WO2008096034A1 - Method for controlling an electric drive - Google Patents

Method for controlling an electric drive Download PDF

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Publication number
WO2008096034A1
WO2008096034A1 PCT/FI2008/000023 FI2008000023W WO2008096034A1 WO 2008096034 A1 WO2008096034 A1 WO 2008096034A1 FI 2008000023 W FI2008000023 W FI 2008000023W WO 2008096034 A1 WO2008096034 A1 WO 2008096034A1
Authority
WO
WIPO (PCT)
Prior art keywords
deceleration
acceleration
reference value
electric drive
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/FI2008/000023
Other languages
French (fr)
Inventor
Ari LEPPÄ
Jukka Gruzdaitis
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Oy
Original Assignee
ABB Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB Oy filed Critical ABB Oy
Priority to KR1020097016207A priority Critical patent/KR101431073B1/en
Priority to EP08718493.3A priority patent/EP2115867B1/en
Priority to CN2008800040266A priority patent/CN101606313B/en
Priority to BRPI0807171A priority patent/BRPI0807171B1/en
Priority to US12/525,421 priority patent/US8405338B2/en
Publication of WO2008096034A1 publication Critical patent/WO2008096034A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • D—TEXTILES; PAPER
    • D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
    • D21F—PAPER-MAKING MACHINES; METHODS OF PRODUCING PAPER THEREON
    • D21F13/00—Making discontinuous sheets of paper, pulpboard or cardboard, or of wet web, for fibreboard production
    • D21F13/04—Making discontinuous sheets of paper, pulpboard or cardboard, or of wet web, for fibreboard production on cylinder board machines
    • D21F13/06—Format rolls
    • D21F13/08—Automatic cut-off rolls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H18/00—Winding webs
    • B65H18/08—Web-winding mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/195—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations
    • B65H23/198—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations motor-controlled (Controlling electrical drive motors therefor)
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/20—Controlling the acceleration or deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/41—Winding, unwinding
    • B65H2301/414—Winding
    • B65H2301/4148—Winding slitting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/10—Size; Dimensions
    • B65H2511/12—Width
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/10—Size; Dimensions
    • B65H2511/13—Thickness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/10—Size; Dimensions
    • B65H2511/14—Diameter, e.g. of roll or package
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/10—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/20—Acceleration or deceleration
    • B65H2513/23—Acceleration or deceleration angular
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/12—Density
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30—Forces; Stresses
    • B65H2515/31—Tensile forces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30—Forces; Stresses
    • B65H2515/32—Torque e.g. braking torque

Definitions

  • the invention relates to a method according to the preamble portion of the claim 1 for controlling an electric drive that drives drums of finishing machines, such as drums in slitters, rereelers and rewinders.
  • the invention also relates to a method according to the preamble portion of the claim 7 for controlling an electric drive.
  • the machine reel so called tambour reel, made by the paper machine and having the width of the paper machine
  • the machine reel has a width and a diameter that is in accordance with the dimensioning of the paper machine.
  • the machine reel is reeled off, is slit to webs with desired width and the webs are reeled on the customer rolls that have the length and width according to the order.
  • the finishing machine reels are generally controlled by frequency converter drives, or by other controllable devices wherein the drive motors controlling frequency converters control the rotation speed of the motors according to the given control parameters so that the completed cus- tomer rolls fulfill the requirements of the end user or upgrading as regards to their outer overall dimensions and their inner structure.
  • the customized rolls are reeled by the slitter and the widths and lengths the customized rolls are varying according to the orders. It is characteristic of the paper manufacture that the manufacturing process is continuous and it is not possible to create a large in- termediate storage for unfinished products without interruption of the process or without slowing down the process. The slowest part of the process and the production chain determines thus the total speed of production and the capacity of the factory.
  • the slitting is a factor of essential importance as a point of view of the efficiency and smoothness of the production and its plan and implementation has been paid attention.
  • the changeover time of the finished rolls is tried to decrease and the efficiency of the production is tried to upraise.
  • control methods are known, whereby the reels are controlled to stop as exact as possible in order to achieve the desired length of the web or the desired diameter of the roll.
  • the acceleration and the deceleration are chosen according to the pre-calculated worst situation without dependence on temporary parameters.
  • the dimensioning values of the paper machine are used as a defining control variable.
  • the highest allowable speed or acceleration of the reel are defined on the basis of the design values of the paper machine, wherein the defining factor is the required power that must be able to achieve but that must not be exceeded.
  • the goal of the present invention is to create a new control of the slitter and its electric drive so that the efficiency of the slitter increases and the slitting corresponds better to the increasing speed of the paper manufacturing process. This is achieved by the characteristics of the characterizing portion of the claims 1 and 7. Other advantageous manners of performance are defined in the dependant claims.
  • a limit value for the electric drive is defined, at least two or more several value of parameters effecting to the electric drive is monitored, the reference value of the acceleration/deceleration is defined on the basis of at least two parameters and the electric drive is controlled so that the acceleration/deceleration corre- sponds to the highest possible reference value, by which the reference value of the acceleration/deceleration defined on the basis of any parameter is not exceeded, and that limit value defined for the electric drive is not exceeded.
  • the maximum reference value of the acceleration/deceleration is defined in the prevailing load or drive situation of the finishing machine, whereby a maximum value is defined for at least two characteristic quantities of the finishing machine's components in the prevailing load or drive situation within the limits of the design values of the characteristic quantity, the reference values of the acceleration/deceleration are defined corresponding to these maximum values of the characteristic quantities, from the group of the defined reference values corresponding to the maximum values of the acceleration/deceleration the value is chosen as the maximum reference value of the acceleration/deceleration that is critical, and the reel of the finishing machine is controlled by the chosen maximum reference value.
  • the overall capacity of the slitter increases significantly.
  • the manu- facturing time of one customer roll decreases(increases) by several per cent.
  • the slitting being one of the critical factors of the paper manufacturing the saving in time and the speed-up that have come true will effect to the whole paper manufacturing process and its productivity. In the furthest case it is even possible that the purchase of another slitter can be avoided.
  • the electric drive is dimensioned such that the worst possible drive situation can be mastered, but the dimensioning of the whole electric drive is not in- creased because of any single control variable.
  • the electric drive is controlled by the parameters that limit the performance at each moment.
  • the largest possible capacity of the slitter is utilized when the control parameters are defined case by case according to the prevailing circumstances.
  • the limit value of the electric drive is the maximum torques and the maximum powers of the targets of usage and the maximum powers of the system.
  • the parameter is one or several of the group: density of paper, web speed, tightness of web, diameter of on-reeler, diameter of unwinder, width of web, thickness of paper, inertia masses of system, friction losses, input voltage, electrical losses, efficiency, type of input devices, load distribution between reel sets, overload capacity of system's components, cabling of system, supply transformer, limitations of mechanics or limitations of process.
  • the reference value of acceleration and the reference value of deceleration are defined at least partly on the basis of different parameters.
  • the reference value of acceleration is defined during acceleration and the reference value of deceleration is defined during deceleration.
  • the reference value of acceleration/deceleration is dated continuously and the electric drive is controlled by the newest reference value. Further the maximum values of the characteristic quantities are defined continually during the drive. Further different characteristic quantities are used in different drive circumstances during one drive.
  • FIG. 2 illustrates the flow chart of a method according to the invention
  • FIG. 3 is a schematic illustration of one drive according to the invention.
  • FIG. 6 illustrates speed as a function of time of the drive according to the invention.
  • the Figure 1 illustrates schematically an electric drive 2, where the method according to the invention can be applied.
  • the reel of the slitter is rotated by a motor 4, which is controlled by a frequency converter 6.
  • the slitter typically comprises several reels, motors rotating the reels, whereby the motors are coupled to a common line drive.
  • the measuring and control devices of the slitter give data of the paper's density, data of the web speed, data of the web tightness and the data of the diameters and frictions of the pa- per rolls, like un- winder and on-reeler as well known in the art.
  • This data is forwarded to the inputs 10 of the control unit 8 in the frequency converter.
  • the measurement occurs advantageously in real time.
  • the highest allowed acceleration or deceleration i.e. the reference values of the acceleration and deceleration can be defined on the basis of the measurement in each driving situation in such a way that the torque limit defined according the electric drive's dimensioning is not exceeded.
  • the principle of a control method according to the invention is described as a flow chart.
  • the block 20 it is defined based to the data of the dimensioning of the paper machine the torque limit of the electric drive that the drive must not exceed.
  • the values of the parameters, which effect to the control of the electric machine, are read or defined from the measuring data of the paper web (block 22).
  • the importance has the factors effecting to the torque of the electric drive, like tightness of the paper web, instantaneous values of the diameters of the paper rolls and the data of the paper density.
  • the speed of the roll also is measured in the beginning of the inspection and control period as well as the target speed.
  • the acceleration command of the motor is generated by the updated data (block 24) in such a way that no allowable maximum value is exceeded. Because there simultaneously are several factors that effect to the control it is also considered which factor is critical, and the value defined according to the critical factor is chosen as the acceleration command as will be described later in detail.
  • the motor is controlled by the frequency converter (block 26) according to the chosen command. The control cycle is repeated continuously, until the rolling sequence has finished.
  • one acceleration command can be used from the zero speed to the full speed during one acceleration sequence, for example, and correspondingly, from the full speed to the zero speed during one deceleration sequence.
  • the Figure 3 illustrates one finishing machine of paper machine in principle, which utilizes the solution according the invention. It should be noted that in the figure there are described only the main components whose characteristic values are utilized in the invention and/or whose acceleration/deceleration is controlled. Accordingly, the parts that belong in the known manner to the finishing machine, like winders, joining devices of web or corresponding devices are not shown.
  • the electric power required by the apparatus is fed to the supply unit 30 via the three phase cables 31 from the mains.
  • the supply voltage is rectified by the mains rectifiers of the supply unit and the rectified voltage is lead to the DC bus 32 of the line drive.
  • Several frequency converters 34 are coupled to the DC bus.
  • the frequency converters control the frequency of the voltage supplied to the AC motors 36 via the cables 35 in order to control the rotating speed and the torque in accordance with the load of the motor.
  • the reels of the finishing machine i.e. the reel 38 of the unwinder and the reel 40 of the on-reeler are mechanically coupled to the shafts 37 of the motors 36.
  • the control system 42 controls the electric components of the finishing machine, such as supply unit 30, the fre- quency converters and motors as visualized by the dash line 44.
  • control system determines the acceleration, the target speed, by which as long as possible is aimed to drive, and the deceleration, when a new roll is started to drive on the reel of the on-reeler.
  • the control system uses the acceleration and speed com- mands when defining for the finishing machine the pre-defined design values that have been an the basis of the most demanding situation.
  • FIG. 4 there is illustrated as a schematic diagram an embodiment, which implements a solution according to the invention.
  • the reference values for the reels' acceleration and deceleration are created by which reference values the reels are rotated.
  • block 60 there are calculated the reference values of the acceleration and deceleration according to the drives, i.e. according to the design, the effi- ciency and the loading capacity of the motors and the frequency converters.
  • the input values of the block 60 are the parameters that effect to the operation of the drives.
  • the blocks 62 and 64 are these kinds parameters.
  • limit value 66 that comes from the own design of the drives.
  • the output of the block 60 gives the reference values of the acceleration and the deceleration that are il- lustrated in the blocks 68 and 70. Simultaneously the maximum acceleration and deceleration allowed by the system design is calculated in the block 72. On the basis of the instantaneous values of the parameter 74 and the parameter 76 the reference values of the acceleration and deceleration are calculated. By the design limit value of the system (block 78) the reference values are limited respectively as above and the output of the block gives the acceleration and deceleration commands in the blocks 80 and 82 as the result of the system design and the parameter values.
  • the mechanics of the finishing machine like the structure of the reels and the bearings define additionally the limit values (block 84) that are utilized when calculating the third reference values for the acceleration (block 86) and for the deceleration (block 88). All the three acceleration commands, respectively deceleration commands are thus reference values that either the drive, the system or the mechanics can carry out themselves, if there is no need to take account the effect of the other two factors.
  • the acceleration commands of the drive the system and the mechanics are combined so that at each moment the command is valid whose instantaneous value is the lowest.
  • the output of the block 90 is thus acceleration command curve (block 92), whose instantaneous value corresponds the smallest instantaneous value of the acceleration commands 68, 80 and 86.
  • the instantaneous values of the deceleration command curve are the lowest of the deceleration commands 70, 72 and 88.
  • the reel is accelerated by a ramp illustrated by the line 50 from time to to ti up to the rated speed V N .
  • the slope of the ramp or the acceleration is defined beforehand on the basis of the design values so that the maximum allowed values are not exceeded for any component. From time ti to t 2 the drive speed is constant and the end deceleration is started at the moment t 2 , by the deceleration ramp shown by the line 52, whereby the reeling ends at the moment t 3 , when the requested diameter of the cus- tomer roll is reached.
  • the acceleration and deceleration ramps are naturally aimed to be controlled as steep as possible so that the period of the constant speed would be as long as possible and the total time as short as possible.
  • the design values of the finishing machine like the size of the supply transformer, the loading capacity of the frequency converters or the motors, are upraised, the acceleration and deceleration ramps can be made steeper, whereby the constant speed drive can last longer.
  • the shortening of the drive cycle requires a remarkable addition in dimensioning.
  • the acceleration commands are drawn in to the same set of curves in the Figure 6. Accordingly, the start acceleration occurs according to the fraction line 54 up to the moment t 4 . After it the constant speed drive lasts to the moment t 5 . The deceleration occurs according to the fraction line 56 during the period from t 5 to i ⁇ . In the Figure the dash line illustrates the curve of the Figure 5.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)
  • Paper (AREA)
  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)

Abstract

The invention discloses a method for controlling an electric drive that drives reels of a slit ter in the paper machine. In the method at least speed and acceleration/deceleration of a slitter is controlled. According to the invention a limit value of the electric drive is defined in the method, values of at least two or more parameters effecting to the electric drive is monitored, a reference value of the acceleration/deceleration is defined on the basis of at least two parameters, and the electric drive is controlled so that the acceleration/deceleration corresponds to the highest possible reference value, by which the reference value of the acceleration/deceleration defined on the basis of any parameter is not exceeded, and that the limit value of the electric drive is not exceeded.

Description

METHOD FOR CONTROLLING AN ELECTRIC DRIVE
The invention relates to a method according to the preamble portion of the claim 1 for controlling an electric drive that drives drums of finishing machines, such as drums in slitters, rereelers and rewinders. The invention also relates to a method according to the preamble portion of the claim 7 for controlling an electric drive.
When manufacturing paper the machine reel, so called tambour reel, made by the paper machine and having the width of the paper machine, is cut by the slitters to customer reels, whose width and length or diameter is desired. The machine reel has a width and a diameter that is in accordance with the dimensioning of the paper machine. During the slitting the machine reel is reeled off, is slit to webs with desired width and the webs are reeled on the customer rolls that have the length and width according to the order. The finishing machine reels are generally controlled by frequency converter drives, or by other controllable devices wherein the drive motors controlling frequency converters control the rotation speed of the motors according to the given control parameters so that the completed cus- tomer rolls fulfill the requirements of the end user or upgrading as regards to their outer overall dimensions and their inner structure.
Typically, the customized rolls are reeled by the slitter and the widths and lengths the customized rolls are varying according to the orders. It is characteristic of the paper manufacture that the manufacturing process is continuous and it is not possible to create a large in- termediate storage for unfinished products without interruption of the process or without slowing down the process. The slowest part of the process and the production chain determines thus the total speed of production and the capacity of the factory.
The slitting is a factor of essential importance as a point of view of the efficiency and smoothness of the production and its plan and implementation has been paid attention. The changeover time of the finished rolls is tried to decrease and the efficiency of the production is tried to upraise. Earlier e.g. control methods are known, whereby the reels are controlled to stop as exact as possible in order to achieve the desired length of the web or the desired diameter of the roll. According to the general principle known earlier the acceleration and the deceleration are chosen according to the pre-calculated worst situation without dependence on temporary parameters. In connection of the conventional paper machine drives the dimensioning values of the paper machine are used as a defining control variable. Thus the highest allowable speed or acceleration of the reel are defined on the basis of the design values of the paper machine, wherein the defining factor is the required power that must be able to achieve but that must not be exceeded.
The goal of the present invention is to create a new control of the slitter and its electric drive so that the efficiency of the slitter increases and the slitting corresponds better to the increasing speed of the paper manufacturing process. This is achieved by the characteristics of the characterizing portion of the claims 1 and 7. Other advantageous manners of performance are defined in the dependant claims.
In the method according to the invention a limit value for the electric drive is defined, at least two or more several value of parameters effecting to the electric drive is monitored, the reference value of the acceleration/deceleration is defined on the basis of at least two parameters and the electric drive is controlled so that the acceleration/deceleration corre- sponds to the highest possible reference value, by which the reference value of the acceleration/deceleration defined on the basis of any parameter is not exceeded, and that limit value defined for the electric drive is not exceeded.
According to an alternative method of the invention the maximum reference value of the acceleration/deceleration is defined in the prevailing load or drive situation of the finishing machine, whereby a maximum value is defined for at least two characteristic quantities of the finishing machine's components in the prevailing load or drive situation within the limits of the design values of the characteristic quantity, the reference values of the acceleration/deceleration are defined corresponding to these maximum values of the characteristic quantities, from the group of the defined reference values corresponding to the maximum values of the acceleration/deceleration the value is chosen as the maximum reference value of the acceleration/deceleration that is critical, and the reel of the finishing machine is controlled by the chosen maximum reference value.
When using the slitter's control method according to the invention the overall capacity of the slitter increases significantly. By increasing the start and end accelerations the manu- facturing time of one customer roll decreases(increases) by several per cent. The slitting being one of the critical factors of the paper manufacturing the saving in time and the speed-up that have come true will effect to the whole paper manufacturing process and its productivity. In the furthest case it is even possible that the purchase of another slitter can be avoided. Advantageously, the electric drive is dimensioned such that the worst possible drive situation can be mastered, but the dimensioning of the whole electric drive is not in- creased because of any single control variable.
According to one advantageous implementation of the invention the electric drive is controlled by the parameters that limit the performance at each moment. The largest possible capacity of the slitter is utilized when the control parameters are defined case by case according to the prevailing circumstances.
According to one implementation of the invention the limit value of the electric drive is the maximum torques and the maximum powers of the targets of usage and the maximum powers of the system.
According to an advantageous feature of the invention the parameter is one or several of the group: density of paper, web speed, tightness of web, diameter of on-reeler, diameter of unwinder, width of web, thickness of paper, inertia masses of system, friction losses, input voltage, electrical losses, efficiency, type of input devices, load distribution between reel sets, overload capacity of system's components, cabling of system, supply transformer, limitations of mechanics or limitations of process.
According to one advantageous feature of the invention the reference value of acceleration and the reference value of deceleration are defined at least partly on the basis of different parameters.
According to one further implementation the reference value of acceleration is defined during acceleration and the reference value of deceleration is defined during deceleration.
According to one further implementation the reference value of acceleration/deceleration is dated continuously and the electric drive is controlled by the newest reference value. Further the maximum values of the characteristic quantities are defined continually during the drive. Further different characteristic quantities are used in different drive circumstances during one drive.
The invention will be described in detail with the aid of certain implementations referring to the drawings where - Figure 1 is a schematic illustration of one drive according to the invention,
- Figure 2 illustrates the flow chart of a method according to the invention,
- Figure 3 is a schematic illustration of one drive according to the invention,
- Figure 4 illustrates the schematic diagram of the control according to the Figure 3,
- Figure 5 illustrates speed as a function of time of one conventional drive and
- Figure 6 illustrates speed as a function of time of the drive according to the invention.
The Figure 1 illustrates schematically an electric drive 2, where the method according to the invention can be applied. In the drive the reel of the slitter is rotated by a motor 4, which is controlled by a frequency converter 6. The slitter typically comprises several reels, motors rotating the reels, whereby the motors are coupled to a common line drive. The measuring and control devices of the slitter give data of the paper's density, data of the web speed, data of the web tightness and the data of the diameters and frictions of the pa- per rolls, like un- winder and on-reeler as well known in the art. This data is forwarded to the inputs 10 of the control unit 8 in the frequency converter. The measurement occurs advantageously in real time. Thus the highest allowed acceleration or deceleration, i.e. the reference values of the acceleration and deceleration can be defined on the basis of the measurement in each driving situation in such a way that the torque limit defined according the electric drive's dimensioning is not exceeded.
In the Figure 2 the principle of a control method according to the invention is described as a flow chart. In the block 20 it is defined based to the data of the dimensioning of the paper machine the torque limit of the electric drive that the drive must not exceed. The values of the parameters, which effect to the control of the electric machine, are read or defined from the measuring data of the paper web (block 22). During the acceleration and deceleration phase the importance has the factors effecting to the torque of the electric drive, like tightness of the paper web, instantaneous values of the diameters of the paper rolls and the data of the paper density. The speed of the roll also is measured in the beginning of the inspection and control period as well as the target speed. In" addition it is defined the duration of temporary overload of the electric motor and of the frequency converter and the overload cycle. The acceleration command of the motor is generated by the updated data (block 24) in such a way that no allowable maximum value is exceeded. Because there simultaneously are several factors that effect to the control it is also considered which factor is critical, and the value defined according to the critical factor is chosen as the acceleration command as will be described later in detail. The motor is controlled by the frequency converter (block 26) according to the chosen command. The control cycle is repeated continuously, until the rolling sequence has finished.
Though the updating of the control data occurs continuously in the example of the Figure 2, it should be understood that according to the invention one acceleration command can be used from the zero speed to the full speed during one acceleration sequence, for example, and correspondingly, from the full speed to the zero speed during one deceleration sequence.
The Figure 3 illustrates one finishing machine of paper machine in principle, which utilizes the solution according the invention. It should be noted that in the figure there are described only the main components whose characteristic values are utilized in the invention and/or whose acceleration/deceleration is controlled. Accordingly, the parts that belong in the known manner to the finishing machine, like winders, joining devices of web or corresponding devices are not shown. The electric power required by the apparatus is fed to the supply unit 30 via the three phase cables 31 from the mains. The supply voltage is rectified by the mains rectifiers of the supply unit and the rectified voltage is lead to the DC bus 32 of the line drive. Several frequency converters 34 are coupled to the DC bus. The frequency converters control the frequency of the voltage supplied to the AC motors 36 via the cables 35 in order to control the rotating speed and the torque in accordance with the load of the motor. The reels of the finishing machine, i.e. the reel 38 of the unwinder and the reel 40 of the on-reeler are mechanically coupled to the shafts 37 of the motors 36. On the reel of the unwinder there is the machine roll made in the paper machine and the paper web 39 is reeled to the customer rolls 41 by the on-reeler 40. The control system 42 controls the electric components of the finishing machine, such as supply unit 30, the fre- quency converters and motors as visualized by the dash line 44. According to the well- known technique the control system determines the acceleration, the target speed, by which as long as possible is aimed to drive, and the deceleration, when a new roll is started to drive on the reel of the on-reeler. The control system uses the acceleration and speed com- mands when defining for the finishing machine the pre-defined design values that have been an the basis of the most demanding situation. By this it has been guaranteed that the allowed stresses of any component, like motor, frequency converter or mains rectifier are exceeded in no occasion.
In the Figure 4 there is illustrated as a schematic diagram an embodiment, which implements a solution according to the invention. In the control unit of the finishing machine the reference values for the reels' acceleration and deceleration are created by which reference values the reels are rotated. In block 60 there are calculated the reference values of the acceleration and deceleration according to the drives, i.e. according to the design, the effi- ciency and the loading capacity of the motors and the frequency converters. The input values of the block 60 are the parameters that effect to the operation of the drives. In the embodiment of the Figure 4 the blocks 62 and 64 are these kinds parameters. In addition as an input there is limit value 66 that comes from the own design of the drives. The output of the block 60 gives the reference values of the acceleration and the deceleration that are il- lustrated in the blocks 68 and 70. Simultaneously the maximum acceleration and deceleration allowed by the system design is calculated in the block 72. On the basis of the instantaneous values of the parameter 74 and the parameter 76 the reference values of the acceleration and deceleration are calculated. By the design limit value of the system (block 78) the reference values are limited respectively as above and the output of the block gives the acceleration and deceleration commands in the blocks 80 and 82 as the result of the system design and the parameter values. The mechanics of the finishing machine, like the structure of the reels and the bearings define additionally the limit values (block 84) that are utilized when calculating the third reference values for the acceleration (block 86) and for the deceleration (block 88). All the three acceleration commands, respectively deceleration commands are thus reference values that either the drive, the system or the mechanics can carry out themselves, if there is no need to take account the effect of the other two factors.
In the block 90 the acceleration commands of the drive, the system and the mechanics are combined so that at each moment the command is valid whose instantaneous value is the lowest. The output of the block 90 is thus acceleration command curve (block 92), whose instantaneous value corresponds the smallest instantaneous value of the acceleration commands 68, 80 and 86. Correspondingly, the instantaneous values of the deceleration command curve are the lowest of the deceleration commands 70, 72 and 88. When the reels are reeled using the conventional control the reels are at first accelerated to the constant speed by a acceleration ramp, the reels are driven by the constant speed and the reels are decelerated to stop by deceleration ramp. The Figure 5 describes the principle of speed variation during one drive cycle. The reel is accelerated by a ramp illustrated by the line 50 from time to to ti up to the rated speed VN. The slope of the ramp or the acceleration is defined beforehand on the basis of the design values so that the maximum allowed values are not exceeded for any component. From time ti to t2 the drive speed is constant and the end deceleration is started at the moment t2, by the deceleration ramp shown by the line 52, whereby the reeling ends at the moment t3, when the requested diameter of the cus- tomer roll is reached. The acceleration and deceleration ramps are naturally aimed to be controlled as steep as possible so that the period of the constant speed would be as long as possible and the total time as short as possible. If the design values of the finishing machine, like the size of the supply transformer, the loading capacity of the frequency converters or the motors, are upraised, the acceleration and deceleration ramps can be made steeper, whereby the constant speed drive can last longer. The shortening of the drive cycle requires a remarkable addition in dimensioning.
In order to illustrate the presentation the acceleration commands are drawn in to the same set of curves in the Figure 6. Accordingly, the start acceleration occurs according to the fraction line 54 up to the moment t4. After it the constant speed drive lasts to the moment t5. The deceleration occurs according to the fraction line 56 during the period from t5 to i^. In the Figure the dash line illustrates the curve of the Figure 5.
The invention has been above described with the aid of certain embodiments. However, the implementation of the invention may vary within the limits of the following claims.

Claims

1. A method for controlling an electric drive that drives reels of a finishing machine, by which method at least speed and acceleration/deceleration of a slitter is controlled, and which electric drive comprises at least an electric motor and a converter controlling the motor, characterized in that in the method a limit value of the electric drive is defined, values of at least two or more parameters effecting to the electric drive is monitored, a reference value of the acceleration/deceleration is defined on the basis of at least two parameters, and the electric drive is controlled so that the acceleration/deceleration corresponds to the highest possible reference value, by which the reference value of the accelera- tion/deceleration defined on the basis of any parameter is not exceeded, and that the limit value of the electric drive is not exceeded.
2. A method according to claim 1, characterized in that the limit value of the electric drive is the maximum torques of the drive points and the maximum powers of the system.
3. A method according to claim 1, characterized in that the parameter is one or several of the group: density of paper, web speed, tightness of web, diameter of on-reeler, diameter of unwinder, width of web, thickness of paper, inertia masses of system, friction losses, input voltage, electrical losses, efficiency, type of input devices, load distribution between reel sets, overload capacity of system's components, cabling of system, supply transformer, limitations of mechanics or limitations of process.
4. A method according to claim 1, characterized in that the reference value of the acceleration and the reference value of deceleration are defined at least partly on the basis of different parameters.
5. A method according to claim 1, characterized in that the reference value of the acceleration is defined when accelerating and the reference value of deceleration is defined when decelerating.
6. A method according to claim 1, characterized in that the reference value of the acceleration/deceleration is updated continuously and the electric drive is controlled by the newest reference value.
7. A method for controlling an electric drive, by which electric drive the reels of an fin- ishing machine in paper machine is driven to accelerate and decelerate the reel, which fin- ishing machine comprises several components including at least a motor rotating the reel, a converter controlling the motor, mains supplying the converter and paper to be wound on the reel, by which method a reference value of acceleration/deceleration is defined, characterized in that in the method a maximum reference value of the acceleration/deceleration is defined in the prevailing loading and drive situation of the finishing machine, whereby a maximum value is defined for at least two characteristic quantities of the finishing machine's components in the prevailing loading and drive situation within the limits allowed by the design values, the reference values of the acceleration/deceleration are defined corresponding to the maximum values of the characteristic quantities, from the group of the reference values of the acceleration/deceleration corresponding of the defined maximum values the value that is critical is chosen as the maximum reference value of the acceleration/deceleration, and the reel of the finishing machine is controlled by the chosen maximum reference value.
8. A method according to claim 7, characterized in that maximum values corresponding to the characteristic quantities are defined continuously during the drive.
9. A method according to claim 7, characterized in that the characteristic quantities are two or several of the group: density of paper, web speed, tightness of web, diameter of on- reeler, diameter of unwinder, width of web, thickness of paper, inertia masses of system, friction losses, input voltage, electrical losses, efficiency, type of input devices, load distri- bution between reel sets, overload capacity of system's components, cabling of system, supply transformer, limitations of mechanics or limitations of process.
10. A method according to claim 7, characterized in that different characteristic quantities are used in different drive situation during one drive.
PCT/FI2008/000023 2007-02-05 2008-02-05 Method for controlling an electric drive Ceased WO2008096034A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
KR1020097016207A KR101431073B1 (en) 2007-02-05 2008-02-05 Method for controlling electric drive
EP08718493.3A EP2115867B1 (en) 2007-02-05 2008-02-05 Method for controlling an electric drive
CN2008800040266A CN101606313B (en) 2007-02-05 2008-02-05 Method for controlling an electric drive
BRPI0807171A BRPI0807171B1 (en) 2007-02-05 2008-02-05 method for controlling an electric drive
US12/525,421 US8405338B2 (en) 2007-02-05 2008-02-05 Method for controlling an electric drive

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FI20070103 2007-02-05
FI20070103A FI120432B (en) 2007-02-05 2007-02-05 Procedure for controlling electricity consumption

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EP (1) EP2115867B1 (en)
KR (1) KR101431073B1 (en)
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EP2206667A3 (en) * 2009-01-12 2010-12-22 ABB Oy Method in connection with unwinder
WO2013045239A1 (en) 2011-09-28 2013-04-04 Siemens Aktiengesellschaft Method and apparatus for moving a material web
ITUA20163342A1 (en) * 2016-05-11 2017-11-11 Celli Nonwovens Spa ROLLER COILING MACHINE OF RIBBED MATERIAL AND METHOD
EP4261165A1 (en) * 2022-04-11 2023-10-18 Valmet Technologies Oy System of controlling performance a slitter-winder and/or the fiber web production line and a method of controlling performance a slitter-winder and/or a fiber web production line

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US9221641B2 (en) * 2012-05-08 2015-12-29 Kimberly-Clark Worldwide, Inc. Controller and system for controllably rotating a roll of material
JP6380126B2 (en) * 2015-01-23 2018-08-29 ブラザー工業株式会社 Printing device
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US11412900B2 (en) 2016-04-11 2022-08-16 Gpcp Ip Holdings Llc Sheet product dispenser with motor operation sensing
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EP2206667A3 (en) * 2009-01-12 2010-12-22 ABB Oy Method in connection with unwinder
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US8405338B2 (en) 2013-03-26
EP2115867A4 (en) 2017-04-05
EP2115867B1 (en) 2026-04-08
EP2115867A1 (en) 2009-11-11
US20100106301A1 (en) 2010-04-29
CN101606313B (en) 2012-11-14
CN101606313A (en) 2009-12-16
BRPI0807171A2 (en) 2014-05-13
FI120432B (en) 2009-10-15
BRPI0807171B1 (en) 2018-12-04
KR101431073B1 (en) 2014-08-20
FI20070103A0 (en) 2007-02-05
KR20090110844A (en) 2009-10-22
FI20070103L (en) 2008-08-06

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