CN103365311A - Torque control system - Google Patents
Torque control system Download PDFInfo
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- CN103365311A CN103365311A CN2012105373540A CN201210537354A CN103365311A CN 103365311 A CN103365311 A CN 103365311A CN 2012105373540 A CN2012105373540 A CN 2012105373540A CN 201210537354 A CN201210537354 A CN 201210537354A CN 103365311 A CN103365311 A CN 103365311A
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Abstract
The invention aims to provide a torque control system which improves torque control precision by correcting characteristic deviation of all products of actuators and load sensors for torque control. The torque control system is characterized in that the system comprises actuators or load sensors for torque control, a product identification unit attached to each of the actuators or the load sensors for torque control, an identification data reading unit of the product identification unit, a database in which each of the actuators or the load sensors for torque control corresponds to torque characteristic data thereof, a data determination unit which calculates torque characteristic data of the actuators or the load sensors from identification data read by the identification data reading unit and from the database, and a control device for actuator for torque control which calculates a correcting current for torque correction based on the torque characteristic data calculated by the data determination unit.
Description
Technical field
The present invention relates to moment controlling system (system), this system be used for paper, film (film), filament, the isometric strip material of lead-in wire (wire) unreel or the tension force of rolling time control prepared material, in load test device controlling torques (torque) such as motor (motor).
Background technology
Figure 15, Figure 16 are the example that the tension control system of actuator (actuator) control device 7 is used in existing use torque control.In the equipment such as printing machine, cutting machine (slitter), because the problem after the processing of product and the processing requires the tension force of control material that it is fixed.Tension force for material, the tension force that feed motor 9 produces is by controlling with the torque of the clutch brake (clutch brake) 8 of one of actuator as torque control, but the material for coiling (role) shape on winding up roller 33, because sending along with material, winding diameter can change, therefore the tension force in order to keep fixing need to change torque according to winding diameter.
As mentioned above, control the tension force of material with the torque of actuator by controlling torque control, the method comprises: as shown in figure 15, surveyed the tension force of materials and fed back (feedback) so that tension force keeps fixing feedback controling mode by load sensor (sensor) 23; And as shown in figure 16, non-contact switch 35 is set, these two kinds of the control modes of open loop (open loop) (with reference to patent documentation 1) of calculating required torque according to initial diameter and thickness, the rotating speed of material.The tension force control accuracy of feedback controling mode is higher, but then, needs for the measuring roll 34 of measuring tension force, load sensor 23 etc., and not only complexity but also costliness are so use open loop control mode in less expensive equipment.
The prior art document
Patent documentation
Patent documentation 1: No. the 3297219th, Japanese Patent Laid
Summary of the invention
Invent technical matters to be solved
Yet, during open loop control, as mentioned above, do not survey the tension force of material, but the diameter of use non-contact switch (switch) 35 Calculating materials is to obtain required torque.That is to say, shown in the relational expression of torque among Figure 17 and material tension, because revolution one loop diameter D changes 2 δ, so torque T is changed come tension force controlled by the change according to diameter it is fixed, but this mode is not proofreaied and correct control output, torque control becomes the control characteristic of tension force with the torque characteristics former state ground of actuator, the problem of tension force can not be accurately controlled in existence.
To this, prior art adopts the method that torque control is proofreaied and correct with the linearity of the torque characteristics of the clutch brake of one of actuator as shown in Figure 4.Electric current and torque are preferably as the straight line of desired torque curve (torque curve) (a), but reality is (b) such non-rectilinear, at low current zone torque step-down.Therefore, for improving control accuracy, need to apply the correcting current that (c) is used for correction of Nonlinear like that.In the prior art shown in the above-mentioned patent documentation 1, the average characteristics of utilizing clutch brake is typical characteristics, apply the curve that (c) is such and typical characteristics is symmetrical non-linear as proofread and correct this for the correcting current of proofreading and correct torque, to eliminate the non-linear of torque characteristics.
Yet as torque control with the torque characteristics of the clutch brake of one of actuator also as shown in Figure 5, there is larger deviation all with deviation in each clutch brake with respect to typical characteristics.For example, product XXX-001 and typical characteristics approach, can use above-mentioned prior art to eliminate the non-linear of torque characteristics, but for as product XXX-002, product XXX-003, departing from the larger situation of typical characteristics, use the gamma correction of typical characteristics can make precision because departing from the part variation of typical characteristics.As mentioned above, although can use prior art to eliminate the non-linear of torque characteristics because use typical characteristics to proofread and correct, thus exist can't corresponding torque control with the problem of the characteristic deviation of each product of actuator.
And, formerly in the situation of described FEEDBACK CONTROL, although proofread and correct near goal tension by actual measurement tension force and to control output, eliminated the problem of each torque control with the characteristic deviation (variation) of actuator, but there is deviation in the detection characteristic of each product of load sensor, and is thus, same as described above, existence can not accurately detect tension force, also can lose the shortcoming of accuracy when using this tension force detected value to control.
Fig. 4 is the curve map of the linearity of expression load sensor output characteristics.Output characteristics is (d) such straight line in the ideal case, but is actually (e) such non-rectilinear.In addition, Fig. 5 is the curve map of the output characteristics deviation of each product of expression load sensor, existing as AAA-001 near desirable typical characteristics, also have as output voltage the AAA-002 higher, output voltage is lower as AAA-003, also there is deviation in the output characteristics of load sensor.
In order to address the above problem, the object of the present invention is to provide a kind of moment controlling system, by proofreading and correct torque control with the characteristic deviation of each product of actuator, load sensor, can improve the torque control accuracy.
The technical scheme that the technical solution problem adopts
Moment controlling system of the present invention is characterised in that, comprising: torque is controlled with actuator or load sensor; The Product Identifying unit attaches in each described torque and controls with actuator or load sensor; The identification data reading unit of described Product Identifying unit; Database (database) is mapped each torque control with actuator or load sensor and its torque characteristics data; The data determining unit is extrapolated the torque characteristics data of described actuator or load sensor from the identification data that reads by described identification data reading unit and described database; And torque control actuator control apparatus, calculate the correcting current of proofreading and correct for torque based on the torque characteristics data that described data determining unit is extrapolated.
The invention effect
According to the present invention, can proofread and correct easily torque control with the characteristic deviation of each product of actuator or load sensor, the control accuracy of torque is improved.
Description of drawings
Fig. 1 is the control system structural drawing of using actuator as the torque control of embodiments of the present invention 1.
Fig. 2 is the figure of concrete structure example in the system architecture of the above-mentioned Fig. 1 of expression.
Fig. 3 is the network connection figure that is used for carrying out the reading of performance data, transmission etc., message exchange in the embodiment of the invention.
The curve map of the method that Fig. 4 proofreaies and correct with the linearity of the torque characteristics of actuator torque control for expression.
Fig. 5 is the curve map of each torque control of expression with the deviation of the torque characteristics of actuator.
Fig. 6 is that torque control is routine with the torque characteristics data of each product of actuator.
System construction drawing when Fig. 7 is of the present invention as using in the load sensor under the feedback controling mode of embodiments of the present invention 2.
Fig. 8 is the figure of concrete structure example in the system architecture of the above-mentioned Fig. 7 of expression.
Fig. 9 is the curve map of the linearity of the output of expression load sensor.
Figure 10 is the curve map of the output characteristics deviation of each product of expression load sensor.
Figure 11 is the performance data example of each product of load sensor.
Figure 12 for as the embodiment of the invention 3 from the structural drawing of Product Identifying unit access (access) database when reading performance data.
Figure 13 is for directly reading structural drawing in the performance data situation as the embodiment of the invention 4 from the Product Identifying unit.
Figure 14 is as the structural drawing in the situation of Product Identifying unit with product certification.
Figure 15 is the summary construction diagram of expression by the example of existing feedback controling mode control tension force.
Figure 16 is the summary construction diagram of expression by the example of existing open loop control mode control tension force.
Figure 17 is the calculating formula of the relation of expression torque and material tension.
Label declaration
1 torque control with actuator, 2 Product Identifying unit, 3 databases,
3a data server, 3b Web server, 4 identification data reading units,
5 data determining units, 6 data transmission units, 7 torques control with actuator control apparatus,
8 clutch brakes, 9 motor, 10QR code, 11 bar codes,
12 make numberings, 13 electronic tags, 14 performance datas, 15 code readers,
16 mobile phones, 17 PC, 18 storage cards, 19 cables,
20 wireless, 21 tenslators, 22 supply units, 23 load sensors,
24Web address, 26 certificates, 30 torque masters, 31 load detectors,
32 tension detectors, 33 windings up roller, 34 measuring rolls, 35 non-contact switch.
Embodiment
Below, utilize Fig. 1～Fig. 6 that embodiments of the present invention 1 are described.Fig. 1 is the control system structural drawing of using actuator as the torque control of the embodiment of the invention, Fig. 2 is the figure that is illustrated in concrete structure example in the system architecture of above-mentioned Fig. 1, Fig. 3 is the network connection figure that is used for carrying out the reading of performance data, transmission etc., message exchange among the same embodiment of the present invention, the curve map of the method that Fig. 4 proofreaies and correct with the linearity of the torque characteristics of actuator torque control for expression, Fig. 5 is the curve map of expression torque control with each torque characteristics deviation of actuator, and Fig. 6 is that the torque characteristics data example with each product of actuator is controlled in torque.
In Fig. 1, torque control at first by the test of dispatching from the factory, after obtaining performance data, is endowed Product Identifying unit 2 and shipment with actuator 1.The performance data that obtain this moment is stored in the database 3.User (user) uses identification data reading unit 4 to read and is endowed the said goods identify unit 2 that actuator 1 is used in torque control, and accesses above-mentioned databases 3 and read performance data by data determining unit 5.The performance data that reads transfers to torque control actuator control apparatus 7 by data transmission unit 6.Torque control is proofreaied and correct the characteristic that actuator 1 is used in each torque control with actuator control apparatus 7 based on this performance data.
Fig. 2 is that torque control is routine with the concrete structure of actuator control system among the embodiment.Obtain performance data 14 and generating database 3 that actuator 1 is used in the torque controls such as clutch brake 8 and motor 9.Give QR code 10, bar code (bar code) 11, make the Product Identifying unit 2 such as numbering 12, electronic tag 13 with actuator 1 to torque control.The user uses code reader (code reader) 15, mobile phone 16 to read identification data.And use the data determining unit accessing databases 3 such as PC (personal computer) 17, mobile phone 16, read the performance data 14 of the product corresponding with identification data.
Use Fig. 5, Fig. 6 that performance data 14 is described.
Fig. 5 is the curve map of expression torque control with the torque deviation of each product of actuator, torque characteristics is different according to product, existing as XXX-001 near typical characteristics, also have as torque the XXX-002 higher, as XXX-003 torque lower etc., have deviation.Be Fig. 6 after this is quantized, performance data comprises: model name, make numbering, rated current, resistance value, nominal torque, corresponding to the driving torque (%) of each electric current etc.
The performance data 14 that reads among Fig. 2 transfers to the torques controls such as tenslator 21, supply unit 22 with actuator control apparatus 7 by storage card (memory card) 18, cable (cable) 19, the data transmission units 6 such as wireless 20.Torque control with actuator control apparatus 7 based on this performance data 14 calculating chart 4(c) shown in correcting current, and with this correcting current torque control is turned round with actuator.
Then, use Fig. 3 to describing for the method for connecting network that reads performance data.
Among Fig. 3, the performance data of being measured by the proving installation 27 that dispatches from the factory is stored among data server (dataserver) 3a.Afterwards, transfer to the Web server 3b that is connected with the outside by internet (internet) etc.The user can be connected to this Web server 3b reading performance data by utilizing PC 17 or mobile phone 16 etc., and transfers to torque control and be used with actuator control apparatus 7.In addition, have the network functions such as EtherNet with actuator control apparatus 7 by making torque control, also can directly access Web server 3b and read performance data with actuator control apparatus 7 from torque control.In addition, also can read performance data by sequencer connected to the network.
As mentioned above, by reading torque control with the characteristic of each product of actuator and proofreading and correct the characteristic deviation of each product, can make the control accuracy raising of torque.
Below, utilize Fig. 7～Figure 11 that embodiments of the present invention 2 are described.
Fig. 7 is the system construction drawing when applying the present invention to adopt the load sensor of feedback controling mode, Fig. 8 is the figure that is illustrated in concrete structure example in the system architecture of above-mentioned Fig. 7, Fig. 9 is the curve map of the linearity of the output of expression load sensor, Figure 10 is the curve map of the output characteristics deviation of each product of expression load sensor, and Figure 11 is the performance data example of each product of load sensor.
In Fig. 7, after load sensor 23 is obtained performance data by the test of dispatching from the factory, be endowed Product Identifying unit 2 and shipment.The performance data that obtain this moment is stored in the database 3.The Product Identifying unit 2 that the user uses identification data reading unit 4 to read to give load sensor 23, and by the data determining unit 5 above-mentioned databases 3 of access and read performance data.The performance data that reads transfers to torque control actuator control apparatus 7 by data transmission unit 6.Torque control uses actuator control apparatus 7 based on the characteristic of this performance data correcting load sensor 23.
Fig. 8 is concrete structure example in the case, at first, obtains the performance data 14 of the load sensors 23 such as torque master 30, load detector 31, tension detector 32, generating database 3.Give QR code 10, bar code 11, make the Product Identifying unit 2 such as numbering 12, electronic tag 13 to load sensor 23.The user uses code reader 15 or mobile phone 16 etc. to read identification data.And use data determining unit 5 accessing databases 3 such as PC 17 or mobile phone 16, read the performance data 14 of the product corresponding with identification data.
Use Figure 10, Figure 11 that performance data is described.
Figure 11 is the curve map of the output characteristics deviation of each product of expression load sensor.The output characteristics of load sensor is different according to product, existing as AAA-001 near typical characteristics, also have as output voltage the AAA-002 higher, as AAA-003 output voltage lower etc., have deviation.Be Figure 11 after this is quantized, performance data comprises: model name, make numbering, rated load, 100% output voltage, corresponding to the output voltage of each load etc.
Get back to Fig. 8, the above-mentioned performance data that reads 14 is transferred to the torques controls such as tenslator 21, supply unit 22 with actuator control apparatus 7 by storage card 18, cable 19, the data transmission units 6 such as wireless 20.Torque control uses actuator control apparatus 7 based on the output of these performance data 14 correcting load sensors, and with this correction output torque control is turned round with actuator.
As mentioned above, the performance data of each product by reading load sensor is also proofreaied and correct the characteristic deviation of each product, and the control accuracy of torque is improved.
The present embodiment can read torque control with both product performance data of actuator 1 and load sensor 23, and above-mentioned torque control with actuator 1 and load sensor 23 usefulness Product Identifying unit 2 show model name, manufacturing number, together with the Web address (address) 24 that represents the database memory location.
Below, use Figure 12 to describe.
Example when the structural drawing of Figure 12 when reading performance data from Product Identifying unit access database, expression read torque control torque control and use actuator control apparatus 7 with the performance data of actuator 1, load sensor 23.Torque control with actuator 1, load sensor 23 on, utilize Product Identifying unit 2 be QR code 10 or electronic tag 13 show model name, make numbering, together with the Web address 24 of expression database memory location.
The user is by using mobile phone 16 or PC 17 to read the identification data of QR code 10 or electronic tag 13, take the represented Web address 24 of QR code 10 or electronic tag 13 as clue accessing database 3, from database, read this torque control with the performance data 14 of actuator 1.
Therefore, because the user can proofread and correct both characteristics of torque control actuator 1, load sensor 23 with actuator control apparatus 7 by with cable 19 or wireless 20 etc. the performance data 14 that reads being read into torque control, can make the control accuracy raising of torque.
In addition, according to present embodiment 3, because the Web address 24 that will represent database memory location form with Product Identifying unit 2 on torque is controlled with actuator 1, load sensor 23 represents, can simplify the data that identification data reading unit 4 and data determining unit 5 carry out and read.
Below, utilize Figure 13 that embodiments of the present invention 4 are described.
Figure 13 is the structural drawing when directly reading performance data from the Product Identifying unit among the embodiment.At first, with performance data 14 data base systems of torque control with actuator 1, load sensor 23.Product Identifying unit 2 uses QR code 10 or electronic tag 13, makes QR code 10 or electronic tag 13 performance datas 14 with each product own.Use mobile phone 16 or PC 17 directly to read performance data 14 from Product Identifying unit 2, and transfer to torque control actuator control apparatus 7 by cable 19 or wireless 20.The characteristic deviation of torque control actuator 1, load sensor 23 is proofreaied and correct in torque control based on this performance data 14 with actuator control apparatus 7.
According to present embodiment 4, because by making Product Identifying unit 2 itself with performance data 14, accessing database 3 and directly read performance data 14 from Product Identifying unit 2 can not simplified the operation when reading performance data.
Below, utilize Figure 14 that embodiments of the present invention 5 are described.
Figure 14 is with the situation of product certification 26 as the Product Identifying unit.
The performance data 14 of torque control with actuator 1, load sensor 23 appended on the product as certificate 26, and the user can proofread and correct the characteristic deviation of torque control actuator 1, load sensor 23 by to control device 7 input characteristics data 14.In this case, although increased the operation of user input data, owing to not needing QR code, electronic tag etc., need not larger equipment investment and the change of system.
Claims (8)
1. a moment controlling system is characterized in that, comprising: torque is controlled with actuator or load sensor; Product Identifying unit, this Product Identifying unit attach in each torque and control with actuator or load sensor; The identification data reading unit of described Product Identifying unit; Database, this database is mapped each described torque control with actuator or load sensor and its torque characteristics data; The data determining unit, the torque characteristics data that this data determining unit is extrapolated described actuator or load sensor from the identification data that reads by described identification data reading unit and described database; And torque control actuator control apparatus, the torque characteristics data that this torque control is extrapolated based on described data determining unit with actuator control apparatus are calculated the correcting current that is used for the torque correction.
2. moment controlling system as claimed in claim 1 is characterized in that: the performance data when the torque characteristics data use described torque control to dispatch from the factory test with actuator or load sensor.
3. moment controlling system as claimed in claim 1 is characterized in that: the address that will represent the database memory location is presented at described torque control with on actuator or the load sensor as the Product Identifying unit.
4. moment controlling system as claimed in claim 1 is characterized in that: described Product Identifying unit is with the torque characteristics data of each torque control with actuator or load sensor.
5. such as the described moment controlling system of any one in the claim 1～4, it is characterized in that: use QR code, bar code, manufacturing numbering or electronic tag as the Product Identifying unit.
6. moment controlling system as claimed in claim 1 is characterized in that: use mobile phone or PC as identification data reading unit and data determining unit.
7. moment controlling system as claimed in claim 7 is characterized in that: torque control is clutch brake or motor with actuator, and it is tenslator or supply unit that torque is controlled with actuator control apparatus.
8. moment controlling system as claimed in claim 1, it is characterized in that: load sensor is any one in torque master, load detector, the tension detector.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012-086016 | 2012-04-05 | ||
| JP2012086016A JP2013219852A (en) | 2012-04-05 | 2012-04-05 | Torque control system |
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| CN103365311A true CN103365311A (en) | 2013-10-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012105373540A Pending CN103365311A (en) | 2012-04-05 | 2012-12-12 | Torque control system |
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| JP (1) | JP2013219852A (en) |
| CN (1) | CN103365311A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107191504A (en) * | 2016-03-14 | 2017-09-22 | 株式会社捷太格特 | Drive the control device and control method of force transfering device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7365884B2 (en) * | 2019-12-13 | 2023-10-20 | 株式会社チノー | data recording device |
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| JP4573883B2 (en) * | 2008-05-19 | 2010-11-04 | 三菱電機株式会社 | Clutch / brake power amplifier device and control system thereof |
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| CN1062438A (en) * | 1990-10-02 | 1992-07-01 | 东芝株式会社 | Electromotor velocity control method and device |
| CN1132575A (en) * | 1993-10-02 | 1996-10-02 | 罗伯特-博希股份公司 | Electric motor with torque detecting means |
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Application publication date: 20131023 |