CN103612467B - A kind of control method being suitable for multilayer film compound - Google Patents
- ️Wed Aug 19 2015
CN103612467B - A kind of control method being suitable for multilayer film compound - Google Patents
A kind of control method being suitable for multilayer film compound Download PDFInfo
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- CN103612467B CN103612467B CN201310566492.6A CN201310566492A CN103612467B CN 103612467 B CN103612467 B CN 103612467B CN 201310566492 A CN201310566492 A CN 201310566492A CN 103612467 B CN103612467 B CN 103612467B Authority
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Abstract
本发明公开了一种适于多层膜复合的控制方法，包括：输入进料辊的张力参考指令和复合辊的位移参考指令，并获取它们包括当前位置、位置偏差和张力状态在内的反馈信号；将复合辊的位置参考指令与其当前位置值相比较作为实际位移指令，并实现位移闭环控制；基于复合辊实际位移指令，计算得出进料辊的修正前位移参考指令；通过多种方式对该修正前位移参考指令予以修正处理，相应实际位移指令并实现位移闭关控制；分别按照上述实际位移指令转动辊对，由此实现多层膜复合的同步运动控制过程。通过本发明，能够显著提高多层膜复合的定位效果，同时具备进给精度高、张力控制稳定、自动化程度高和便于操控等特点。
The invention discloses a control method suitable for multi-layer film compounding, which includes: inputting the tension reference command of the feed roller and the displacement reference command of the composite roller, and obtaining their feedback including the current position, position deviation and tension state Signal; Comparing the position reference instruction of the composite roller with its current position value as the actual displacement instruction, and realizing the closed-loop control of displacement; based on the actual displacement instruction of the composite roller, calculating the displacement reference instruction of the feed roller before correction; through various methods The pre-correction displacement reference command is corrected, corresponding to the actual displacement command and the displacement closed control is realized; the roller pair is rotated according to the above actual displacement command, thereby realizing the synchronous motion control process of multi-layer film compounding. Through the present invention, the positioning effect of multi-layer film compounding can be significantly improved, and at the same time, it has the characteristics of high feeding precision, stable tension control, high degree of automation, and convenient manipulation.
Description
技术领域technical field
本发明属于薄膜输送及处理技术领域，更具体地，涉及一种适于多层膜复合的控制方法。The invention belongs to the technical field of film conveying and processing, and more specifically relates to a control method suitable for multilayer film compounding.
背景技术Background technique
薄膜复合技术广泛应用于工业生产中，例如包装材料、胶贴产品、印刷行业和柔性电子制造领域等，均需要用到薄膜复合的生产系统。由于薄膜材料的特殊物理性能，在张力过大的情况下容易出现变形甚至断裂，张力过小时容易出现折叠、起皱，为了取得良好的薄膜进给效果，薄膜的稳定张力控制和准确输送特别重要。Thin film lamination technology is widely used in industrial production, such as packaging materials, adhesive products, printing industry and flexible electronics manufacturing, all of which require the use of film lamination production systems. Due to the special physical properties of the film material, it is easy to deform or even break when the tension is too high, and it is easy to fold and wrinkle when the tension is too small. In order to obtain a good film feeding effect, stable tension control and accurate conveying of the film are particularly important .
现有技术的薄膜输送系统中，薄膜输送一般是采用电机驱动对辊或者夹持装置的方式，由于辊轴半径变化或薄膜打滑等因素的影响，仅靠对辊电机的编码器反馈半闭环方式难以满足薄膜输送的高精度要求。尤其对于某些特定的行业应用中，需要利用复合设备实现三层及以上的多层膜的对位复合，并必需保证对位复合的精度高。然而，对于现有的薄膜对位复合方式而言，复合的效果基本上仅靠复合对辊的本身来保证，相应存在着对位精度低、人工干预多和效率低下等缺点。In the film conveying system of the prior art, the film conveying generally adopts the method of driving the rollers or the clamping device by the motor. Due to the influence of factors such as the change of the radius of the roller shaft or the slippage of the film, only the feedback of the encoder of the motor of the rollers is used in a semi-closed loop mode. It is difficult to meet the high precision requirements of film conveying. Especially for some specific industry applications, it is necessary to use lamination equipment to realize the para-position compounding of three-layer or more multi-layer films, and it is necessary to ensure high precision of the para-position compounding. However, for the existing film alignment compounding method, the effect of compounding is basically guaranteed only by the compounding roller itself, and there are corresponding shortcomings such as low alignment accuracy, more manual intervention, and low efficiency.
发明内容Contents of the invention
针对现有技术的以上缺陷或改进需求，本发明提供了一种适于多层膜复合的整体控制方法，其中通过对影响多层膜复合定位精度的多个关键因素进行分析，并相应对复合辊和进料对辊的调整及控制方式进行设计，能够显著提高多层膜复合的定位效果，同时具备进给精度高、张力控制稳定、自动化程度高和便于操控等特点，因而尤其适用于三层及以上多层膜的复合控制用途。In view of the above defects or improvement needs of the prior art, the present invention provides an overall control method suitable for multi-layer film compounding, in which multiple key factors affecting the positioning accuracy of multi-layer film compounding are analyzed, and the compound The design of the adjustment and control method of the roller and the feeding roller can significantly improve the positioning effect of multi-layer film lamination. At the same time, it has the characteristics of high feeding accuracy, stable tension control, high degree of automation and easy operation, so it is especially suitable for three Composite control applications of layer and above multilayer films.
为实现上述目的，按照本发明，提供了一种适于多层膜复合的控制方法，其中采用左、右进料辊对分别从两个上游进料端来压合和输送复合膜，并在共同的下游端采用复合辊对将两种复合膜继续予以压合和输送，以此方式实现多层膜复合，其特征在于，该过程中包括下列控制步骤：In order to achieve the above object, according to the present invention, a control method suitable for multi-layer film compounding is provided, wherein the left and right feed roller pairs are used to press and transport the composite film from the two upstream feed ends respectively, and The common downstream end uses the composite roller pair to continue to press and convey the two composite films, so as to realize the composite of multi-layer films. It is characterized in that the following control steps are included in the process:
（a）输入有关左右进料辊的张力参考指令Tr1、Tr2以及复合辊的位移参考指令Pr3，并测量获取以下反馈信号：左右进料辊的当前位置E1和E2、进给偏差S1和S2，实际张力值T1和T2；复合辊的当前位置E3，以及多层膜复合后的对位偏差S3；(a) Input the tension reference commands T r1 and T r2 of the left and right feed rollers and the displacement reference command P r3 of the composite roller, and measure and obtain the following feedback signals: the current positions E 1 and E 2 of the left and right feed rollers, the feed Deviations S 1 and S 2 , actual tension values T 1 and T 2 ; the current position E 3 of the composite roller, and the alignment deviation S 3 after the multilayer film is composited;
（b）将复合辊的位置参考指令Pr3与其当前位置值E3进行比较处理，得到的结果作为实际位移指令P3，并实现复合辊的位移闭环控制；接着，(b) Comparing the position reference instruction P r3 of the composite roller with its current position value E 3 , the obtained result is used as the actual displacement instruction P 3 , and realizes the closed-loop displacement control of the composite roller; then,
基于所得到的复合辊实际位移指令P3，分别计算得出左右进料辊的修正前位移参考指令W1和W2；Based on the obtained actual displacement command P3 of the composite roller, respectively calculate the displacement reference commands W1 and W2 of the left and right feed rollers before correction ;
（c）基于左右进料辊的张力参考指令Tr1和Tr2及其实际张力值T1和T2，计算得出进料辊的位移参考指令第一修正值Q1和Q2，并实现进料辊的张力闭环控制；将左右进料辊的进给偏差S1和S2分别作为作为进料辊的位移参考指令第二修正值；此外，将多层膜复合后的对位偏差S3分别配置到左、右进料辊上，并作为进料辊的位移参考指令第三修正值S31和S32；(c) Based on the tension reference commands T r1 and T r2 of the left and right feed rollers and their actual tension values T 1 and T 2 , calculate the first correction values Q 1 and Q 2 of the displacement reference commands of the feed rollers, and realize The tension closed-loop control of the feed roller; the feed deviation S1 and S2 of the left and right feed rollers are respectively used as the second correction value of the displacement reference command of the feed roller; in addition, the alignment deviation S after the multi-layer film is compounded 3 are arranged on the left and right feed rollers respectively, and are used as the third correction value S31 and S32 of the displacement reference command of the feed roller;
（d）根据步骤（c）所得到的第一至第三修正值，将其分别与步骤（b）所计算得出的修正前位移参考指令W1和W2进行求和处理，由此获得左、右进料辊的修正后位移参考指令Pr1和Pr2；(d) According to the first to third correction values obtained in step (c), they are respectively summed with the uncorrected displacement reference commands W 1 and W 2 calculated in step (b), thereby obtaining The corrected displacement reference commands P r1 and P r2 of the left and right feed rollers;
（e）将步骤（d）所获得的修正后位移参考指令Pr1和Pr2分别与步骤（a）所输入的左右进料辊的当前位置E1和E2进行比较处理，得到的结果作为左、右进料辊的实际位移指令P1和P2，并实现进料辊的位移闭环控制；(e) Comparing the corrected displacement reference commands P r1 and P r2 obtained in step (d) with the current positions E 1 and E 2 of the left and right feed rollers input in step (a) respectively, and the results obtained as The actual displacement commands P 1 and P 2 of the left and right feed rollers, and realize the closed-loop control of the displacement of the feed rollers;
（f）复合辊对及进料辊对分别按照上述得到的实际位移指令转动，同时带动膜向前进给，由此实现多层膜复合的同步运动控制过程。(f) The pair of composite rollers and the pair of feed rollers rotate according to the actual displacement command obtained above, and at the same time drive the film to advance, thereby realizing the synchronous motion control process of multilayer film composite.
作为进一步优选地，在步骤（a）中，所述进料辊和复合辊的当前位置优选通过光电编码器来分别获得，所述左、右进料辊的实际张力值优选通过张力检测轴来分别获得，所述左右进料辊的进给偏差和经复合辊后的薄膜复合对位偏差优选通过工业级CCD或传感器来获得。As a further preference, in step (a), the current positions of the feed roller and composite roller are preferably obtained respectively through photoelectric encoders, and the actual tension values of the left and right feed rollers are preferably obtained through tension detection axes Obtained separately, the feed deviation of the left and right feed rollers and the film composite alignment deviation after passing through the composite rollers are preferably obtained by industrial-grade CCDs or sensors.
作为进一步优选地，在步骤（b）中，所述左、右进料辊的修正前位移参考指令W1和W2分别优选采用与P3、进料辊半径和复合辊半径相关的函数关系式来计算获得：W1=a1*r1/r3*P3 W2=a2*r2/r3*P3；其中r1、r2、r3依次为左进料辊、右进料辊和复合辊各自的半径，a1、a2分别为大于零小于1的系数，与辊轴结构、材料物理特性和辊对间压力有关，控制中可以自适应调整。As a further preference, in step (b), the pre-correction displacement reference commands W 1 and W 2 of the left and right feed rollers respectively preferably adopt a functional relationship related to P 3 , the radius of the feed roller and the radius of the composite roller Calculated by formula: W 1 =a 1 *r 1 /r 3 *P 3 W 2 =a 2 *r 2 /r 3 *P 3 ; where r 1 , r 2 , r 3 are the left feed roller, The respective radii of the right feed roller and compound roller, a 1 and a 2 are coefficients greater than zero and less than 1, which are related to the structure of the roller shaft, the physical properties of the material and the pressure between the roller pairs, and can be adaptively adjusted during control.
作为进一步优选地，在步骤（c）中，所述位移参考指令第一修正值Q1和Q2分别优选采用与左右进料辊的实际张力值和张力参考指令相关的函数关系式来计算获得：Q1=b1*(T1-Tr1)L1/E1A1，Q2=b2*(T2-Tr2)L2/E2A2；其中b1、b2分别为绝对值小于1的系数，L1、L2分别为左右进料辊与复合辊之间的中心距，E1、E2、A1、A2分别左右辊与复合辊之间薄膜的弹性模量和截面面积。As a further preference, in step (c), the first correction values Q 1 and Q 2 of the displacement reference command are preferably calculated by using functional relations related to the actual tension value of the left and right feed rollers and the tension reference command respectively : Q 1 =b 1 *(T 1 -T r1 )L 1 /E 1 A 1 , Q 2 =b 2 *(T 2 -T r2 )L 2 /E 2 A 2 ; where b 1 and b 2 are respectively is a coefficient whose absolute value is less than 1, L 1 and L 2 are the center distances between the left and right feed rollers and the composite rollers, respectively, E 1 , E 2 , A 1 , and A 2 are the elasticity of the film between the left and right rollers and the composite rollers modulus and cross-sectional area.
作为进一步优选地，在步骤（c）中，所述左、右进料辊的位移参考指令第三修正值S31和S32分别优选采用以下公式进行计算：S31=k1*S3，S32=k2*S3；其中k1、k2分别为绝对值小于1的系数，并且它们分别依照以下原则对应配置到到左、右进料辊上：As a further preference, in step (c), the third correction values S 31 and S 32 of the displacement reference commands of the left and right feed rollers are respectively preferably calculated using the following formula: S 31 =k 1 *S 3 , S 32 =k 2 *S 3 ; where k 1 and k 2 are coefficients whose absolute value is less than 1, and they are correspondingly allocated to the left and right feed rollers according to the following principles:
（i）当复合辊后的薄膜复合对位偏差S3大于0时：判断左进料辊的位移参考指令第一修正值Q1是否大于0，若是令k1>0；否则令k1=0；与此同时，判断右进料辊的位移参考指令第一修正值是否小于0，若是令k2<0；否则令k2=0；(i) When the film composite alignment deviation S 3 after the composite roller is greater than 0: judge whether the first correction value Q 1 of the displacement reference command of the left feed roller is greater than 0, if so set k 1 >0; otherwise set k 1 = 0; at the same time, judge whether the first correction value of the displacement reference command of the right feed roller is less than 0, if so set k 2 <0; otherwise set k 2 =0;
（ii）当对位偏差S3小于0时：判断左进料辊的位移参考指令第一修正值Q1是否小于0，若是令k1>0；否则令k1=0；与此同时，判断右进料辊的位移参考指令第一修正值是否大于0，若是令k2<0；否则令k2=0。(ii) When the alignment deviation S 3 is less than 0: judge whether the first correction value Q 1 of the displacement reference command of the left feed roller is less than 0, if so set k 1 >0; otherwise set k 1 =0; at the same time, Determine whether the first correction value of the displacement reference command of the right feed roller is greater than 0, if so set k 2 <0; otherwise set k 2 =0.
总体而言，通过本发明所构思的以上技术方案与现有技术相比，主要具备以下的技术优点：Generally speaking, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1、由于综合考虑影响到复合定位的关键因素并相对复合辊和进料对辊的调整及控制方式进行设计，尤其是对进料辊和复合辊的实际位移指令进行了修正处理，并对其修正处理过程进行研究，相应能够在最短的时间内，显著提高多层膜复合的进给精度和对位精度；1. Due to the comprehensive consideration of the key factors affecting the composite positioning and the design of the adjustment and control methods of the composite roller and the feed roller, especially the actual displacement command of the feed roller and the composite roller has been corrected, and its Research on the correction process can significantly improve the feeding accuracy and alignment accuracy of multi-layer film composite in the shortest time;
2、通过基于全局的同步控制，使得各个对辊的运动无滞后，避免了起始阶段和停止阶段薄膜的张力和位置出现大的波动，进一步提高薄膜进给的稳定性；此外，通过采用张力闭环控制，实现了薄膜张力的稳定控制；2. Through the synchronous control based on the overall situation, the movement of each pair of rollers has no lag, avoiding large fluctuations in the tension and position of the film during the initial stage and the stop stage, and further improving the stability of film feeding; in addition, by using tension Closed-loop control realizes stable control of film tension;
3、按照本发明的控制方法便于操控，无需过多的人工干预，并能在提高膜的进给精度同时提高膜复合的对位精度，从而最终保证了多层膜的复合效果，因而尤其适用于三层及以上多层膜的复合控制用途。3. The control method according to the present invention is easy to operate, does not require too much manual intervention, and can improve the feeding accuracy of the film while improving the alignment accuracy of the film compounding, thereby finally ensuring the compounding effect of the multi-layer film, so it is especially suitable It is used for composite control of three-layer and above multi-layer films.
附图说明Description of drawings
图1是用于示范性说明适于多层膜复合的机构整体示意图；Fig. 1 is the overall schematic view of the mechanism suitable for multi-layer film compounding for exemplary illustration;
图2是按照本发明的适于多层膜复合的控制方法的工艺流程图；Fig. 2 is the process flow diagram of the control method suitable for multilayer film compounding according to the present invention;
图3是按照本发明优选实施例的控制原理框图；Fig. 3 is a control principle block diagram according to a preferred embodiment of the present invention;
在所有附图中，相同的附图标记用来表示相同的元件或结构，其中：Throughout the drawings, the same reference numerals are used to designate the same elements or structures, wherein:
1-工作膜 2-保护膜 3-惰性辊 4-左进料辊 5-双层复合膜 6-视觉系统 7-张力检测轴 8-工作膜 9-保护膜 10-惰性辊 11-右进料辊 12-双层复合膜 13-视觉系统 14-张力检测轴 15-复合辊 16-惰性辊 17-视觉系统 18-多层复合膜1-Working film 2-Protective film 3-Inert roller 4-Left feed roller 5-Double layer composite film 6-Vision system 7-Tension detection axis 8-Working film 9-Protective film 10-Inert roller 11-Right feed Roller 12-Double layer composite film 13-Vision system 14-Tension detection shaft 15-Compound roller 16-Inert roller 17-Vision system 18-Multilayer composite film
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
图1是用于示范性说明适于多层膜复合的机构整体示意图。如图1中所示，为了实现三层及以上的多层复合膜制备，可以分别从图中所示的左右两个上游端分别配备进料辊对及其他附件，由此压合和输送第一复合膜，并在共同的下游端采用复合辊对将两种第一复合膜继续予以压合和输送，以此方式实现具备多层结构的第二复合膜。Fig. 1 is an overall schematic diagram for exemplary illustration of a mechanism suitable for multi-layer film compounding. As shown in Figure 1, in order to realize the preparation of multi-layer composite films with three or more layers, it is possible to equip feed roller pairs and other accessories from the left and right upstream ends shown in the figure, so as to press and convey the first A composite film, and the two first composite films are continuously pressed and conveyed by a pair of composite rollers at the common downstream end, so as to realize the second composite film with a multi-layer structure.
具体而言，1和8例如为工作膜，2和9例如为保护膜，进料辊4和惰性辊3啮合并共同构成进料辊对，通过压力实现工作膜1和保护膜2的复合，得到双层复合膜5，同时通过摩擦力带动膜1和膜2的进给。在双层复合膜5的进给方向上，可以布有张力检测轴7之类的检测元件，采集复合膜5的实际张力值。在进料辊2和张力检测轴7之间，还可以布有视觉系统6，采集复合膜5的进给位置偏差。右边的结构布置与左边类似。例如在张力检测辊7和14的中下方，布置有复合辊15和惰性辊16共同构成的复合辊对，通过压力实现双层膜5和12的复合，得到多层复合膜18，同时通过摩擦力带动双层膜5和12的进给。在复合膜18的进给方向上可以布置有视觉系统17，采集双层膜5和12经复合对辊复合后的对位偏差。Specifically, 1 and 8 are, for example, working films, and 2 and 9 are, for example, protective films. The feed roll 4 and the idle roll 3 are meshed together to form a pair of feed rolls, and the compounding of the working film 1 and the protective film 2 is realized by pressure. A double-layer composite film 5 is obtained, and at the same time, the feeding of the film 1 and the film 2 is driven by friction. In the feeding direction of the double-layer composite film 5 , a detection element such as a tension detection shaft 7 may be arranged to collect the actual tension value of the composite film 5 . Between the feed roller 2 and the tension detection shaft 7, a vision system 6 may also be arranged to collect the feed position deviation of the composite film 5. The structural arrangement on the right is similar to that on the left. For example, in the middle and lower part of the tension detection rollers 7 and 14, a composite roller pair consisting of a composite roller 15 and an idler roller 16 is arranged to realize the composite of the double-layer film 5 and 12 by pressure to obtain a multilayer composite film 18. Power drives the feeding of the double-layer films 5 and 12. A vision system 17 may be arranged in the feed direction of the composite film 18 to collect the alignment deviation of the double-layer films 5 and 12 after they are composited by the composite pair of rollers.
由于薄膜材料的特殊物理性能以及输送系统自身保持在相对运动，因此在实际生产过程中的进给偏差和对位偏差事实上是不可避免的。因此，本发明中通过对影响多层膜复合定位精度的多个关键因素进行分析，并相应对复合辊和进料对辊的调整及控制方式进行设计，由此期望来进一步提高多层膜进给和对位效果。Due to the special physical properties of the film material and the conveying system itself is kept in relative motion, the feed deviation and alignment deviation are actually unavoidable in the actual production process. Therefore, in the present invention, by analyzing a plurality of key factors affecting the positioning accuracy of the multilayer film, and correspondingly designing the adjustment and control mode of the composite roller and the feed pair roller, it is expected to further improve the multilayer film feed. Gives and counterpoint effects.
图2是按照本发明的适于多层膜复合的控制方法的工艺流程图。如图2中所示，该控制过程主要包括下列控制步骤：Fig. 2 is a process flow chart of the control method suitable for multilayer film compounding according to the present invention. As shown in Figure 2, the control process mainly includes the following control steps:
首先，输入有关左右进料辊的张力参考指令Tr1、Tr2以及复合辊的位移参考指令Pr3，并测量获取以下反馈信号：左右进料辊的当前位置E1和E2、进给偏差S1和S2，实际张力值T1和T2；复合辊的当前位置E3，以及多层膜复合后的对位偏差S3；First, input the tension reference commands T r1 , T r2 of the left and right feed rollers and the displacement reference command P r3 of the composite roller, and measure and obtain the following feedback signals: current positions E 1 and E 2 of the left and right feed rollers, feed deviation S 1 and S 2 , the actual tension values T 1 and T 2 ; the current position E 3 of the composite roller, and the alignment deviation S 3 after the multilayer film is composited;
接着，将复合辊的位置参考指令Pr3与其当前位置值E3进行比较处理，得到的结果作为实际位移指令P3，并实现复合辊的位移闭环控制；接着，Next, compare the position reference command P r3 of the composite roll with its current position value E 3 , and use the obtained result as the actual displacement command P 3 , and realize the closed-loop control of the displacement of the composite roll; then,
基于所得到的复合辊实际位移指令P3，分别计算得出左右进料辊的修正前位移参考指令W1和W2。Based on the obtained actual displacement command P 3 of the composite roller, the displacement reference commands W 1 and W 2 before correction of the left and right feed rollers are calculated respectively.
对于上述处理步骤，可按照公式P3=Pr3-E3，将获得的复合辊的位移参考指令Pr3与复合辊的当前位置值E3进行比较，得到的结果作为复合辊的实际位移指令P；此外，按照本发明的一个优选实施方式，所述左、右进料辊的修正前位移参考指令W1和W2分别优选采用与P3、进料辊半径和复合辊半径相关的函数关系式来计算获得：W1=a1*r1/r3*P3 W2=a2*r2/r3*P3；其中r1、r2、r3依次为左进料辊、右进料辊和复合辊各自的半径，a1、a2分别为大于零小于1的系数，与辊轴结构、材料物理特性和辊对间压力有关，控制中可以自适应调整。For the above processing steps, according to the formula P 3 =P r3 -E 3 , compare the displacement reference command P r3 of the composite roller with the current position value E 3 of the composite roller, and the obtained result is used as the actual displacement command of the composite roller P; In addition, according to a preferred embodiment of the present invention, the displacement reference commands W 1 and W 2 of the left and right feed rollers before correction respectively preferably adopt functions related to P 3 , the radius of the feed roller and the radius of the composite roller Relational formula to calculate: W 1 =a 1 *r 1 /r 3 *P 3 W 2 =a 2 *r 2 /r 3 *P 3 ; where r 1 , r 2 , r 3 are the left feed rollers in turn , the respective radii of the right feed roller and the composite roller, a 1 and a 2 are coefficients greater than zero and less than 1, which are related to the structure of the roller shaft, the physical properties of the material and the pressure between the roller pairs, and can be adaptively adjusted during control.
接着，基于左、右进料辊的张力参考指令Tr1和Tr2及其实际张力值T1和T2，计算得出进料辊的位移参考指令第一修正值Q1和Q2，并实现进料辊的张力闭环控制；将左右进料辊的进给偏差S1和S2分别作为作为进料辊的位移参考指令第二修正值；此外，将经复合辊后的薄膜复合对位偏差S3分别配置到左、右进料辊上，并作为进料辊的位移参考指令第三修正值S31和S32。Next, based on the tension reference commands T r1 and T r2 of the left and right feed rollers and their actual tension values T 1 and T 2 , calculate the first correction values Q 1 and Q 2 of the displacement reference commands of the feed rollers, and Realize the tension closed-loop control of the feed roller; the feed deviation S 1 and S 2 of the left and right feed rollers are respectively used as the second correction value of the displacement reference command of the feed roller; in addition, the composite alignment of the film after the composite roller The deviation S 3 is allocated to the left and right feed rollers respectively, and serves as the third correction value S 31 and S 32 for the displacement reference command of the feed rollers.
对于上述操作步骤，按照本发明的一个优选实施方式，所述位移参考指令第一修正值Q1和Q2分别优选采用与左右进料辊的实际张力值和张力参考指令相关的函数关系式来计算获得：Q1=b1*(T1-Tr1)L1/E1A1，Q2=b2*(T2-Tr2)L2/E2A2；其中b1、b2分别为绝对值小于1的系数，L1、L2分别为左右辊与复合辊的中心距，E1、E2、A1、A2分别左右辊与复合辊之间薄膜的弹性模量和截面面积，本领域的技术人员可以进行适当的改变或调整。此外，按照本发明的另一优选实施方式，所述左、右进料辊的位移参考指令第三修正值S31和S32分别优选可采用以下公式进行计算：S31=k1*S3，S32=k2*S3；其中k1、k2分别为绝对值小于1的系数，并且它们分别依照以下原则对应配置到到左、右进料辊上：当复合辊后的薄膜复合对位偏差S3大于0时，说明右膜处于左膜的前面，此时应当左进料辊加快，右进料辊减慢：然后判断左进料辊的位移参考指令第一修正值Q1是否大于0，若是令k1>0；否则令k1=0；与此同时，判断右进料辊的位移参考指令第一修正值是否小于0，若是令k2<0；否则令k2=0；而当对位偏差S3小于0时，说明右膜在左膜的后面，此时应当左进料辊减慢，右进料辊加快：继续判断左进料辊的位移参考指令第一修正值Q1是否小于0，若是令k1>0；否则令k1=0；与此同时，判断右进料辊的位移参考指令第一修正值是否大于0，若是令k2<0；否则令k2=0。然而，本领域的技术人员容易理解，上述有关位移参考指令第三修正值的计算公式仅为优选方式，其具体形式同样可以根据需要进行适当改变或调整。For the above operation steps, according to a preferred embodiment of the present invention, the first correction values Q 1 and Q 2 of the displacement reference command are respectively preferably obtained by using functional relations related to the actual tension value of the left and right feed rollers and the tension reference command. Calculated: Q 1 =b 1 *(T 1 -T r1 )L 1 /E 1 A 1 , Q 2 =b 2 *(T 2 -T r2 )L 2 /E 2 A 2 ; where b 1 , b 2 are the coefficients whose absolute value is less than 1, L 1 and L 2 are the center distances between the left and right rolls and the compound rolls respectively, E 1 , E 2 , A 1 , A 2 are the elastic modulus of the film between the left and right rolls and the compound rolls respectively and cross-sectional area, those skilled in the art can make appropriate changes or adjustments. In addition, according to another preferred embodiment of the present invention, the third correction values S 31 and S 32 of the displacement reference commands of the left and right feed rollers can preferably be calculated using the following formula: S 31 =k 1 *S 3 , S 32 =k 2 *S 3 ; where k 1 and k 2 are coefficients whose absolute value is less than 1, and they are respectively assigned to the left and right feed rollers according to the following principle: when the film after the composite roller is composited When the alignment deviation S 3 is greater than 0, it means that the right film is in front of the left film. At this time, the left feed roller should be accelerated, and the right feed roller should be slowed down: then judge the displacement of the left feed roller and refer to the first correction value Q 1 of the command Whether it is greater than 0, if it is set k 1 >0; otherwise set k 1 =0; at the same time, judge whether the first correction value of the displacement reference command of the right feed roller is less than 0, if it is set k 2 <0; otherwise set k 2 =0; and when the alignment deviation S 3 is less than 0, it means that the right film is behind the left film. At this time, the left feed roller should be slowed down, and the right feed roller should be accelerated: continue to judge the displacement of the left feed roller. A correction value Q 1 is less than 0, if it is set k 1 >0; otherwise set k 1 =0; at the same time, determine whether the first correction value of the displacement reference command of the right feed roller is greater than 0, if it is set k 2 <0 ; otherwise let k 2 =0. However, those skilled in the art can easily understand that the above-mentioned calculation formula for the third correction value of the displacement reference command is only a preferred method, and its specific form can also be appropriately changed or adjusted as required.
接着，根据上面所得到的第一至第三修正值，将其分别与所计算得出的修正前位移参考指令W1和W2进行求和处理，其中Pr1=W1+Q1+S1+S31,Pr2=W2+Q2+S2+S32，由此获得左、右进料辊的修正后位移参考指令Pr1和Pr2；Then, according to the first to third correction values obtained above, they are respectively summed with the calculated displacement reference commands W 1 and W 2 before correction, where P r1 =W 1 +Q 1 +S 1 +S 31 , P r2 =W 2 +Q 2 +S 2 +S 32 , thus obtaining the corrected displacement reference commands P r1 and P r2 of the left and right feed rollers;
接着，将所获得的修正后位移参考指令Pr1和Pr2分别与所输入的左右进料辊的当前位置E1和E2进行比较处理，P1=Pr1-E1，P2=Pr2-E2，得到的结果作为左、右进料辊的实际位移指令P1和P2，并实现进料辊的位移闭环控制；Next, compare the obtained corrected displacement reference commands P r1 and P r2 with the input current positions E 1 and E 2 of the left and right feed rollers respectively, P 1 =P r1 -E 1 , P 2 =P r2 -E 2 , the obtained results are used as the actual displacement commands P 1 and P 2 of the left and right feed rollers, and the closed-loop control of the displacement of the feed rollers is realized;
最后，复合辊对及进料辊对分别按照上述得到的实际位移指令转动，同时带动膜向前进给，由此实现多层膜复合的同步运动控制过程。Finally, the pair of composite rollers and the pair of feed rollers rotate according to the actual displacement instructions obtained above, and at the same time drive the film forward, thereby realizing the synchronous motion control process of multilayer film composite.
图3是按照本发明优选实施例的控制原理框图。如图3中示范性所显示地，左进料电机和右进料电机分别驱动进料辊和转动，复合电机驱动复合辊转动，左进料位置控制器的输出经放大器驱动左进料电机转动后，带动左进料辊转动，右进料位置控制器的输出经放大器驱动右进料电机转动后，带动右进料辊转动。安装在左进料电机后端的左进料电机编码器，用于对左进料辊当前的实际位置进行检测并与位移参考指令进行对比，实现位置闭环控制。安装在右进料电机27后端的右进料电机编码器，用于对右进料辊当前的实际位置进行检测并与位移参考指令进行对比，实现位置闭环控制。张力控制器和分别用于将获得的张力偏差转化为相应的位移指令。Fig. 3 is a block diagram of the control principle according to the preferred embodiment of the present invention. As shown exemplary in Figure 3, the left feed motor and the right feed motor drive the feed roller and rotate respectively, the composite motor drives the composite roller to rotate, and the output of the left feed position controller drives the left feed motor to rotate through the amplifier Finally, it drives the left feed roller to rotate, and the output of the right feed position controller drives the right feed motor to rotate through the amplifier to drive the right feed roller to rotate. The left feed motor encoder installed at the rear end of the left feed motor is used to detect the current actual position of the left feed roller and compare it with the displacement reference command to realize position closed-loop control. The right feed motor encoder installed at the rear end of the right feed motor 27 is used to detect the current actual position of the right feed roller and compare it with the displacement reference command to realize position closed-loop control. The tension controller and the tension controller are respectively used to convert the obtained tension deviation into corresponding displacement commands.
更具体地，例如可优选通过光电编码器来分别获得所述进料辊和复合辊的当前位置，通过张力检测轴来分别获得所述左、右进料辊的实际张力值，通过工业级CCD或高精度传感器来获得所述左右进料辊的进给偏差和复合辊的对位偏差。此外，膜2与膜9例如为一种保护膜，膜1与膜8为一种需要实现对位复合的工作膜。所述的工作膜1、8上优选涂有间隔均匀的特殊标记。More specifically, for example, it is preferable to obtain the current positions of the feed roller and the compound roller through a photoelectric encoder, respectively obtain the actual tension values of the left and right feed rollers through a tension detection axis, and obtain the actual tension values of the left and right feed rollers through an industrial-grade CCD. Or a high-precision sensor to obtain the feed deviation of the left and right feed rollers and the alignment deviation of the composite roller. In addition, the film 2 and the film 9 are, for example, a protective film, and the film 1 and the film 8 are a working film that needs to achieve para-position recombination. The working films 1 and 8 are preferably coated with special marks at uniform intervals.
本领域的技术人员容易理解，以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。It is easy for those skilled in the art to understand that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, All should be included within the protection scope of the present invention.
Claims (2)
1. one kind is suitable for the control method of multilayer film compound, wherein adopt left and right feed roller to coming pressing and conveying composite membrane from two fed upstream ends respectively, and adopt the composite roll be jointly made up of composite roll and idler rollers to continue to give pressing and conveying to by two kinds of composite membranes in common downstream, realize multilayer film compound in this way, it is characterized in that, this process comprises following rate-determining steps:
A () input is about the tension force reference instruction T of described left and right feed roller r1, T r2and the Shifted Reference instruction P of described composite roll r3, and measure the following feedback signal of acquisition: described left and right feed roller current location E separately 1and E 2, feeding deviation S 1and S 2, and actual tension value T 1and T 2; The current location E of described composite roll 3, and the contraposition deviation S after multilayer film compound 3;
B () is by the reference by location instruction P of described composite roll r3with its present position values E 3compare process, the result obtained is as actual displacement instruction P 3, and realize the displacement closed-loop control of this composite roll; Then, based on obtained composite roll actual displacement instruction P 3, calculate displacement reference instruction W before the correction separately of described left and right feed roller respectively 1and W 2; And displacement reference instruction W before this correction 1and W 2calculate based on following functional relation respectively: W 1=a 1* r 1/ r 3* P 3, W 2=a 2* r 2/ r 3* P 3; Wherein r 1, r 2, r 3be followed successively by described left feed roller, described right feed roller and described composite roll radius separately, a 1, a 2be respectively be greater than zero and be less than 1 coefficient;
C () is based on described left and right feed roller tension force reference instruction T separately r1and T r2and actual tension value T 1and T 2, calculate the Shifted Reference instruction first correction value Q of this left and right feed roller respectively 1and Q 2, and realize the closed-loop tension control of feed roller; And this first correction value Q 1and Q 2acquisition is calculated respectively: Q based on following functional relation 1=b 1* (T 1-T r1) L 1/ E 1a 1, Q 2=b 2* (T 2-T r2) L 2/ E 2a 2; Wherein b 1, b 2be respectively the coefficient that absolute value is less than 1, L 1, L 2be respectively the centre-to-centre spacing between described left and right feed roller and described composite roll, E 1, A 1elastic modelling quantity and the area of section of film between described left feed roller and described composite roll respectively, E 2, A 2elastic modelling quantity and the area of section of film between described right feed roller and described composite roll respectively;
By the feeding deviation S of described left and right feed roller 1and S 2respectively as two feed rollers Shifted Reference instruction second correction value separately; In addition, by the contraposition deviation S after described multilayer film compound 3be configured to respectively on this left and right feed roller, and respectively as described left and right feed roller Shifted Reference instruction the 3rd correction value S separately 31and S 32, and the 3rd correction value S 31and S 32acquisition is calculated respectively: S based on following functional relation 31=k 1* S 3, S 32=k 2* S 3; Wherein k 1, k 2be respectively the coefficient that absolute value is less than 1, and they are configured on described left and right feed roller according to following principle correspondence respectively:
I () is as described contraposition deviation S 3when being greater than 0: the Shifted Reference instruction first correction value Q judging described left feed roller 1whether be greater than 0, if so, make k 1>0; Otherwise make k 1=0; Meanwhile, judge whether Shifted Reference instruction first correction value of described right feed roller is less than 0, if so, makes k 2<0; Otherwise make k 2=0;
(ii) as described contraposition deviation S 3when being less than 0: the Shifted Reference instruction first correction value Q judging described left feed roller 1whether be less than 0, if make k 1>0; Otherwise make k 1=0; Meanwhile, judge whether Shifted Reference instruction first correction value of described right feed roller is greater than 0, if make k 2<0; Otherwise make k 2=0;
D described first, second, and third correction value that () obtains according to step (c), displacement reference instruction W before the described correction that it is calculated with step (b) respectively 1and W 2carry out summation process, obtain Shifted Reference instruction P after the correction separately of described left and right feed roller thus r1and P r2;
Shifted Reference instruction P after e correction that step (d) obtains by () r1and P r2the described left and right feed roller inputted with step (a) respectively current location E separately 1and E 2compare process, the result obtained is as the actual displacement instruction P of left and right feed roller 1and P 2, and realize the displacement closed-loop control of feed roller;
(f) described composite roll to and feed roller to rotating according to actual displacement instruction obtained above respectively, drive simultaneously film march forward to, realize the Synchronous motion control process of multilayer film compound thus.
2. control method as claimed in claim 1, it is characterized in that, in step (a), the current location of described left and right feed roller and composite roll is obtained respectively by photoelectric encoder; The actual tension value of described left and right feed roller is obtained respectively by tension detect axle; The feeding deviation of described left and right feed roller and the Film laminated contraposition deviation after composite roll are obtained by technical grade CCD or sensor.
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Effective date of registration: 20211228 Address after: 430000 280, floor 2, building 1, phase I plant of optoelectronic supporting industrial park, No. 117, zuoling Road, zuoling Town, Donghu New Technology Development Zone, Wuhan, Hubei Province Patentee after: Wuhan guochuangke Photoelectric Equipment Co.,Ltd. Address before: 430074 Hubei Province, Wuhan city Hongshan District Luoyu Road No. 1037 Patentee before: HUAZHONG University OF SCIENCE AND TECHNOLOGY |