Multi-Motor Speed-Tension Coordinated Measurement And Control System For Time-Varying Unwinding Process Based On Supercapacitor Endurance

The speed-tension coordinated measurement and control system without tension sensor is of great significance to simplify the production equipment of strip,reduce the maintenance quantity and reduce the production cost.So far,there are many tension observation algorithms and motor control algorithms for strip production,but most of them are out of the actual production scenario.Aiming at the problem of coordinated measurement and control of strip speed and tension under different working conditions during the start-up,normal operation and shutdown stages of strip unwinding production,an algorithm of strip tension observation and motor control based on time-varying unwinding process is proposed in this paper.At the same time,the problem that the system can not stop safely when it encounters abnormal power failure is solved by utilizing the endurance characteristics of supercapacitor.Firstly,this paper introduces the research status of multi-motor coordinated measurement and control scheme in the production process of windings at home and abroad,and then determines the main research contents.On the premise of defining the main functions of the system and the overall research plan,the paper introduces the testing method of winding tension,chooses the direct drive motor as the system execution motor,and makes a theoretical analysis of the vector modulation technology of the motor.By establishing the mathematical model of multi-motor speed-tension coordinated measurement and control system in time-varying unwinding process,the theoretical basis for tension observation and control under different working conditions is provided.Then,on the basis of the established system model,corresponding tension observation algorithm and motor control algorithm are proposed for different conditions(starting,normal operation,parking).In the normal operation stage,tension observation is realized by velocity signals between two axes,and multi-motor coordinated measurement and control is realized by PID adjustment algorithm based on speed chain.In the start-up and stop stages,tension observation algorithm based on system acceleration/deceleration inertia and system friction compensation is proposed as the start-up stage,and tension observation in the stop stage is realized by using system dynamics equation,combined with two-axis motor.Dynamic compensation of relative errors and fuzzy PID control algorithm are used to realize multi-motor coordinated measurement and control By selecting appropriate switching points in each stage,the stable operation of the system can be achieved.The simulation verifies the feasibility of the measurement and control algorithm.Finally,the hardware and software of the system are designed according to the simulation verification of the TT&C algorithm.The hardware part mainly includes system control board,driver board,man-machine interface board,direct-drive PMSM driver board and super capacitor charge-discharge driver board;the software part mainly introduces the system structure,and analyses the basic flow of tension observation algorithm program,control algorithm program,man-machine interface program,PMSM modulation technology program,and realizes the software-hardware joint debugging.