JPH0147373B2 - - Google Patents

Description

[Detailed Description of the Invention] <Technical Field> The present invention drives each bride roll in a process line by a combination of a digital vector control type inverter for each roll and a common main controller that controls these digital vector control type inverters. Relating to a bridle roll drive system.

<Prior art> When driving a bridle roll with a vector control type inverter, unlike a DC motor, it is necessary to drive each roll.

Conventionally, when driving each bridle roll with a DC motor, a method has been adopted in which a tacho generator or pulse generator is provided in common and the output of the common speed controller is distributed as a speed control command to each inverter.

FIG. 1 is a block diagram of a bridle roll drive system that applies this method to drive a bridle roll by a combination of a main controller and a digital vector control type inverter.

22 is a bridle roll, 1 and 2 are induction motors for driving rolls #1 and #2 of the bridle roll 22, respectively, 3 and 4 are speed detectors attached to the drive induction motors 1 and 2, respectively, and 5 and 6 are speed detectors. Digital vector control type inverters for driving induction motors 1 and 2 (7 and 8 are power transistors, 9 and 1
0 is a current controller, 11 and 12 are vector controllers,
13 is a speed controller, 14 is an overspeed prevention circuit), 18
is the main controller (19 is the operation command switch,
20 is a jog command switch, 21 is a speed setting device, 2
2 is a load sharing ratio setting device).

In this bridle roll drive system, a feedback signal from the speed detector 3 of roll #1 of the bridle roll 22 is input to the digital vector control type inverter 5, and a common speed controller 13 is used to control the driving induction motor 1 and the transmission line. 15
In order to reduce the tension fluctuation between rolls #1 and #2 of the bridle roll 22, the transmission line 15 is connected to the digital vector control type inverter 6. There was a need for faster signal transmission. Furthermore, if transmission with the master controller 18 is included, the transmission lines seen from each digital vector control inverter 5, 6 are 15 and 1.
6, 15 and 17, and the interface between each digital vector control type inverter 5, 6 and between each digital vector control type inverter 5, 6 and main controller 18 is complicated.

In addition, in this system, the speed of only the drive induction motor 1 is actually controlled, so when a plate passes or breaks, a load is applied only to the drive induction motor 1, and the load is applied to the drive induction motor 1. Since the control system operates to compensate for the torque, the output signal of the speed controller 13 increases. Since the drive induction motor 2 has a small load, it will over-rotate if the same torque command as the drive induction motor 1 is applied. In order to prevent this, it is necessary to provide an overspeed prevention circuit 14 that compares the speed command with the actual speed of the driving induction motor 2 and suppresses the torque command if the speed is overspeed.

As described above, since the digital vector control type inverters 5 and 6 of rolls #1 and #2 have different hardware, their software cannot be made the same.

In this system, when changing the load sharing ratio between the driving induction motors 1 and 2, the load sharing ratio set by the load sharing ratio setting device 22 in the main controller 18 is input to the digital vector control type inverters 5 and 6. This is done by multiplying the torque command by

<Object of the Invention> Therefore, an object of the present invention is to simplify the system by making the software of each digital vector control type inverter the same, and to achieve high-precision load control with good responsiveness to load fluctuations. An object of the present invention is to provide a bridle roll drive system that performs balance control.

<Configuration of the Invention> In the present invention, each digital vector control type inverter has a speed control system with the same configuration that receives as input the output of a speed detector attached to the drive motor,
a load ratio setter that sets a load sharing ratio for each roll and varies the speed control gain of each digital vector control type inverter according to the load sharing ratio; A load balance controller that balances the torque commands by comparing the torque commands and adding a correction signal such that the ratio of these torque commands becomes the load sharing ratio to the output of the speed controller of the digital vector control type inverter on the slave side. It is characterized by having the following in the main controller.

<Examples> Examples of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of a bridle roll drive system according to an embodiment of the present invention, in which the same reference numerals as in FIG. 1 indicate the same components as in FIG.

In this embodiment, the digital vector control type inverter 5' of roll #1 and the digital vector control type inverter 6' of roll #2 have the same circuit configuration, and each drive induction motor 1 is used for speed control and vector control. , 2 are respectively attached to speed detectors 3, 4, and speed management is performed for each digital vector control type inverter 5', 6'. That is, the speed command input from the main controller 18' through the transmission lines 16 ₁ and 17 ₁ is
For roll #1, the deviation from the feedback signal of speed detector 3 becomes the input signal of speed controller 13, and for roll #2, the deviation from the feedback signal of speed detector 4 becomes the input signal of speed controller 13. 14'
becomes the input signal.

In addition, a load sharing ratio (1:A) for each roll #1, #2 is set in the main controller 18', and each digital vector control type inverter 5' is set according to this load sharing ratio (1:A). , 6', and a vector controller 11 for the vector control type inverter 5'.
a load sharing ratio multiplier 25 that multiplies the torque command a to the load sharing ratio 1/A output from the load sharing ratio setting device 23;
The output of the speed controller 14' of the digital vector control type inverter 6' on the slave side is corrected according to the deviation c of the torque command b to the vector controller 12 of the vector control type inverter 6', and , b is provided. For example, two driving induction motors 1,
2 are operated with positive torque, and if the torque command signal a is large and the torque command signal b is small, the deviation input signal to the load balancer 24 becomes positive, and the load balancer 24 responds to the torque command b. A correction signal increasing the speed is added to the output signal of the speed controller 14' via the transmission line ₁₇₃ .
Further, even if the torque command a is positive and the torque command signal b is negative, the load balancer 24 automatically operates so that the torque commands a and b have the same sign. Further, when the capacities of the driving induction motors 1 and 2 are equal and the load sharing ratio is 1:1, a load ratio of "1" is output from the load sharing ratio setting device 23 to the speed controllers 13 and 14', and Output “1” to the load sharing ratio multiplier 25, and roll #1,
When the slip prevention condition #2 is changed and the capacity ratio of the drive induction motors 1 and 2 is changed to 1:A, the load sharing ratio setting device 23 sets the speed controller 13 to “1” and the speed controller 14' and “1/A” is output to the load sharing ratio multiplier 25. Load balancer 2
4 is "1/A" stored in the load sharing ratio multiplier 25 to the speed gain a output from the speed controller.
speed controller 14' according to the deviation between the product multiplied by the speed gain b and the speed gain b output from the speed controller 14'.
The speed gain b of the speed controller 13 is the speed gain a of the speed controller 13.
Correct it so that it becomes 1/A.

Next, the results of a simulation of the present invention described above under the same conditions as an actual line will be described below. Figure 3 shows the line configuration of this simulation, with the bridle roll 31 on the master side,
The tension of the strip between the bridle rolls 31 and 32 is controlled by using the bridle roll 32 as the slave side. 33, 34, 35, and 36 are roll #1 of the bridle roll 31, respectively.
#2, Rolls #1 and #2 of bridle roll 32
The driving induction motors 37, 38, 39, and 40 are the roll #1 of the bridle roll 31, respectively.
#2, Rolls #1 and #2 of bridle roll 32
speed detectors, 41, 42, 43, and 44 are digital vector control inverters for rolls #1 and #2 of the bridle roll 31 and rolls #1 and #2 of the bridle roll 32, respectively; 59 is a load balance controller 49; 50, main controller consisting of linear accelerator/decelerator 51 and speed setting device 52, 45, 46, 4
7 and 48 are transmission lines between each digital vector control type inverter 41, 42, 43, and 44 and the main controller 59, respectively.

The simulation conditions are as follows.

Scan time of main controller 59
30 (msec) Transmission time 10 (msec) Scan time of digital vector control type inverters 41 to 44 5 (msec) Speed gain of roll #1 of bridle roll 31
50 Bridle roll 31 roll #2 speed gain
50 Bridle roll 32 roll #1 speed gain
10 Speed gain of roll #2 of bridle roll 32
10 (1) First, a simulation was performed on load balance during roll diameter wear using the following roll diameters.

Roll diameter of roll #1 of bridle roll 31
650 (mm) Roll diameter of roll #2 of bridle roll 31
630 (mm) Roll diameter of roll #1 of bridle roll 32
650 (mm) Roll diameter of roll #2 of bridle roll 32
630 (mm) Figure 4 shows the simulation results without load balancing control, and Figure 5 shows the simulation results with load balancing control. 64 and 60 are the speed command and speed of the bridle roll 32, respectively; 65 and 67 are the speed command and speed of the bridle roll 31, respectively;
61 and 66 are bridle rolls 32,
31 load balance amount (load balance controller 49,
50 output), 62 and 63 are the torque deviations of the bridle rolls 32 and 31, respectively (the same applies to Figs. 6 and 7 below). However, in Figure 4,
The scales on the vertical axes in FIG. 5 and in FIGS. 6 and 7 described below are omitted to avoid clutter, and are different for each graph. In the case of FIG. 4, the load balance amounts 61 and 66 are zero, and the absolute values of the torque deviations 62 and 63 increase in proportion to the speeds 60 and 67. On the other hand, in FIG. 5 with load balance control, both torque deviations 62 and 63 become zero at constant speed. In addition, in the case of Figure 5, 5
Disturbance occurs at (seconds), 12 (seconds), and 13 (seconds).

(2) Next, from time 5 (seconds) to 12 (seconds), a load disturbance of 20 (%) is applied to roll #1 of the bridle roll 32, and after time 13 (seconds), a load disturbance of 20 (%) is applied to roll #2 of the bridle roll 31. A simulation was performed by adding a load disturbance of 50%.

FIG. 6 shows the simulation results without load balancing control, and FIG. 7 shows the simulation results with load balancing control. In the case of Fig. 6, the P control of the speed controller of roll #1 and the speed controller of roll #2 are
The influence of PI control and the influence of load disturbance are greatly reflected in the torque deviation 62. On the other hand, in the case of FIG. 7, load balancing is performed immediately even if a load disturbance occurs.

In addition, in this system, when the speed controller is set to PI control, the speed controller of the master side roll to which the output of the load balancer is not applied is set to PI control to prevent the yarn from being out of order.

Although the above embodiments are based on the case where the number of rolls is two bridle rolls, the present invention can also be applied to the case where the number of rolls is three or more bridle rolls by using a similar circuit configuration. In addition, DDC can perform load balancing control for each drive not only for AC motors but also for DC motors.

<Effects of the Invention> According to the present invention, the hardware and software of the driving device for each roll of the bridle roll are made the same, and the system is simplified.
This improves the responsiveness and accuracy of load balance control to roll wear, load fluctuations, etc., which were problems in transitioning to AC for bridle rolls, which are the master of tension management in process lines.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a conventional example of a bridle roll drive system, and FIG. 2 is a block diagram of a bridle roll drive system according to an embodiment of the present invention.
FIG. 3 is a diagram showing the line configuration of the simulation of the present invention, and FIGS. 4 to 7 are diagrams showing the results of the simulation. 22: Bridle roll, 1, 2: Drive induction motor, 3, 4: Speed detector, 5', 6': Digital vector control type inverter, 13, 14': Speed controller, 23: Load sharing ratio setter , 24: Load balancer, 25: Load sharing ratio multiplier.

Claims (1)

[Scope of Claim] A bridle roll drive system that drives bridle rolls in a process line by a combination of digital vector control type inverters for each roll and a common master controller that controls these digital vector control type inverters, comprising: The vector control type inverter has a speed control system with the same configuration that inputs the output of the speed detector attached to the drive motor, sets the load sharing ratio of each roll, and adjusts the load sharing ratio of each roll according to this load sharing ratio. The load sharing ratio setting device that varies the speed control gain of the digital vector control type inverter is compared with the torque command to the vector controller of each digital vector control type inverter, and the ratio of these torque commands becomes the load sharing ratio. What is claimed is: 1. A bridle roll drive system comprising: a load balance controller within a main controller that adds a correction signal such as this to the output of a speed controller of a digital vector control type inverter on the slave side to balance a torque command.