Motor synchronous control system and method of slaughter line control cabinet
阅读说明：本技术 一种屠宰线控制柜的电机同步控制系统及方法 (Motor synchronous control system and method of slaughter line control cabinet ) 是由 王志明 张陈 张帆 郑良骏 丁忠昌 吴龙贻 于 2020-12-23 设计创作，主要内容包括：本发明公开了一种屠宰线控制柜的电机同步控制系统及方法。该系统包括触摸屏PC机、PLC模块、三台变频器、三台电机、三个光电传感器和三个执行机构。方法为：在人机界面进行参数设定；执行开始命令,测定各个电机的主轴转速；判断各电机主轴转速是否同步：若同步按设定参数运行；若不同步则进行转速补偿；调整相应变频器的输出频率,使得各电机的转速误差在设定范围内；读取三台电机编码器的数据,与程序中设定的极限值进行比较,如果超出极限值范围则发出报警信号并停止运行；利用霍尔元件读取电机电流的数据,与程序中设定的极限值进行比较,如果超出极限值范围则发出报警信号并停止运行。本发明控制精度高,提高了电机同步控制的稳定性。(The invention discloses a synchronous control system and method for a motor of a slaughter line control cabinet. The system comprises a touch screen PC, a PLC module, three frequency converters, three motors, three photoelectric sensors and three actuating mechanisms. The method comprises the following steps: setting parameters on a human-computer interface; executing a start command, and measuring the main shaft rotating speed of each motor; judging whether the rotating speeds of the main shafts of the motors are synchronous or not: if the synchronous operation is carried out according to the set parameters; if the synchronization is not synchronous, the rotation speed compensation is carried out; adjusting the output frequency of the corresponding frequency converter to ensure that the rotating speed error of each motor is within a set range; reading data of three motor encoders, comparing the data with a limit value set in a program, and sending an alarm signal and stopping running if the data exceeds the limit value range; the Hall element is used for reading the data of the motor current, the data is compared with a limit value set in a program, and if the data exceeds the limit value range, an alarm signal is sent out and the operation is stopped. The invention has high control precision and improves the stability of synchronous control of the motor.)
1. A synchronous motor control system of a slaughter line control cabinet is characterized by comprising a touch screen PC, a PLC module, three frequency converters, three motors, three photoelectric sensors and three actuating mechanisms;
the touch screen PC machine is used for main setting of speed, and displaying and manually adjusting motor synchronous errors;
three high-speed counters of the PLC module respectively read the actual rotating pulse number of three motors through three photoelectric sensors, three analog quantity output ports are respectively connected to three frequency converters to serve as the speed setting of the three motors, and encoder pulse signals of the three motors are fed back to the three frequency converters and are also respectively connected to the three high-speed counters of the PLC module through the three photoelectric sensors;
the program of the PLC module comprises limit alarm of the deviation value of the encoder and monitoring of the current of the motor, and is used for preventing mechanical jamming caused by step loss of the three motors due to loosening and releasing of the coupler.
2. The synchronous motor control system of the slaughter line control cabinet according to claim 1, wherein the three frequency converters have the same specification, the three motors have the same specification and power, the three photoelectric sensors have the same specification, and the three actuators have the same specification.
3. The synchronous control system of motors of slaughter line control cabinets of claim 1, wherein the limit alarm of encoder deviation values is as follows:
and setting limit values of three motor encoders in a program of the PLC module, comparing the read actual data with a set value, and sending an alarm signal and stopping running if the actual data exceeds the limit value range.
4. The synchronous motor control system of a slaughter line control cabinet according to claim 1, characterized in that the monitoring of the motor current is as follows:
and setting the current limit values of the three motors in a program of the PLC module, comparing actual data read by the Hall element with a set value, and if the actual data exceed the set value, sending an alarm signal and stopping running.
5. A synchronous control method for a motor of a slaughter line control cabinet is characterized by comprising the following steps:
step 1, setting parameters on a human-computer interface;
step 2, executing a starting command, and measuring the main shaft rotating speed of each motor;
step 3, judging whether the rotating speeds of the main shafts of the motors are synchronous or not;
step 4, if synchronous, operating according to set parameters; if not, entering the step 5 to perform rotation speed compensation;
step 5, adjusting the output frequency of the corresponding frequency converter to enable the rotating speed error of each motor to be within a set range;
step 6, reading data of the three motor encoders, comparing the data with a limit value set in a program, and if the data exceeds the limit value range, sending an alarm signal and stopping running;
and 7, reading the current data of the motor by using the Hall element, comparing the current data with a limit value set in a program, and sending an alarm signal and stopping running if the current data exceeds the limit value range.
6. The synchronous control method of the motor of the slaughter line control cabinet according to claim 5, wherein the parameters are set on a human-computer interface in the step 1, and the method comprises the following specific steps:
step 1.1, disconnecting motor load, inputting each gain value regulated by PID from a touch screen, running three motors in a non-operating mode, observing change of deviation value of an encoder, and correcting PID gain;
and step 1.2, connecting motor loads, operating three motors, observing the change of the deviation value of the encoder, and correcting the PID gain.
7. The method for the synchronous control of motors of a slaughter line control cabinet according to claim 5, characterized in that the spindle speeds of the individual motors are determined in step 2, in particular as follows:
the pulse number of the motor is obtained through the three photoelectric sensors, and the pulse number of the motor is calculated through the high-speed counter, so that the spindle rotating speed of the current motor is obtained.
8. The synchronous control method of motors of slaughter line control cabinets according to claim 5, characterized in that the output frequency of the corresponding frequency converter is adjusted in step 5, so that the rotation speed error of each motor is within a set range, specifically as follows:
and adjusting the output frequency of the corresponding frequency converter, taking the data transmitted to the encoder by the synchronous operation of the motor as the input of the measured rotating speed, and further adjusting until the rotating speed error is within a set range.
Technical Field
The invention relates to the technical field of synchronous control of motors, in particular to a synchronous control system and method for a slaughter line control cabinet.
Background
The conveyor belt is controlled by a plurality of motors in the production process of the slaughtering line, synchronous rotation of the servo motors needs to be controlled, otherwise, mechanical parts of the equipment are damaged, the stability and the service life of electromechanical equipment are seriously influenced, and meanwhile, economic loss is caused to the production line, so that the synchronous control of the servo motors is critical.
Document 1 (nano Hengkang sponge products Co, ltd. a synchronous motor control system of sponge cutting machine: cn200710119776.5[ P ].2009-02-04.) discloses a motor synchronous control system of a sponge cutting machine, which comprises two servo motors and a servo motor synchronous control card with a program chip, wherein the output of the servo motor synchronous control card is the drive output of the two servo motors and a computer interface, the input is the load input, the motor speed input and the motor speed instruction input of the two servo motors, the current rotating speed of the motor is measured by calculating the adjacent rising or falling edge of a pulse signal, a method for analyzing the load data error is adopted for synchronous control, and the operation is stable but the functionality is single.
Disclosure of Invention
The invention aims to provide a synchronous control system and a synchronous control method for a motor of a slaughter line control cabinet, which are high in control precision and stability.
The technical solution for realizing the purpose of the invention is as follows: a synchronous motor control system of a slaughter line control cabinet comprises a touch screen PC, a PLC module, three frequency converters, three motors, three photoelectric sensors and three actuating mechanisms;
the touch screen PC machine is used for main setting of speed, and displaying and manually adjusting motor synchronous errors;
three high-speed counters of the PLC module respectively read the actual rotating pulse number of three motors through three photoelectric sensors, three analog quantity output ports are respectively connected to three frequency converters to serve as the speed setting of the three motors, and encoder pulse signals of the three motors are fed back to the three frequency converters and are also respectively connected to the three high-speed counters of the PLC module through the three photoelectric sensors;
the program of the PLC module comprises limit alarm of the deviation value of the encoder and monitoring of the current of the motor, and is used for preventing mechanical jamming caused by step loss of the three motors due to loosening and releasing of the coupler.
Furthermore, the three frequency converters have the same specification, the three motors have the same specification and power, the three photoelectric sensors have the same specification, and the three actuating mechanisms have the same specification.
Further, the limit alarm of the encoder deviation value specifically includes the following steps:
and setting limit values of three motor encoders in a program of the PLC module, comparing the read actual data with a set value, and sending an alarm signal and stopping running if the actual data exceeds the limit value range.
Further, the monitoring of the motor current is specifically as follows:
and setting the current limit values of the three motors in a program of the PLC module, comparing actual data read by the Hall element with a set value, and if the actual data exceed the set value, sending an alarm signal and stopping running.
A synchronous control method for a motor of a slaughter line control cabinet comprises the following steps:
step 1, setting parameters on a human-computer interface;
step 2, executing a starting command, and measuring the main shaft rotating speed of each motor;
step 3, judging whether the rotating speeds of the main shafts of the motors are synchronous or not;
step 4, if synchronous, operating according to set parameters; if not, entering the step 5 to perform rotation speed compensation;
step 5, adjusting the output frequency of the corresponding frequency converter to enable the rotating speed error of each motor to be within a set range;
step 6, reading data of the three motor encoders, comparing the data with a limit value set in a program, and if the data exceeds the limit value range, sending an alarm signal and stopping running;
and 7, reading the current data of the motor by using the Hall element, comparing the current data with a limit value set in a program, and sending an alarm signal and stopping running if the current data exceeds the limit value range.
Further, the step 1 of setting parameters on the human-computer interface specifically includes:
step 1.1, disconnecting motor load, inputting each gain value regulated by PID from a touch screen, running three motors in a non-operating mode, observing change of deviation value of an encoder, and correcting PID gain;
and step 1.2, connecting motor loads, operating three motors, observing the change of the deviation value of the encoder, and correcting the PID gain.
Further, the spindle rotation speed of each motor is measured in step 2, specifically as follows:
the pulse number of the motor is obtained through the three photoelectric sensors, and the pulse number of the motor is calculated through the high-speed counter, so that the spindle rotating speed of the current motor is obtained.
Further, the step 5 of adjusting the output frequency of the corresponding frequency converter to make the rotation speed error of each motor within a set range specifically includes:
and adjusting the output frequency of the corresponding frequency converter, taking the data transmitted to the encoder by the synchronous operation of the motor as the input of the measured rotating speed, and further adjusting until the rotating speed error is within a set range.
Compared with the prior art, the invention has the following remarkable advantages: (1) the pulse of the motor encoder is fed back to the frequency converter to form a speed closed loop system, so that the control precision of the speed and the torque of the motor is improved; (2) the limit alarm of the deviation value of the encoder and the motor current monitoring are added, so that mechanical jamming caused by the loss of synchronism of the three motors due to loosening of the coupler is prevented, and the stability of synchronous control of the motors is improved.
Drawings
Fig. 1 is a structural block diagram of a synchronous motor control system of a slaughter line control cabinet.
FIG. 2 is a schematic flow chart of a synchronous control method of a slaughter line control cabinet according to the invention.
FIG. 3 is a schematic workflow of a PLC of the present invention.
Detailed Description
The invention relates to a synchronous motor control system of a slaughter line control cabinet, which comprises a touch screen PC (personal computer), a PLC (programmable logic controller) module, three frequency converters, three motors, three photoelectric sensors and three actuating mechanisms, wherein the touch screen PC is connected with the PLC module;
the touch screen PC machine is used for main setting of speed, and displaying and manually adjusting motor synchronous errors;
three high-speed counters of the PLC module respectively read the actual rotating pulse number of three motors through three photoelectric sensors, three analog quantity output ports are respectively connected to three frequency converters to serve as the speed setting of the three motors, and encoder pulse signals of the three motors are fed back to the three frequency converters and are also respectively connected to the three high-speed counters of the PLC module through the three photoelectric sensors;
the program of the PLC module comprises limit alarm of the deviation value of the encoder and monitoring of the current of the motor, and is used for preventing mechanical jamming caused by step loss of the three motors due to loosening and releasing of the coupler.
Furthermore, the three frequency converters have the same specification, the three motors have the same specification and power, the three photoelectric sensors have the same specification, and the three actuating mechanisms have the same specification.
Further, the limit alarm of the encoder deviation value specifically includes the following steps:
and setting limit values of three motor encoders in a program of the PLC module, comparing the read actual data with a set value, and sending an alarm signal and stopping running if the actual data exceeds the limit value range.
Further, the monitoring of the motor current is specifically as follows:
and setting the current limit values of the three motors in a program of the PLC module, comparing actual data read by the Hall element with a set value, and if the actual data exceed the set value, sending an alarm signal and stopping running.
A synchronous control method for a motor of a slaughter line control cabinet comprises the following steps:
step 1, setting parameters on a human-computer interface;
step 2, executing a starting command, and measuring the main shaft rotating speed of each motor;
step 3, judging whether the rotating speeds of the main shafts of the motors are synchronous or not;
step 4, if synchronous, operating according to set parameters; if not, entering the step 5 to perform rotation speed compensation;
step 5, adjusting the output frequency of the corresponding frequency converter to enable the rotating speed error of each motor to be within a set range;
step 6, reading data of the three motor encoders, comparing the data with a limit value set in a program, and if the data exceeds the limit value range, sending an alarm signal and stopping running;
and 7, reading the current data of the motor by using the Hall element, comparing the current data with a limit value set in a program, and sending an alarm signal and stopping running if the current data exceeds the limit value range.
Further, the step 1 of setting parameters on the human-computer interface specifically includes:
step 1.1, disconnecting motor load, inputting each gain value regulated by PID from a touch screen, running three motors in a non-operating mode, observing change of deviation value of an encoder, and correcting PID gain;
and step 1.2, connecting motor loads, operating three motors, observing the change of the deviation value of the encoder, and correcting the PID gain.
Further, the spindle rotation speed of each motor is measured in step 2, specifically as follows:
the pulse number of the motor is obtained through the three photoelectric sensors, and the pulse number of the motor is calculated through the high-speed counter, so that the spindle rotating speed of the current motor is obtained.
Further, the step 5 of adjusting the output frequency of the corresponding frequency converter to make the rotation speed error of each motor within a set range specifically includes:
and adjusting the output frequency of the corresponding frequency converter, taking the data transmitted to the encoder by the synchronous operation of the motor as the input of the measured rotating speed, and further adjusting until the rotating speed error is within a set range.
The invention is described in further detail below with reference to the figures and the specific embodiments.
Examples
With reference to fig. 1, the motor synchronous control system of the slaughter line control cabinet of the invention comprises a touch screen PC, a PLC module, three frequency converters, three motors, three photoelectric sensors and three actuating mechanisms;
the touch screen PC is used for main setting of speed and displaying and manually adjusting motor synchronous errors;
three high-speed counters of the PLC module respectively read the actual rotating pulse number of three motors through three photoelectric sensors, three analog quantity output ports are respectively connected to three frequency converters to serve as the speed setting of the three motors, and encoder pulse signals of the three motors are fed back to the three frequency converters and are also respectively connected to the three high-speed counters of the PLC module through the three photoelectric sensors;
the program of the PLC module comprises limit alarm of the deviation value of the encoder and monitoring of the current of the motor, and is used for preventing mechanical jamming caused by step loss of the three motors due to loosening and releasing of the coupler.
Furthermore, the three frequency converters have the same specification, the three motors have the same specification and power, the three photoelectric specifications are the same, and the three actuating mechanisms have the same specification.
Further, the limit alarm of the encoder deviation value specifically includes the following steps:
and setting limit deviation values of three motor encoders in a program of the PLC module, comparing the read data with the limit deviation values, and if the read data exceed the limit deviation values, sending an alarm signal and stopping running.
Further, the monitoring of the motor current is specifically as follows:
the limit values of the currents of the three motors are set in the program of the PLC module, the data read by the Hall elements are compared with the limit values, and if the data exceed the limit values, an alarm signal is sent out and the operation is stopped.
With reference to fig. 2, a synchronous control method for a motor of a slaughter line control cabinet comprises the following steps:
step 1, setting parameters on a human-computer interface, specifically as follows:
step 1.1, disconnecting motor load, inputting each gain value regulated by PID from a touch screen, running three motors in a null mode, observing change of an encoder deviation value, and correcting PID gain to a normal state;
and step 1.2, connecting motor loads, operating three motors, observing the change of the deviation value of the encoder, and correcting the PID gain to be in a normal state.
Step 2, executing a starting command, and measuring the main shaft rotating speed of each motor;
further, the spindle rotation speed of each motor is measured as follows:
the pulse number of the motor is obtained through the three photoelectric sensors, and the pulse number of the motor is calculated through the high-speed counter, so that the spindle rotating speed of the current motor is obtained.
Step 3, judging whether the rotating speeds of the main shafts of the motors are synchronous or not;
step 4, if synchronous, operating according to set parameters; if not, entering the step 5 to perform rotation speed compensation;
and 5, adjusting the output frequency of the corresponding frequency converter to enable the rotating speed error of each motor to be within a normal range, specifically:
and adjusting the output frequency of the corresponding frequency converter, taking the data transmitted to the encoder by the synchronous operation of the motor as the input of the measured rotating speed, and further adjusting until the rotating speed error is within a normal range.
Step 6, reading data of the three motor encoders, comparing the data with a limit deviation value set in a program, and if the data exceeds the limit deviation value, sending an alarm signal and stopping running;
and 7, reading the current data of the motor by using the Hall element, comparing the current data with a limit value set in a program, and sending an alarm signal and stopping running if the current data exceeds the limit value.
With reference to fig. 3, the work flow of the PLC module is: the encoder receives a corresponding signal, checks the signal correctly, meets the condition of continuous operation, can send a command, reads and writes data, controls the start and stop of continuously uploading the data, and then enters the next period; if the verification is incorrect, the next period is directly entered.
In conclusion, the motor encoder pulse is fed back to the frequency converter to form a speed closed loop system, so that the control precision of the speed and the torque of the motor is improved; the limit alarm of the deviation value of the encoder and the motor current monitoring are added, so that mechanical jamming caused by the loss of synchronism of the three motors due to loosening of the coupler is prevented, and the stability of synchronous control of the motors is improved.