Multi-motor Speed-tension Collaborative Measurement And Control System Of Time-varying Winding Process

In the processing and production of coiled strips,the coordinated control of tension and line speed is an important part.It directly determines the production quality and production efficiency.In the tension detection section,considering that the tension sensor is expensive.This paper proposes a new tension observation method.It can observe the winding tension at various stages(starting,stable operation,parking)of the system operation.The system speed and tension are controlled in coordination,and a specific implementation scheme is proposed.Firstly,by reading a large number of domestic and foreign literatures on multi-motor cooperative control,I have learned the research status and development trend at home and abroad.I also analyzed and compared the existing control methods,and proposed a speed-tension cooperative measurement and control method based on tension observer.And introduced the main functions and overall plan of the system.Secondly,the mathematical model of the object of the measurement and control system is established,and the high-performance control scheme of the direct-drive permanent magnet synchronous motor is introduced.Then,the mathematical modeling of the multi-motor speed-tension cooperative measurement and control system for the time-varying winding process is carried out.The steady operation,start-up process and suspension phase are used to study the tension observation algorithm by taking out the winding speed,winding radius,winding moment of inertia,three-phase current measurement and Coulomb friction torque estimation.Based on this,a speed-tension cooperative control algorithm based on sliding mode variable structure control and inversion control algorithm is studied.Then the feasibility of the scheme is verified by MATLAB/SIMULINK simulation.The results show that the control algorithm can overcome the time-varying disturbance of the winding diameter and reduce the tension overshoot.It can also accelerate the response speed.Finally,the hardware design and software design of the system's collaborative controller are separately performed.The hardware design uses STM32F103ZET6 as the main control chip to design the minimum system,photoelectric encoder signal conditioning circuit,three-phase current detection circuit,human-machine interface and power supply circuit.And briefly introduces the principle and function of each circuit.The software is designed to be a real-time operating system,design a multi-tasking mode,modularize the system software,and briefly introduce the flow chart of each program.It mainly includes phase current detection,coil diameter and moment of inertia detection,speed detection,tension observation program at various stages of system operation,control signal output program and human-machine interface program.