invention;
Figure 15 A and 15b are the schematic diagrames of cover analogue type load impact controller of the present invention;
Figure 16 is the schematic diagram of velocity error analyzer and the transfer function of the control of the simulation among Figure 15 A and the 15B.
Fig. 1 provides the rough schematic of the speed regulator system 10 of handling a dc drive motor 12, motor 12 connects 14 excitations of controllable silicon armature supply (TAS) with response armature (armature) voltage reference signal, and the armature voltage reference signal is to come out from the armature supply controller 16 that may have (PI) characteristic.Armature supply transducer 18 provides an actual current negative-feedback signal to summing unit 20.Summing unit 20 produces armature reference current I
a
*With actual current I
aThe armature supply error signal of difference.
The speed of drive motor 12 is to be measured by digital tachometer 22, and the output of tachometer is converted to the voltage of hope by actuating speed transducer 24.The output of transducer 24 is one and is negative feedback signal W, when signal W delivers to summing unit 26, for the electromotor velocity of positive hope with reference to W
*Also send into.The output of summing unit 26 is speed error signal WE.
When the control system of drive system shown in Figure 1 was normally moved, velocity error WE was used to the normal speed controller of control system.For the present invention, this speed error signal WE is input to load impact controller 28 simultaneously, (PI)
2 Integrator 30 and summing unit 32.To these three inputs of summing unit 32 be on the occasion of.The present invention relates to load impact controller 28.
For the operation of an illustrated embodiments of the present invention, velocity error WE signal is L directly along the line
1To summing unit 32 ， And difference L along the line
2And L
3To load impact controller 28 with to (PI)
2Speed control.If do not adopt (PI)
2Speed control, then WE signal L only directly along the line
1And L
2When the present invention does not move, promptly load impact controller 28 withdraws from, so best (PI)
2 Speed control 30 also withdraws from, and WE only passes through summing unit 32 to handle (PI) speed control 34.(PI) speed control 34 is generally used for handling drive motor 12.
From United States Patent (USP) 3,775, can find one (PI) arranged No. 653
2The example of the speed control of characteristic, this patent are presented to the same inventor with the present invention on November 27th, 1973.In No. 3,775,653, this United States Patent (USP), the speed control that (PI) characteristic is arranged has been discussed also.Consider this point, the speed control 30 and 34 among the present invention is known technically, thereby unnecessaryly in order to understand the present invention fully these parts is done further to discuss.
What be familiar with equally technically is that the calcspar of Fig. 1 is a multiloop governing system, by element 14,16,18 and 20 form in current circuit 36, by element 24,26,28,30,32 and 34 form outer speed control circuit 38.Shown in Figure 1 is one simplify current circuit, yet be noted that the system that also can be used in No. 3,950,684, the United States Patent (USP) that was presented to the inventor on April 13rd, 1976.Comprise a current reference ramp function generator in this system.In addition the system in the United States Patent (USP) of issuing on September 26th, 1,976 3,983,464 is done some tangible modifications and also can comprise the present invention.
Fig. 2 illustrates the speed regulator system 10 that drives dc drive motor 12 among Fig. 1, and drive motor 12 drives the working roll of subordinate's milling train 40 of a continuous mill, Fig. 2 illustrates when steel band and leaves the problem that occurs when work milling train 42 enters the work roll gap of milling train 40, the speed of the work roll of milling train 40 descends when impact load is added to milling train 40, and steel band is accumulated between milling train 40 and 42.Dotted line is illustrated between milling train 40 and 42 and is gathered, and solid line is illustrated between two milling trains 40 and 42 and tightens steel band.
Fig. 3,5 and 6 illustrate the thin portion of load impact controller 28 of the present invention, and Fig. 4 is that the dynamic ratio of load impact controller 28 is derived.
Before explanation of the present invention further being discussed and being moved, be noted that armature supply reference signal Ia among Fig. 1 and Fig. 3
* be that milling train is produced by (PI) speed control 34 when normally moving.The transfer function of PI speed control shown in Figure 3 is
（1+T
1S）/T
xS
S=Laplacian in the formula (1/ second).
T
1=current controller leading time constant (second).
T
X=current controller integration time constant (second).
The output of PI controller 34 is attached to controllable silicon armature supply (TAS) 14(Fig. 1 on electric), TAS relates to following transfer function:
TdS
K
Ve
K in the formula
VThe static gain of=TAS,
T
a=TAS propagation delay time (second).
Provided (PI) in the United States Patent (USP) of discussing hereinbefore 3,775,653
2The transfer function of speed control 30 is decided to be 1/T among Fig. 3
2S, wherein T
2Be time quantum, S is a Laplacian.Some symbolic representation motor 12 magnetic flux φ on (PI) speed control 34 the right among Fig. 3
fAmplitude limit, rotor reference current Ia
The transfer function 1+ φ of amplitude limit * and motor 12
fThese compositions have been made further instruction in the United States Patent (USP) of above quoting 3,950684.
As what above mention, except load impact controller 28, the operation of element among Fig. 1-6, transfer function or the like all is common, does not need to be discussed further.Thereby, have only load impact controller 28 of the present invention to do further to discuss with reference to figure 3-16.Being noted that load impact controller 28 of the present invention can be the numeric type microprocessor, can also can be the analogue type shown in Figure 15 A-16 by the flow chart of program shown in Fig. 8 A-11B.
At length, wherein schematically provide the derivation of the transfer function of load impact controller 28 with reference to figure 4:
X=input in the formula
Y=output
K
g=gain ((output))/((input))
S=Laplacian (1/ second),
Laplace operator S, (1/ second) is changed to and equals (1-z
-1)/(Td)
Z in the formula
-1Be memory circuit, equal e
-TdS, T
dBeing the numerically controlled update time of little processing that the present invention adopts, is unit with the millisecond.If
(output)/(output)=KgS=Kg (Z
-1)/(T
d)
X ((Kg))/((Td)) (1-Z
-1)=input ((Kg))/((Td)) (1-Z
-1)
In Fig. 5 and in the flow chart of Fig. 8 A-11B, K
g/ T
dBe masked as (GOOSE GAIN), 1-Z
-1Be masked as (WEG-WEGZ).The velocity error that the WEG representative is current, the previous velocity error of WEGZ representative in the memory circuit of load impact controller 28.
Shown in the bottom of Fig. 4, the velocity error WE of summing unit 26 outputs is expressed as the input of load impact controller 28 from Fig. 1 and Fig. 3.Output represents that with WIG WIG is again the input signal of summing unit 32.
Fig. 5 and 6 very at length illustrates load impact controller 28 of the present invention.
With reference now to Fig. 5 and 6,, unit 44 is shown, multiplier 46, summing unit 48, low pass filter 50 and summing unit 52.The additional tuner 54 of unit 44 and the tuner 56 of filter 50 of illustrating of Fig. 6.
Pointed as Fig. 6, tuner 54 can change in 15 the scope or the propelling yield value of fine-adjusting unit 44 from zero at absolute value, and tuner 56 can be adjusted in 200 milliseconds the scope or the propelling filter time constant of fine setting low pass filter 50 zero.Tuner 54 and 56 load impact controllers 28 in the control of simulation electric-type are equivalent to a potentiometer, can cooperate with program in the load impact controller of numeric type microprocessor control.
As shown in Figure 6, low pass filter 50 is that single order Lv Bo Qi And moves by following transfer function:
TC=filter time constant in the formula,
S=Laplacian (1/ second).
Time constant is to be adjusted by the resistance of the equivalent filter 50 of electron type and the value of capacity cell.Unit 44 is comprising the gain factor of a usefulness (GOOSE GAIN) expression and the velocity error rate of change of a usefulness (WEG-WEGZ) expression among Fig. 5 and 6, and as indicated above, WEG is the present speed error, and WEGZ is previous velocity error.Gain factor (GOOSE GAIN) is a multiplication factor for the difference between present speed error amount and the last speed error value.Value in the garden of unit 44 bracket and bracket has comprised some variablees, and these variablees change for the output of unit 44, can understand them more completely hereinafter.
Touch upon multiplier 46 in Fig. 5 and 6, it makes from the output of unit 44 increases an amount that is expressed as " 2RATE SHIFT " piece 46.Binary address position of this value representation.Usually know all that if the position is to moving to left 2, the position moves right in the power register that multiply by integer if then import, and then imports by the power of integer and removes.At this in particular cases, basic integer is " 2 " always, its power scope from 0 to 5.From above narration as seen, the adjustment parameter of load impact controller 28 has " the GOOSE GAIN " of unit 44, the propelling filter time constant of filter 50, and the multiplication factor of element 46.In case these parameters are set at a specific run, they just remain unchanged in whole service.
The logic switch that is designated as GFLAG and FIRST GOOSE also is shown in Fig. 5 and 6.Logic switch GFLAG relates to the operation of unit 44 and filter 50 and withdraws from, and GOOSE FILTER switch FG1, initially give charging and its output that FG2 and FG3 relate to low pass filter are connected with summing unit 52 or cut off, and will more dwell on and they in following article.
After giving charging in load impact controller 28 initial, logical signal FIRST GOOSE adjusts and is " puppet ", the logic switch FG2 shown in Fig. 5 and 6 is opened, logic switch FG1 closure.Because multiplier 46 is now by bypass, just reduce from the output of product gain unit 44, summing unit 48 is directly delivered in this output, arrives low pass filter 50 then.The FIRST GOOSE switch FG3 that connects with filter 50 is closed now, makes the output of filter 50 directly deliver to summing unit 52, and the output that obtains is designated as WIG in Fig. 5 and 6.
Preferable is (PI)
2Speed control (Fig. 1) and load impact controller 28 move together, accept error signal WE And and produce output, and three input variables are all sent into the summing unit 32 among Fig. 3, as narrating in the preamble.When load impact controller 28 out of service, (PI)
2Speed control 30 is also closed, so unique that be input to summing unit 32 is the velocity error WE that comes out from summing unit 26, as shown in Figure 3.Load impact controller is a pure ratio controller, it adopted the derivative of velocity error or rate of change change multiloop speed regulator system 10 among Fig. 1 dynamically.Load impact controller 28 dynamically be pure ratio by low pass filter 50 series connection.When load impact controller 28 initial connections, controller 28 is pure ratio controllers, and its gain is very high.Increase or reduce integer value " RATE SHIFT " and gain factor 2RATE SHIFT in the multiplier 46 is increased or reduce.Can adjust the gain (GOOSE GAIN) of load impact controller 28 and the time constant " GOOSE FILTER TC " in the low pass filter 50 respectively by tuner 54,56.These adjustment and to the adjustment of multiplier 46 just the giving the stage fully of milling train, rather than carry out in that the present invention or milling train are in service.
Preferablely be load impact controller 28 and (PI)
2The material that speed control 30 only is used for milling train when steel band begins to enter the roll gap of a milling train passes through the stage.Simultaneously also preferably, these two parts 28 and 30 pass the stage steel band at material and enter maintenance operation in 2 seconds after the roll gap.Load impact controller 28 and (PI)
2Both all can be re-set as zero speed control 30 when preparing milling train charging next time operation.
When one or several condition satisfied, load impact controller 28 just was energized.These conditions are listed in the logic diagram of Fig. 7 A-7B, also show a velocity error curve and GFLAG=curve very over time among the figure.For a continuous cold rolling steel machine, there are three conditions to control (GOOSe Logic Control) down to load impact controller 28 with excitation GFLAG and promotion logic.These three conditions are shown in the I of Fig. 7 A, III and IV, they are: 1) if velocity error WE greater than WEMAX 2; 2) if the speed feedback of milling train less than WPUMIN; 3) if the reference speed value of milling train less than WPURMIN." WEMAX2 " condition is the starting point of load impact controller 28, as Fig. 7 B near shown in the velocity error curve of bottom.Minimum value in the actual speed of feeding stage milling train operation is represented with " WPUMIN ", desirable speed of feeding stage, or the reference velocity minimum value is represented with " WPURMIN ".
Preferably in order to guarantee among the present invention to advance the operation of control, velocity error WE will be above 0.5% of maximum rolling mill speed, and two of milling train reference velocity WPURMIN and rolling mill speed WPUMIN are all less than 3.8% of maximum rolling mill speed.When the feeding operation of a cold tandem mill, maximum rolling mill speed may hang down 200ft/min, may be high to 500ft/min.
When velocity error WE becomes the exit point of the present invention operation or becomes less than " WEMAX1 ", as Fig. 7 B near shown in the velocity error curve of bottom and Fig. 7 A logic diagram reach the standard grade shown in the II, perhaps when steel band in milling train after 2 seconds, shown in the line V, under this condition, load impact controller 28 just withdraws from.Fig. 7 A-7B center line I, II, III, IV and V are associated with control relay CR
a, CR
b, CR
c, CR
dAnd CR
e
On cold-rolling mill, relay CR
a, CR
b, CR
c, CR
dAnd CR
e
Begun to activate and cancel the effect of GFLAG and GOOSE logical signal in the feeding stage of milling train, because milling train runs on low steel rolling speed to encourage whole relays.On hot-rolling mill, other has relay CR
a, CR
bAnd CR
eBring into operation relay CR
cAnd CR
dAnd is of no use, shown in Fig. 7 B.For hot-rolling mill, charging rate is relatively high, and III along the line and the represented speed that prevents and the speed detector of IV are energized.
The flow chart of the load impact controller of the present invention 28 operation program therebies of microprocessor is seen Fig. 8 A to 11B.
A relay " selecting impact load-forward controller " by name is arranged on the logic figure line VI of Fig. 7 B.Fig. 8 A-11B illustrates the operating procedure of the forward controller that relates to load impact controller.If this forward controller is not selected, then program A along the line is changed to " puppet " with " FIRST GOOSE " and GFLAG down to the square 62 to 72 of Figure 11 B bottom in these pieces; Each all is changed to zero COVNTG and WEG; WEZ equals WE; In piece 73, WIG is changed to zero then, can resets at another time feeding of milling train these variablees in service.If forward controller is selected, then first test be the decision steel band whether in milling train, indicated as SISIN in the piece 74.If "No", then timer COUNTG is changed to zero as piece 76 findings, and program is carried out the next one test of piece 78.The result of if block 74 test is a "Yes", and then the program test of carrying out piece 80 sees that COUNTG is whether less than the preset value COUNTGMAX of microprocessor.The result of if block 80 test is a "No", then represents steel band in the roll gap of milling train 2 seconds or longer, just COUNTG is changed to COUNTGMAX, shown in piece 82.If block 80 test results are "Yes", and then the time register increases by 1, shown in piece 84.
Program enters the test control of piece 78 from piece 82 and 84.The purpose of test is check to advance control whether " connection " in the piece 78.Satisfying this test, three conditions are arranged is necessary, and these conditions are " steel band is not in milling train " (NOT SISIN), and COUNTG is greater than zero, but less than COUNTGMAX.If testing 78 result is "No", then advance and be controlled to be " pass ", following variable is shown in piece 86 to 96: wherein, FIRST GOOSE is changed to very; The GFLAG=puppet; WE=O; WEZ=WE; The WIG=low pass filter.Subprogram of last piece 94 expressions, wherein WEG is new output, and WIG is last output, and GOOSE/Filter TC is tuning bag.The output of subprogram 94 " B " along the line is to the junction 75 of Figure 11 B bottom.
If the result of test 78 is a "Yes" among Fig. 8 B, then the propelling of load impact controller 28 is controlled to be " connection ".The then test of program C along the line piece 96 in Fig. 9 A.Whether satisfy the requirement of speed and speed parameter in the test purpose of piece 96.Two conditions that must satisfy are: 1) rolling mill speed feedback WPU FEEDBACK SPEED is less than the minimum speed (WPUMIN) of milling train; 2) last milling train reference velocity is less than minimum reference velocity (WPURMIN).The result of if block 96 is a "No", and this explanation drive motor 12 turns round milling train under high speed value.Program d along the line makes FIRST GOOSE=true down to piece among Figure 11 A 98,100,110,112 and 114; The GFLAG=puppet, WEG=O; WEGZ=WE, the WIG=low pass filter.Piece 114 is the subprograms that are similar to piece 94 among Fig. 8 B.Program from piece 114 to the junction 75.
If test 96 result be a "Yes" among Fig. 9 A, then to make milling train be low charging rate to the speed of drive motor 12, thereby, can advance and control " connection ".Further whether the test speed error is so that advance control " connection " in piece 116.Must satisfy two conditions: 1) velocity error WE must be greater than WEMAX2; 2) " FIRST GOOSE " be not by load impact controller 28.
If block 116 test results are "Yes", then advance to be controlled to be " connection ", and program enters piece 118,120,122, makes GFLAG be changed to " very ", and WEG is changed to WE; WEG equals (GAIN) (WEG-WEGZ), and (WEG-WEGZ) be load impact controller 28 among Fig. 5 unit 44 at present with the difference of last velocity error.Program enters the piece 124,126 and 128 of Figure 10 A from piece 122, makes the WIG=low pass filter, WEGZ=WE; FIRT GOOSE=puppet, piece 124 are the subprograms that are similar to piece 94 and piece 114.
The junction 75 of program bottom from piece 128 J along the line of Figure 10 A to Figure 11 B.With reference to figure 9A, the test result of if block 116 is a "No" again, and then program enters test block 130.Piece 130 test whether surpassed the maximal rate error.If the result is a "No", then advances and be controlled to be " disconnection ".Program D along the line is to the piece 132 and 134 of Figure 10 B.In piece 132, FIRST GOOSE is changed to " very ", and in piece 134, GFLAG is changed to " puppet ".The piece 135,137 and 139 of program from piece 134 H along the line to Figure 11 A arrives junction 75 at last.In piece 135,137 and 139, make WEG=O respectively, WEGZ=WE, WIG=low pass filter (WEG, WIG, GOOSE FILTER TC).
The test result of if block 130 is a "Yes", then advances to be controlled to be " connection ".Test block 136 provides the correction that advances control.If be "Yes", this is first window of program, and program enters piece 138 and puts GFLAG=" very ".Program F along the line enters piece 140,142,144 and 146 Figure 10 A from piece 138.It is WE that piece 140 is put WEG; It is (GAIN) (WEG-WEGZ) 2 that piece 142 is put WIG
RAFE SHIFT, this value is to derive from the element 44 and 46 of the load impact controller 28 of Fig. 5.It is WE that piece 144 is put WEGZ, and piece 146 is put FIRST GOOSE and is " puppet ".Program from piece 146 to the junction 148, along the last junction 75 of Figure 11 center line I.
With reference to figure 9B, the test result of if block 136 is a "No" again, and then input is for the first time by load impact controller 28.Program E along the line enters piece 150,152, and 154,156 and 158, make GFLAG=" very ", WEG=WE, WEG=(GAIN) (WEG-WEGZ), WIG=low pass filter; WEGZ=WE.Piece 156 is the subprograms that are similar to piece 94.Piece 154 has comprised the difference of present and last velocity error.To the junction 148, I along the line arrives junction 75 to Figure 11 A to program at last from piece 158.
The load impact controller 28 of a milling train of steel rolling mill is operated ， And basically automatically in the feeding stage that steel band enters roll gap and continue operation 2 seconds nearly after this.
Load impact controller preferably with (PI)
2Control (PI) speed control 34 is removed in speed control 30 parallel runnings.
Figure 12 a and 12b are (PI)
2 Speed control 30 runs on does not have load impact controller 28 of the present invention, and typical speed regulator response under the situation of connecting with (PI) speed control 34.Figure 12 c and 12d are (PI)
2The response of typical speed regulator under the in parallel and situation of connecting with (PI) speed control 34 of speed control 30 and load impact controller 28.Horizontal line is represented the static load electric current among Figure 12 b and the 12d, and overshoot is then represented in the above zone of axle.For the velocity error curve, the bottom of curve is divided and have been represented gathering of steel band between the milling train among Figure 12 a and the 12c, and being the velocity error rate of change has positive speed error value for the integration ， And of time.The removing that steel band gathers has been represented on the top of curve among Figure 12 a, is that the integration ， And of velocity error rate of change has negative speed error value.
The curve of comparison diagram 12a and 12c can know and see, when adopt load impact controller 28 with (PI)
2During speed control 30 parallel connections, maximal rate falls (velocity error) and the two all greatly reduces by it velocity error integration that causes.Simultaneously also as can be seen, when adopt load impact controller 28 with (PI)
2During speed control 30 parallel connections, the electric current of drive motor greatly increases in short response time.
Figure 13 a and 13b illustrate when (PI) speed control 34 operates in does not both have load impact controller 28 of the present invention, does not have (PI) yet
2The response of the typical speed regulator under speed control 30 situations, Figure 13 c and 13d illustrate when (PI) speed control 34 is used in and connect with load impact controller 28 but do not have (PI)
2The response of typical speed regulator under speed control 30 situations.Trunnion axis is represented the static load electric current among Figure 13 b and the 13d, and this line upper area is represented overshoot.The accumulation of representing steel band between the milling train is divided in the bottom of Figure 13 a and 13c velocity error curve, and the minimizing that on behalf of steel band, top then gather is similar with Figure 12 (a) and explanation 12(c).Comparison diagram 12c, 12d and Figure 13 c and 13d as can be seen, as (PI)
2Speed control 30 and load impact controller 28 And connection also connect with (PI) speed control 34 that use is only connected with (PI) speed control 34 with respect to load impact controller 28 and need not (PI)
2The situation response results of speed control 30 is quite a lot of.Equally also as can be seen, adopt load impact controller 28 quite a lot of with respect to situation response results without controller 28.
Figure 14 a, 14b and 14c still are (PI)
2 Speed control 30 is used for connect with (PI) speed control 34 the typical speed regulator response under the situation with load impact controller 28 And Lian And.Figure 14 a and 14c and Figure 12 c and 12d are similar.Figure 14 b has represented when steel band output signal of load impact controller 28 in 2 seconds in milling train.Curve is that a vertical line or " spike " then are the level and smooth parts of exponential damping gradually.Said as preamble, parts 44 and 46 employing increase rapidly at first to producing one on the system dynamics, and filter 50 is allowed the decay at a slow speed gradually of system responses.
When velocity error surpassed " WEMAX2 " setting value, load impact controller 28 was energized.It is expressed as " T " indicated curve positive tangent or slope in Figure 14 a.Find out that from Figure 14 b the output signal of load impact controller 28 jumps to a certain value, this value is proportional with it again for the function of velocity error rate of change, then with the time constant functional relation exponential damping of low pass filter among Fig. 5 50.For the microprocessor control of Fig. 8-11, the response time is instantaneous, and for the control of the analogue type in Figure 15 and 16, response has the delay of short time.
Said as preamble, the initial output of load impact controller 28 is based on the function of the velocity error rate of change of true velocity and desired speed.When impact load added, the rate of change of velocity error was to be added on the direct function that impacts the disturbance of load forces square among Fig. 1 on the drive motor 12.In view of this, the impact load torque disturbance is big more, and the signal of load impact controller 28 outputs is just high more.After initial output, the output of load impact controller 28 is functions of low pass filter time constant setting value, thereby the rate of change of velocity error such exponential damping shown in Figure 14 b.
Load impact controller has adapted to the amplitude that is added in impact load forces square disturbance on the drive motor 12 to be changed, and promptly load is big more, and then the output signal of load impact controller is also big more.These characteristics provide the best for the load disturbance amplitude actuating speed error that changes to reduce.With reference to figure 1, in load impact controller 28 operations at the beginning, output signal is passed through the proportional parts of (PI) speed control 34 immediately again, thereby makes the current reference signal Ia of armature immediately
* increase, to the electric current of armature supply controller 16 with controlling and driving motor 12.
Claims (13)
1, speed-adjusting driving system that is used to regulate a drive motor speed comprises:
Determine based on the velocity error of true velocity value and desired velocity amplitude and the device of the described velocity error of use of the normal operation period of described drive motor and
The load impact controller device is to produce one first output, described first output descends from the described speed of described drive motor in described normal operation period static velocity in order to compensation, and when described load disturbance is added on the described drive motor to replenish described velocity error at least in order to the described drive motor of described adjusting
Described load impact controller device comprises:
The ratio controller device is in order to accepting described velocity error, in order to determining the rate of change of described velocity error, and in order to producing a gain value product that comprises the described rate of change of described velocity error,
Device is used for making at first one first described gain value product to increase a desired amount, so that the described speed of the described drive motor of proportional increase is to being higher than described static velocity, and
Filter apparatus is on duty long-pending in order to accept described initial gain, so that described filter gives charging, and in order to then to accept second gain value product, so that the described speed index decreased of described drive motor is till described speed reaches described static velocity.
2,, and then comprise according to a drive system in the claim 1:
(PI) series connection of speed control apparatus and described load impact controller device is used, so that the described speed of described drive motor is carried out described adjusting.
3,, and then comprise according to a system in the claim 2:
(PI)
2The speed control apparatus, with the use in parallel of described load impact controller device, so that accept described velocity error producing one second output, and
Device is used to make described first output and described (PI) of described velocity error and described load impact controller device
2Described second output of control device combines, and produces the described speed that a signal described to control (PI) speed control is used for regulating described drive motor.
4, comprise according to ratio controller device described in the system of claim 1:
Device is in order to storage and upgrade described velocity error,
Device is in order to the difference between the velocity error of the velocity error of calculating described renewal and described storage, and
Device is in order to the difference between the velocity error of the velocity error of taking advantage of described renewal and described storage, to produce described yield value.
5, in the system according to claim 1, described filter apparatus is a low-pass first order filter, moves by following transfer function:
TC is the setting time constant of described filter apparatus in the formula, and S is that unit is 1/ second Laplace transform.
6, a speed-adjusting driving system is in order to regulate the speed of drive motor, and And has the first speed control apparatus, comprising:
Device is in order to determining in the true velocity value and to wish the velocity error of difference between velocity amplitude, and
The load impact controller device causes the minimizing of described speed from static conditions in order to compensation owing to load disturbance is added on the described drive motor,
Described load impact controller device comprises:
Filter apparatus, and
Device in order to the signal in succession that produces an initialize signal and a series of rate of change functions as described velocity error, comprise described initialize signal is added to the described first speed control apparatus so that the described speed of described drive motor is increased to the device greater than the speed under the described static conditions, And comprise with described signal in succession be added to further control the described first speed control apparatus on the described filter apparatus so that the described speed exponential damping of described motor to its described static conditions.
7, a load impact controller is to control the dynamic of a motor, because load disturbance is added on the described motor electromotor velocity is reduced from static conditions, described load impact controller comprises:
In order to producing the device of a signal, it is on duty long-pending that this signal is that the rate of change function ， And of the velocity error of difference between the velocity amplitude of wishing and true velocity value comprises in order to produce described signal gain, and
In order to described signal is added to the device on the described drive motor, the described speed of described motor is increased to be higher than described static conditions, the described speed that then reduces described drive motor is until reaching described static conditions.
8, speed regulator drive system, wherein, the speed of drive motor is controlled by speed error signal, described system comprise a load impact controller with compensation because impact load causes speed from the reducing of static velocity, described load impact controller comprises:
Produce the device of a load impact error signal, this signal is that the Jie of the velocity error rate of change Han that jumps is Shuoed And through revising decaying in time, and
Summing unit adds on the described speed error signal with the speed of controlling described drive motor described load impact signal so that the speed of described drive motor is got back to static velocity.
9, system according to Claim 8, the device that wherein produces described load impact error signal comprises:
With the device of generation with the proportional rate signal of rate of change of described speed error signal,
Take advantage of the device of rate signal with gain factor,
Low-pass filter device, and
Originally the described rate signal of selecting to be taken advantage of by described gain factor is as the load impact error signal, then selects the rate signal that filtered by the described low pass filter device as described load impact error signal.
10, according to the system of claim 9, the described device that wherein produces described load impact error signal comprises with the described cultivation factor and goes to take advantage of described rate signal to deliver to the device of low pass filter as initial excitation.
11, only run on when described speed error signal according to the device that produces described load impact error signal in the system of claim 10 and rise to when being higher than first threshold value of establishing in advance.
12, withdraw from when described speed error signal drops to second threshold value of establishing in advance that is lower than described first threshold value according to the device that produces described load impact error signal in the system of claim 11.
13, comprise one (PI) in the system according to claim 9
2Controller is to produce (PI) as described speed error signal function
2Error signal, and
Described summing unit is with described (PI)
2Error signal is with described speed error signal and the addition of described load impact error signal, with the described speed of controlling and driving motor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/US1990/006112 WO1992008275A1 (en) | 1990-10-24 | 1990-10-24 | Load impact controller for a speed regulator system |
| US90/06112 | 1990-10-24 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1060938A true CN1060938A (en) | 1992-05-06 |
Family
ID=22221111
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN91101909A Pending CN1060938A (en) | 1990-10-24 | 1991-03-27 | The load impact controller that is used for speed regulator system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1060938A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102013857A (en) * | 2010-11-30 | 2011-04-13 | 北京交通大学 | Method and device for preventing impact on controller |
-
1991
- 1991-03-27 CN CN91101909A patent/CN1060938A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102013857A (en) * | 2010-11-30 | 2011-04-13 | 北京交通大学 | Method and device for preventing impact on controller |
| CN102013857B (en) * | 2010-11-30 | 2013-02-27 | 北京交通大学 | Method and device for preventing impact on controller |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5003492B2 (en) | Driving device for rolling roll motor | |
| CN1024849C (en) | Process control system | |
| CN105034853B (en) | A kind of control system and method for reducing electric automobile cruise velocity perturbation | |
| US4611763A (en) | Method and apparatus for controlling a grinding mill | |
| CN106374801B (en) | A kind of electrical servo control system and method adaptively adjusted according to deviation | |
| CN107070365A (en) | Current limit control method under a kind of solid-state soft initiator voltage ramp control model | |
| CN1060938A (en) | The load impact controller that is used for speed regulator system | |
| CN109454116B (en) | Method for controlling speed of cold bed input roller way | |
| CA2072071A1 (en) | Load impact controller for a speed regulator system | |
| CN206173712U (en) | Wainscot broad width can self -adjusting calender | |
| CN106411188A (en) | Industrial robot intelligent driving system | |
| CN1154749C (en) | System for controlling cooling of agglomerate | |
| US3587980A (en) | Method of controlling the rate of feed to an extraneously energized airswept mill | |
| CN106142181B (en) | Intelligent Cowhells automatic rotary cutting device systems | |
| JPH07144839A (en) | Controller for hydraulic elevator | |
| CN112337979A (en) | Control method and device for rod and wire rolling mill | |
| CN106112107A (en) | Automatization's plate shearing machine | |
| JP3051536B2 (en) | Method of generating speed reference signal for crane motor | |
| CN105711678B (en) | Gait creel car | |
| JPS5751224A (en) | Controlling method for pallet speed of sintering machine | |
| CN214639131U (en) | Hot rolling device for recycling and processing waste nonferrous metals | |
| CN206823897U (en) | A kind of mechanism for automatically adjusting grinding roller gap | |
| CN212556865U (en) | Novel galactomannan is automatic to be divided and is adorned packing device | |
| JPS6066691A (en) | Frequency converter | |
| US1757339A (en) | Motor controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C01 | Deemed withdrawal of patent application (patent law 1993) | ||
| WD01 | Invention patent application deemed withdrawn after publication |