CN110764404B - PID parameter self-adaptive wire drawing machine frequency converter debugging method - Google Patents
PID parameter self-adaptive wire drawing machine frequency converter debugging method Download PDFInfo
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- 238000005491 wire drawing Methods 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims abstract description 26
- 101000609957 Homo sapiens PTB-containing, cubilin and LRP1-interacting protein Proteins 0.000 claims abstract description 11
- 101150109471 PID2 gene Proteins 0.000 claims abstract description 11
- 102100039157 PTB-containing, cubilin and LRP1-interacting protein Human genes 0.000 claims abstract description 11
- 238000009499 grossing Methods 0.000 claims abstract description 6
- 230000000694 effects Effects 0.000 claims abstract description 3
- 101100190462 Caenorhabditis elegans pid-1 gene Proteins 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 3
- 238000005457 optimization Methods 0.000 abstract description 2
- 238000004804 winding Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
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Abstract
The invention discloses a method for debugging a frequency converter of a wire drawing machine with self-adaptive PID parameters, which comprises the following steps: (1) determining the swing position range of a tension swing rod of a wire drawing machine; the measuring range is the voltage of the highest position and the lowest position of the tension swing rod, the highest position corresponds to PID1 parameter setting, and the lowest position corresponds to PID2 parameter setting; (2) determining the balance position of a tension swing rod of the wire drawing machine; setting the swing rod at the middle position, wherein the position corresponds to the PID0 parameter; (3) validating the PID parameters; (4) confirming positive and negative feedback types, and calculating new gain; (5) And (3) smoothing during starting, and fine-tuning PID gain according to starting and running effects to enable the swing rod to be in a balance position. The invention provides a method for debugging a wire drawing machine frequency converter with self-adaptive PID parameters, which mainly aims at self-adaptive optimization of PID parameters of a wire receiving frequency converter, and ensures quick response of the wire receiving frequency converter and stable position of a swing rod.
Description
Technical Field
The invention relates to the technical field of wire drawing machines, in particular to a method for debugging a frequency converter of a wire drawing machine with self-adaptive PID parameters.
Background
The wire drawing machine belongs to common equipment in the cable industry, and can be divided into a water tank type wire drawing machine, an inverted wire drawing machine, a diameter wire drawing machine and the like according to the structural shape. The wire diameter can be divided into: 1. a large drawing machine (inlet diameter: 8mm, outlet diameter: 3-1.3 mm); 2. a middle pulling machine (inlet diameter: 3-1.8 mm, outlet diameter: 1-0.3 mm); a small (fine) drawing machine (inlet diameter: 1-0.2 mm, outlet diameter: 0.3-0.06 mm); micro-pulling machine (inlet diameter: 0.12-0.06 mm, outlet diameter: 0.06-0.01 mm). The thick line is processed through a plurality of fine-drawing processes by a die, and the die has a plurality of types, and the following types are common: circular wire drawing dies, spiral dies, polycrystalline dies, and the like.
The most commonly used variable frequency control system of the wire drawing machine is a double variable frequency system, wherein one of the double variable frequency systems is used as a main wire drawing, and the other is used for wire winding control; small (slim) pullers currently also have single variable frequency control systems. The main drawing frequency converter actually only performs one drawing traction, serves as a line-collecting speed reference, and sends the main drawing speed to the winding frequency converter to serve as a feed-forward speed of the winding frequency converter. And the wire-rewinding frequency converter carries out PID fine tuning control on the operating frequency according to the signal fed back by the tension swing rod, and is overlapped with the speed signal fed by the main wire-drawing frequency converter to ensure constant wire-rewinding speed.
The existing wire drawing machine frequency converter wire receiving control mostly adopts feedforward+single PID control, PID parameters are the same value no matter the magnitude of deviation position of the swing rod, which is very different from the adjustment condition required by the system in practical application, for example, if the system hopes the swing rod to be near the balance position, if the swing rod has small disturbance, the frequency converter can slowly adjust and output after PID treatment, so that the swing rod reaches the balance position again, the swing rod is prevented from vibrating, the required system gain is small, and the value of PID is correspondingly required to be small; when the swing rod has larger disturbance and the offset balance position is larger, the system hopes that the frequency converter has a large gain output, so that the swing rod returns to the balance position again, and a larger PID value is needed at the moment; such a requirement, it is apparent that a single PID parameter is not well satisfied.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method for debugging a frequency converter of a wire drawing machine with self-adaptive PID parameters.
The technical scheme of the invention is as follows: a PID parameter self-adaptive wire drawing machine frequency converter debugging method comprises the following steps:
(1) Determining the swing position range of a tension swing rod of the wire drawing machine;
the measuring range is the voltage of the highest position and the lowest position of the tension swing rod, the voltage is sent to the frequency converter to perform the reference of PID automatic adjustment, the highest position corresponds to PID1 parameter setting, and the lowest position corresponds to PID2 parameter setting;
(2) Determining the balance position of a tension swing rod of the wire drawing machine;
setting the swing rod at the middle position, wherein the position corresponds to the PID0 parameter;
(3) Confirming PID parameters;
the value of the tension swing rod deviated from the balance position is sent to a frequency converter and used as a main influencing factor of PID parameter self-adaption of the wire drawing machine, and PID parameters are linearly interpolated among PID0, PID1 and PID2 through swinging of the swing rod between the balance position and the highest and lowest positions, so that the self-adaption adjustment of the PID parameters is completed;
(4) Confirming positive and negative feedback types, and calculating new gain;
(5) And (3) smoothing during starting, and fine-tuning PID gain according to starting and running effects to enable the swing rod to be in a balance position.
Preferably, in the step (1), the tension swing rod outputs a voltage of 0-10V to the frequency converter as position feedback according to the position of the tension swing rod, and outputs 10V when the system tension is maximum at the highest position of the swing rod; the swing rod is at the lowest position, the system has no tension, and the lowest position outputs 0V.
Preferably, in the step (2), the balance position is used as a demarcation point for switching PID adaptive parameters, the balance position of the tension swing rod can be selected according to the tension on the actual wire drawing material, and after the swing rod is weighted, the middle position is taken, and the corresponding output voltage is 5V.
Preferably, in the step (3),
if the feedback voltage of the tension swing rod is greater than the voltage of the balance position, selecting a first group of PID parameters, wherein the PID parameters of the balance point position and the PID parameters of the upper limit position can be freely set, and the PID parameters of the position between the balance point position and the upper limit position can be linearly interpolated according to the linear principle;
and if the feedback voltage of the tension swing rod is smaller than the voltage of the balance position, selecting a second group of PID parameters, wherein the PID parameters of the lower limit position can be freely set, and the PID parameters between the lower limit position and the balance position are linearly interpolated according to the linear principle.
Preferably, the voltage of the balance position of the tension swing rod is 5V, the PID parameter corresponding to the balance position is 0, the voltage of the highest position of the tension swing rod is 10V, and the PID parameter corresponding to the maximum value of the first group of parameters is PID1;
when the feedback voltage of the swing rod position is higher than the balance position, if the feedback voltage of the current swing rod position is 7.5V, the PID ' value of the 7.5V point is PID ' = (7.5-5)/(10-5) ×pid1=0.5×pid1, and the calculation of the PID gain is performed according to the parameter PID ';
when the feedback voltage of the same pendulum rod position is lower than the balance position, the PID2 group of parameters are used as the reference for calculation, and the method is similar.
Preferably, in the step (4), positive feedback is provided when the tension is higher as the tension swing rod is positioned, and negative feedback is provided when the tension is lower as the tension swing rod is positioned.
Preferably, in the step (4), the method for calculating the new gain is as follows:
(4.1) firstly, confirming whether the first set of PID parameters or the second set of PID parameters are used according to the voltage fed back to the frequency converter by the tension swing rod;
(4.2) calculating a specific value of the PID parameter according to the current swing rod position, wherein the value is recalculated in each software beat and is only related to the swing rod position;
(4.3) calculating PID regulation gain according to the specific value of the PID parameter obtained in the step (4.2) and the deviation between the current swing rod position and the balanced swing rod position by adopting a calculation formula, and providing the PID regulation gain for a frequency converter;
(4.4) when the output characteristic is positive, adding the current gain to the gain of the previous beat, and assigning the added gain to the frequency converter to serve as a new gain; and when the negative output characteristic is adopted, subtracting the current gain from the gain of the previous beat, and assigning the current gain to the frequency converter to serve as a new gain.
Preferably, the calculation formula is: Δu (k) =ae (k) -Be (k-1) +ce (k-2), where a=kp (1+t/ti+td/T), b=kp (1+2td/T), c=kptd/T.
Preferably, in the step (5), during starting, in order to prevent the deviation generated when the swing rod is at the highest position or at the lowest position from being too large, the first beat is started to be started to overshoot so as to generate wire drawing machine wire breakage, and during starting, smoothing is performed, and the PID gain is adjusted so that the swing rod is at the balance position.
Compared with the prior art, the invention has the following beneficial effects: the invention provides a method for debugging a wire drawing machine frequency converter with self-adaptive PID parameters, which mainly aims at self-adaptive optimization of PID parameters of a wire drawing frequency converter, ensures quick response of the wire drawing frequency converter and stable position of a swing rod, prevents the swing rod of the wire drawing machine from excessively large wire breakage, and simultaneously aims at reducing the work difficulty of user debugging and increasing the usability of a wire drawing machine system.
Drawings
FIG. 1 is a diagram of PID parameter values according to the present invention.
FIG. 2 is a flow chart of the overall fast tuning process of the present invention.
In fig. 1, PID deviation is the swing link current position-swing link equilibrium position difference; PID1 and PID2 are the maximum values of the first and second groups of PID parameters respectively, and correspond to the maximum deviation of the PID of D1 and D2 respectively; the PID deviation is within the deviation limit range, and the PID parameter takes the value PID0.
Detailed Description
The invention will be further described with reference to the drawings and detailed description.
As shown in fig. 1 to 2, the method for debugging the frequency converter of the wire drawing machine with self-adaptive PID parameters comprises the following steps:
(1) Determining the swing position range of a tension swing rod of the wire drawing machine;
the measuring range is the voltage of the highest position and the lowest position of the tension swing rod, the voltage is sent to the frequency converter to perform the reference of PID automatic adjustment, the highest position corresponds to PID1 parameter setting, and the lowest position corresponds to PID2 parameter setting;
normally, the tension swing rod outputs a voltage of 0-10V to the frequency converter as position feedback according to the position of the tension swing rod, and outputs 10V when the system tension is maximum at the highest position of the swing rod; the swing rod is at the lowest position, the system has no tension, and the lowest position outputs 0V.
(2) Determining the balance position of a tension swing rod of the wire drawing machine;
setting the swing rod at the middle position, wherein the position corresponds to the PID0 parameter; the balance position is used as a demarcation point for PID self-adaptive parameter switching, the balance position of the tension swing rod can be selected according to the tension on the actual wire drawing material, and after the balance weight of the swing rod is carried out, the middle position is taken, and the corresponding output voltage is 5V.
(3) Confirming PID parameters;
the value of the tension swing rod deviated from the balance position is sent to a frequency converter and is used as a main influencing factor of PID parameter self-adaption of the wire drawing machine, and PID parameters are linearly interpolated among PID0, PID1 and PID2 through swinging of the swing rod between the balance position and the highest and lowest positions, so that the self-adaption adjustment of the PID parameters is completed.
The specific linear interpolation method comprises the following steps: if the feedback voltage of the tension swing rod is greater than the voltage of the balance position, selecting a first group of PID parameters, wherein the PID parameters of the balance point position and the PID parameters of the upper limit position can be freely set, and the PID parameters of the position between the balance point position and the upper limit position can be linearly interpolated according to the linear principle;
and if the feedback voltage of the tension swing rod is smaller than the voltage of the balance position, selecting a second group of PID parameters, wherein the PID parameters of the lower limit position can be freely set, and the PID parameters between the lower limit position and the balance position are linearly interpolated according to the linear principle.
For example, the voltage at the balance position of the tension swing rod is 5V, the PID parameter corresponding to the balance position is 0, the voltage at the highest position of the tension swing rod is 10V, and the PID parameter corresponding to the maximum value of the first group is PID1;
when the feedback voltage of the swing rod position is higher than the balance position, if the feedback voltage of the current swing rod position is 7.5V, the PID ' value of the 7.5V point is PID ' = (7.5-5)/(10-5) ×pid1=0.5×pid1, and the calculation of the PID gain is performed according to the parameter PID ';
when the feedback voltage of the same pendulum rod position is lower than the balance position, the PID2 group of parameters are used as the reference for calculation, and the method is similar.
(4) Confirming positive and negative feedback types, wherein positive feedback is realized when the tension is higher as the position of the tension swing rod is higher, negative feedback is realized when the tension is lower as the position is higher, and the calculation comprises the following steps:
(4.1) firstly, confirming whether the first set of PID parameters or the second set of PID parameters are used according to the voltage fed back to the frequency converter by the tension swing rod;
(4.2) calculating a specific value of the PID parameter according to the current swing rod position, wherein the value is recalculated at each software beat (the software is frequency converter software, and the recalculation at each software beat according to the value is also conventional technology, so that the calculation mode is not repeated), and the value is only related to the swing rod position;
(4.3) adopting a calculation formula according to the specific value of the PID parameter obtained in the step (4.2) and the deviation between the current swing rod position and the balanced swing rod position, wherein the calculation formula is as follows: Δu (k) =ae (k) -Be (k-1) +ce (k-2), where a=kp (1+t/ti+td/T), b=kp (1+2td/T), c=kptd/T, and the PID adjustment gain is calculated and provided to the frequency converter;
(4.4) when the output characteristic is positive, adding the current gain to the gain of the previous beat, and assigning the added gain to the frequency converter to serve as a new gain; and when the negative output characteristic is adopted, subtracting the current gain from the gain of the previous beat, and assigning the current gain to the frequency converter to serve as a new gain.
(5) When the swing rod is started, in order to prevent the swing rod from being in the highest position or the deviation generated in the lowest position from being too large, the first beat is started to be overtuned to generate wire drawing machine disconnection, software (conventional smoothing software in the field can be used for smoothing) is needed during the starting, and PID gain is adjusted to enable the swing rod to be in the balance position.
The above-described embodiments are only preferred embodiments of the present invention and should not be construed as limiting the scope of the invention, and thus, modifications, equivalent variations, improvements, etc. made in accordance with the claims of the present invention still fall within the scope of the invention.
Claims (9)
1. The PID parameter self-adaptive wire drawing machine frequency converter debugging method is characterized by comprising the following steps of:
(1) Determining the swing position range of a tension swing rod of the wire drawing machine;
the measuring range is the voltage of the highest position and the lowest position of the tension swing rod, the voltage is sent to the frequency converter to perform the reference of PID automatic adjustment, the highest position corresponds to PID1 parameter setting, and the lowest position corresponds to PID2 parameter setting;
(2) Determining the balance position of a tension swing rod of the wire drawing machine;
setting the swing rod at the middle position, wherein the position corresponds to the PID0 parameter;
(3) Confirming PID parameters;
the value of the tension swing rod deviated from the balance position is sent to a frequency converter and used as a main influencing factor of PID parameter self-adaption of the wire drawing machine, and PID parameters are linearly interpolated among PID0, PID1 and PID2 through swinging of the swing rod between the balance position and the highest and lowest positions, so that the self-adaption adjustment of the PID parameters is completed;
(4) Confirming positive and negative feedback types, and calculating new gain;
(5) And (3) smoothing during starting, and fine-tuning PID gain according to starting and running effects to enable the swing rod to be in a balance position.
2. The method for debugging the frequency converter of the wire drawing machine with the self-adaptive PID parameters according to claim 1, wherein in the step (1), a tension swing rod outputs a voltage of 0-10V to the frequency converter as position feedback according to the position of the tension swing rod, and when the highest position of the swing rod is the highest, the tension swing rod outputs 10V; the swing rod is at the lowest position, the system has no tension, and the lowest position outputs 0V.
3. The method for debugging the frequency converter of the wire drawing machine with the self-adaptive PID parameters according to claim 1, wherein in the step (2), the balance position is used as a demarcation point for switching the self-adaptive PID parameters, the balance position of the tension swing rod can be selected according to the tension on the actual wire drawing material, and after the balance weight of the swing rod is passed, the middle position is taken, and the corresponding output voltage is 5V.
4. The method for debugging a frequency converter of a wire drawing machine with adaptive PID parameters according to claim 1, wherein in the step (3),
if the feedback voltage of the tension swing rod is greater than the voltage of the balance position, selecting a first group of PID parameters, wherein the PID parameters of the balance point position and the PID parameters of the upper limit position can be freely set, and the PID parameters of the position between the balance point position and the upper limit position can be linearly interpolated according to the linear principle;
and if the feedback voltage of the tension swing rod is smaller than the voltage of the balance position, selecting a second group of PID parameters, wherein the PID parameters of the lower limit position can be freely set, and the PID parameters between the lower limit position and the balance position are linearly interpolated according to the linear principle.
5. The method for debugging the frequency converter of the wire drawing machine with the self-adaptive PID parameters according to claim 4, wherein in the step (3), the balance position voltage of the tension swing rod is 5V, the PID parameter corresponding to the balance position value is 0, the highest position voltage of the tension swing rod is 10V, and the maximum value PID1 of the first group of parameters is corresponding to the tension swing rod;
when the feedback voltage of the swing rod position is higher than the balance position, if the feedback voltage of the current swing rod position is 7.5V, the PID ' value of the 7.5V point is PID ' = (7.5-5)/(10-5) ×pid1=0.5×pid1, and the calculation of the PID gain is performed according to the parameter PID ';
when the feedback voltage of the same pendulum rod position is lower than the balance position, the PID2 group of parameters are used as the reference for calculation, and the method is similar.
6. The method for adjusting a frequency converter of a wire drawing machine with adaptive PID parameters according to claim 5, wherein in the step (4), positive feedback is provided when the tension is higher as the tension swing rod is positioned, and negative feedback is provided when the tension is higher as the tension swing rod is positioned.
7. The method for debugging a frequency converter of a wire drawing machine with adaptive PID parameters according to claim 6, wherein in the step (4), the method for calculating the new gain is as follows:
(4.1) firstly, confirming whether the first set of PID parameters or the second set of PID parameters are used according to the voltage fed back to the frequency converter by the tension swing rod;
(4.2) calculating a specific value of the PID parameter according to the current swing rod position, wherein the value is recalculated in each software beat and is only related to the swing rod position;
(4.3) calculating PID regulation gain according to the specific value of the PID parameter obtained in the step (4.2) and the deviation between the current swing rod position and the balanced swing rod position by adopting a calculation formula, and providing the PID regulation gain for a frequency converter;
(4.4) when the output characteristic is positive, adding the current gain to the gain of the previous beat, and assigning the added gain to the frequency converter to serve as a new gain; and when the negative output characteristic is adopted, subtracting the current gain from the gain of the previous beat, and assigning the current gain to the frequency converter to serve as a new gain.
8. The method for debugging a frequency converter of a wire drawing machine with adaptive PID parameters according to claim 7, wherein the calculation formula is as follows: Δu (k) =ae (k) -Be (k-1) +ce (k-2), where a=kp (1+t/ti+td/T), b=kp (1+2td/T), c=kptd/T.
9. The method for debugging the frequency converter of the wire drawing machine with the self-adaptive PID parameters according to claim 1, wherein in the step (5), in order to prevent the wire drawing machine from being broken due to the fact that the swing rod is in the highest position or the deviation generated in the lowest position is overlarge during starting, the first beat is started to be in overshoot, smoothing is performed during starting, and PID gain is adjusted so that the swing rod is in the balance position.
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| FR2740572B1 (en) * | 1995-10-27 | 1997-12-26 | Lorraine Laminage | METHOD AND DEVICE FOR CONTROL OF ULTRA-SOUND POWER ACTUATORS |
| JP2003342034A (en) * | 2002-05-28 | 2003-12-03 | Fuji Photo Film Co Ltd | Method and apparatus for drawing optical fiber |
| CN1873571A (en) * | 2006-05-08 | 2006-12-06 | 江苏高精机电装备有限公司 | Integrated control system based on bus for variable frequency speed control of wire drawing bench |
| CN101648223B (en) * | 2009-09-04 | 2012-05-30 | 安徽大九华铜业有限公司 | Small self-adapting wire drawing machine with variable disk diameter |
| CN201735935U (en) * | 2010-03-25 | 2011-02-09 | 杭州凯尔达电焊机有限公司 | Push-and-pull synchronous wire-feeding device |
| BE1021190B1 (en) * | 2014-05-28 | 2015-06-29 | Intersig Nv | METHOD FOR PLASTIC STRETCHING A METAL WIRE |
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| CN106166828A (en) * | 2016-06-28 | 2016-11-30 | 巢湖市金辉自控设备有限公司 | A kind of wire drawing machine |
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| CN108681237B (en) * | 2018-02-27 | 2021-08-10 | 深圳市海浦蒙特科技有限公司 | Control method and device for winding frequency converter of wire drawing machine, computer equipment and medium |
| CN109634149B (en) * | 2018-12-20 | 2021-08-27 | 深圳市英威腾电气股份有限公司 | Control method, system, equipment and storage medium for frequency converter of wire drawing machine |
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