JPH0246917A - Controller for coiling and decoiling machine for long-sized object - Google Patents

Abstract

PURPOSE:To suppress a sudden fluctuation of a plate speed and to stably execute coiling and decoiling by compensating a speed reference value by a tension controller and limiting on output of the tension controller by a compensation output limiter. CONSTITUTION:An adder 19 operates a tension deviation being a deviation between a tension detection value which has been detected by a tension detector 17 and a tension reference value which is set by a tension setting device 11 and outputs it to a tension controller 12. The tension controller 12 converts the tension deviation to a speed deviation and outputs it as a compensation output to a compensation output limiter 13. In case the output of the tension controller 12 has exceeded the upper limit value and the lower limit value which have been determined in advance, compensation output limiter 13 saturates its output and limits the compensation output. An adder 21 calculates a deviation between a compensation plate speed reference value and a plate speed detection value and outputs it to a speed controller 14, and the speed controller 14 converts a deviation signal of a plate speed which has been inputted to an armature current reference value for controlling the torque of a motor 3, and outputs it to an armature current controller 15.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a winding and unwinding machine for long objects such as steel strips and long steel strips.

[Prior Art] In an apparatus for winding or unwinding a band-shaped plate such as a band steel plate into a coil, in order to maintain a stable coiled state, the tension applied to the plate during winding or unwinding and the It is necessary to keep the plate feed speed constant. In order to satisfy these conditions, a device for controlling the tension of the plate and a device for controlling the feeding speed of the plate are required.

FIG. 9 is a block diagram showing the configuration of a control device for a winding/rewinding machine in the prior art. In the figure, 1 is a steel band plate (hereinafter referred to as a plate), and a motor 5 is installed on the entrance side of the reel 2.
It moves in the direction of the white arrow through a speed adjusting roll 4 driven by a winding (rewinding) motor driven by an electric motor 3.
It is wound onto reel 2. The plate tension is kept constant by the tension control device 25 controlling the torque of the electric motor 3 using the armature current. In the tension control device 25, the field current controller 8 controls the field current according to the coil diameter given by the coil diameter calculator 7, and makes the field 6n magnetic flux proportional to the coil diameter. As a result, the tension of the plate is proportional to the armature current, and constant tension control is possible by controlling the armature current. The armature current controller 15 adds the temporary acceleration obtained by differentiating the output of the plate speed setting device 10 that sets the plate speed using the differentiator 23 and the coil diameter given by the coil diameter calculator 7 as input values. The electric machine is controlled based on the armature current reference value, which is the sum of the acceleration/deceleration current calculated by the deceleration compensator 24, that is, the current necessary to accelerate and decelerate the reel and coil, and the tension current that is the output of the tension setting device 11. Control the child current.

Further, the feeding speed of the plate is controlled to be constant by controlling the rotation speed of the electric motor 5. The rotational speed of the electric motor 5 is controlled by a speed control device 16 so that the peripheral speed of the speed adjusting roll 40 coincides with the speed reference value set by the plate speed setting device 10.

The rotation speed of the electric motor 5 is detected by a rotation speed detector 6, and is fed back to a speed control device 16 via an adder 9. In this way, the speed regulating roll 4 is controlled 1111 to a constant rotational speed.

FIG. 10 is a block diagram showing tension control characteristics in the aforementioned control device. In the figure, when the armature current reference value 1 ref of the motor 3 is input to the armature current controller 15 and the armature current I is output, the armature current
The driving torque TR is generated according to the driving torque generation characteristic 31 based on the relationship between the proportionality constant K and the field Φ. Further, a load torque TL is generated in the opposite direction to the drive torque T in the load torque generation characteristic 34 based on the relationship between the plate tension F, the coil diameter, and the gear ratio g. In the electric motor 3, the driving torque 'F
Acceleration/deceleration torque ΔT, which is the difference (TRTL) between R and load torque Tt, is determined by the rotation speed N of the electric motor 3 and Become. Rotation 9N is the coil circumferential speed characteristic 3 due to the relationship with gear ratio g, pi and coil diameter.
At 2b, the coil peripheral speed becomes V0. This coil circumferential speed■
. and the circumferential speed ■8 of the speed adjustment roll 4 (VD V
R) becomes the circumferential speed difference Δ■, and the circumferential speed difference Δ■ is a constant,
The tension F of the plate is determined by the tension generation characteristic 33 multiplied by . In this tension control characteristic, the tension of the plate is not detected and directly controlled, but the tension is controlled to be constant by controlling the current of the electric motor that drives the reel. This is because when the tension fluctuates, the load torque changes and is field banked into the acceleration/deceleration torque, so the rotational speed and circumferential speed of the coil change, suppressing tension fluctuations, which is unique to the tension generation mechanism. There was something special about its use.

[Problem to be solved by the invention]

In such a conventional control device for a winding/rewinding machine, when slip occurs between the temporary and speed adjusting rolls, the plate tension decreases and the driving torque of the electric motor, which has lost the opposing load torque, is applied to the coil. There was a problem in that the plate speed suddenly increased due to acceleration. In this case, when winding the coil, the winding condition of the coil deteriorates, making it difficult to unwind in the next process, and when unwinding in the next process, winding misalignment occurs inside the coil, resulting in scratches. It can also be the cause of Furthermore, as a result of the plate speed varying during winding, slippage between the speed adjusting roll and the plate is promoted, causing cracks and roll flaws. In addition, when winding and unwinding, the inertia characteristics of the coil, reel, and motor as a whole change due to changes in the coil diameter, and the tension generated by the speed difference between the circumferential speed of the coil and the circumferential speed of the speed-adjusting roll is controlled. There was a problem that the characteristics changed.

The present invention has been made in view of the above circumstances, and is capable of suppressing rapid fluctuations in plate speed due to plate slippage, and is capable of winding long objects without being affected by changes in coil diameter (having stable control characteristics).・The purpose is to provide a control device for a rewinding machine.

[Means to solve the problem]

A control device for a long object winding/unwinding machine according to claim 1 of the present invention drives a reel for winding a long object into a coil shape by an electric motor, and adjusts the field current of the motor according to changes in the coil diameter. In a control device for a long object winding/unwinding machine that winds and unwinds a long object with a constant tension by adjusting the armature current according to a set speed, A speed detector detects the speed of the long object, and an armature current of the electric motor is controlled based on the speed detection value obtained by the speed detector so that the speed of the long object matches a predetermined speed reference value. an armature current control means, a tension detector for detecting the tension of the long object, and a speed standard for adjusting the tension of the long object to a predetermined tension based on the detected tension value obtained by the tension detector. a tension controller for compensating the value;
The control device for a long object winding/unwinding machine according to claim 2 is characterized in that it comprises a compensating output limiter that limits the output of the tension controller, and in addition to this, a compensation output limiter that limits the output of the tension controller. It is characterized by comprising a gain compensator that adjusts the gain in accordance with the inertial characteristics of the reel which depends on the coil diameter in order to keep the responsiveness of the control system constant.

[Effect]

In the device of the present invention, when the tension of the plate suddenly decreases due to slipping between the plate and the speed control roll, and the plate speed suddenly increases, the tension controller greatly accelerates the tension to maintain the tension at a constant value. A signal is output, but the acceleration signal is limited within a certain value by a compensating output limiter, and an excessive increase in plate speed is suppressed. In addition, the gain compensator adjusts the gain of the speed controller according to the coil diameter determined by the coil diameter calculator to compensate for changes in inertial characteristics of the coil, reel, and motor as a whole caused by changes in the coil diameter, Keep control system responsiveness constant.

〔Example〕

The present invention will be specifically described below based on drawings showing embodiments thereof. FIG. 1 is a block diagram showing the configuration of a control device for a long object winding/unwinding machine according to claim 1 of the present invention, in which a plate 1 is a speed adjusting roll 4 driven by an electric motor 5. The film moves in the direction of the white arrow and is wound onto a take-up (rewind) reel 2 driven by an electric motor 3. A tension detector 17 consisting of a combination of a tension detection roll and a load cell and a touch roller type plate speed detector 18 are provided on the passage of the plate l between the speed adjustment roll 4 and the take-up (unwinding) reel 2. , the tension and velocity of the plate 1 are detected. The tension detection value detected by the tension detector 17 is input to an adder 19, and the adder 19 calculates the human force value and the tension reference value set by the tension setting device 11 which sets the reference value of the tension of the plate 1. The tension deviation, which is the deviation from the tension deviation, is calculated and the result is output to the tension controller 12. Tension controller 1
2, in order to make the tension of the plate l match the tension reference value,
In order to compensate for the plate speed reference value set by the plate speed setter 10 which sets the provisional 1 speed reference value, a computation is performed to convert the tension deviation into a speed deviation, and the result is used as a compensation output by a compensation output limiter. Output to 13.

The compensation output limiter 13 limits the compensation output by saturating the output when the output of the tension controller 12 exceeds a predetermined upper and lower limit value. The output of the compensation output limiter 13 is input to the adder 2o.
0, the output of the compensating output limiter 13 is added to the plate speed reference value input from the plate speed setting device 10, and the compensating plate speed reference value as the result is output to the adder 21. Adder 2
1 calculates the deviation between this compensating plate speed reference value and the plate speed detection value input from the plate speed detector 18, and outputs this result to the speed controller 14. The speed controller 14 converts the manual plate speed deviation signal into an armature current reference value for controlling the torque of the electric motor 3 and outputs it to the armature current controller 15 . The armature current controller 15 controls the armature current of the motor 3 based on a manually inputted armature current reference value. Further, the field of the electric motor 3 is controlled by a field current controller 8 which outputs a field current proportional to the coil diameter calculated by the coil diameter calculator 7. In this way, the field current side jII device 8 generates a field proportional to the coil diameter, thereby making the armature current proportional to the tension of the plate, making it possible to control the armature current at a constant tension by controlling the gate. do.

On the other hand, the rotation speed of the electric motor 5 is controlled by a speed control device 16 so that the circumferential speed of the speed adjusting roll 4 matches the speed reference value set by the plate speed setting device 10. Electric motor 5
The number of revolutions is detected by a number of revolutions detector 6, and is fed to the speed controller I6 via an adder 9. In this way, the speed regulating roll 4 is controlled to a constant rotational speed.

By controlling the drive of this electric motor 5 and the electric motor 3, the tension and speed of the plate 1 are controlled to be constant.

FIG. 3 is a block diagram showing the tension control characteristics of the above device. In the figure, the deviation ΔF between the tension reference value Fref set by the tension setting HII and the tension F is determined by the tension controller 12.
and the speed reference deviation ΔVre by the compensation output limiter 13
f and is added to the board speed reference value Vref set by the board speed setting device 10.

The compensating plate speed reference value Vr'ef, which is the result of this, is the plate speed ■
6, and its deviation Δ■' is calculated by the speed controller 14.
The armature current reference value 1 ref is output to Ire
It is controlled to be constant by the f-armature current controller 15. Hereinafter, as in the prior art, the drive torque TR is generated by the drive torque generation characteristic 31, the load torque TL is generated by the load torque generation characteristic 34, and the plate tension F is generated by the rotation speed/coil peripheral speed characteristic 32 and the tension generation characteristic 33. occurs. Due to these characteristics, for example, when slip occurs between the speed regulating roll 4 and the plate 1 and ΔF increases, ΔVref
is limited within a certain value by the compensation output limiter 13, and as a result, occurrence of excessive plate speed fluctuations is suppressed.

FIG. 2 is a block diagram showing the configuration of a control device for a long object winding/rewinding machine according to claim 2 of the present invention, and parts that correspond to claim 1 of the present invention are designated by the same numbers. The explanation will be omitted. In the figure, 22 is a gain compensator for compensating the gain of the speed controller 14, and the coil, reel, and electric field are determined according to the coil diameter signal input by the coil diameter calculator 7. The overall inertial characteristic J of the JJ machine 3 and the field Φ of the electric motor 3 are calculated. The force is determined by these and the coil diameter. The speed controller 14 multiplies the plate speed deviation signal output from the adder 20 by the gain compensation signal, and outputs an armature 'rrL flow reference value corresponding to the result to the armature current controller 15.

It has the characteristics of From 8■'■. The total value G: +s of the remaining gains is shown in the following equation (11).

= 6□3.・CC+S+ ・K・g・π(1
) As is clear from the equation, the tension control characteristics do not depend on the coil diameter, thereby suppressing changes in the tension control characteristics due to changes in the coil diameter.

Next, specific results of control using the apparatus according to the present invention having the above-described configuration will be explained.

FIG. 5.6 is a graph showing the results of control using the prior art device and the device of the present invention (1) when slip occurs between the tentative roll 1 and the speed regulating roll 4. Chapter 7.8
The figure is a graph showing the results of control using the conventional technology and the device of the present invention when the speed of the speed adjusting roll 4 changes. In these graphs, all horizontal axes represent elapsed time, the vertical axis in (a) represents the speed adjustment roll speed, and (b) the vertical axis represents the speed adjustment roll speed.
The vertical axis of ) is the coil circumferential speed, the vertical axis of (c) is the armature current of the motor, the vertical axis of (d) is the plate tension, and (e)
The vertical axis shows the tension controller output and shows the relationship between the two. In addition, in FIGS. 6 and 8, the solid line indicates claim 1.
The dotted line shows the result when using the device according to claim 2.
The results obtained when using the device according to the above are shown.

As is clear from these results, according to the control device for a long object winding/unwinding machine according to the present invention, not only the variation in board speed due to slip between the board and the speed adjustment roll is suppressed, but also the speed The tension fluctuation due to the speed change of the adjustment roll remains constant regardless of the coil diameter.

In this embodiment, the tension of the plate was obtained using a tension detector, but the tension may be calculated using a calculation based on the electric current of the motor, the plate speed, and the coil diameter.

〔effect〕

As described in detail above, the control device for a long object winding/unwinding machine according to the present invention can suppress rapid fluctuations in board speed caused by slipping of the board, and can also suppress tension caused by changes in coil diameter. Unstable control characteristics can be eliminated, and stable winding and unwinding can be achieved.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, and Fig. 1.2 is a block diagram showing the configuration of a control device for a long article winding/rewinding machine according to the present invention, and Fig. 3.4 is a block diagram showing the configuration of a control device for a long object winding/rewinding machine according to the present invention. A block diagram showing the tension control characteristics, FIGS. 5 to 8 are diagrams showing the results of control by the control device of the present invention and the prior art, FIG. 9 is a block diagram showing the control device of the prior art, and FIG. The figure is a block diagram showing its tension control characteristics. 1... Board 2... Reel 3... Electric motor 12...
・Tension controller 13...Compensation output limiter 14...Speed controller 17...Tension detector 1st...Speed detector 22...Gain compensator patent Applicant Sumitomo Metal Industries, Ltd. Agent Patent Attorney Noboru Kono Moguchi-I-1 1.5 sec Figure η Figure R Figure η

Claims (1)

[Claims] 1. A reel for winding a long object into a coil is driven by an electric motor, and the field current of the motor is adjusted according to changes in the coil diameter, and the armature current is adjusted according to the set speed. A control device for a long object winding/unwinding machine that winds up and unwinds a long object at a constant tension by controlling a speed detector for detecting the speed of the long object; armature current control means for controlling the armature current of the electric motor in order to make the speed of the long object match a predetermined speed reference value based on the speed detection value obtained by the method; a tension detector for detecting tension; a tension controller for compensating the speed reference value so as to match the tension of the long object to a predetermined tension based on the tension detection value obtained by the tension detector; and the tension controller 1. A control device for a long object winding/rewinding machine, comprising: a compensating output limiter that limits the output of the long article winding/rewinding machine. 2. The reel according to claim 1, further comprising a gain compensator that adjusts the gain of the speed controller in accordance with the inertial characteristics of the reel which depends on the coil diameter so as to keep the responsiveness of the control system constant. Control device for winding and unwinding of long objects.