CN213750732U - Belt elevator positioning control system based on double closed-loop systems - Google Patents

Abstract

A belt elevator positioning control system based on a double closed-loop system comprises a programmable controller, a frequency converter, an alternating current motor and a double closed-loop control unit, wherein the output end of the programmable controller is connected with the alternating current motor through the frequency converter, one end of the double closed-loop unit is connected with the alternating current motor, the other end of the double closed-loop unit is connected with the frequency converter, a displacement ring in the double closed-loop unit is an outer ring, a speed ring is an inner ring, and the displacement ring and the speed ring are both in communication connection with the frequency converter. The system takes a rotary encoder as a speed ring, a laser range finder as a position ring, the position ring is fed to the speed ring through a frequency converter according to the current position value, and the speed ring forms a double closed ring to finally realize accurate position control by feeding back the movement speed of a real-time position control system.

Description

Belt elevator positioning control system based on double closed-loop systems

Technical Field

The utility model belongs to the technical field of car control, concretely relates to belt elevator positioning control system based on two closed-loop systems.

Background

For automobile production enterprises, cross-platform mixed flow production of various automobile types becomes the mainstream mode of the current automobile manufacturing and production scheduling. In a general vehicle body workshop, nearly hundreds of vehicle types are mixed in line production by four platforms including SV61, SV71, SK81 and SV91, the difference of 600 kilograms can occur in the load of a belt lifter at the tail of a meter adjusting line of the vehicle body workshop, so that the extension degree of a belt and the slippage displacement generated on a belt roller are inconsistent due to different vehicle types, and the positioning precision is finally influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that overcome prior art not enough, provide belt elevator positioning control system based on two closed loop systems to rotary encoder is the speed ring, and laser range finder is the position ring, and the position ring is passed through the converter according to the current position value and is given the speed ring, and the speed ring is through the velocity of motion of the real-time position control system of feedback, forms two closed loop and finally realizes accurate position control.

The utility model provides a belt elevator positioning control system based on two closed loop systems, including programmable controller, converter, AC motor and two closed loop the control unit, programmable controller's output passes through the converter and links to each other with AC motor, and two closed loop unit one end link to each other with AC motor, and the converter is connected to the other end, and displacement ring is the outer loop in the two closed loop units, and speed ring is the inner ring, and displacement ring all is connected with the converter communication with speed ring.

As a further technical scheme of the utility model, programmable controller is Powerflex755 PLC, and the displacement ring is DX100 laser range finder, and the speed ring is the SEK rotary encoder.

Furthermore, the double closed-loop control unit controls the output frequency of the frequency converter through a PID control module of the frequency converter.

The utility model effectively solves the problem that the belt lifter can not be accurately positioned when different platform truck type mixed line is produced, and avoids the impact on the fixed roller bed when the vehicle is out and in due to positioning deviation; and the lifting platform locking mechanism can be locked when being stopped in place, so that safety accidents are prevented.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram illustrating the PTP mode being enabled;

FIG. 3 is a schematic diagram of the PTP reference position for value assignment of the present invention;

fig. 4 is a schematic view of the release band-type brake of the present invention.

Detailed Description

Referring to fig. 1, the present embodiment provides a belt elevator positioning control system based on a dual closed-loop system, which includes a programmable controller, a frequency converter, an ac motor, and a dual closed-loop control unit, wherein an output end of the programmable controller is connected to the ac motor through the frequency converter, one end of the dual closed-loop unit is connected to the ac motor, the other end of the dual closed-loop unit is connected to the frequency converter, a displacement loop in the dual closed-loop unit is an outer loop, a speed loop is an inner loop, and the displacement loop and the speed loop are both in communication connection with the frequency converter.

The programmable controller is Powerflex755 PLC, the displacement ring is a DX100 laser range finder, and the speed ring is an SEK rotary encoder.

And a displacement ring in the double-closed-loop control unit is an outer ring, the displacement value is fed back to the frequency converter in real time, a speed ring is an inner ring, a double closed loop is formed according to the feedback displacement value and the current speed value, the output frequency of the frequency converter is controlled, and finally the control of the ascending positioning precision of the vehicle body workshop line regulation tail elevator within the range of 55100mm +/-2 mm is realized.

The system is embodied as follows

1. Encoder card feedback value testing

The wiring of the encoder always has many problems, the wiring is not right, the parameter setting of the encoder card is not right, the shielding wire is not connected to the OS end of the UFB-1 board card, the failure/error of the feedback card of the encoder can be caused, and the length of the cable is less than 30 meters.

2. Encoder feedback card UFB-1 parameter settings

(1) Parameter 6[ FB0 Device Sel ], is set according to the encoder type (Hiperface SC is chosen for this entry).

(2) Parameter 8[ FB0 CFG ], all unselected.

(3) Parameter 20[ FB0 SSI CFG ], Gray code encoding is selected.

(4) Parameter 25[ FB0 Lin CPR ], does not need to be set.

3. Laser ranging feedback card UFB-1 parameter setting

(1) Parameter 6[ FB0 Device Sel ], is set according to the encoder type (this entry selects LinSSI ChX).

(2) Parameter 8[ FB0 CFG ], all unselected.

(3) Parameter 20[ FB0 SSI CFG ], Gray code encoding and two-word lookup were selected.

(4) Parameter 25[ FB0 Lin CPR ], CPR is calculated by the equation to be 7.

4. The frequency converter independently completes PTP control and tests the code reading

(1) The parameter 309[ SpdTqPsn Mode A ] is set to the Psn PTP control Mode.

(2) Parameter 771 [ PTP Mode ], Absolute Mode was selected.

(3) Parameter 772 DI Indx Step, which is to receive PTP start command from PLC when communicating with PLC, is equivalent to Bit "Move" in Parameter 770 of automatic and manual process of frequency converter, which is disabled in manual process.

(4) Parameter Move in Parameter 770 [ PTP Control ], is a command word for starting PTP, and each time PTP Control is started, a RUN frequency converter is needed first, and then a rising edge signal is given to the Move signal.

5. Frequency converter self-tuning under speed loop

The dynamic self-tuning and inertia test is needed under the condition that the encoder feedback is correct, wherein a torque percentage value is selected in the dynamic tuning process, 50% is defaulted, the setting is recommended to be carried out according to 100%, the 100% setting can be carried out according to a higher speed, and the time is shorter.

6. Initial adjustment of PI parameter of frequency converter

The default PI parameter is not enough to adjust the elevator, and when the elevator runs through PTP control, the situation that the elevator overshoots after reaching the terminal point or shakes back and forth for a few times easily occurs, and the PI parameter of a speed loop/position loop needs to be adjusted. Among the parameters of the speed loop and the position loop, the PI parameter of the position loop is not obvious when the speed loop parameter has obvious effect, and the auxiliary effect is achieved.

Parameter 636 [ Speed Reg BW ], default is 10, parameters of Parameter 645 [ Speed Reg Kp ], Parameter 647 [ Speed Reg Ki ] can be automatically allocated, parameters of KP and KI can be automatically increased when the parameters are increased, but the effect cannot be achieved by the automatic adjustment mode, the parameters need to be set to 0, and the KP.

The debugging Parameter 636 [ Speed Reg BW ] value is 12;

parameter 647 [ Speed Reg Ki ] value 36

Parameter 647 [ Speed Reg Kp ] value 12

7. Control flow

(1) The PLC sends a start-stop instruction and a position reference value to the frequency converter;

(2) feeding back a real-time speed value by a rotary encoder;

(3) the laser range finder feeds back a real-time displacement value;

(4) the frequency converter PID module adjusts the speed according to the feedback displacement value;

(5) the output voltage of the frequency converter controls the rotation of the motor.

8. Co-debugging with PLC

(1) PTP mode is enabled, as shown in FIG. 2;

(2) assigning a PTP reference bit, as shown in FIG. 3;

(3) and after the program judges that the brake is in place, a stop command is sent to release the brake, as shown in fig. 4.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration only, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the claims and their equivalents.

Claims (3)

1. The belt elevator positioning control system based on the double-closed-loop system is characterized by comprising a programmable controller, a frequency converter, an alternating current motor and a double-closed-loop control unit, wherein the output end of the programmable controller is connected with the alternating current motor through the frequency converter, one end of the double-closed-loop unit is connected with the alternating current motor, the other end of the double-closed-loop unit is connected with the frequency converter, a displacement ring in the double-closed-loop unit is an outer ring, a speed ring is an inner ring, and the displacement ring and the speed ring are both in communication connection with the frequency converter.

2. The dual closed loop system based belt elevator positioning control system as claimed in claim 1 wherein the programmable controller is Powerflex755 PLC, the displacement loop is DX100 laser rangefinder and the velocity loop is SEK rotary encoder.

3. The dual closed-loop system based belt elevator positioning control system of claim 1 wherein the dual closed-loop control unit controls the output frequency of the frequency converter through a PID control module of the frequency converter.

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