CN109189112A - A kind of idler roller strip tension sliding-mode control and control device - Google Patents
A kind of idler roller strip tension sliding-mode control and control device Download PDFInfo
- Publication number
- CN109189112A CN109189112A CN201811115019.5A CN201811115019A CN109189112A CN 109189112 A CN109189112 A CN 109189112A CN 201811115019 A CN201811115019 A CN 201811115019A CN 109189112 A CN109189112 A CN 109189112A
- Authority
- CN
- China
- Prior art keywords
- strip
- roller
- tension
- idler roller
- control
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
- G05D15/01—Control of mechanical force or stress; Control of mechanical pressure characterised by the use of electric means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The present invention provides a kind of idler roller strip tension sliding-mode control and control device, belongs to industrial automation.The following steps are included: Step 1: idler roller strip tension models；Step 2: idler roller strip tension sliding-mode control designs；Compared with traditional PID control method, sliding-mode control of the invention can effectively overcome the controlling difficulties such as non-linear, the unknown external interference of idler roller strip tension；A kind of idler roller strip tension sliding mode control apparatus of the present invention, the control device chooses Siemens S7-300 series of PLC (CPU model 315-2DP) and is used as main website, it is selected from the distributed I/O ET200S(CPU model IM151-7 with CPU) as slave station, master-salve station passes through Profibus-DP field bus communication.Complete the hardware design and software design of control device.
Description
Technical field
The present invention devises a kind of idler roller strip tension sliding-mode control and control device, belongs to industrial automation neck
Domain.
Background technique
In metallurgical production process, realize that the accurate control of idler roller strip tension is to guarantee belt steel product quality, promoted
The key factor of strip production efficiency.Existing strip tension control device majority uses pid control algorithm, controls precision
Low, control effect is undesirable.
Summary of the invention
The purpose of the present invention is devising a kind of sliding-mode control of idler roller strip tension, with traditional PID control
Method is compared, and sliding-mode control of the invention can effectively overcome the non-linear, unknown extraneous dry of idler roller strip tension
Disturb equal controlling difficulties；Another object of the present invention is to devise a kind of idler roller band that can be realized above-mentioned sliding-mode control
Steel tension sliding mode control apparatus, the device are completed using Siemens's S7-300 series of PLC (CPU model 315-2DP) as main website
The hardware design and software design of control device.
In order to realize idler roller strip tension advanced control system exploitation, the present invention initially set up tensioning roll strip
Secondly the state-space model of tension force is developed to be become based on sliding formwork with the industry automatic control framework of Siemens Company and be tied
The PLC sliding mode controller of structure control theory, finally establishes the strip tension being made of PLC control system, Monitor Computer Control System
Sliding mode control apparatus.
The present invention is achieved by the following technical solutions:
A kind of idler roller strip tension sliding-mode control, comprising the following steps:
Step 1: idler roller strip tension models
(1) it is tensioned roll structure
The sequence for passing through each roller according to strip, is defined as No. 1, No. 2, No. 3, No. 4 for each live-roller respectively；Wherein
No. 1 roller and No. 4 rollers rotate counterclockwise, and No. 2 rollers and No. 3 rollers rotate clockwise, v0For the upstream strip speed of idler roller, v1、v2、
v3、v4The rotation linear velocity of respectively each live-roller；Wherein, v0Size determined by upstream production process, examined by measuring tool
It surveys, is known parameters；The size of vi (i=1 ..., 4) is variable element by the motor control of each live-roller；F1For idler roller
The tension of strip inlet, F2、F3And F4Strip tension between respectively each live-roller, F5For in tensioning roll strip exit
Power；Wherein, Fi (i=1 ..., 4) is adjusted by adjusting the revolving speed of 4 live-rollers, downstream strip tension F5It is produced by downstream
Equipment determines；L1For the strip length for being tensioned roll strip inlet, L2、L3And L4Strip between respectively each live-roller is long
Degree, each section strip length are fixed known parameters；
(2) it is tensioned roll strip model foundation
In idler roller strip tension control process, by the electromagnetic torque T for adjusting each transmission roller motore,i(i=1 ...,
4) revolving speed of each roller is adjusted, and then controls control strip tension Fi(i=1 ..., 4)；Define Te,iFor mode input change
Amount defines FiFor the output variable of model, for its available motor movement equation of i-th of live-roller are as follows:
In formula (1), JiFor the rotary inertia of i-th of live-roller, ωiFor the angular speed of i-th of live-roller, TL,iIt is i-th
It is driven the loading moment of roller motor；Obtain TL,iWith the relationship between strip tension are as follows:
TL,i=(Fi-Fi+1)×Ri, i=1,2,3,4 (2)
Wherein RiFor the radius of i-th of live-roller；
The generation of strip tension is as caused by strip deformation, and during idler roller operation, strip is because of each live-roller
Between speed difference and to generate second flow poor, and then generate strip tension；Strip tension is obtained with the number between strip second flow difference
Learn relational expression are as follows:
Wherein, kiFor the coefficient of elasticity of strip, its calculation formula is:
Wherein, E is the elasticity modulus of strip, and S is the cross-sectional area of strip；
It assumes that live-roller linear velocity is consistent with the strip speed for being fitted in body surface, is converted by angular speed linear velocity public
Formula obtain strip in idler roller flowing velocity with conversion relation between live-roller angular speed are as follows:
vi=ωi×Ri, i=1,2,3,4 (5)
Joint type (1)-(5) arrange to obtain idler roller strip tension mechanism dynamic model are as follows:
According to the mechanism dynamic model that idler roller strip tension controls, derive that the state of idler roller strip tension control is empty
Between expression formula；
State space vector x (t) are as follows:
X (t)=[x1 x2 x3 x4 x5 x6 x7 x8]T=[F1 ω1 F2 ω2 F3 ω3 F4 ω4]T,
Take control variable u (t) are as follows: u (t)=[u1 u2 u3 u4]T=[Te,1 Te,2 Te,3 Te,4]T,
Output variable y (t) are as follows: y (t)=[y1 y2 y3 y4]T=[F1 F2 F3 F4]T,
The state-space expression of idler roller strip tension control can be acquired according to formula (6) are as follows:
In formula (7), A, B, T are respectively the state matrix, input matrix, output matrix of system, and d is known permanent interference
Vector；
Wherein:
Step 2: idler roller strip tension sliding-mode control designs
It enables
Then state matrix A can be arranged are as follows:
It enablesThen input
Matrix B and permanent interference vector d can be arranged are as follows:
It determines control target, enables strip tensionFollow tension setting valueDefine sliding formwork
Function are as follows:
S=CE (8)
In formula (8), the value of each variable is respectively as follows:
S=[s1 s2 s3 s4]T
Wherein, e1=yd1-y1, e2=yd2-y2, e3=yd3-y3, e4=yd4-y4, c1> 0, c2> 0, c3> 0, c4> 0；
Switching function s derivation can be obtained:
Control amount u (x) is sought taking using constant speed approach law
Wherein, ε=diag [ε1,ε2,ε3,ε4], sgn (s)=[sgn (s1)sgn(s2)sgn(s3)sgn(s4)]T；
Joint type (7)-(10) can obtain control amount u (x) are as follows:
Take Liapunov function are as follows:
Wherein, [1,1,1,1] V=diag；
For verifying gained idler roller strip tension controller stabilization row, in conjunction with the constant speed approaching method of selection, to sliding formwork
Carrying out derivation to Liapunov function can obtain:
It can guarantee system Asymptotic Stability to demonstrate the sliding mode controller of design, follow idler roller strip tension and open
Power setting value.
A kind of idler roller strip tension sliding mode control apparatus, including monitoring module and control module, the control module with
The signal received is passed to monitoring module and shown on monitoring module by monitoring module connection, control module, monitors mould
The signal of setting is passed to control module by block, controls idler roller by control module.
Further, the control module includes main website, slave station, and the main website chooses Siemens S7-300 series of PLC,
CPU model 315-2DP；The slave station is selected from the distributed I/O ET200S with CPU, CPU model IM151-7, main website
Pass through Profibus-DP field bus communication with slave station.
Further, the activex control that the monitoring module selects WinCC software inhouse integrated, including parameter are shown
Interface, tension set interface, status monitoring interface, alarm table interface；Status monitoring interface is for monitoring tensioning roll strip
The parameters of power Controlling model, parameter information of the parameter display interface for each control object in real-time display control module,
And the tension setting value that interface changes strip is set by tension according to the variation of the production specification of strip, it is completed at the same time to strip
The effect of alarm during the real-time status detection of power and tension force.
The invention has the benefit that the present invention devises a kind of sliding-mode control of idler roller strip tension, with biography
The PID control method of system is compared, sliding-mode control of the invention can effectively overcome idler roller strip tension it is non-linear,
The controlling difficulties such as unknown external interference；Another object of the present invention is to devise one kind to can be realized above-mentioned sliding-mode control
Idler roller strip tension sliding mode control apparatus, the control device choose Siemens S7-300 series of PLC (CPU model 315-
It 2DP) is used as main website, is selected from the distributed I/O ET200S (CPU model IM151-7) with CPU as slave station, master-salve station passes through
Profibus-DP field bus communication.Complete the hardware design and software design of control device.
Detailed description of the invention
Fig. 1 is control system architecture figure of the present invention.
Fig. 2 is idler roller structural schematic diagram of the present invention.
Fig. 3 is present invention control program flow diagram.
Specific embodiment
The present invention is described further in the following with reference to the drawings and specific embodiments.
Embodiment
As shown in Figure 1-3, a kind of sliding-mode control of idler roller strip tension of the present invention, comprising the following steps:
Step 1: idler roller strip tension models
(1) it is tensioned roll structure
The present invention establishes idler roller strip tension Controlling model by taking 4 axis idler rollers being made of 4 live-rollers as an example.It presses
The sequence for passing through each roller according to strip, is defined as No. 1, No. 2, No. 3, No. 4 for each live-roller respectively.Wherein No. 1 roller and No. 4
Roller rotates counterclockwise, and No. 2 rollers and No. 3 rollers rotate clockwise, v0For the upstream strip speed of idler roller, v1、v2、v3、v4Respectively
The rotation linear velocity of each live-roller.Wherein, v0Size determined by upstream production process, can be detected by measuring tool, for
Know parameter；The size of vi (i=1 ..., 4) can have the motor control of each live-roller, be variable element.F1To be tensioned roll strip
The tension of inlet, F2、F3And F4Strip tension between respectively each live-roller, F5For the tension for being tensioned roll strip exit.Its
In, Fi (i=1 ..., 4) can be adjusted by adjusting the revolving speed of 4 live-rollers, downstream strip tension F5It is set by downstream production
It is standby to determine.L1For the strip length for being tensioned roll strip inlet, L2、L3And L4Strip length between respectively each live-roller,
Each section strip length annealing unit design when it has been specified that, for fixed known parameters.
(2) it is tensioned roll strip model foundation
In idler roller strip tension control process, by the electromagnetic torque T for adjusting each transmission roller motore,i(i=1 ...,
4) revolving speed of each roller is adjusted, and then controls control strip tension Fi(i=1 ..., 4).Define Te,iFor mode input change
Amount defines FiFor the output variable of model, it is easy to see that 4 axis idler roller strip tension Controlling models are a typical multi input
Multi output model.Analyze idler roller strip tension control mechanism, ignore viscosity factor inside idler roller and strip live-roller it
Between sliding, for its available motor movement equation of i-th of live-roller are as follows:
In formula (1), JiFor the rotary inertia of i-th of live-roller, ωiFor the angular speed of i-th of live-roller, TL,iIt is i-th
It is driven the loading moment of roller motor.Ignore the secondary causes such as strip self weight and the longitudinal pressure for surveying Zhang Yi, available TL,iSame band
Relationship between steel tension are as follows:
TL,i=(Fi-Fi+1)×Ri, i=1,2,3,4 (2)
Wherein RiFor the radius of i-th of live-roller.
The generation of strip tension is as caused by strip deformation, and during idler roller operation, strip is because of each live-roller
Between speed difference and to generate second flow poor, and then generate strip tension.The time delay ignored in strip deformation process is available
Strip tension is the same as the relationship between strip second flow difference are as follows:
Wherein, kiFor the coefficient of elasticity of strip, its calculation formula is:
Wherein, E is the elasticity modulus of strip, and S is the cross-sectional area of strip.
It assumes that live-roller linear velocity is consistent with the strip speed for being fitted in body surface, is converted by angular speed linear velocity public
Formula obtain strip in idler roller flowing velocity with conversion relation between live-roller angular speed are as follows:
vi=ωi×Ri, i=1,2,3,4 (5)
Joint type (1)-(5) arrange to obtain idler roller strip tension mechanism dynamic model are as follows:
The shape of idler roller strip tension control can be derived according to the mechanism dynamic model that idler roller strip tension controls
State space expression formula.
State space vector x (t) are as follows:
X (t)=[x1 x2 x3 x4 x5 x6 x7 x8]T=[F1 ω1 F2 ω2 F3 ω3 F4 ω4]T
Take control variable u (t) are as follows:
U (t)=[u1 u2 u3 u4]T=[Te,1 Te,2 Te,3 Te,4]T
Output variable y (t) are as follows:
Y (t)=[y1 y2 y3 y4]T=[F1 F2 F3 F4]T
The state-space expression of idler roller strip tension control can be acquired according to formula (6) are as follows:
In formula (7), A, B, T are respectively the state matrix, input matrix, output matrix of system, and d is known permanent interference
Vector.
Step 2: idler roller strip tension sliding-mode control designs
It enables Then state matrix A can be arranged are as follows:
It enablesThen input
Matrix B and permanent interference vector d can be arranged are as follows:
It determines control target, enables strip tensionFollow tension setting valueDefine sliding formwork letter
Number are as follows:
S=CE (8)
In formula (8), the value of each variable is respectively as follows:
S=[s1 s2 s3 s4]T
Wherein, e1=yd1-y1, e2=yd2-y2, e3=yd3-y3, e4=yd4-y4, c1> 0, c2> 0, c3> 0, c4> 0；
Switching function s derivation can be obtained:
Control amount u (x) is sought taking using constant speed approach law
Wherein, ε=diag [ε1,ε2,ε3,ε4], sgn (s)=[sgn (s1)sgn(s2)sgn(s3)sgn(s4)]T；
Joint type (7)-(10) can obtain control amount u (x) are as follows:
Take Liapunov function are as follows:
Wherein, [1,1,1,1] V=diag.
For verifying gained idler roller strip tension controller stabilization row, in conjunction with the constant speed approaching method of selection, to sliding formwork
Carrying out derivation to Liapunov function can obtain:
It can guarantee system Asymptotic Stability to demonstrate the sliding mode controller of design, follow idler roller strip tension and open
Power setting value.
As shown in Figure 1-Figure 3, a kind of idler roller strip tension sliding mode control apparatus is completed with PLC in control system
The sliding mode control schemes of tight roll strip tension realize sliding mode control algorithm with PLC ladder diagram and Sentence table language.Controller is adopted
With principal and subordinate's station structure, the complicated metallurgical industry centralized management collecting and distributing demand for control of decentralised control, sliding formwork control program development are met
In sufficiently used the program function block function of SIEMENS PLC, complete the process control of strip tension.Control signal and feedback letter
Number in controller and idler roller system real-time delivery, system is made to be maintained at the state of dynamic response, stability contorting.
Control system ipc monitor interface, monitoring are developed with Siemens's Monitor Computer Control System exploitation software WinCC
Each main control object parameter information in real-time display control system in system, and can be changed according to the production specification of strip and be changed
The tension setting value of variable speed steel is completed at the same time to alarm during the real-time status detection of strip tension and tension force
The effects of.The activex control sufficiently integrated with WinCC software inhouse in monitoring interface design, in entire monitoring system function
Can improve it is of good performance on the basis of make monitoring interface it is simple and beautiful, convenient for operation, finally call and configure bottom layer driving journey
Sequence realizes communicating with each other for host computer, PLC and idler roller.
Idler roller strip tension Controlling model contains 8 state variables, is each section strip steel tension and each live-roller respectively
Angular speed.System includes 4 control variables, its value is provided by PLC sliding mode controller in control.System includes 4 strips
Power output, and PLC controller is supplied to as feedback signal in the controls.The control target of entire tension control system
To enable the stable of strip tension process values follow strip tension setting value, and control system is made to keep good dynamic special
Property.
According to the demand for control of control system, designs Control System Software program development and use distributed program structure, point
Different tissue block and functional block are not chosen and realizes each section control function, and are gradually adjusted in order in main tissue block OB1
To meet demand for control.In the exploitation of control program, design realizes that PLC controller sliding mode control algorithm is that entire software is set
The key component of meter.Firstly the need of the I/O interface for the system that determines before programming, according to control in the part of hardware configuration
The working method of the system physical mode of connection processed and each input/output module distributes the I/O Address of system,
Obtained system I/O distribution address is as shown in table 1:
1 control system I/O address allocation table of table
PLC sliding formwork control program flow chart is as shown in Figure 3: when PLC controller is in running order, passing through access
It realizes and the information exchange of control object the process image memory block of CPU system memory.Process image area was broadly divided into
Cheng Yingxiang, which inputs table and process, influences output table two parts, the former is used to store the signal condition of input module, and the latter is for temporary
The output valve of program implementing result is deposited, these output valves can just be sent to actual output module after the scan period
On.Using cycle interruption tissue block complete to during tension force error and its change rate seek, by error and its
Change rate is sent in sliding formwork function and is calculated, and obtains control signal u.
Idler roller strip tension control monitoring computer monitoring interface mainly stateful observation interface, parameter display interface,
Tension sets interface and 4, alarm table interface part and forms.
The parameters of idler roller strip tension Controlling model, including each transmission can be monitored in status monitoring interface
The rotational angle degree of roller, the input torque of control system, the setting value of strip tension and process values.Simultaneously at status monitoring interface
In can be with the state status of indicating strip tension force process, when strip tension is in normal control state, live-roller axis
Display green, when strip tension, which controls, occurs abnormal, live-roller axis becomes red.
Into parameter display interface, the setting value and mistake of each section strip steel tension can be equally monitored in parameter display interface
Journey value, furthermore parameter display interface has been provided simultaneously with the function of modification strip tension setting value.In any band of parameter display interface
Goal tension setting value is inputted in steel tension frame " new strip tension setting value please be input " column, clicking confirming button can be completed
To the modification with strip tension setting value.It should be noted that due to each section strip steel tension of idler roller strip tension Controlling model
The adjustment of setting value is to must satisfy certain constraint condition, no matter so setting in which strip tension of parameter display interface
Strip tension is reset in demarcation face, whole strip tension control system is had an impact.
Claims (4)
1. a kind of idler roller strip tension sliding-mode control, which comprises the following steps:
Step 1: idler roller strip tension models
(1) it is tensioned roll structure
The sequence for passing through each roller according to strip, is defined as No. 1, No. 2, No. 3, No. 4 for each live-roller respectively；Wherein No. 1
Roller and No. 4 rollers rotate counterclockwise, and No. 2 rollers and No. 3 rollers rotate clockwise, v0For the upstream strip speed of idler roller, v1、v2、v3、v4
The rotation linear velocity of respectively each live-roller；Wherein, v0Size determined by upstream production process, detected by measuring tool,
For known parameters；The size of vi (i=1 ..., 4) is variable element by the motor control of each live-roller；F1For idler roller band
The tension of steel inlet, F2、F3And F4Strip tension between respectively each live-roller, F5For the tension for being tensioned roll strip exit；
Wherein, Fi (i=1 ..., 4) is adjusted by adjusting the revolving speed of 4 live-rollers, downstream strip tension F5It is set by downstream production
It is standby to determine；L1For the strip length for being tensioned roll strip inlet, L2、L3And L4Strip length between respectively each live-roller,
Each section strip length is fixed known parameters；
(2) it is tensioned roll strip model foundation
In idler roller strip tension control process, by the electromagnetic torque T for adjusting each transmission roller motore,i(i=1 ..., 4) come
The revolving speed of each roller is adjusted, and then controls control strip tension Fi(i=1 ..., 4)；Define Te,iIt is fixed for mode input variable
Adopted FiFor the output variable of model, for its available motor movement equation of i-th of live-roller are as follows:
In formula (1), JiFor the rotary inertia of i-th of live-roller, ωiFor the angular speed of i-th of live-roller, TL,iIt is driven for i-th
The loading moment of roller motor；Obtain TL,iWith the relationship between strip tension are as follows:
TL,i=(Fi-Fi+1)×Ri, i=1,2,3,4 (2)
Wherein RiFor the radius of i-th of live-roller；
The generation of strip tension is as caused by strip deformation, and during idler roller operation, strip is because between each live-roller
Speed difference and to generate second flow poor, and then generate strip tension；Strip tension is obtained to close with the mathematics between strip second flow difference
It is formula are as follows:
Wherein, kiFor the coefficient of elasticity of strip, its calculation formula is:
Wherein, E is the elasticity modulus of strip, and S is the cross-sectional area of strip；
It assumes that live-roller linear velocity is consistent with the strip speed for being fitted in body surface, is obtained by angular speed linear velocity reduction formula
Strip in idler roller flowing velocity with conversion relation between live-roller angular speed are as follows:
vi=ωi×Ri, i=1,2,3,4 (5)
Joint type (1)-(5) arrange to obtain idler roller strip tension mechanism dynamic model are as follows:
According to the mechanism dynamic model that idler roller strip tension controls, the state space table of idler roller strip tension control is derived
Up to formula；
State space vector x (t) are as follows:
X (t)=[x1 x2 x3 x4 x5 x6 x7 x8]T=[F1 ω1 F2 ω2 F3 ω3 F4 ω4]T,
Take control variable u (t) are as follows: u (t)=[u1 u2 u3 u4]T=[Te,1 Te,2 Te,3 Te,4]T,
Output variable y (t) are as follows: y (t)=[y1 y2 y3 y4]T=[F1 F2 F3 F4]T,
The state-space expression of idler roller strip tension control can be acquired according to formula (6) are as follows:
In formula (7), A, B, T are respectively the state matrix, input matrix, output matrix of system, d be it is known it is permanent interfere to
Amount；
Wherein:
Step 2: idler roller strip tension sliding-mode control designs
It enables Then state matrix A can be arranged are as follows:
It enablesThen input matrix B
It can be arranged with permanent interference vector d are as follows:
It determines control target, enables strip tensionFollow tension setting valueDefine sliding formwork function
Are as follows:
S=CE (8)
In formula (8), the value of each variable is respectively as follows:
S=[s1 s2 s3 s4]T
Wherein, e1=yd1-y1, e2=yd2-y2, e3=yd3-y3, e4=yd4-y4, c1> 0, c2> 0, c3> 0, c4> 0；
Switching function s derivation can be obtained:
Control amount u (x) is sought taking using constant speed approach law
Wherein, ε=diag [ε1,ε2,ε3,ε4], sgn (s)=[sgn (s1) sgn(s2) sgn(s3) sgn(s4)]T；
Joint type (7)-(10) can obtain control amount u (x) are as follows:
Take Liapunov function are as follows:
Wherein, [1,1,1,1] V=diag；
For verifying gained idler roller strip tension controller stabilization row, in conjunction with the constant speed approaching method of selection, to sliding formwork to Lee
Ya Punuofu function, which carries out derivation, to be obtained:
It can guarantee system Asymptotic Stability to demonstrate the sliding mode controller of design, make idler roller strip tension that tension be followed to set
Definite value.
2. a kind of idler roller strip tension sliding mode control apparatus, it is characterised in that: including monitoring module and control module, the control
Molding block is connect with monitoring module, and the signal received is passed to monitoring module and shown on monitoring module by control module
Come, the signal of setting is passed to control module by monitoring module, controls idler roller by control module.
3. a kind of idler roller strip tension sliding mode control apparatus according to claim 2, it is characterised in that: the control mould
Block includes main website, slave station, and the main website chooses Siemens S7-300 series of PLC, CPU model 315-2DP；The slave station is chosen
The distributed I/O ET200S of included CPU, CPU model IM151-7, main website and slave station pass through Profibus-DP fieldbus
Communication.
4. a kind of idler roller strip tension sliding mode control apparatus according to claim 2, it is characterised in that: the monitoring mould
The activex control that block selects WinCC software inhouse integrated, including parameter display interface, tension set interface, status monitoring circle
Face, alarm table interface；Status monitoring interface is used to monitor the parameters of idler roller strip tension Controlling model, and parameter is shown
Parameter information of the interface for each control object in real-time display control module, and according to the variation of the production specification of strip by opening
Power sets the tension setting value that interface changes strip, is completed at the same time to the real-time status detection of strip tension and tension force mistake
The effect of alarm in journey.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811115019.5A CN109189112B (en) | 2018-09-25 | 2018-09-25 | Tension roller strip steel tension slip form control method and control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811115019.5A CN109189112B (en) | 2018-09-25 | 2018-09-25 | Tension roller strip steel tension slip form control method and control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109189112A true CN109189112A (en) | 2019-01-11 |
| CN109189112B CN109189112B (en) | 2023-06-06 |
Family
ID=64909809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811115019.5A Active CN109189112B (en) | 2018-09-25 | 2018-09-25 | Tension roller strip steel tension slip form control method and control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109189112B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329825A (en) * | 2019-06-20 | 2019-10-15 | 山西太钢不锈钢精密带钢有限公司 | 0.05mm or less precise stainless steel strip tension roll assembly master & slave control system and method |
| CN113023448A (en) * | 2021-02-26 | 2021-06-25 | 武汉工程大学 | Unreeling tension fluctuation suppression method based on improved equivalent sliding mode control |
| CN114160587A (en) * | 2021-12-02 | 2022-03-11 | 飞马智科信息技术股份有限公司 | Method for controlling strip steel tension to be stable in acceleration and deceleration processes |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090160105A1 (en) * | 2006-07-06 | 2009-06-25 | Plansee Se | Process for Producing an Extruded Shaped Body |
| JP2012020313A (en) * | 2010-07-14 | 2012-02-02 | Sumitomo Light Metal Ind Ltd | Looper tension controlling method for rolling mill and controlling apparatus therefor |
| CN106844967A (en) * | 2017-01-23 | 2017-06-13 | 南京航空航天大学 | A kind of Harmonic Drive System quadratic form integral sliding mode control device method for designing |
| CN106862282A (en) * | 2017-02-22 | 2017-06-20 | 肇庆远境自动化设备有限公司 | A kind of fast mill electric drive control system |
| CN107505844A (en) * | 2017-09-15 | 2017-12-22 | 江苏大学 | Synchronous coordination sliding-mode control of the series parallel type automobile electrophoretic coating conveyor structure based on composition error |
| CN107891723A (en) * | 2017-11-29 | 2018-04-10 | 辽宁工业大学 | The sliding-mode control and control device of automobile electrically-controlled air suspension |
-
2018
- 2018-09-25 CN CN201811115019.5A patent/CN109189112B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090160105A1 (en) * | 2006-07-06 | 2009-06-25 | Plansee Se | Process for Producing an Extruded Shaped Body |
| JP2012020313A (en) * | 2010-07-14 | 2012-02-02 | Sumitomo Light Metal Ind Ltd | Looper tension controlling method for rolling mill and controlling apparatus therefor |
| CN106844967A (en) * | 2017-01-23 | 2017-06-13 | 南京航空航天大学 | A kind of Harmonic Drive System quadratic form integral sliding mode control device method for designing |
| CN106862282A (en) * | 2017-02-22 | 2017-06-20 | 肇庆远境自动化设备有限公司 | A kind of fast mill electric drive control system |
| CN107505844A (en) * | 2017-09-15 | 2017-12-22 | 江苏大学 | Synchronous coordination sliding-mode control of the series parallel type automobile electrophoretic coating conveyor structure based on composition error |
| CN107891723A (en) * | 2017-11-29 | 2018-04-10 | 辽宁工业大学 | The sliding-mode control and control device of automobile electrically-controlled air suspension |
Non-Patent Citations (2)
| Title |
|---|
| RUI BAI: "Adaptive sliding-mode control of automotive electronic throttle in the presence of input saturation constraint" * |
| 王新，孙李颖: "半主动悬架的自适应滑模控制" * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329825A (en) * | 2019-06-20 | 2019-10-15 | 山西太钢不锈钢精密带钢有限公司 | 0.05mm or less precise stainless steel strip tension roll assembly master & slave control system and method |
| CN113023448A (en) * | 2021-02-26 | 2021-06-25 | 武汉工程大学 | Unreeling tension fluctuation suppression method based on improved equivalent sliding mode control |
| CN113023448B (en) * | 2021-02-26 | 2022-07-19 | 武汉工程大学 | Unreeling tension fluctuation suppression method based on improved equivalent sliding mode control |
| CN114160587A (en) * | 2021-12-02 | 2022-03-11 | 飞马智科信息技术股份有限公司 | Method for controlling strip steel tension to be stable in acceleration and deceleration processes |
| CN114160587B (en) * | 2021-12-02 | 2024-02-09 | 宝信软件(安徽)股份有限公司 | Method for controlling strip steel tension to be stable in acceleration and deceleration process |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109189112B (en) | 2023-06-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107861478B (en) | A kind of parallel control method in intelligence workshop and system | |
| CN109189112A (en) | A kind of idler roller strip tension sliding-mode control and control device | |
| CN101963809B (en) | Non-periodic control communications in wireless and other process control systems | |
| CN109978403B (en) | Quality control method, device and equipment for product assembly process | |
| DE102004009598B4 (en) | High-speed self-tuning control loop | |
| CN101863088A (en) | Method for forecasting Mooney viscosity in rubber mixing process | |
| DE102007035274A1 (en) | Synchronized real-time control and simulation within a process plant | |
| CN102814340B (en) | Intelligent study system and computational study method for hot rolled strip width control models | |
| CN103182357B (en) | The self-adjusting method of roller coater coating thickness | |
| CN110824923A (en) | Sewage treatment control method and system based on deep learning and cloud computing | |
| CN106154964B (en) | The process control method and all-in-one machine control device of mechanical pressure equipment | |
| CN102902203A (en) | Time series prediction and intelligent control combined online parameter adjustment method and system | |
| CN103521551B (en) | The coil of strip coil diameter defining method of uncoiler or coiling machine in a kind of steel rolling process | |
| CN107037729A (en) | A kind of design method based on RBF neural automatic disturbance rejection controller | |
| CN104950670A (en) | Integrated multi-model method for controlling CSTRs (continuous stirred tank reactors) | |
| CN105334831A (en) | Batch process double-dimensional online optimization method driven by data difference | |
| CN102390096B (en) | On-line automatic measurement method for Mooney viscosity of rubber | |
| CN115514292A (en) | Servo motor rotating speed control system and method | |
| CN1573624B (en) | Apparatus and method for batch property estimation | |
| CN108628270B (en) | Optimized network control device and method based on PLC remote monitoring terminal | |
| CN110222825A (en) | A kind of finished cement specific surface area prediction technique and system | |
| CN102380515B (en) | Synchronous transport model and method thereof | |
| CN103279030A (en) | Bayesian framework-based dynamic soft measurement modeling method and device | |
| CN105186938B (en) | A kind of two motor speed regulation systems are without sensor tension force discrimination method | |
| Liu et al. | Adaptive positioning control of servomotor based on model identification |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |