CN106061874B - Rotary mode generating means and rotary mode generation method - Google Patents

Rotary mode generating means and rotary mode generation method Download PDF

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Publication number
CN106061874B
CN106061874B CN201580009738.7A CN201580009738A CN106061874B CN 106061874 B CN106061874 B CN 106061874B CN 201580009738 A CN201580009738 A CN 201580009738A CN 106061874 B CN106061874 B CN 106061874B
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CN
China
Prior art keywords
feed shaft
wireline reel
rotary mode
tension force
detection sensor
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CN201580009738.7A
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Chinese (zh)
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CN106061874A (en
Inventor
卫藤嘉彦
寺田启
竹居宽人
牛尾裕介
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Priority to PCT/JP2015/054496 priority Critical patent/WO2016132495A1/en
Publication of CN106061874A publication Critical patent/CN106061874A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00Registering, tensioning, smoothing or guiding webs
    • B65H23/04Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/182Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in unwinding mechanisms or in connection with unwinding operations
    • B65H23/185Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in unwinding mechanisms or in connection with unwinding operations motor-controlled
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00Registering, tensioning, smoothing or guiding webs
    • B65H23/04Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/188Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web
    • B65H23/192Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web motor-controlled
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00Registering, tensioning, smoothing or guiding webs
    • B65H23/04Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/195Registering, 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
    • B65H23/198Registering, 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)

Abstract

A kind of rotary mode generating means (20), possessed generation processing unit (33), by the position x that feed shaft (13) is controlled via feed shaft position control section (31), so as to send out material (11) from feed shaft (13), by controlling the position y of wireline reel (14) via wireline reel position control section (32), so as to wind sent out material (11) using wireline reel (14).Processing unit (33) is generated to obtain in order that relation of the tension force T change in desired position x in the range of target and position y, rotary mode when rotating as feed shaft (13) and wireline reel (14) using the position x, position y and tension force the T information that obtain when winding and handling.

Description

Rotary mode generating means and rotary mode generation method
Technical field
The present invention relates to it is a kind of be directed to by material sent out from feed shaft and the device that is wound using wireline reel, generate into Rotary mode generating means and rotary mode generation method to axle and the rotary mode of wireline reel.
Background technology
As the device of control tension force, in phase of the material wound from feed shaft submitting untill being wound by wireline reel Between, while the tension force that will act on material keeps fixing, while conveying material.In order to suitable for material or process, feed shaft Or in the case that the shape of wireline reel deviates positive round or feed shaft or winding eccentric shaft, if by feed shaft and wireline reel Rotary speed keeps fixing, then tension force can change.In this case, in order to suppress the variation of tension force, it is necessary to make feed shaft Or the rotary speed of wireline reel is changed, therefore, it is difficult to the rotation that the rotary speed with feed shaft accordingly determines wireline reel Speed.Following situations are recorded in patent document 1, i.e. use PID (Proportional Integral Derivative) Control, estimates the correction coefficient being corrected to suppress the variation of tension force to the rotary speed of wireline reel, is based on correction Count and the rotary speed of wireline reel is corrected.
Patent document 1:Japanese Unexamined Patent Publication 08-188309 publications
The content of the invention
The specific method of presumption correction coefficient, presumptive method, correction system are not explicitly depicted in patent document 1 Number may change.In addition, presumptive method, possibly can not obtain correction coefficient.Also, according to presumption method, Perhaps to follow the variation of tension force and have to for correction coefficient to be set to excessive, to carry out based on correction coefficient wireline reel The correction of rotary speed can not fully follow the variation of tension force.So, for inhibitory action in the variation of the tension force of material, specially Room for improvement be present in the technology of sharp document 1.
The present invention is exactly to propose in view of the foregoing, should its object is to obtain a kind of rotary mode generating means For rotary mode generating means in the device that material is sent out from feed shaft and is wound using wireline reel, generation can be to making The rotary mode of variation for the tension force of material is suppressed, feed shaft and wireline reel.
In order to solve above-mentioned problem, realize purpose, it is a feature of the present invention that having:Feed shaft position detection sensing Device, position when it rotates to the feed shaft for sending out the material wound are detected;Wireline reel position-detection sensor, its To by from the material volume that the feed shaft is sent out around wireline reel rotate when position detect;Tension detector, its The tension force that the material conveyed is acted between the feed shaft and the wireline reel is detected;And processing Device, when the material sent out using being wound by it from the feed shaft submitting material by the wireline reel The position of the feed shaft that is resulting, being detected by the feed shaft position-detection sensor, by the winding shaft position The position for the wireline reel that detection sensor detects and of the material detected by the tension detector Power, obtain in order that the tension force of the material variation be in target in the range of needed for the feed shaft position with it is described The relation of the position of wireline reel, rotary mode when being rotated as the feed shaft and the wireline reel.
The effect of invention
Following effects can be obtained according to the present invention, i.e. obtain a kind of rotary mode generating means, rotary mode generation dress Put and sending out material in the device that is wound using wireline reel from feed shaft, generation can be to acting on the tension force of material Variation suppressed, the rotary mode of feed shaft and wireline reel.
Brief description of the drawings
Fig. 1 is the figure for the summary for representing coiler device and rotary mode generating means.
Fig. 2 is the block diagram for the structure for representing rotary mode generating means.
Fig. 3 is the flow chart of processing when representing rotary mode generating means generation rotary mode that embodiment 1 is related to.
Fig. 4 is to represent to make in the rotary mode obtained according to the rotary mode generation method being related to by embodiment 1 The figure of when feed shaft and wireline reel are rotated, feed shaft position, the position of wireline reel and the tension force for acting on material.
Fig. 5 is the flow chart of processing when representing the rotary mode generating means generation rotary mode in embodiment 2.
Fig. 6 be represent the position of feed shaft, the position of wireline reel and act on material tension force figure.
Embodiment
Below, based on accompanying drawing, rotary mode generating means and rotation that embodiments of the present invention are related to are explained Pattern creating method.In addition, the present invention is not limited to the explanation of following embodiment.
Embodiment 1.
Fig. 1 is the figure for the summary for representing coiler device 10 and rotary mode generating means 20.Coiler device 10 has:Feeding Axle 13, it is sent out the material 11 of winding by rotation;And wireline reel 14, it is sent by rotation to wind from feed shaft 13 The material 11 gone out.Rotated by feed shaft 13 and wireline reel 14, coiler device 10 is by material 11 from feed shaft 13 to winding Axle 14 is conveyed.
Coiler device 10 has 2 support rollers 15, and the support roller 15 from feed shaft 13 to wireline reel 14 to being conveyed Material 11 is supported.In addition, coiler device 10 can also not have support roller 15, it is possible to have 1 support roller 15, may be used yet With with more than or equal to 3 support rollers 15.
Material 11 is line, electric wire and fiber etc. along 1 axially extending filamentary material or such as paper, various Sheet material, ribbon and the isometric plies of metal foil.Strip sheet material refers to along the 1st axial direction and the orthogonal with the 1st axial direction the 2nd axially The sheet material that both direction extends and the size of the 1st axial direction is bigger than the size of the 2nd axial direction.Material 11 is by coiler device 10 and edge Sent out, conveyed, wound in the direction of the extension of material 11.
Linking on feed shaft 13 makes the drive device i.e. motor 13a drive shaft that feed shaft 13 is rotated.Rolling up Link the drive shaft for the motor 14a for being rotated wireline reel 14 on axle 14.In embodiment 1, feed shaft 13 is most Small rotation amount is identical with the minimum rotation amount of wireline reel 14, but both can also be different.The minimum of feed shaft 13 and wireline reel 14 Rotation amount is by the rotation amount defined in their anglec of rotation or circumference.Following embodiment is also same.
In embodiment 1, feed shaft 13 is cylindrical shape.That is, the edge of feed shaft 13 is orthogonal with Pivot axle to put down Section shape when face is cut is circle.The section shape during plane cutting orthogonal with Pivot axle of the edge of wireline reel 14 is It is non-circular.The non-circular shape formed for such as polygon of triangle, quadrangle, ellipse or by a plurality of curve is so , it is circular beyond shape, be not limited to the shape of embodiment 1.
Can also be that feed shaft 13 is non-circular shape in embodiment 1, wireline reel 14 is toroidal.In addition, feed shaft 13 and wireline reel 14 can also be all non-circular shape.Also, feed shaft 13 and wireline reel 14 can also at least side bias.
Rotary mode generating means 20 electrically connect with coiler device 10.Rotary mode generating means 20 have:Feed axle position Detection sensor 21 is put, position x when it rotates to feed shaft 13 is detected;Wireline reel position-detection sensor 22, its is right Position y when wireline reel 14 rotates is detected;Tension detector 23, it between feed shaft 13 and wireline reel 14 to acting on The tension force T of the material 11 conveyed is detected;And processing unit 30.The use of processing unit 30 sends out material from feed shaft 13 Material 11 and it is resulting when by wireline reel 14, the material 11 sent out is wound, examined by feed shaft position-detection sensor 21 The position x for the feed shaft 13 measured, the wireline reel 14 detected by wireline reel position-detection sensor 22 position y, Yi Jiyou The tension force T for the material 11 that tension detector 23 detects, obtain scope of the variation in target in order that the tension force T of material 11 The position x of the interior required feed shaft 13 and position y of wireline reel 14 relation, when being rotated as feed shaft 13 and wireline reel 14 Rotary mode.The tension force T of material 11 variation refers to the change of the tension force T in the course of conveying of the material 11 in coiler device 10 Change.In embodiment 1, processing unit 30 has processor 25 and memory 26.
Rotary mode is to be used to specify feed shaft 13 and wireline reel 14 in the actual operation carried out by coiler device 10 Rotation position pattern.Rotary mode is imaginary transfer module, will be just as existing between feed shaft 13 and wireline reel 14 The same instruction of cam is sent to wireline reel 14.In embodiment 1, rotary mode is the rotation position x with feed shaft 13 With the data of the rotation position y of wireline reel 14 multiple combinations.
The position x that feed shaft position-detection sensor 21 detects is the anglec of rotation relative to the reference position of feed shaft 13 Degree.The position y that wireline reel position-detection sensor 22 detects is the anglec of rotation relative to the reference position of wireline reel 14.Enter Resolution ratio to shaft position detection sensor 21 is identical with the resolution ratio of wireline reel position-detection sensor 22, but both can also It is different.In embodiment 1, feed shaft position-detection sensor 21 and wireline reel position-detection sensor 22 are employed using rotation Turn the rotation sensor of encoder or Hall element, but be not limited to these.Tension detector 23 is to acting on material 11 tension force T is detected.In embodiment 1, as tension detector 23, temporarily changed using by the tension force T of material 11 The equipment taken out for load and using the load as electric signal.Can be differential biography by the mode that load transfer is electric signal Any of flowing mode, strain gauge mode or magnetostriction mode.Tension detector 23 is not limited to foregoing equipment.
In embodiment 1, position x and position y are not limited to the anglec of rotation, or along feed shaft 13 and wireline reel 14 circumferential position.In the case where position x and position y is along the circumferential position of feed shaft 13 and wireline reel 14, both may be used Think the position circumferentially at the outer peripheral face of feed shaft 13 and wireline reel 14, or the side of feed shaft 13 and wireline reel 14 Position circumferentially on certain radius in face.
Fig. 2 is the block diagram for the structure for representing rotary mode generating means 20.Processing unit 30 has:Feed axis Position Control Portion 31, it controls the position x of feed shaft 13;Wireline reel position control section 32, it controls the position y of wireline reel 14;Generation is handled Portion 33, it generates the rotary mode of feed shaft 13 and wireline reel 14;Storage part 34;And input and output portion 40.Feed shaft position Control unit 31, wireline reel position control section 32 and generation processing unit 33 are equivalent to the processor shown in Fig. 1.Storage part 34 is suitable In the memory 26 shown in Fig. 1.Storage part 34 to for realize feed shaft position control section 31, wireline reel position control section 32 with And the computer program and data of generation processing unit 33 are stored, or the rotary mode to being generated by generation processing unit 33 enters Row storage.Input and output portion 40 be feed shaft position control section 31, wireline reel position control section 32 and generation processing unit 33 with Feed shaft position-detection sensor 21, wireline reel position-detection sensor 22, tension detector 23, feed shaft control device The input/output interface of 13c and wireline reel between control device 14c.
In embodiment 1, feed shaft position control section 31, wireline reel position control section 32 and generation processing unit 33 are The computer program stored in storage part 34 is performed by processor 25 as shown in Figure 1 to realize.In addition, both can be more Individual processor and multiple memories cooperate and realized at feed shaft position control section 31, wireline reel position control section 32 and generation The function in reason portion 33, or system LSI (Large Scale Integration) or multiple process circuits realize feeding Axis Position Control portion 31, wireline reel position control section 32 and the function of generating processing unit 33.
Feed shaft position control section 31 obtains feed shaft position-detection sensor 21 and detected via input and output portion 40 Feed shaft 13 position x information.Feed shaft position control section 31 to the feed shaft for controlling motor 13a with control by being filled Put 13c and send control signal, rotated feed shaft 13 so as to drive motor 13a.As feed shaft 13 is rotated, Position x changes.
Wireline reel position control section 32 obtains wireline reel position-detection sensor 22 and detected via input and output portion 40 Wireline reel 14 position y information.Wireline reel position control section 32 to the wireline reel for controlling motor 14a with control by being filled Put 14c and send control signal, rotated wireline reel 14 so as to drive motor 14a.As wireline reel 14 is rotated, Position y changes.
Generation processing unit 33 performs following processing, i.e. by controlling feed shaft 13 via feed shaft position control section 31 Position x, so as to from feed shaft 13 send out material 11, by the position that wireline reel 14 is controlled via wireline reel position control section 32 Y is put, so as to wind sent out material 11 using wireline reel 14.Hereinafter, the processing is suitably referred to as winding processing.
Generation processing unit 33 is obtained and detected by feeding shaft position via feed shaft position control section 31 when winding processing The position x for the feed shaft 13 that sensor 21 detects information.Processing unit 33 is generated in the winding processing of material 11 via volume The position y of the wireline reel 14 detected by wireline reel position-detection sensor 22 information is obtained around axis Position Control portion 32. Generation processing unit 33 obtains the material detected by tension detector 23 in the winding processing of material 11 from tension detector 23 11 tension force T information.
Generation processing unit 33 using wind handle when obtain position x, position y and tension force T information and obtain for Tension force T change is set to be in the relation of desired position x and position y in the range of target, as feed shaft 13 and wireline reel Rotary mode during 14 rotation.It can be set in the range of tension force T target, float and allow relative to tension force T desired value τ In the range of value δ, that is, it is more than or equal to τ-δ and is less than or equal in the range of τ+δ.Feasible value δ both can be tension detector 23 detection error, or the feasible value of the tension force T of material 11 fluctuation is acted in the operation of reality, can also root Determined according to other benchmark.
Generate processing unit 33 and perform winding processing, revolved in the rotation amount the i.e. the 1st for making feed shaft 13 have rotated 1 week less than rotation When turning amount △ x, position i.e. the 1st position x of the feed shaft 13 detected by feed shaft position-detection sensor 21 is obtained.Connect down Come, generation processing unit 33 is rotated wireline reel 14 after feed shaft 13 is have rotated the 1st rotation amount △ x, by tension force When the tension force T for the material 11 that detector 23 detects turns into tension force T desired value τ, obtain by wireline reel position-detection sensor Position i.e. the 2nd position y of 22 wireline reels 14 detected.Also, generation processing unit 33 obtains the 1st position x's and the 2nd position y Combine (x, y).The combination is suitably referred to as positional information (x, y).Generation processing unit 33 is obtained feed shaft 13 and at least rotated 1 week Corresponding positional information (x, y), resulting multiple positional informations (x, y) are set to rotary mode.In embodiment 1, Obtain feed shaft 13 rotate 1 week corresponding to positional information (x, y).
As described above, the 1st rotation amount △ x be than feed shaft 13 rotate 1 week small amount, but be preferably at least less than or equal into Give the half revolution of axle 13.Due to the minimum rotation amount position that is smaller, therefore obtaining of the 1st smaller then feed shafts 13 of rotation amount △ x Information (x, y) is more.That is, the 1st rotation amount △ x are smaller, then the information content of rotary mode is more.Therefore, it is defeated in coiler device 10 In the case of sending material 11, using the rotary mode as obtained from making the 1st rotation amount △ x diminish, easily make to act on material 11 tension force T keeps fixing.
Next, processing when generating rotary mode to rotary mode generating means 20 illustrates.The processing is rotation Pattern creating device 20 performs the processing during generation method for the rotary mode that embodiment 1 is related to.
Fig. 3 is the flow chart of processing when representing rotary mode generating means generation rotary mode that embodiment 1 is related to. When generating rotary mode, in step s 11, at the generation of the processing unit 30 of the rotary mode generating means 20 shown in Fig. 2 Reason portion 33 is set to n=1.N is count value, for being counted to the number for obtaining positional information (x, y).It is every to generate processing unit 33 1 positional information (x, y) is obtained, count value n is increased by 1.
In step s 12, processing unit 33 is generated by making feed shaft 13 rotate the 1st rotation amount △ to axis Position Control portion 31 x.The direction for rotating feed shaft 13 is the direction that feed shaft 13 sends out material 11.Next, in step s 13, at generation Obtain position i.e. the 1st position x of the feed shaft 13 when making feed shaft 13 have rotated the 1st rotation amount △ x in reason portion 33.Specifically Say, the position of the feed shaft 13 detected when feed shaft 13 have rotated the 1st rotation amount △ x by feed shaft position-detection sensor 21 It is set to as the 1st position x.Processing unit 33 is generated by obtaining feeding shaft position detection sensing via feed shaft position control section 31 The position of the detected value of device 21, i.e. feed shaft 13, so as to obtain the 1st position x.Because the 1st resulting position x is in n-th Obtain, therefore be suitably below x by the 1st position mark of n-thn.Processing unit 33 is generated by the 1st resulting position xnStore to the storage part 34 shown in Fig. 2.
In step S14, generation processing unit 33 is rotated wireline reel 14 by wireline reel position control section 32.That is, Processing unit 33 is generated after feed shaft 13 is have rotated the 1st rotation amount △ x, is rotated wireline reel 14.Make wireline reel 14 The direction of rotation is the direction of the coiling material 11 of wireline reel 14.Make in step S14 in the case that wireline reel 14 rotated, it is raw The tension force T for acting on material 11 detected by tension detector 23 is obtained into processing unit 33, is contrasted with desired value τ.
In step S15, generation processing unit 33 obtains the wireline reel 14 when the tension force T of material 11 turns into desired value τ Position is the 2nd position y.Specifically, processing unit 33 is generated by winding axle position via wireline reel position control section 32 to obtain Detected value, the i.e. position of wireline reel 14 of detection sensor 22 are put, so as to obtain the 2nd position y.Due to the 2nd resulting position y Obtained in n-th, therefore be suitably below y by the 2nd position mark of n-thn.Processing unit 33 is generated by obtained by The 2nd position ynStore to the storage part 34 shown in Fig. 2.
Next, in step s 16, generation processing unit 33 is contrasted count value n and N.N is for being rotated to generation The numerical value that the end of the processing of pattern is judged, for the integer more than or equal to 2.N obtains position equivalent to generation processing unit 33 Confidence ceases (xn, yn) number, and equivalent to resulting positional information (xn, yn) quantity.In embodiment 1, by When 1 rotation amount △ x are set to the anglec of rotation, shown in the 1st rotation amount △ x and N relation such as formula (1).1st rotation amount △ x are not limited In the anglec of rotation, or along the circumferential rotation amount of feed shaft 13.
△ x=2 × π/N (1)
Understood according to formula (1), if making feed shaft 13 rotate n times with the 1st rotation amount △ x, feed shaft 13 rotates 1 week. 1st rotation amount △ x both can be as the minimum rotation amount of feed shaft 13, can also be as feed shaft position-detection sensor 21 Resolution ratio, but it is set to a side larger among both.Feed shaft 13 minimum rotation amount than feed shaft position-detection sensor In the case that 21 resolution ratio is big, because feed shaft 13 can not be revolved with the small value of the minimum rotation amount than feed shaft 13 Turn, therefore the 1st rotation amount △ x are set to the minimum rotation amount of feed shaft 13.In the resolution of feed shaft position-detection sensor 21 In the case that rate is bigger than the minimum rotation amount of feed shaft 13, due to point than feed shaft position-detection sensor 21 can not be detected The rotation amount of the small feed shaft 13 of resolution, therefore the 1st rotation amount △ x are set to the resolution of feed shaft position-detection sensor 21 Rate.As described above, tool has the advantage that, i.e. without the minimum movements limit beyond feed shaft 13 or feeding shaft position detection The minimum detection of sensor 21 ultimately obtains positional information (xn, yn).In the minimum rotation amount and feeding shaft position of feed shaft 13 In the case that the resolution ratio of detection sensor 21 is equal, either one can be set to the 1st rotation amount △ x.
In the case that count value n is less than N in step s 16, i.e., in the case of being No in step s 16, in step S18 In, generation processing unit 33 adds 1 on current count value n, performs step S12 to step S16.Count value n is in step s 16 In the case of N, i.e., in the case of being Yes in step s 16, generation processing unit 33 performs step S17 processing.
By the way that n times step S12 to step S15 is repeated, so as to obtain N number of positional information (xn, yn).That is, in storage part In 34, N number of positional information (x is stored withn, yn).In embodiment 1, N number of positional information (xn, yn) represent in feed shaft 13 and Wireline reel 14 have rotated 1 week in the case of, the tension force T that acts on material 11 as desired value τ feed shaft 13 position x and The position y of wireline reel 14.That is, N number of positional information (xn, yn) as feed shaft 13 and the rotary mode of wireline reel 14.
In step S17, generation processing unit 33 is by will be stored in N number of positional information (x of storage part 34n, yn) with reference to and One group of data is set to, so as to generate rotary mode.When material 11 is conveyed between feed shaft 13 and wireline reel 14, by according to N Individual positional information (xn, yn), feed shaft 13 and wireline reel 14 are positioned successively from n=1 to n=N, so as to by the material conveyed Tension force T variation is controlled in the range of target.
Fig. 4 is to represent to make in the rotary mode obtained according to the rotary mode generation method being related to by embodiment 1 The figure of when feed shaft and wireline reel are rotated, feed shaft position, the position of wireline reel and the tension force for acting on material. Understand as shown in Figure 4, if according to N number of positional information (xn, yn), position feed shaft 13 and wireline reel successively from n=1 to n=N 14 and feed shaft 13 and wireline reel 14 is rotated 1 week, then acting on the tension force T of material 11 turns into desired value τ.If by the 1st Put xnTransverse axis is set to, by the 2nd position ynThe longitudinal axis is set to, then N number of positional information (xn, yn), i.e. rotary mode such as Fig. 4 solid line 35 It is shown.The rotary mode represented by solid line 35 show the position of feed shaft 13 with fixed value, i.e. the 1st rotation amount △ x successively When being changed, the change of the position of wireline reel 14 is the situation that the 2nd rotation amount △ y may not be fixed value.
Rotary mode generating means 20 and rotary mode generation method are that practically measure acts on the tension force T of material 11 And generate the rotary mode of feed shaft 13 and wireline reel 14.Therefore, the rotary mode obtained by embodiment 1 considers such as The mechanicalness reason of the coiler device 10 of the shape or bias etc of feed shaft 13 and wireline reel 14 and the stretching, extension of material 11 The influence to caused by the tension force T of material 11.Therefore, the rotary mode obtained by embodiment 1 can suppress by coiler device Tension force T variation caused by 10 mechanicalness reason and the stretching, extension of material 11.
In addition, the rotary mode generated and use using rotary mode generating means 20 and rotary mode generation method The situation of PID control is compared, and has the advantages of variation for easily following tension force T is such.
In addition, rotary mode generating means 20 and rotary mode generation method need not estimate feedback control correction coefficient this The process of sample, therefore have and be readily obtained the advantages of rotary mode is such.
In addition, rotary mode generating means 20 and rotary mode generation method are without the need for the presumption essence for improving correction coefficient The noise countermeasure and sensor of degree, and carry out multiple test running without in order to improve the presumption precision of correction coefficient.Cause This, by using the rotary mode generated using rotary mode generating means 20 and rotary mode generation method, so as to easily The tension force T that will act on material 11 keeps fixing, and easily follows tension force T variation, therefore suppresses to occur in material 11 The problem of, the yield rate of rolling step is improved as a result.
In addition, in embodiment 1, asked in a manner of the tension force T obtained via tension detector 23 turns into desired value τ Go out and the 1st position xnThe 2nd corresponding position yn, therefore the rotation for making tension force T be reliably held in the range of target can be generated Rotary-die type.
In embodiment 1, the minimum rotation amount of feed shaft 13 is identical with the minimum rotation amount of wireline reel 14, feeds axle position It is identical with the resolution ratio of wireline reel position-detection sensor 22 to put the resolution ratio of detection sensor 21, but can also be different. , it is necessary to adjust the rotation amount of wireline reel 14 according to the scope smaller than the 1st rotation amount △ x in embodiment 1.It is therefore preferable that it is At least minimum amount of movement of wireline reel 14 is smaller than the 1st rotation amount △ x.Also can be suitably in the structure disclosed in embodiment 1 Applied to following embodiment.
Embodiment 2.
In embodiment 2, the processing unit 30 of the rotary mode generating means 20 shown in Fig. 2 makes feed shaft 13 and volume When synchronously have rotated 1 week around axle 14, the tension force T for the material 11 that tension detector 23 detects is obtained, in feed shaft 13 and volume During the rotation 1 week of axle 14, acquirement material 11 tension force T than desired value τ it is big in the case of, will be by winding axle position The position y for putting the wireline reel 14 that detection sensor 22 detects is corrected to small value, compares target in the tension force T of the material 11 of acquirement In the case that value τ is small, the position y of the wireline reel 14 detected by wireline reel position-detection sensor 22 is corrected to big value. If the position of the wireline reel 14 after correction is set into yc, processing unit 30 will be detected by feed shaft position-detection sensor 21 The position yc of the position x of the feed shaft 13 gone out and wireline reel 14 corresponding with the position of feed shaft 13 after calibration combination is set For rotary mode.
Processing when generating rotary mode to rotary mode generating means 20 illustrates.The processing generates for rotary mode Device 20 performs the processing during generation method for the rotary mode that embodiment 2 is related to.
Fig. 5 is the flow chart of processing when representing the rotary mode generating means generation rotary mode in embodiment 2.Figure 6 be represent the position of feed shaft, the position of wireline reel and act on material tension force figure.When generating rotary mode, In step S21, the generation processing unit 33 of the processing unit 30 of the rotary mode generating means 20 shown in Fig. 2 makes feed shaft 13 and volume Synchronously rotated 1 week around axle 14.That is, generation processing unit 33 makes feed shaft 13 and wireline reel 14 while rotated 1 week.Now, generate Processing unit 33 obtains the position x of feed shaft 13 from feed shaft position-detection sensor 21, from wireline reel position-detection sensor 22 The position y of wireline reel 14 is obtained, the tension force T for acting on material 11 is obtained from tension detector 23.Generating processing unit 33 will obtain Position x, y and tension force T store to the storage part 34 shown in Fig. 2.The position x of the feed shaft 13 and position y's of wireline reel 14 Relation solid line 36 as shown in Figure 6 is such.
In embodiment 2, generating processing unit 33 in the step s 21 makes feed shaft 13 and wireline reel 14 while is rotated When, feed shaft 13 and wireline reel 14 can also be made to be rotated according to identical rotation amount.In addition, generation processing unit 33 can also Rotated feed shaft 13 and wireline reel 14 according to rotary mode.In this case, generating processing unit 33 can also be according to Feed shaft 13 and wireline reel 14 are revolved using the rotary mode that the generation method of the rotary mode of embodiment 1 is generated Turn.
Enter to step S22, feeding of the generation processing unit 33 with the 1st rotation amount △ x interval and to being obtained in step S21 Tension force T corresponding to 1 week of axle 13 is sampled.On the 1st rotation amount △ x, as described above.By step S22 sampling, with 1st rotation amount △ x are that unit obtains the individual tension force T of N (=2 × π/△ x)jInformation.J is 1 to N.N number of tension force TjInformation difference Corresponding to the 1st position xjWith the 2nd position yjCombination be N number of positional information (xj, yj).Generating processing unit 33 will be in step S22 Sample obtained N number of tension force TjInformation and each position information (xj, yj) associated, store to storage part 34.Fig. 6 solid line 37 Show resulting tension force TjWith the 1st position xjRelation.
Next, entering to step S23, count value j is set as 1 by generation processing unit 33.Count value j be used for based on Power TjIt is the 2nd position y by the position of wireline reel 14 with desired value τjThe number of change is counted.
In step s 24, generate processing unit 33 and read tension force T from storage part 34jAnd corresponding positional information (xj, yj), will Tension force TjContrasted with desired value τ.In tension force TjIn the case of bigger than desired value τ, i.e., T in step s 24j> τ situation Under, in step s 25, generation processing unit 33 will be with tension force TjCorresponding positional information (xj, yj) the 2nd position yjIt is corrected to The value smaller than the value at current time.It is T as the position shown in A, B and C of solid line 38 in the example shown in Fig. 6j> τ.It is logical Cross the 2nd position yjThe value smaller than the value at current time is corrected to, so as to from the 2nd position yJ-1To the 2nd position yjUntill winding The rotation amount of axle 14 becomes smaller than current time.By the 2nd position y after correctionjReferred to as correct the 2nd position ycj.Step will be received After S24 judgement with tension force TjCorresponding positional information (xj, yj) it is referred to as positional information (x after handlingj, ycj).Position after processing Confidence ceases (xj, ycj) it can both include the 2nd position y of correctioncj, can also not include.Processing unit 33 is generated to believe position after processing Cease (xj, ycj) preserve to storage part 34.
In tension force TjIn the case of smaller than desired value τ, i.e., T in step s 24jIt is raw in step S26 in the case of < τ Will be with tension force T into processing unit 33jCorresponding positional information (xj, yj) the 2nd position yjIt is corrected to bigger than the value at current time Value.It is T as the position shown in the D and E of solid line 38 in the example shown in Fig. 6j< τ.By by the 2nd position yjIt is corrected to than working as The big value of the value at preceding moment, so as to from the 2nd position yJ-1To the 2nd position yjUntill the rotation amount of wireline reel 14 become than current Moment is big.Processing unit 33 is generated by positional information (x after processingj, ycj) preserve to storage part 34.In tension force TjFor desired value τ's In the case of, i.e., T in step s 24jIn the case of=τ, in step s 27, generation processing unit 33 is not pair corresponding with tension force Ti Positional information (xj, yj) the 2nd position yjIt is corrected.In the example shown in Fig. 6, it is as the position shown in the F of solid line 38 Tj=τ.In embodiment 2, not to the 2nd position yjIn the case of being corrected, the 2nd position of positional information after processing Labeled as ycj.Processing unit 33 is generated by positional information (x after processingj, ycj) preserve to storage part 34.
Step S28 is entered to, generation processing unit 33 is contrasted count value j and N.It is N in step S28 count values j In the case of, i.e., in the case of being Yes in step S28, generation processing unit 33 performs step S29 processing.By entering repeatedly Row n times step S24 to step S28, so as to obtain positional information (x after N number of processingj, ycj).That is, in storage part 34, it is stored with Positional information (x after N number of processingj, ycj).In embodiment 2, positional information (x after N number of processingj, ycj) turn into feed shaft 13 and The rotary mode of wireline reel 14.In step S29, generation processing unit 33 is by will be stored in position after N number of processing of storage part 34 Confidence ceases (xj, ycj) with reference to and be set to one group of data, so as to generate rotary mode.
In the case where step S28 count values j is less than N, i.e., in the case of being No in step S28, in step S30 In, generation processing unit 33 adds 1 on current count value j, performs step S24 to step S28.
In step S31, generation processing unit 33 makes feed shaft 13 and volume using the rotary mode generated in step S29 Synchronously rotated 1 week around axle 14.Now, the position that processing unit 33 obtains feed shaft 13 from feed shaft position-detection sensor 21 is generated Put xj, from the position y of the acquirement wireline reel 14 of wireline reel position-detection sensor 22j, obtained from tension detector 23 and act on material 11 tension force Tj.Processing unit 33 is generated by the position x of acquirementj、yjAnd tension force TjStore to the storage part 34 shown in Fig. 2.
Next, in step s 32, generation processing unit 33 is to obtained by using the rotary mode generated in step S29 Tension force Tj, i.e. the tension force T that is obtained in step S31jWhether become desired value τ to be judged.In embodiment 2, if Power TjIn more than or equal to τ-δ and less than or equal in the range of τ+δ, then it is determined as tension force TjBecome desired value τ.δ is The feasible value being illustrated in embodiment 1.
In step s 32, the tension force T obtained by the rotary mode generated in using step S29jDo not turn into desired value τ In the case of (step S32, No), generation processing unit 33 step S21 is repeated to step S32.In step s 32, using Tension force T obtained by the rotary mode generated in step S29jIn the case of becoming desired value τ (step S32, Yes), in step In rapid S33, processing unit 33 is generated by tension force TjOperation of the coiler device 10 in reality is set to as rotary mode during desired value τ The middle rotary mode used and store to storage part 34.
So, generation processing unit 33 performs following processing, i.e. makes feed shaft 13 and volume using resulting rotary mode Synchronously rotated 1 week around axle 14, obtain the tension force T for the material 11 that tension detector 23 detects, the material 11 based on acquirement Tension force T and desired value τ and position, i.e. the 2nd position y to wireline reel 14jIt is corrected, so as to obtain new rotary mode.And And the processing for obtaining new pattern is repeated in generation processing unit 33, until the tension force T of material 11 model of the variation in target In enclosing.As described above, generation processing unit 33 can the variation based on the tension force T of reality and generate and variation suppressed in advance Rotary mode.
In addition, following processing need not be repeated in embodiment 2, i.e. feed shaft 13 is rotated the 1st rotation amount △ every time During x, obtaining the tension force T of material 11 turns into desired value τ the 2nd position yn.Therefore, embodiment 2 can compared with embodiment 1 Rotary mode is generated in the short time.
In embodiment 2, the processing for obtaining new rotary mode is repeated in generation processing unit 33, until material 11 Tension force T variation is in the range of target, but can also be by the rotation as obtained from obtaining the processing of 1 new rotary mode Rotary-die type is set to the rotary mode that coiler device 10 uses in the operation of reality.
According to embodiment 1 and embodiment 2, in the shape of feed shaft 13 and at least one of the shape of wireline reel 14 In the case of non-circular, can avoid numerous and diverse calculation and it is simple, obtain rotary mode at low cost, the rotary mode can Suppress the variation of the tension force T as caused by the mechanicalness reason of coiler device 10 and the stretching, extension of material 11.That is, embodiment 1 and reality It is non-circular coiler device 10 to apply mode 2 to be suitable at least one of the shape of feed shaft 13 and the shape of wireline reel 14. In addition, feed shaft 13 shape and wireline reel 14 be shaped as circle in the case of, material can not be will act on sometimes The tension force T of material 11 keeps fixing.In this case, according to embodiment 1 and embodiment 2, can also obtain can be right The rotary mode that tension force T variation is suppressed.
In embodiment 1 and embodiment 2, by regarding the position x of feed shaft 13 as benchmark, obtain to tension force T's The position y of wireline reel 14 suppressed is changed, so as to generate rotary mode, but can also be by by the position y of wireline reel 14 As benchmark, the position x for the feed shaft 13 that the variation to tension force T is suppressed is obtained, so as to generate rotary mode.In addition, In embodiment 1 and embodiment 2, the control device of coiler device 10 is with the processing unit 30 of rotary mode generating means 20 Independent device, but can also be that the control device of coiler device 10 realizes the processing unit 30 of rotary mode generating means 20 Function.
Rotary mode generating means 20 can also be directed to each species of material 11 and obtain rotary mode.Coiler device 10 Prestore following table, i.e. make each kind by multiple rotary modes that rotary mode generating means 20 generate with material 11 Form corresponding to class progress.Also, coiler device 10 can also change every time in the operation of reality in the species of material 11 When, the rotary mode corresponding with the species of material 11 is read from foregoing form, is revolved feed shaft 13 and wireline reel 14 Turn.
More than embodiment shown in representation present disclosure an example, can also with others known in Technology is combined, without departing from the spirit and scope of the invention, additionally it is possible to which a part for structure is omitted or become More.
The explanation of label
10 coiler devices, 11 materials, 13 feed shafts, 13c feed shaft control devices, 13a, 14a motor, 14 windings Axle, 14c wireline reel control devices, 15 support rollers, 20 rotary mode generating means, 21 feed shaft position-detection sensors, 22 Wireline reel position-detection sensor, 23 tension detectors, 25 processors, 26 memories, 30 processing units, 31 feeding shaft position controls Portion processed, 32 wireline reel position control sections, 33 generation processing units, 34 storage parts, 40 input and output portions.

Claims (6)

1. a kind of rotary mode generating means, it is characterised in that have:
Feed shaft position-detection sensor, position when it rotates to the feed shaft for sending out the material wound are detected;
Wireline reel position-detection sensor, its to by from the material volume that the feed shaft is sent out around wireline reel rotate when Detected position;
Tension detector, its tension force to acting on the material conveyed between the feed shaft and the wireline reel Detected;And
Processing unit, it is entered the material sent out by the wireline reel using the material is sent out from the feed shaft Resulting, the feed shaft that is detected by the feed shaft position-detection sensor position during row winding, by the volume The position of the wireline reel detected around shaft position detection sensor and the material detected by the tension detector The tension force of material, obtain the position for changing the feed shaft needed in the range of target in order that the tension force of the material With the relation of the position of the wireline reel, rotary mode when being rotated as the feed shaft and the wireline reel.
2. rotary mode generating means according to claim 1, it is characterised in that
The processing unit obtains the combination that the feed shaft at least rotates the 1st position and the 2nd position corresponding to 1 week, by institute Obtained combination is set to the rotary mode,
1st position is following positions, i.e. when making the feed shaft have rotated less than the rotation rotation amount of 1 week, by it is described enter The position of the feed shaft detected to shaft position detection sensor,
2nd position is following positions, i.e. carries out the wireline reel after the feed shaft is have rotated the rotation amount Rotation, when the tension force of the material detected by the tension detector turns into the desired value of the tension force, by the volume The position of the wireline reel detected around shaft position detection sensor.
3. rotary mode generating means according to claim 2, it is characterised in that
Among the rotation amount is the minimum rotation amount of the feed shaft or the resolution ratio of the feed shaft position-detection sensor Larger value.
4. rotary mode generating means according to claim 1, it is characterised in that
The processing unit,
When making the feed shaft and the wireline reel synchronously have rotated 1 week, the institute that the tension detector detects is obtained The tension force of material is stated,
During the rotation 1 week of the feed shaft and the wireline reel, in the warp tension ratio desired value of the material of acquirement It is small value by the position correction of the wireline reel detected by the wireline reel position-detection sensor in the case of big,
In the case where the warp tension ratio desired value of the material of acquirement is small, will be detected by the wireline reel position-detection sensor The position correction of the wireline reel gone out is big value,
By the position of the feed shaft detected by the feed shaft position-detection sensor and after calibration with the feeding The combination of the position of the corresponding wireline reel in the position of axle is set to the rotary mode.
5. rotary mode generating means according to claim 4, it is characterised in that
The processing unit,
Perform following processing, i.e. make the feed shaft and the wireline reel synchronously using the resulting rotary mode Rotation 1 week, obtain the tension force of the material that the tension detector detects, the tension force based on the acquired material with The desired value and the position of the wireline reel is corrected, so as to obtain new rotary mode,
The processing for obtaining the new rotary mode is repeated, until scope of the variation in target of the tension force of the material It is interior.
6. the rotary mode generating means according to claim 4 or 5, it is characterised in that
The processing unit,
The position when feed shaft and the wireline reel are started to rotate rotates as benchmark for the minimum of the feed shaft Each larger value among amount or the resolution ratio of the feed shaft position-detection sensor, obtains the combination.
CN201580009738.7A 2015-02-18 2015-02-18 Rotary mode generating means and rotary mode generation method Active CN106061874B (en)

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JP6907498B2 (en) * 2016-10-07 2021-07-21 富士電機株式会社 Control device, take-up system and control method

Citations (4)

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Publication number Priority date Publication date Assignee Title
JPH08188309A (en) * 1995-01-05 1996-07-23 Nobuyuki Takemoto Winding/rewinding controller
JPH09110251A (en) * 1995-10-23 1997-04-28 Yaskawa Electric Corp Web tensile force control method
JP2000103556A (en) * 1998-09-28 2000-04-11 Kataoka Mach Co Ltd Sheet rewinding tension control method
CN1488453A (en) * 2002-07-02 2004-04-14 日本开发顾问股份有限公司 Strip coiling tension applying apparatus

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Publication number Priority date Publication date Assignee Title
JPH02117556A (en) * 1988-10-24 1990-05-02 Toshiba Corp Tension control device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08188309A (en) * 1995-01-05 1996-07-23 Nobuyuki Takemoto Winding/rewinding controller
JPH09110251A (en) * 1995-10-23 1997-04-28 Yaskawa Electric Corp Web tensile force control method
JP2000103556A (en) * 1998-09-28 2000-04-11 Kataoka Mach Co Ltd Sheet rewinding tension control method
CN1488453A (en) * 2002-07-02 2004-04-14 日本开发顾问股份有限公司 Strip coiling tension applying apparatus

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