Abstract: This paper presents several methods for high-precision positioning control using TD3100 elevator-specific vector control inverters, focusing on the principle and application of the system. Keywords: distance control positioning control inverter Abstract: The methods of high-accuracy position control are presented in this paper, in which the high performance vector control inverters TD3100 are used. The control theory and application of the methods are discussed in detail. Keywords: Distance control, Position control, Inverter I. Introduction In the machining and manufacturing industries, high-precision position control is often required, and DC or AC servos are generally used to solve the problem, but the cost is high. This article aims at this situation, put forward the adoption of Emerson Network Power Co., Ltd. production of TD3100 inverter implementation program. Second, TD3100 distance control principle The TD3100 is an elevator-specific frequency converter developed on the basis of our high-performance vector frequency converter TD3000 and is highly favored by elevator manufacturers. The distance control function realizes the floor distance self-learning and direct high-precision docking function. The user does not need to calculate the deceleration point, which simplifies the user's software design workload and has been widely used in elevators and stereoscopic warehouses. The inverter learns and memorizes the height information of each floor through the encoder in the memory. In the running process, if the distance is controlled by the given floor, the inverter will automatically calculate the deceleration stop at the deceleration point. When the destination floor information is valid through the floor enable terminal FLE, it is obtained from the F1 to F6 terminals. If it is the distance control of the given REQ request signal, the inverter will automatically calculate the deceleration point of each layer. It can be output to the controller in advance through the Y1~Y4 programmable output terminal. After the controller receives the deceleration signal of each layer, If it is necessary to stop, a stop request signal REQ is given to the frequency converter, and the frequency converter normally decelerates to stop according to the deceleration curve. The timing of the two distance controls is shown in Figure 1. (a) Distance control for a given destination floor (b) Distance control for a given parking request Figure 1 TD3100 Frequency Converter Distance Control Timing Third, using TD3100 to achieve two fixed distance positioning control method For the two-point fixed positioning control, it is equivalent to the situation that the elevator has only two floors. It is necessary to install limit switches at both ends, as long as distance self-learning is performed between two points, and the distance is directly controlled according to the given parking request. 1, self-learning Self-learning connection lines are shown in Figure 2(a). Short the UPL and DWL, and the left limit and the right limit are connected in parallel. Input the flat layer signal to UPL and DWL. The position of self-learning should start from the position beyond the left or right limit, if it can not leave the limit. The position of the bit can be self-learned, and the position accuracy can be ensured by adjusting the leveling distance F4.07 or the floor height 1 F4.09 during normal operation. Set F4.00 to 2 and F4.01 is set according to the position width for automatic calculation of the frequency division factor. During self-learning, the FWD and SL terminals are closed, and self-learning is started. Note that after the operation of the limit switch, the FWD command is removed and the learning is completed. Check the values ​​of F4.08 and F4.09 to see if they are logged correctly. If the acceleration/deceleration time is too long or too short, it can be solved by adjusting F3.11~F3.16. (a) Self-learning connection (b) Normal operation connection Fig. 2 Using TD3100 to achieve fixed positioning with two points 2, normal operation Calculate and set F1.07 according to Formula 1, where D is the diameter of the roller at the control line speed, According to Figure 2 (b) wiring, control FWD, REV, INS three commands, only need to control the FWD / REV signal during normal operation. INS is a jog command. When the jog operation is performed, the INS is valid first, and then the control command FWD/REV is valid to control the jogging left or right operation. 3, in the application of glass screen transfer machine The structure of the glass transfer machine is shown in Fig. 3. The motor is driven by a 2.2kW motor, the rated voltage of the motor is 380V, the rated operating frequency is 50HZ, the rated current is 5.0A, the rated speed is 1420r/m, the reduction ratio is 1:17, and 2 are installed. Proximity switch, in which the distance between 1# and 2# proximity switches is about 1400~1800mm, and the load of the transfer platform is about 150~170kg. The transfer machine requires movement and positioning between the two limit switches. The positioning accuracy error requires within 3mm, the single-stroke movement completion time is about 2-3 seconds, that is, it accelerates from 1# limit switch to constant speed, and then to deceleration. The time required to stop at the 2# limit is completed in 2-3 seconds. According to Figure 2 (a) wiring, set F4.00 = 2, first through the INS and REV closed to open the car to one side, and then through the FWD and SL terminals closed to complete the self-learning process. In order to improve the operating efficiency, set the relevant parameters of the S-curve to the maximum, set the brake control delay time F7.00, F7.01 to zero, and set the start frequency and start wait time F3.00, F3.01=0 to zero, S Curve parameters F3.02, F3.11, F3.12, F3.14, F3.15 are all set to 2.400m/ Fourth, using TD3100 to achieve a fixed distance multi-point positioning control method For applications such as three-dimensional warehouses and three-dimensional garages that require X, Y, and Z three-dimensional multi-position positioning motion control, the TD3100 is implemented, which can greatly simplify the circuit, reduce costs, and improve reliability. Since the maximum number of floors can reach 128 floors, the use of distance control for a given destination floor is extremely simple. The system using TD3100 stereoscopic warehouse is shown in Fig. 4. In the figure, UPL and DWL signals can use the user's leveling switch signal, and can also directly connect UPL and DWL to COM. FLE is the target layer enable terminal. When it is valid, the signal of the given layer of F1~F7 is valid; INI is the current layer initialization terminal. When it is valid, the current layer is restored to the given layer of F1~F7. From the comparison in the figure, we can see that with communication control, the circuit is simple, saving resources and saving costs. It should be noted that at present, this function needs to be customized. Of course, before the application of this system, it is necessary to conduct self-learning of the floor height. The self-learning method is the same as described in the previous section, and it is only necessary to set the total number of floors F7.00 according to the actual situation. (a) Binary given floor control (b) Communication control Figure 4 Stereoscopic warehouse system with TD3100 converter Fifth, using TD3100 to achieve two-point distance control method of positioning When the TD3100 implements the positioning control of two-point distance change, the method of use is basically the same as the two-point fixed positioning control method. The only difference is that the value of floor height 1 F4.09 must be manually or automatically changed in the parking mode, and then Run it. Because it is difficult to manually change, it usually needs to be controlled by the upper computer. In addition, because of the distance given control, two limit switches are required for positional position discrimination in order to prevent mechanical shocks from rising and falling in or out. The typical application of this function is mainly used in multi-motor multi-axis high-precision distance control systems such as smart digital stage control. The modern stage drive system using PROFIBUS-DP field bus control is shown in Figure 5. The system is controlled by a PC and built-in Siemens plug-in PROFIBUS master control board CP5611 or CP5412 can be used for manual and automatic control. The adapter uses the PROFIBUS-DP adapter EMERSON produced TDS-PA01 and TD3100 direct interface. The purpose of adopting PROFIBUS control is that due to more stage control motors, higher real-time control accuracy and faster response time can be achieved, achieving both fast and accurate purposes. Figure 5 Modern stage drive system with PROFIBUS-DP fieldbus control Sixth, concluding remarks In addition to the elevator applications, the TD3100 can be used in a variety of applications that require positioning and distance control. It can also effectively reduce the user's hardware design costs and software design workload, and improve the reliability of the control system. references: 1, TD3100 frequency converter product specification Day Light,Civic Day Light,Civic Daylight,Honda Civic Day Running Lights Danyang Weisheng Automotive Technology Co., Ltd , https://www.wizsinparts.com
Mechanical reduction ratio. Set F5.00=15, select the X1 terminal as the distance control enable function, and adjust the S curve according to the operation efficiency required by the process. Finally, the position accuracy of parking can be adjusted by adjusting F3.02 and F3.21. 
, F3.10, F3.13, F3.21 are all set to 2.00m/ , F3.02 is set to 0.3m/ . The result is a smooth operation that fully satisfies the process accuracy requirements and achieves a positioning effect using servo control. 
