CN1955869A - Method for implementing tension control using programmable multi-axle controller - Google Patents
Method for implementing tension control using programmable multi-axle controller Download PDFInfo
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- CN1955869A CN1955869A CNA2005100949953A CN200510094995A CN1955869A CN 1955869 A CN1955869 A CN 1955869A CN A2005100949953 A CNA2005100949953 A CN A2005100949953A CN 200510094995 A CN200510094995 A CN 200510094995A CN 1955869 A CN1955869 A CN 1955869A
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Abstract
A method for realizing tensile force control by utilizing programmable multishaft controller includes applying feedback control mode by tensile force control system and utilizing execution element to exert moment of resistance on bobbin for generating tensile force, feeding real time tensile force value back to said multishaft controller by tensile force transducer then carrying out tensile calibration and control calculation, setting up virtual closed loop feedback relation between tensile force measured value and control signal outputted to execution element, outputting torque by control-execution element for achieving purpose of controlling tensile force of yarn bundle / belt.
Description
Technical field
The present invention relates to a kind of method of utilizing the programmable multi-axle motion controller to realize Tension Control, be applicable to the compound substance winding/laying apparatus that adopts the programmable multi-axle motion controller.
Background technology
In the compound substance winding/lay forming process, need carry out precision control, make it to keep constant, perhaps change, to satisfy the requirement of goods mechanics and other shop characteristic according to certain rules to the tension force of yarn bundle/band.Traditional Tension Control to be adopted by mechanical type control, and the appearance of numerical control Tension Control mode has improved precision, stability and the reliability of control, is the main development trend of present tension control system.The motion control of existing winding/laying apparatus and Tension Control adopt two cover systems usually, be that motion control and Tension Control are separate on hardware, cause the device structure complexity, debugging difficulty is big, has influenced applying of high-end compound substance winding/lay former to a certain extent.
Compound substance winding/lay former mostly is the multiaxial motion system, and one of development trend is to adopt programmable multi-axle motion controller (Programmable Multi-axes Controller is called for short PMAC card or MPAC) to control.And the control channel of programmable multi-axle motion controller more (4-8), motion control generally only takies the part passage.
Summary of the invention
Purpose of the present invention is intended to utilize the outer remaining channel of programmable multi-axle motion controller card motion control and the arithmetic capability of controller to carry out Tension Control, separate on hardware to solve motion control and Tension Control, cause the device structure complexity, the problem that debugging difficulty is big.
The technical solution adopted in the present invention: tension control system adopts the reaction type control model, the method of utilizing executive component to apply the moment of resistance on the yarn tube produces tension force, by tension pick-up, real-time tension value is fed back to the programmable multi-axle motion controller, utilize its computing function to carry out tension calibration and control calculating, control actuating component output torque, thus reach the purpose of controlling yarn bundle/belt tension, and system architecture is as shown in Figure 1.
The velocity mode (one of motion control pattern) that the programmable multi-axle motion controller is traditional is that speed (position) signal of motor is sent into controller by sensors such as scramblers, carries out corresponding servo calculating by controller, the control motor movement.Application controller carries out Tension Control, is different from traditional motion control.Key in controller Platform Implementation tension closed loop control is, in the open loop mode of controller, utilizes its computing function to set up the virtual closed loop feedback relationship, the realization Tension Control with between tension measurements and the control signal of exporting to executive component.
Advantage of the present invention: farthest utilize programmable multi-axle motion controller hyperchannel and multi-functional characteristics, on same hardware platform, not only realize motion control but also finish Tension Control, increase the reliability of winding/laying apparatus, shorten the system development time, alleviate maintenance load, significant to promoting winding/lay technology.
Description of drawings
Fig. 1 is a system construction drawing of the present invention;
Fig. 2 is control principle figure of the present invention.
Embodiment
Below in conjunction with accompanying drawing one of the specific embodiment of the present invention is further described:
Embodiment is that example describes with the multiaxis wrapping machine that adopts the U.S. Delta Tau PMAC2A-PC/104 of company card.PMAC2A-PC/104 is higher a kind of of cost performance in the PMAC product line, is easy to realize low cost and open cnc, is widely used in numerically-controlled machine.PMAC2A-PC/104 is configured to the passage (can be increased to 8 paths) of 4 tunnel controls usually, and each passage has all comprised hardware and corresponding software control method such as complete I/O port.The PMAC2A-PC/104 card has pulse to add multiple output ports such as direction, digital PWM and D/A, can connect multiple Tension Control executive component.The PMAC2A-PC/104 card also has scrambler and A/D multiple input interfaces such as (increase corresponding accessories), allows the input of numeral and analog quantity.
For three wrapping machines, three kinematic axiss of wrapping machine only need take 3 paths of PMAC2A-PC/104, and remaining the 4th passage just can be used for Tension Control.
System architecture of the present invention with the host computer of industrial computer as man-machine interaction, is installed on the host computer mainboard with PMAC2A-PC/104 as shown in Figure 1.In view of but torque motor has in the little long-term work of stall state thermal value, and stalling torque and characteristics such as its armature voltage is directly proportional.Executive component of the present invention adopts direct current torque motor, and torque motor and yarn tube are direct-connected, are in the stall state during work, by regulating control and then the control tension force of armature voltage realization to output torque.The tension force setting value is provided by host computer, and tension measurements is fed back in real time, and after PMAC compared computing with measured value and setting value, the output control signal was given motor driver, and control signal is through power amplification, and drive motor is realized the real-time control of tension force.As the tonometry signal is analog quantity, and needing increases annex at PMAC, utilizes the A/D passage feedback of PMAC; As measuring-signal is digital quantity, can directly feed back through the PMAC passage.The latter is simple, better effects if.The present invention adopts scrambler as sensor, and by the tension-detecting mechanism conversion, the pulse signal that tension value is converted into scrambler transmits.
Control flow structure of the present invention as shown in Figure 2, host computer sends to PMAC with setting value by bus, the pulse of tension value corresponding codes device, after entering PMAC2A-PC/104, PMAC is deposited at its memory headroom default location to the pulse that collects, can be mapped to this position with the M variable, the M variable just can collect encoder pulse.For example, carry out Tension Control as the 4th passage that uses PMAC, definition M461 variable points to address D: $00DF in the card, and variable M462 value is the pulse of feedback.Because what gather is the pairing pulse of real-time tension force, utilize the soft PLC computing function of PMAC that it is scaled tension value after, show the tension force size in real time for host computer; Simultaneously tension force setting value and real-time measurement values are compared calculating, draw the control signal of executive component, under open loop control mode, PMAC provides the register address that can change D/A port output valve, point to this address with the M variable, give corresponding M variable the control signal assignment, just can realize the output of control signal, executive component is realized the real-time control to yarn Shu Zhangli according to the signal change output torque of output.For example, utilize the #4O0 order to carry out open loop control at 4 passages, definition M1020 variable points to address X:$00EE in the card; Change the M1020 value, can make D/A mouth output regulation signal.
Itself has calculation function PMAC, and particularly integrated soft PLC function can be used for the establishment of dedicated calculation program.The correlation computations of above-mentioned conversion and control all realizes in soft PLC.Soft PLC is divided into explanation type and compiling type, and in view of the compiling type has the advantage that execution speed is fast, frequency is high, the present invention adopts the compiling type to be fit to change complicated online winding tension control.
The PMAC software systems provide PCOMM function library, utilize these function libraries, can realize the communication programming between host computer and PMAC easily.
In the commercial Application, winding/lay system will control the tension force of many yarn bundle/bands usually.Under the not high situation of control accuracy and response speed, can the single passage of PMAC control the tension force of many yarn bundle/bands in the mode of patrolling and examining.If higher, then can solve by increasing PMAC port number (increase annex) to the Tension Control accuracy requirement.For example on three wrapping machines of general NC that adopt the PMAC2A-PC/104 card,, just the nearly Tension Control more than 5 tunnel can realized on the wrapping machine as long as increase by 4 expansion board again.
The PMAC of other model is similar with PMAC2A-PC/104 on the software and hardware specification, changes under the little situation at hardware, and software can be transplanted use.Whole system can be realized exchanging during based on different PMAC model.
Claims (4)
1. the present invention relates to a kind of method of Tension Control, be applicable to the compound substance winding/laying apparatus that adopts the programmable multi-axle motion controller, it is characterized in that: tension control system adopts the reaction type control model, the way of utilizing executive component to apply the moment of resistance on the yarn tube produces tension force, by tension pick-up, real-time tension value is fed back to the programmable multi-axle motion controller, utilize its computing function to carry out tension calibration and control calculating, control actuating component output torque, thus reach the purpose of controlling yarn bundle/belt tension.
2. the method for Tension Control according to claim 1, it is characterized in that: in the open loop mode of programmable multi-axle motion controller, utilize its computing function with tension measurements and export between the control signal of executive component and set up the virtual closed loop feedback relationship, realize Tension Control.
3. tension control method according to claim 1 is characterized in that: the tonometry signal can be an analog quantity, by the A/D passage feedback of programmable multi-axle motion controller.
4. tension control method according to claim 1 is characterized in that: the tonometry signal can be a digital quantity, and the passage by the programmable multi-axle motion controller directly feeds back.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2005100949953A CN1955869A (en) | 2005-10-25 | 2005-10-25 | Method for implementing tension control using programmable multi-axle controller |
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| CNA2005100949953A CN1955869A (en) | 2005-10-25 | 2005-10-25 | Method for implementing tension control using programmable multi-axle controller |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101470436B (en) * | 2007-12-28 | 2011-02-09 | 中国科学院沈阳计算技术研究所有限公司 | Shaft movement control card with absolute coding value receiving function and its data conversion method |
| CN102251323A (en) * | 2011-05-20 | 2011-11-23 | 太原理工大学 | Linear calibration device for nonlinear torque dial |
| CN102642303A (en) * | 2012-05-18 | 2012-08-22 | 北京中材汽车复合材料有限公司 | Manufacture device of glass fibre reinforced resin composite plate spring |
| CN104441598A (en) * | 2014-11-03 | 2015-03-25 | 镇江奥立特机械制造有限公司 | Filament winding control system |
| US11352725B2 (en) | 2019-12-19 | 2022-06-07 | Industrial Technology Research Institute | Wire tension control device and braiding machine using the same |
| US11560657B2 (en) | 2020-12-02 | 2023-01-24 | Industrial Technology Research Institute | Braiding path generating method and device using the same, and dynamic correcting method and braiding system using the same |
-
2005
- 2005-10-25 CN CNA2005100949953A patent/CN1955869A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101470436B (en) * | 2007-12-28 | 2011-02-09 | 中国科学院沈阳计算技术研究所有限公司 | Shaft movement control card with absolute coding value receiving function and its data conversion method |
| CN102251323A (en) * | 2011-05-20 | 2011-11-23 | 太原理工大学 | Linear calibration device for nonlinear torque dial |
| CN102251323B (en) * | 2011-05-20 | 2012-07-11 | 太原理工大学 | Linear calibration device for nonlinear torque dial |
| CN102642303A (en) * | 2012-05-18 | 2012-08-22 | 北京中材汽车复合材料有限公司 | Manufacture device of glass fibre reinforced resin composite plate spring |
| CN104441598A (en) * | 2014-11-03 | 2015-03-25 | 镇江奥立特机械制造有限公司 | Filament winding control system |
| US11352725B2 (en) | 2019-12-19 | 2022-06-07 | Industrial Technology Research Institute | Wire tension control device and braiding machine using the same |
| US11560657B2 (en) | 2020-12-02 | 2023-01-24 | Industrial Technology Research Institute | Braiding path generating method and device using the same, and dynamic correcting method and braiding system using the same |
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