JPH06206655A - Tension control device - Google Patents

Abstract

(57) [Summary] [Purpose] When the tension of the material mounted on the spool is controlled to be constant, the tension fluctuation when the winding and rewinding speed is accelerated / decelerated is accurately compensated. [Structure] Before actually performing tension control on a material, determine the mechanical loss torque for each reference speed without mounting the material on the spool, and accelerate the deceleration in a state where the reference speed is accelerated at a constant rate. The coefficient for the component acceleration / deceleration compensation torque is calculated, and the coefficient for the material component acceleration / deceleration compensation torque for the acceleration / deceleration is calculated while the material is mounted on the spool and the reference speed is accelerated at a constant rate. Then, during the actual tension control, the tension control is performed using the obtained torques.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tension control device for controlling the tension of a material mounted on a spool during winding and rewinding operations, and particularly when the winding and rewinding speeds are accelerated and decelerated. The present invention relates to a tension control device capable of accurately compensating for tension fluctuations in the.

[0002]

2. Description of the Related Art It is very important to maintain a constant tension during the winding and rewinding operations of a material mounted on a spool in order to maintain the dimensional quality such as the thickness of the material at a certain level. .

FIG. 3 is a block diagram showing a schematic configuration of a general tension control device. Coil 1a wound with material 1c
A mechanical load 1 including a spool 1b and a spool 1b is rotationally driven by an electric motor 2. Actual rotation speed (rotation speed) of this electric motor 2
W ₁ is detected by the speed detector 3. The electric motor 2 is rotationally driven by a power converter 4 as a drive circuit.

The actual tension A ₁ of the material 1c which is fed from the coil 1a or wound into the coil 1a is measured by the tension detector 5 and sent to the tension controller 6. The set tension A _S is input from the tension setter 7 to the tension controller 6. The tension controller 6 calculates and outputs a corrected tension A _C from the actual tension A ₁ and the set tension A _S. Then, the adder 8 adds the corrected tension A _C and the set tension A _S to obtain the reference tension A _R (= A
_It is applied to the torque conversion unit 9 as _C + A _S ). The torque converter 9 calculates the tension component torque T _A from the externally set diameter D _{C of the} coil 1 a and the reference tension A _R, and sends it to the next adder 10.

The rotation speed conversion unit 11 converts the reference speed (line transfer speed) V _R of the material 1c set from the outside into the reference rotation speed W _R using the diameter D _C of the coil 1a described above. The mechanical torque function generating circuit 12 receives the mechanical loss torque T _L of the mechanical load 1 corresponding to the input reference rotation speed W _R.
Is sent to the adder 10.

Further, the differential circuit 13 to obtain a reference acceleration alpha _R by differentiating the reference rotational speed W _R, and sends to the next machine minute deceleration torque calculation unit 14. Mechanical acceleration / deceleration torque calculation unit 1
4 is a coefficient K _M preset to the input reference acceleration α _R
And the mechanical component acceleration / deceleration compensation torque T _M is calculated and sent to the adder 10.

The mechanical component acceleration / deceleration compensation torque T _M is
It is a compensation torque that is added or subtracted when the speed is accelerated or decelerated to the tension component torque T _A applied to the electric motor 2 to generate the tension A _S set for the material 1c. Specifically, the moment of inertia of the spool 1b (GD ² ) And the moment of inertia of the motor 2 itself (GD
² ) And the total moment of inertia added to the reference acceleration α _R
It is a value proportional to the value multiplied by.

Furthermore, to calculate the material content deceleration torque calculation unit 15 multiplies the coefficient K _B which is previously set to the reference acceleration alpha _R entered by material partial acceleration and deceleration compensation torque T _B, to the adder 10 Send out.

The material component acceleration / deceleration compensation torque T _B is
It is a compensation torque that is added or subtracted when the speed is accelerated or decelerated to the tension component torque T _A applied to the electric motor 2 to generate the tension A _S set for the material 1c. Specifically, the moment of inertia of the coil (material) 1a having the outer diameter D _C (GD ² ) Is multiplied by the reference acceleration α _R.

The adder 10 adds the tension component torque T _A , the mechanical loss torque T _L , the mechanical component acceleration / deceleration compensation torque T _M, and the material component acceleration / deceleration compensation torque T _B to obtain the following torque control as a set torque T _S. It is applied to the section 16. T _S = T _A + T _L + T _M + T _B

The limit rotation speed Wm is input from the limit speed setting unit 18 to the rotation speed control unit 17. this is,
This is because when the electric motor 2 is driven by torque control, it is possible to prevent the speed from rapidly increasing or reversing when the material breaks.

When the actual rotation speed W ₁ fed back from the speed detector 3 is less than the limit rotation speed Wm, the rotation speed control unit 17 determines the reference torque from the actual rotation speed W ₁ and the reference rotation speed W _R. T _R is calculated and sent to the next torque control unit 16.

The torque control unit 16 selects a torque that suppresses the actual rotation speed from the input set torque T _S and reference torque T _R , and sets this torque as the control torque T _C. The electric motor 2 is drive-controlled via. As a result, the tension of the material 1c is controlled to the set tension A _S.

[0014]

However, the tension control device shown in FIG. 3 still has the following problems.

That is, four torques T for determining the reference torque T _R input to the rotation speed control circuit 17
_{Of A} , T _L , T _M , and T _B , only the mechanical loss torque T _L corresponding to each reference rotational speed W _R is actually measured and created from the mechanical load 1. The data collection work for setting the mechanical loss torque T _L is performed by the coordinator of this device. Therefore, not only the burden on the coordinator increases, but also the individual differences among the coordinators appear in erroneous settings and adjustment results.

Further, a coefficient K _M for obtaining the mechanical component acceleration / deceleration compensation torque T _M in the mechanical component acceleration / deceleration torque calculation unit 14
Then, the coefficient K _B for obtaining the material component acceleration / deceleration compensation torque T _B in the material component acceleration / deceleration torque calculation unit 15 is obtained as follows. The engineer first calculates the moment of inertia using the mechanical design data value of the spool 1b and the electric motor 2 and the theoretical specific gravity data value of the material 1a. The respective coefficients K _M K _B are calculated from these values by a theoretical calculation method. Then, the calculated value is set in each calculation unit 14.15.

However, when the tension control is actually performed,
Due to the fact that the theoretically calculated coefficients K _M and K _B are different from the actual values, there arises a problem that the tension A applied to the material 1c fluctuates when the rotational speed is accelerated or decelerated.

In such a case, the control in the tension control section 6 works to change the reference tension A _R to the torque converting section 9 so that the tension A ₁ becomes constant. As a result, the tension-dependent torque T _A output from the torque converter 9 changes.

However, in this method, basically, the fluctuation in tension during acceleration / deceleration cannot be eliminated. In addition, the tension control unit 6
It is not desirable to control the tension A of the material 1c by itself. The tension control unit 6 causes the tension A to be affected by an unexpected disturbance.
Should be operated only when fluctuates greatly.

The present invention has been made in view of the above circumstances, and is applicable to a machine loss torque which was carried out by a manual operation of an adjuster or a machine value which is a theoretically calculated fixed value. ， By automatically measuring each coefficient for obtaining each acceleration / deceleration compensation torque for the material before the actual tension control operation, the fluctuation of the tension applied to the material can be measured even when the mechanical load is accelerated or decelerated. It is an object of the present invention to provide a tension control device that can be suppressed as much as possible.

[0021]

In order to solve the above problems, the present invention provides a mechanical loss torque and a mechanical component acceleration / deceleration compensation torque with respect to a tension component torque corresponding to a set tension set by a tension setter. Also, the set torque obtained by adding the material acceleration / deceleration compensation torque is obtained, the torque of the electric motor is controlled based on this set torque or the reference torque output from the rotation speed control unit, and the coil connected to the spool is connected to the coil. In the tension control device for controlling the tension applied to the material attached in a shape,

Reference speed varying means for variably setting a reference speed for the electric motor, and a reference torque at each reference speed output from the rotation speed control unit is measured and stored as a mechanical loss torque in a state where no material is attached to the sprawl. In the state where the material is not attached to the means and the sprawl, the reference torque output from the rotation speed control unit is measured while accelerating the reference speed at a constant rate, and the coefficient for the mechanical acceleration / deceleration compensation torque is calculated and stored. With the means and the material attached to the sprawl, the reference torque output from the rotation speed control unit is measured while accelerating the reference speed at a constant rate,
A means for calculating and storing a coefficient for the material component acceleration / deceleration compensation torque, and a value obtained by multiplying the rotational acceleration by each coefficient by using the stored mechanical loss torque and each coefficient when the tension control for the actual material is performed. The acceleration / deceleration compensation torque and the mechanical loss torque are added to the tension component torque to obtain a set torque.

[0023]

According to the tension control device configured as described above,
Before actually operating the mechanical load, determine the machine loss torque for acceleration / deceleration of the rotation speed and the respective coefficients for the mechanical component acceleration / deceleration compensation torque and the material component acceleration / deceleration compensation torque, and calculate the torque function generation circuit and (4) Each torque calculation circuit is set. Therefore, since the torque control for the material is performed by using each compensation torque of the actual mechanical load, it is possible to reduce the tension fluctuation during acceleration / deceleration as much as possible.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing a schematic configuration of the tension control device of the embodiment. The same parts as those of the conventional device shown in FIG. 3 are designated by the same reference numerals. Therefore, detailed description of the overlapping portions is omitted.

In the tension control device of this embodiment, the mechanical loss torque T _L and
The acceleration / deceleration compensating torque measuring unit 20 and the reference speed generating unit 19 used for measuring the respective acceleration / deceleration compensating torques T _M and T _B of the mechanical component and the material and determining the respective coefficients K _M and K _B are provided. It is incorporated.

[0027] Then, the supply path of the reference velocity V _R, the supply path of the limiting rotational speed Wm, the set torque T _S supply paths each normally closed contact 21a is in the, 21b, 21c are inserted.
Further, the reference speed generator 19 is connected to the rotation speed converter 11 via the normally open contact 22a. The reference torque T _R output from the rotation speed control unit 17 is applied to the acceleration / deceleration compensation torque measurement unit 20 and the mechanical torque function generation circuit 12a via the normally open contact 22b.

Each of the normally closed contacts 21a, 21b, 21c
Is closed during the operating state for the normal mechanical load 1 to which the coil 1a is mounted, and each torque T _L ,
It is opened during the measurement mode of T _M and T _B. Each normally open contact 22a. 22b is opened in the operating state period for normal machine load 1, the torque T _L, T _M, T _B
It is closed during the measurement mode period.

Further, the acceleration / deceleration compensation torque measuring unit 20 has a mechanical loss torque T _L output from the mechanical torque function generation circuit 12a and a mechanical component acceleration / deceleration compensation torque T output from the mechanical component acceleration / deceleration torque calculation unit 14a. _M and the reference acceleration α _R output from the differentiating circuit 13 are input.

Then, the acceleration / deceleration compensation torque measuring unit 20 sets the coefficients K _M and K _B to the mechanical component acceleration / deceleration torque calculation unit 14a and the material component acceleration / deceleration torque calculation unit 15a, respectively. Next, the operation of the tension control device configured as described above will be described.

That is, the tension A ₁ applied to the material 1c
In order that the torque is controlled to the installation tension A _S with high accuracy, it is necessary to apply an accurate reference torque T _R to the torque controller 16. In order to obtain an accurate reference torque T _R , the mechanical loss torque T _L , the mechanical component acceleration / deceleration compensation torque T _M, and the material component acceleration / deceleration compensation torque T _{B that} are actually required are measured in advance. There is a need to.

Therefore, hereinafter, (1) mechanical loss torque T _L
Measurement, (2) Measurement of coefficient K _M to mechanical partial acceleration and deceleration compensation torque T _M, the measurement of the coefficient K _B for (3) the material content deceleration compensation torque T _B, is applied to the (4) the actual material 1c Description will be given in each order of the original torque control so that the tension A ₁ is constant. (1) Measurement of mechanical loss torque T _L

The operation mode is set to the measurement mode, the normally closed contacts 21a, 21b, 21c are opened, and the normally open contacts 22 are set.
a and 22b are closed. At this time, the coil (material) 1a is not attached to the spool 1b. Therefore, the diameter D _C of the input coil is replaced with the diameter D _{S of the} spool 1b.

During this measurement mode period, the rotation speed control unit 17 is instructed to determine the actual rotation speed W ₁ and the reference rotation speed W _R.
Only entered. At this time, the reference speed V _R is supplied from the reference speed generator 19 to the speed converter 11.

Therefore, the reference speed generator 19 changes the reference speed V _R in a plurality of steps within the practical range of the operating speed. As a result, as shown in FIG. 2, the rotation speed control unit 17 outputs each reference torque T _R corresponding to each reference rotation speed W _R. At this time, when the reference rotation speed W _R and the actual rotation speed W ₁ of the electric motor 2 are constant, the value of the reference torque T _R matches the value of the mechanical loss torque T _{L at} the reference rotation speed W _R.

Therefore, the reference torque T _R output from the rotation speed control unit 17 while sequentially changing the reference speed V _R is stored in the mechanical torque function generating circuit 12a as each machine loss torque T _L for each reference rotation speed W _R. To do. In this way, the mechanical loss torque T _L for each reference rotation speed W _R can be acquired in advance. (2) Measurement of coefficient K _M for mechanical component acceleration / deceleration compensation torque T _M ,

After the measurement of the mechanical loss torque T _L is completed,
The reference speed generator 19 is driven to increase the reference speed V _R at a constant acceleration rate. Then, at this time, the reference torque T _R output from the rotation speed control unit 17 is taken into the acceleration / deceleration compensation torque measurement unit 20. Further, the acceleration / deceleration compensation torque measuring unit 20 reads each mechanical loss torque T _M at each reference rotation speed W _R for which measurement has been completed. Furthermore, the differentiating circuit 13
Read the reference acceleration α _R output from. And
When a certain reference rotational speed W _R is reached, the measurement command a is input, and the coefficient K _M of the mechanical component acceleration / deceleration compensation torque T _M at that time is calculated by the following formula. T _M = T _R −T _L = K _M · α _R K _M = (T _R −T _L ) / α _{R The} calculated coefficient K _M is the mechanical acceleration / deceleration torque calculation unit 14a.
Is set to. (3) Measurement of coefficient K _B for material component acceleration / deceleration compensation torque T _B

In this measuring mode, the spool 1b
Then, the coil 1a is actually attached. Then, it sets the outer diameter D _C of the actual coil 1a to the outer diameter D _C of the coil inputted. Then, similarly to the measurement of (2), the reference speed generator 1
9 is driven to raise the reference speed V _R at a constant acceleration rate. Then, the mechanical component acceleration / deceleration torque calculation unit 14a reads the mechanical component acceleration / deceleration compensation torque T _M which has already been measured. The material component acceleration / deceleration compensation torque T _B is theoretically expressed by the following equation when the current coil diameter is D _C and the spool 1b diameter is D _S. T _B = α _R (D _C ⁴ -D _S ⁴ ) K _B

Then, when a certain reference rotation speed W _R is reached, the measurement command a is input, and the coefficient K _B for the material component acceleration / deceleration compensation torque T _B at that time is calculated by the following equation. K _B = (T _R −T _L −T _M ) / [α _R (D _C ⁴ −
D _S ⁴ )] The calculated coefficient K _B is the material component acceleration / deceleration torque calculation unit 15a.
Is set to. (4) Original torque control

The above way mechanical loss torque T _L for each standard rotational speed W _R that is measured, the coefficient of mechanical partial acceleration and deceleration compensation torque T _M K _M, and material content deceleration compensation torque T
_When the setting process of the coefficient K _B of _B is completed, each normally closed contact 21
a, 21b, 21c are closed, and the normally open contacts 22a, 22
Open b. Then, according to the procedure described in the conventional apparatus of FIG. 3, the coil 1a mounted on the spool 1b.
Then, the tension control is performed on the material 1c to be rewound from the material 1c.

According to the tension control device thus constructed, before actually performing the tension control on the material 1c,
In a state where the spool 1b without attaching the coil 1a, gradually varied stepwise the reference speed V _R by the reference speed Department 19, the machine at each reference speed V _R of the reference speed V _R is remains constant The loss torque T _L is automatically calculated and set in the mechanical torque function generating circuit 12a.

Therefore, unlike the conventional apparatus, the adjuster does not need to manually set the mechanical loss torque T _L , so that the work load on the adjuster can be greatly reduced. In addition, it is possible to eliminate artificial factors such as individual differences among coordinators and erroneous settings.

Further, a state in which the reference speed V _R is accelerated at a constant acceleration rate by the reference speed generator 19 without the coil 1a mounted on the spool 1b is created, and in this state, mechanical component acceleration / deceleration compensation is performed. It is set to the machine component deceleration torque calculating unit 14a automatically calculate the coefficient K _M of the torque T _M.

Further, with the coil 1a attached to the spool 1b, a state is created in which the reference velocity V _R is accelerated by the reference velocity generator 19 at a constant acceleration rate. In this state, the material component acceleration / deceleration compensation is performed. It is set into the material fraction deceleration torque calculating unit 15a automatically calculate the coefficient K _B of the torque T _B.

Therefore, each coefficient K _M. Compared to the K _B, more actual machinery and materials coefficients K _M right corresponding to (coil). It is possible to obtain K _B. Therefore, it is possible to minimize fluctuations in tension due to these errors during acceleration and deceleration.

[0046]

As described above, according to the tension control device of the present invention, the mechanical loss torque for each reference speed and the acceleration / deceleration compensation torque for the mechanical component and the material for acceleration / deceleration are calculated before the actual operation. Each coefficient for obtaining is obtained and set in each circuit for calculating each torque. Therefore, during actual tension control, tension control can be performed using these mechanical loss torques and each coefficient, so the corrected tension value from the tension control unit is set to a very small value except when disturbance occurs. The tension fluctuation during acceleration / deceleration can be suppressed.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a tension control device according to an embodiment of the present invention.

FIG. 2 is an operational characteristic diagram showing an operation of the apparatus of the embodiment.

FIG. 3 is a block diagram showing a schematic configuration of a conventional tension control device.

[Explanation of symbols]

1 ... Mechanical load, 1a ... Coil, 1b ... Spool, 1c ...
Material, 2 ... Electric motor, 3 ... Speed detector, 4 ... Power converter,
5 ... tension detector, 6 ... tension controller, 7 ... tension setting device, 1
DESCRIPTION OF SYMBOLS 1 ... Rotation speed converter, 12, 12a ... Mechanical torque function generation circuit, 13 ... Differentiation circuit, 14, 14a ... Mechanical component acceleration / deceleration torque calculation unit, 15, 15a ... Material component acceleration / deceleration torque calculation unit, 16 ... Torque control Part, 17 ... Rotation speed control part, 18
... limit speed setting device, 19 ... reference speed generating unit, 20 ... acceleration / deceleration compensation torque measuring unit.

Claims (1)

[Claims] 1. A set torque obtained by adding a mechanical loss torque, a mechanical component acceleration / deceleration compensation torque, and a material component acceleration / deceleration compensation torque to a tension component torque corresponding to a set tension set by a tension setter. A tension that controls the torque of the electric motor based on the set torque or the reference torque output from the rotation speed control unit to control the tension applied to the material mounted in the coil shape on the spool connected to the electric motor. In the control device, a reference speed varying means for variably setting a reference speed for the electric motor, and a state in which no material is attached to the sprawl
Means for measuring and storing the reference torque at each reference speed output from the rotation speed control unit as a mechanical loss torque, and the rotation while accelerating the reference speed at a constant ratio in a state where no material is attached to the sprawl. Means for measuring the reference torque output from the speed control unit, calculating and storing a coefficient for the mechanical acceleration / deceleration compensation torque, and accelerating the reference speed at a constant rate in a state where a material is attached to the sprawl. While measuring the reference torque output from the rotation speed control unit, calculating and storing a coefficient for the material component acceleration / deceleration compensation torque, and the stored mechanical loss torque when performing tension control on the actual material. And each coefficient, the acceleration / deceleration compensation torque and the mechanical loss torque obtained by multiplying the rotational acceleration by the coefficient are used as the tension component torque. Tension control device characterized by comprising an acceleration compensating means for obtaining the set torque by calculation.