Research On Tension Control Technology Of Winding System Of Tying Machine Coil

The automatic rebar tying machine(abbreviated as the tying machine)is a new engineering tool.The construction personnel can complete the binding of steel bars by holding and pressing the button with one hand.The tying machine has been widely used in various construction sites.The coil is the mechanism of the tying machine to store the tying material(metal wire).Through a lot of Engineering practice,it has been proved that the tightness of the metal wire winding on the coil directly affects the working performance of the tying machine.If the metal wire is loosely wound on the coil,it will be regarded as a waste product There is no tension detection,tension automatic control and other functions in the winding line of a tying machine manufacturer in South China,so the rej ect rate of the coil produced is very high.Therefore,it is necessary to realize the tension automatic control function in the production line.Based on the tension control technology of the coil winding system of the tying machine,the mathematical model of the winding process of the coil is studied.A simple-structure,easy-to-operate and easy-to-implement winding tension control scheme is formulated,and the algorithm of the controller is designed.The simulation model of the winding system is established in the simulation software,and the simulation verification of the tension control system is completed.The experimental platform of coil winding tension control is built independently,and the effectiveness of the control scheme and the control effect of the control algorithm are tested.The main research contents of this subject are as follows:(1)Analysis and mathematical modeling of coil winding process and tension generation principle.Make tension control plan,including:select tension execution mode and tension detection mode.According to the tension control scheme,the control quantity is selected,and the mathematical relationship between the control quantity and the winding tension is deduced.(2)The algorithm of controller in winding system is designed.The design scheme of the controller algorithm is formulated,and the double closed-loop control structure formed by the tension sliding mode controller and the torque PID controller is adopted.The traditional sliding mode tension controller,the non-linear integral sliding mode tension controller and the fuzzy non-linear integral sliding mode tension controller are designed respectively.The inner loop adopts a torque PID controller with transition process.Complete the control law design and stability proof of the controller.(3)The simulation model of winding system is established in MATLAB/Simulink environment to verify the stability of tension control system,the feasibility of controller algorithm and the effect of specific parameters on the performance of tension control system.(4)In the experimental platform of winding system for coil,the construction of servo motor,servo controller,PLC and tension sensor and the setting of related parameters are included.Complete the data communication between PLC and PC,compile the execution program of PLC,Kingview monitoring interface and Simulink control model.(5)In the Simulink control model of the experimental platform,the designed controller algorithms are established respectively.The stability and controller characteristics of winding control system using three sliding mode tension controllers are tested.The influence trend of specific parameters on control effect is analyzed.The control performance of three sliding mode tension controllers is analyzed and compared.