JPH01257594A - Machining roller drive control device - Google Patents

Abstract

PURPOSE:To improve the feed speed of a work piece by providing a position control circuit for stopping output during a period of time elapsed until output of machining edge position detecting means when output of a function generator again increases from a position where the output of the function generator stops increasing substantially agrees with the output of the function generator. CONSTITUTION:Output of a work piece position detecting means 1 is input to a function generator 3 to output the position of a machining edge M. The output of the generator and the output of machining edge position detecting means 2 are compared by the first comparator 7, and the output of the first comparator is converted to a position output signal by a position control unit 5. On the other hand, according to output of the work piece position detecting means 1 and the function generator 3 and output of machining edge position detecting means 2, a position output signal is controlled by a control circuit 5, and the position output signal and a speed output signal is compared by the second comparator 8 to control the drive of a machining roller 12. At this time, output of the position control circuit 5 is stopped until the output of the machining edge position detecting means 2 when the output of the function generator 3 again increases from the stop position substantially agrees with the output of the function generator 3.

Description

[Detailed Description of the Invention] (Field of Industrial Application) This invention relates to a processing roller for controlling the drive of a processing roller when perforating a workpiece such as printer paper or a slip at regular intervals. This invention relates to a drive control device.

(Prior Art) For example, when forming perforations on printer paper, a structure as shown in FIG. 5 has conventionally been used. According to this, printer paper P is sent out by rollers A and B. The moment the perforation blade M attached to the perforation roller R comes into contact with the roller C, a perforation is created in the printer paper P.

The reduction ratios of the reduction gears 01 to G4 driven by the motor IM are determined so that the feed speed of the printer paper P and the circumferential speeds of the sewing machine roller R and rollers A, B, and C match.

With such a configuration, when it is necessary to change the interval between perforations, replace the sewing machine roller with one that has a different circumferential length, and also reduce the speed so that the peripheral speed matches the feed speed of the printer paper P. It is necessary to change the reduction ratio of aircraft G4.

To do this, it is necessary to prepare a plurality of sewing machine rollers with different circumferential lengths, and it also takes a long time to replace them and change the reduction ratio of the reduction gear.

In order to improve this, a servo motor SM is used to drive the sewing machine roller R, as shown in FIG.

Rotary encoder R is used to detect the feed amount of printer paper P.
Rotary encoder RE is used to detect the position of EI and sewing machine blade M.
A configuration is being considered in which the positional relationship between the two is constantly controlled by an arithmetic circuit OP.

Note that S is a setting device for setting the interval of the sewing machine [1], and AM is a servo amplifier.

(Problems to be Solved by the Invention) In the configuration shown in FIG. 6, from the perforation interval set by the setting device S and the circumferential length of the sewing machine roller R,
Position t of the sewing machine blade M corresponding to the feed amount X of the printer paper P
i'! As shown in FIG. 7, y is converted into a function as y = f (x).

In the same figure, between position a where the sewing machine blade M enters and position d where the sewing machine blade M enters next, if point a is taken as the origin, xd
is the interval between perforations, and yd is the circumference length of roller R, which is 0.
Points a and d are the positions where the sewing machine blade M enters, and point A is the position where the sewing machine blade M leaves the paper, and the sewing machine roller R is stopped during the period up to point C. Further, during the period from point C to point d, the sewing machine roller R is controlled again so as to match the function.

As will be understood from this, the servo motor SM rotates at a constant speed in the section from point 8 to point S and the section from point 0 to point d, and in the section from point 5 to point C, the servo motor SM stops. It indicates that

However, in reality, there is a delay in the response of the servo motor SN, making instantaneous stopping and instantaneous acceleration impossible, resulting in hunting as shown by the dotted line in Figure 8, which takes time to stabilize. .

This invention aims to shorten the time required to settle the perforation blade to the next perforation position.

The purpose of this is to improve the feeding speed of printing paper, etc.

(Means for solving the problem) This invention processes a workpiece sent out at an arbitrary speed at predetermined intervals by a processing roller having processing blades arranged on one circumference. In the processing device, outputs of a workpiece position detection means for detecting the position of the workpiece, a processing blade position detection means for detecting the position of the processing blade of the processing roller, and the workpiece position detection means are inputted. a function generator that outputs the position of the processing blade as , a speed control circuit that converts the output of the function generator into a speed output signal, and a comparison between the output of the function generator and the output of the processing blade position detection means. a position control circuit that converts the output of the first comparator into a position output signal; a position control circuit that converts the output of the first comparator into a position output signal; an output signal control circuit that controls the position output signal according to the output, and a second comparator that compares the speed output signal and the position output signal, and a position where the output of the function generator stops increasing. Control is performed to stop the output of the position control circuit during a period from then until the output of the processing blade position detection means substantially matches the output of the function generator when the output of the function generator increases again. It is characterized by the following.

(Function) In the present invention, the processing roller is controlled in the manner shown in FIG. 2, which corresponds to FIG. 7. That is, in the section from point 8 to point b, speed control and position control are performed, but when point 1 b is reached, 1 position control is interrupted, so only speed control is performed, and the servo motor is controlled to zero speed.

However, due to the response delay, the position of the sewing machine blade with respect to point C, where the servo motor is again controlled at a non-zero speed, is hc
This results in a positional deviation 1c=hc-yc.

Next, position control is restarted from point e where y=hc. As a result, at point 1 e, the positional deviation caused by the response delay during acceleration can be almost ignored, and the subsequent settling time becomes faster. The paper feeding speed can be increased by smooth servo motor drive.

Usually, a function f (
Since the slope of X) is 1, the coordinates of one point e are e(x
c+ic, he), and the restart of position control is x=xc
The same is true from +ic.

(Example) An example of the present invention will be described with reference to the block diagram of FIG. Note that the specific configuration is the same as the configuration shown in FIG. In addition, in the following explanation, the circumferential lengths of the printer paper feed rollers A-C and the sewing machine roller R are each 2
00III11. Rotary encoder REI, RE
2 output is 2000 pulses/rotation.

Also, the interval between perforations set by the setting device S is set to 30.
If 0m+m, the function y= f by the function generator 3
(x) can be shown as shown in FIG. 3 corresponding to FIG. Points a and d are the positions where the sewing machine blade M enters the printer paper P (the positions where the sewing machine blade M is on the line connecting the centers of the rollers C and the sewing machine rollers R).
is the position away from the printer paper P.

If point a is the origin of the graph (0,0), point d is d
(3000, 2000). This is because each output pulse of rotary enneader REI and RE2 is 0.1
This is because it is mm. If the sewing machine blade M is separated from the paper when it is α degrees beyond the position point a where the sewing machine blade M enters, the y-coordinate value yb of one point is determined as yb≧□X2000. In the case of yb=100 in FIG. 3, α=18°.

Moreover, the coordinate values of point C are as follows.

y c= y b== 100 xc= xd -yd+ xb=3000-2000+
100:1100 Therefore, point C is c (1100,1
00).

In Figure 1, counters 1 and 2 indicate the X and Y coordinate values in Figure 3, but if each counter value matches xd and yd, each value becomes zero. do. If the current position is point a, the counter 1 counts the pulses output from the rotary encoder REI that are proportional to the feed amount of the printer paper P, and based on the output X, the function generator 3 causes the sewing machine blade M y indicating the position of
is output.

The speed control circuit 4 Δt is calculated, and the printer paper P feed speed va is output.

On the other hand, if the sewing machine roller R is directly connected to the servo motor SH, the position (coordinates) of the sewing machine blade M can always be grasped by the counter 2, and the outputs y and h are input to the comparator 7, The positional deviation is output as 1=hy−y.

The position control circuit 5 performs so-called P-ID control,
The output vb is generated as shown in the following equation.

Note that KP is a proportional constant, Ki is an integral constant, and Kd is a differential constant.

In the interval a=b, the output signal K of the output signal control circuit 6 is H.
level, the position control circuit 5 outputs an output vb, and the comparator 8 receives v=va+vb.

It is output to the servo drive circuit 9 to control the servo motor SM. When this series of controls reaches point b, that is, 0 point, which continues until the value of counter 1 reaches 100, the output signal K of output signal control circuit 6 becomes L level, and the output of position control circuit 5 vb is stopped and only the velocity output of v=va is output from the comparator 8.

In the interval b=c, the output y of the function generator 3 is a constant value (=10
0), and as a result, the speed output V=O, but due to the response delay of the servo motor SN, the position of the sewing machine blade M at X=XC becomes he. This point is designated as point f. Let ic be the positional deviation at point C where the servo motor SM is again controlled at a non-zero speed, then 1c=he-yc (yc is x
= the output of the function generator 3 when xc).

The output signal control circuit 6 outputs the X coordinate value xc of point C and the positional deviation i.
X of point e which outputs the output vb of the 1st position control circuit 5 from c
The coordinate Xe is determined as xe=xc+ic, and the output signal vb is stopped until x=xe.

Next, after point c (x = 1100), the speed output becomes other than zero, and the servo motor SMt is rapidly accelerated to match the feed speed va of the printer paper P. Figure 4 shows the control of the servo motor SH.
If the feed rate is constant, the horizontal axis can be made to coincide with the horizontal axis in FIG.

In the step response during acceleration and deceleration of the servo motor SM, etc., the acceleration is faster than the deceleration, but there is no significant difference, so there is no significant difference in the areas of the two hatched portions in FIG.

That is, the difference between the output he of the function generator 3 and the position he of the sewing machine blade M at the positional deviation 1e (x=xe) at point e is small. Therefore, point g is g (x et he). At point C, the servo motor SM suddenly accelerates from a stop, and the point where acceleration is almost completed is at point e, the positional deviation io at point e is small, and the output V to the servo drive circuit 9 also changes little. Therefore, the speed of the servo motor SH can be adjusted smoothly.

The servo drive circuit 9 drives the servo motor SN at the speed human power V.
Input the output pulse j of the rotary encoder RE2, which is directly connected to the servo motor S, so that
It controls the speed of the servo motor SH.

Note that the present invention is also applicable to cases where, for example, a film or the like is cut instead of perforated.

(Effects of the Invention) According to the invention detailed above, the settling time can be shortened, and therefore the feed rate can be improved compared to conventional position control over the entire range. play.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing one embodiment of the present invention, and FIG.
4 are characteristic diagrams for explaining the operation, FIGS. 5 and 6 are layout diagrams of the conventional example, and FIGS. 7 and 8 are characteristic diagrams for explaining the operation of the conventional example. 1.2...Counter, 3...Function generator, 4...
Speed control circuit, 5... Position control circuit, 6... Output signal control circuit, 7, 8... Comparator, 9... Servo drive circuit, SM... Servo motor, REI, RE2...
・Rotary encoder, patent applicant: Shinpo Kogyo Co., Ltd. -- Agent: Yoshiyuki Nakazawa, 1st assistant. Figure 1

Claims (1)

[Scope of Claims] A processing device that processes a workpiece sent out at an arbitrary speed at predetermined intervals by a processing roller having processing blades arranged on the circumference, comprising: a workpiece position detection means for detecting the position of the workpiece; a workpiece position detection means for detecting the position of the workpiece blade of the workpiece roller; and a workpiece position detection means for detecting the position of the workpiece position detection means; A function generator for outputting an output, a speed control circuit for converting the output of the function generator into a speed output signal, and a first comparator for comparing the output of the function generator and the output of the processing blade position detection means. , a position control circuit that converts the output of the first comparator into a position output signal, the output of the function generator, the output of the workpiece position detection means, and the output of the processing blade position detection means; The circuit includes an output signal control circuit that controls a signal, and a second comparator that compares the speed output signal and the position output signal, and the output signal of the function generator is changed from the position where the output of the function generator stops increasing. The method is characterized in that the output of the position control circuit is controlled to be stopped during a period until the output of the processing blade position detection means and the output of the function generator substantially match when the output increases again. Processing roller drive control device