臺灣博碩士論文加值系統

本研究旨在針對鋼片高速盤捲系統進行其速度/張力之控制設計與改善，以便鋼片在高速盤捲時其張力能維持穩定，並能有效抑制因速度不穩而對張力所產生的干擾。本研究所針對的盤捲系統中，為了將鋼帶作高速盤捲，因此系統就需要有糾偏機構。由於糾偏機構關係，因此鋼帶從供料輪到盤捲輪過程中包含了許多主動輪與被動輪，而本研究即針對鋼帶在經過了許多主、被動輪後對張力的控制。
本研究所針對的盤捲系統中，張力控制目的在於確保鋼片品質，不會因為張力過小而造成盤捲鬆垮，或因為張力太大而使鋼片變形甚至斷裂，因此本研究鋼帶張力是以荷重元來感測張力大小，並藉由目標張力與量測張力做張力誤差，將誤差值加入適當補償器後，作為影響盤捲輪速度使張力穩定，為此我們首先推導張力控制系統的動態模型，並進行分析模擬以驗證模型的正確性，之後依此模型分別設計其控制補償法則。
本研究一開始先將系統簡化，即模擬上只有考慮供料輪與盤捲輪，且盤捲輪在不同附載下設計補償器，之後將此模擬補償器放入實機，觀察在系統簡化情況下，所設計之補償器對於系統之控制效果。之後再將主、被動輪考慮至模擬中，會發現到鋼帶在經過許多主、被動輪會對系統造成許多二階極零點產生，而這些二階極零點又有些會因為盤捲過程中而移動位置，因此本研究做法是加入低通濾波器犧牲一定的頻寬，來因應這些事實存在，以使張力得以穩定控制。

For steel winding at high speed,not only the speed/tension need to be controlled stably,but also the influence in winding tension due to feeding speed variation need to be minimized. Mean while,since shift correction in transverse direction is usually reguired in high speed winding, multiple rollers between feeding and winding wheels are often included ,which have significant effect in winding tension control. Therefore,this research is aiming at improving the speed/tension control in high speed winding system with multiple rollers.
The system dynamic models with and without those middle rollers included were derived first simulation and frequency response analysis were done on both cases for comparison. It can be observed that additional resonance poles in relatively low frequency appear in the system considering multiple middle rollers,the bandwidth of the tension control system was decreased compare to the system without middle rollers.

摘要................................i
Abstract................................ii
誌謝................................iii
圖目錄................................vii
表目錄................................xviii
第 1章 緒 論................................ 1
1.1研究動機與目的................................ 1
1.2 文獻探討................................ 1
1.3研究方法................................ . 4
1.4論文架構................................ 4
第 2章 盤捲系統架構與實驗設備 .............................6
2.1 鋼片盤捲實驗機台系統架構 ............................. 6
2.2 鋼片盤捲實驗機台控制概要 .............................. 7
2.3 鋼片盤捲系統馬達與張力感測器之選用 ................................ ....................... 10
第 3章 張力控制系統模型建立 ................................ ................................ ............. 13
3.1 鋼帶物理方程式 ................................ 13
3.2 馬達系統動態方程式 ................................ 15
3.3 盤捲系統簡化模擬之張力型.............................. 18
3.3.1 盤捲系統設定速度模式 ............................... 18
3.3.2 盤捲系統設定扭矩模式 ............................... 21
3.4 盤捲系統未簡化模擬之張力型 ............................. 23
3.4.1 盤捲系統設定速度模式 ................................ 23
3.4.2 盤捲系統設定扭矩模式 ................................ 24
第 4章 控制理論與張力器設計 ................................ 26
4.1 盤捲系統簡化模擬之張力迴路設計 ................................ 26
4.1.1 盤捲系統設定速度模式 ........................... 26
4.1.2 盤捲系統設定扭矩模式 .............................40
4.2 盤捲系統未簡化模擬之張力迴路設計 ................................ ........................... 49
4.2.1 盤捲系統設定速度模式 ................................ ................................ .... 49
4.2.2 盤捲系統設定扭矩模式 ............................... 56
4.3 干擾抑制分析 ................................ 61
4.4 簡化與未系統分析 .............................. 72
4.4.1 速度模式盤捲 ................................72
4.4.2 扭矩模式盤捲 ............................... 74
第 5章 張力模擬系統驗證與討論 ....................... 76
5.1 盤捲系統簡化模擬之動態.......................... 76
5.1.1 盤捲系統設定速度模式 ........................... 76
5.1.1 盤捲系統設定速度模式_簡化模型 ................................ ................ 79
5.1.2 盤捲系統設定扭矩模式 ............................ 83
5.2 盤捲系統未簡化模擬之動態模擬..........................90
5.2.1 盤捲系統設定速度模式_未簡化模式 ................................ .............. 90
5.2.2 盤捲系統設定扭矩模式 ............................ 94
5.3 模擬結果與討論 ................................ 99
第 6章 實驗結果與討論 ................................ 100
6.1 張力感測器設計 ................................ 100
6.2 實驗結果 ................................ 105
6.2.1 馬達速度迴路驗證 ................................ ................................ ......... 105
6.2.2 盤捲系統設定速度模式之實驗結果 ................................ ............. 108
6.2.3 盤捲系統設定扭矩模式之實驗結果 ................................ .............. 111
6.2.4 實驗結果與討論 ............................... 117
第 7章 結論和未來展望 ............................... 118
7.1 結論 .............................. 118
7.2 未來展望 ............................119
參考文獻 ............................... 120
附錄 A 簡化系統模擬 動態...................122
附錄 B 未簡化系統模擬動態模擬 ..............138
附錄 C 簡化系統之張力響應頻率 ...............149
附錄 D 未簡化系統之張力響應頻率 ............. 153
附錄 E 張力振動頻率分析_速度模式盤捲 ................................ ........................... 156
附錄 F 張力振動頻率分析_扭矩模式盤捲 ................................ ......................... 158

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