CN109071140A - The control device of unwinder - Google Patents

The control device of unwinder Download PDF

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Publication number
CN109071140A
CN109071140A CN201680085175.4A CN201680085175A CN109071140A CN 109071140 A CN109071140 A CN 109071140A CN 201680085175 A CN201680085175 A CN 201680085175A CN 109071140 A CN109071140 A CN 109071140A
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CN
China
Prior art keywords
unwinder
control device
tension
sheet material
reference value
Prior art date
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Granted
Application number
CN201680085175.4A
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Chinese (zh)
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CN109071140B (en
Inventor
铃木敦
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Toshiba Mitsubishi Electric Industrial Systems Corp
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Toshiba Mitsubishi Electric Industrial Systems Corp
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Publication of CN109071140A publication Critical patent/CN109071140A/en
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Publication of CN109071140B publication Critical patent/CN109071140B/en
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Classifications

    • 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
    • B65H23/182—Registering, 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
    • B65H23/185—Registering, 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
    • 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
    • B65H2515/314—Tension profile, i.e. distribution of tension, e.g. across the material feeding direction or along diameter of web roll
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/30—Control systems architecture or components, e.g. electronic or pneumatic modules; Details thereof
    • B65H2557/32—Control systems architecture or components, e.g. electronic or pneumatic modules; Details thereof for modulating frequency or amplitude

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  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)

Abstract

The control device that the tension for not being measured to the diameter of unwinder, and capable of will act on sheet material remains certain unwinder is provided.The control device of unwinder has: PI controller, in the winding machine equipment for having the unwinder and the up- coiler wound to sheet material that carry out rollback to sheet material, the input for accepting the tension a reference value of the unwinder and the deviation of tension response value calculates the candidate of the torque reference value of the unwinder by carrying out PI control to the deviation；And model controller, accept the input of the tension a reference value of the unwinder and the deviation of tension response value, have and rolled up the PERIODIC INTERFERENCE caused by the bias of the sheet material on the unwinder the corresponding resonant frequency of frequency sine wave transmission function in calculate be with the deviation input offset, which is added to the candidate of the torque reference value of the unwinder calculated by the PI controller to be set as the torque reference value of the unwinder.

Description

The control device of unwinder
Technical field
The present invention relates to the control devices of unwinder (unwinder).
Background technique
The control device of the open unwinder of patent document 1.According to the control device, can be based on about the diameter of unwinder real Border measured value and the tension that will act on sheet material remains centainly.
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 8-245029 bulletin
Summary of the invention
Subject to be solved by the invention
But in the control device recorded in patent document 1, need to be measured the diameter of unwinder.
The present invention is to complete in order to solve above-mentioned problem.It is an object of the present invention to provide not to the straight of unwinder Diameter is measured, and the tension that can will act on sheet material remains the control device of certain unwinder.
Means for solving the problems
The control device of unwinder according to the present invention has: PI (proportional integration) controller, have to sheet material into In the winding machine equipment of the unwinder of row rollback and the up- coiler wound to sheet material (winder), the unwinder is accepted The input of the deviation of tension a reference value and tension response value is turned by carrying out PI control to the deviation to calculate the unwinder The candidate of square a reference value；And model controller, accept the tension a reference value of the unwinder and the deviation of tension response value Input has resonance frequency corresponding with the frequency of the PERIODIC INTERFERENCE caused by the bias of the sheet material on the unwinder is rolled up Being calculated in the sine wave transmission function of rate with the deviation is the offset inputted, the unwinding to being calculated by the PI controller The candidate of the torque reference value of machine is set as the torque reference value of the unwinder plus the offset.
Invention effect
According to the present invention, the torque reference value of unwinder passes through the torque reference to the unwinder 1 calculated by PI controller The candidate of value calculates plus offset.Therefore, the diameter of unwinder can not be measured, and will act on of sheet material Power remains centainly.
Detailed description of the invention
Fig. 1 is the structure chart using the winding machine equipment of the control device of the unwinder in embodiments of the present invention one.
Fig. 2 is the unwinder using the winding machine equipment of the control device of the unwinder in embodiments of the present invention one Eccentric illustraton of model.
Fig. 3 is for the unwinder that the control device for illustrating by the unwinder in embodiments of the present invention one carries out The block diagram of power control.
Fig. 4 is the effective of the tension force for indicating to be carried out by the control device of the unwinder in embodiments of the present invention one The figure of the analog result of property.
Fig. 5 is Byrd (Bode) line of the transmission function of the control device of the unwinder in embodiments of the present invention one Figure.
Fig. 6 is the process for the summary for the movement for illustrating the control device of the unwinder in embodiments of the present invention one Figure.
Fig. 7 is the hardware structure diagram of the control device of the unwinder in embodiments of the present invention one.
Fig. 8 is the tension force that the control device for illustrating by the unwinder in embodiments of the present invention two carries out Block diagram.
Fig. 9 is the adjusting parameter that the control device for illustrating by the unwinder in embodiments of the present invention two carries out The figure of determining method.
Figure 10 is the week for the interference that the control device for illustrating by the unwinder in embodiments of the present invention two carries out The figure of the measuring method of phase.
Specific embodiment
According to Detailed description of the invention mode for carrying out the present invention.In addition, in the various figures, being assigned to same or comparable part Same label.Suitably simplify or omit the repeated explanation of the part.
One, of embodiment
Fig. 1 is the structure chart using the winding machine equipment of the control device of the unwinder in embodiments of the present invention one.
In Fig. 1, unwinder 1 is arranged on the most upstream of winding machine equipment.Intermediate calender rolls 2 are arranged under unwinder 1 Swim side.Cutting machine (slitter) 3 is arranged on the downstream side of intermediate calender rolls 2.Up- coiler 4 is arranged on the downstream side of cutting machine 3.
Tensometer 5 is arranged between cutting machine 3 and up- coiler 4.
Unwinder driving is corresponding with unwinder 1 with motor 6 and is arranged.Intermediate calender rolls driving with motor 7 it is corresponding with intermediate calender rolls 2 and Setting.Cutting machine driving is corresponding with cutting machine 3 with motor 8 and is arranged.Up- coiler driving motor 9 is corresponding with up- coiler 4 and sets It sets.
Unwinder driving is corresponding with unwinder 1 with driving device 10 and is arranged.Intermediate calender rolls driving is with driving device 11 in Between roller 2 it is corresponding and be arranged.Cutting machine driving is corresponding with cutting machine 3 with driving device 12 and is arranged.Up- coiler driving driving dress It is corresponding with up- coiler 4 and be arranged to set 13.
The input unit of control device 14 is connect with the output section of tensometer 5.The input unit and unwinder of control device 14 are driven Employ the output section connection of driving device 10.The output section of control device 14 and unwinder the driving input unit of driving device 10 Connection.The output section of control device 14 drives with intermediate calender rolls and is connect with the input unit of driving device 11.The output of control device 14 Portion drives with cutting machine and is connect with the input unit of driving device 12.The output section of control device 14 and up- coiler driving driving dress Set 13 input unit connection.
In winding machine equipment, sheet material 15 is rolled up on unwinder 1 as female winding product.For example, sheet material 15 is paper. For example, sheet material 15 is metal.For example, sheet material 15 is film.In mother's winding product, the outer diameter of sheet material 15 is big.The width of sheet material 15 It is wide.15 weight of sheet material.Sheet material 15 is from unwinder 1 by rollback.Sheet material 15 is tailored in cutting machine 3 via intermediate calender rolls 2 to set in advance Fixed winding width.Sheet material 15 is wound in a manner of becoming preset outer diameter to up- coiler 4.As a result, small-sized Winding product is manufactured.
Tensometer 5 detects the tension for acting on sheet material 15.
Control device 14 accepts the tension response value T of sheet material 15 from tensometer 5res(MPa) input.Control device 14 from Unwinder driving motor 6 accepts the rotation speed response ω of unwinder 1uw res(rad/s) input.
Control device 14 exports the torque reference value τ of unwinder 1 to unwinder driving with driving device 10uw ref(N·m)。 Unwinder driving is based on torque reference value τ with driving device 10uw ref(Nm) to the rotation speed of unwinder driving motor 6 into Row control.
Control device 14 exports the rotation speed a reference value ω of intermediate calender rolls 2 to intermediate calender rolls driving with driving device 11int ref (rad/s).Intermediate calender rolls driving is based on rotation speed a reference value ω with driving device 11int ref(rad/s) electricity consumption is driven to intermediate calender rolls The rotation speed of machine 7 is controlled.
Control device 14 exports the rotation speed a reference value ω of cutting machine 3 to cutting machine driving with driving device 12sl ref (rad/s).Cutting machine driving is based on rotation speed a reference value ω with driving device 12sl ref(rad/s) electricity consumption is driven to cutting machine The rotation speed of machine 8 is controlled.
Control device 14 exports the rotation speed a reference value ω of up- coiler 4 to up- coiler driving with driving device 13w ref (rad/s).Up- coiler driving is based on rotation speed a reference value ω with driving device 13w ref(rad/s) electricity consumption is driven to up- coiler The rotation speed of machine 9 is controlled.
Then, using Fig. 2 illustration in the interference torque of unwinder 1.
Fig. 2 is the unwinder using the winding machine equipment of the control device of the unwinder in embodiments of the present invention one Eccentric illustraton of model.The horizontal axis of Fig. 2 is the x-axis with the rotating shaft direct cross of unwinder 1.The longitudinal axis of Fig. 2 is the rotation with unwinder 1 Axis and the orthogonal y-axis of x-axis.
In Fig. 2, A is the torque of unwinder driving motor 6.The unit of A is Nm.B is load torque.The unit of B It is Nm.θ is angle corresponding with the position of center of gravity of unwinder 1 after bias.The unit of θ is rad/s.rdIt is relative to inclined The radius of the unwinder 1 of the track of the position of the center of gravity of unwinder 1 after the heart.rdUnit be mm.M is the quality of unwinder 1. The unit of m is kg.G is acceleration of gravity.The unit of g is N/kg.
Sheet material 15 is provisionally taken care of before being rolled up on unwinder 1.For example, sheet material 15 is to be rolled up state in core It is taken care of.Core is erected on keeping pallet.At this point, the central portion of sheet material 15 hangs down due to the gravity of sheet material 15.Its result It is that sheet material 15 is eccentric.Unwinder 1 is due to the sheet material 15 after bias and by PERIODIC INTERFERENCE torque taudis(Nm) influence.Week Phase property interferes torque taudis(Nm) it is indicated with following (1) formula.
[mathematical expression 1]
τdis=-mgrdSin θ=- mgrdsinωuw rest (1)
Then, the tension force of the unwinder 1 carried out by control device 14 is illustrated using Fig. 3.
Fig. 3 is for the unwinder that the control device for illustrating by the unwinder in embodiments of the present invention one carries out The block diagram of power control.In Fig. 3, positive direction is set to the direction contrary with winding of the up- coiler 4 to sheet material 15.
As shown in figure 3, control device 14 has PI controller 14a and model controller 14b.
PI controller 14a accepts the tension a reference value T of unwinder 1ref(Mpa) and tension response value Tres(Mpa) deviation Input.PI controller 14a calculates the torque reference value of unwinder 1 by carrying out PI (proportional integration) control to the deviation τuw ref(Nm) candidate.The transmission function of PI controller 14a is indicated with following (2) formula.
[mathematical expression 2]
Wherein, KpIt is proportional gain.KIIt is integral gain.S is Laplace's operation symbol.
Model controller 14b is applied side by side relative to PI controller 14a.Model controller 14b accepts unwinder 1 Tension a reference value Tref(Mpa) and tension response value Tres(Mpa) input of deviation.Model controller 14b has and is being rolled up The PERIODIC INTERFERENCE torque tau caused by the bias of the coil on unwinder 1dis(Nm) the corresponding resonant frequency of frequency is just Being calculated in string wave transmission function with the deviation is the offset inputted.The transmission function of model controller 14b is with the drawing of cos function Laplace transform indicates.Specifically, the transmission function of model controller 14b is indicated with following (3) formula.
[mathematical expression 3]
Wherein, KsIt is proportional gain.S is Laplace's operation symbol.
Model controller 14b passes through to the torque reference value τ calculated by PI controller 14auw ref(Nm) candidate adds The offset is set as the torque reference value τ of unwinder 1uw ref(N·m).At this point, resonant frequency is updated by each sampling.
Unwinder driving is based on torque reference value τ with driving device 10uw ref(Nm) current control is carried out.As a result, Obtain Q shaft current response Iq res(A)。
Unwinder driving is based on Q shaft current response I with motor 6q res(A) it rotates.As a result, obtaining torque response Value τuw res(N·m).Torque response value τuw res(NM) the d axis magnetic flux based on unwinder driving motor 6d(Wb) it determines It is fixed.
At this point, PERIODIC INTERFERENCE torque taudis(Nm) it is added to torque response value τuw res(N·M).As a result, obtaining Actual rotation speed response ωuw res(rad/s).Actual rotation speed response ωuw res(rad/s) by torque response Value τuw res(NM), torque tau is interfereddis(Nm), the moment of inertia J of unwinder 1uw(kgm2) and Laplace's operation symbol s determine It is fixed.
The tension response value T of unwinder 1res(Mpa) and to the rotation speed response ω of up- coiler 4w res(rad/s) and The rotation speed response ω of unwinder 1uw res(rad/s) it is proportional that difference carries out value obtained from time integral.It is specific and Speech, tension response value Tres(MPa) it is indicated with following (4) formula.
[mathematical expression 4]
Wherein, E is the Young's modulus of sheet material 15.The unit of E is MPa.L is the distance of unwinder 1 and up- coiler 4.The list of L Position is mm.vw resIt is the peripheral speed response of up- coiler 4.vw resUnit be mm/s.vuw resIt is the peripheral speed response of unwinder 1. vuw resUnit be mm/s.RwIt is the radius of up- coiler 4.RwUnit be mm.RuwIt is the radius of up- coiler 4.RuwUnit be mm。
At this point, PERIODIC INTERFERENCE torque taudis(Nm) rotation speed response ω may be madeuw res(rad/s) it changes.It is tied Fruit is tension response value Tres(MPa) it may change.
But torque reference value τuw ref(Nm) by with correspond to PERIODIC INTERFERENCE torque taudis(Nm) frequency The corresponding offset compensation of resonant frequency.Therefore, tension response value Tres(MPa) variation is suppressed.
Then, the validity of the tension force carried out by control device 14 is illustrated using Fig. 4.
Fig. 4 is the effective of the tension force for indicating to be carried out by the control device of the unwinder in embodiments of the present invention one The figure of the analog result of property.The horizontal axis of Fig. 4 is the time (s).The longitudinal axis on the top of Fig. 4 is linear velocity (mpm).The lower part of Fig. 4 The longitudinal axis is tension response value (MPa).
As shown in the top of Fig. 4, linear velocity is accelerated to 1200mpm from 0mpm.
In the case where not application model controller 14b, tension response value is influenced by the bias of unwinder 1.It is tied Fruit is that tension response value changes.At this point, the frequency of PERIODIC INTERFERENCE becomes frequency corresponding with the rotation speed of unwinder 1.Cause This, as linear velocity rises, the frequency of the variation of tension response value is also got higher.
In contrast, the gain of model controller 14b is in PERIODIC INTERFERENCE in the case where application model controller 14b Frequency in become infinity.At this point, inhibiting the performance of interference to improve in the frequency of PERIODIC INTERFERENCE.Therefore, tension response Value is difficult to the eccentric influence by unwinder 1.As a result, the variation of tension response value is suppressed.
Then, the gain of control device 14 is illustrated using Fig. 5.
Fig. 5 is the Byrd line chart of the transmission function of the control device of the unwinder in embodiments of the present invention one.Fig. 5's Horizontal axis is the rotation speed of unwinder 1.The longitudinal axis on the top of Fig. 5 is gain (dB).The longitudinal axis of the lower part of Fig. 5 is unwinder 1 Phase (deg).In Fig. 5, resonant frequency is set to 20rad/s.
As shown in the top of Fig. 5, gain becomes infinity in revolving speed, that is, 20rad/s corresponding with resonant frequency.
Then, the summary of the movement of control device 14 is illustrated using Fig. 6.
Fig. 6 is the process for the summary for the movement for illustrating the control device of the unwinder in embodiments of the present invention one Figure.
In step sl, control device 14 determines whether to have accepted the tension a reference value and tension response value of unwinder 1 Input.Control device 14 do not accept unwinder 1 tension a reference value and tension response value input in the case where, control dress Set 14 movements that step S1 is repeated.The tension a reference value and tension response value of unwinder 1 have been accepted in control device 14 In the case where input, control device 14 carries out the movement of step S2.
In step s 2, control device 14 is carried out by the deviation of tension a reference value and tension response value to unwinder 1 PI controls to calculate the candidate of the torque reference value of unwinder 1.Thereafter, control device 14 carries out the movement of step S3.
In step s3, control device 14 has and is rolled up the period caused by the bias of the sheet material 15 on unwinder 1 Property interference torque the corresponding resonant frequency of frequency sine wave transmission function in calculate with the deviation be input offset.Its Afterwards, control device 14 carries out the movement of step S4.
In step s 4, the time that control device 14 passes through the torque reference value to the unwinder 1 calculated by PI controller 14a Choosing adds the offset, is set as the torque reference value of unwinder 1.Thereafter, 14 tenth skill of control device.
According in embodiments described above one, the torque reference value of unwinder 1 to by PI controller 14a by calculating The candidate of torque reference value of unwinder 1 calculated plus offset.Therefore, the tension that can will act on sheet material 15 is kept It is certain.
Then, the example of control device 14 is illustrated using Fig. 7.
Fig. 7 is the hardware structure diagram of the control device of the unwinder in embodiments of the present invention one.
Each function of control device 14 can be realized by processing circuit.For example, processing circuit has at least one processing Device 16a and at least one processor 16b.For example, processing circuit has at least one dedicated hardware 17.
In the case where processing circuit has at least one processor 16a and at least one processor 16b, control device 14 Each function realized by the combination of software, firmware or software and firmware.At least one party of software and firmware as program and It is described.At least one party of software and firmware is stored at least one processor 16b.At least one processor 16a passes through reading Out and the program stored at least one processor 16b is executed, realizes each function of control device 14.At least one processor 16a is also referred to as CPU (central processing unit (Central Processing Unit)), central processing unit, processing unit, fortune Calculate device, microprocessor, microcomputer, DSP.For example, at least one processor 16b be RAM, ROM, flash memory, EPROM, EEPROM etc. be non-volatile or semiconductor memory of volatibility, disk, floppy disk, CD, CD, mini-disk, DVD etc..
In the case where processing circuit has at least one dedicated hardware 17, processing circuit for example by single circuit, The processor after processor, multiple programming, ASIC, FPGA or their combination after compound circuit, programming are realized.For example, Each function of control device 14 is realized by processing circuit respectively.For example, each function of control device 14 passes through processing together Circuit is realized.
About each function of control device 14, a part can also be realized by dedicated hardware 17, by other portions Divide and is realized by software or firmware.Pass through for example, it can be the function about PI controller 14a and is used as dedicated hardware 17 Processing circuit realize, read and executed by least one processor 16a extremely about the function other than PI controller 14a The program that stores in a few memory 16b is realized.
In this way, processing circuit realizes each function of control device 14 by hardware 17, software, firmware or their combination Energy.
Two, of embodiment
Fig. 8 is the tension force that the control device for illustrating by the unwinder in embodiments of the present invention two carries out Block diagram.In addition, to embodiment one is same or considerable part assigns same label.Omit the explanation of the part.
The model controller 14b of embodiment two has adjusting parameter α.The biography of the model controller 14b of embodiment two Delivery function is indicated with following (5) formula.
[mathematical expression 5]
Then, the determining method of adjusting parameter α is illustrated using Fig. 9.
Fig. 9 is the adjusting parameter that the control device for illustrating by the unwinder in embodiments of the present invention two carries out The figure of determining method.
As shown in figure 9, control device 14 has adjusting parameter resolver 14c.Adjusting parameter resolver 14c is every by interference A cycle Tdis(s) rotation speed estimated value ω corresponding with the frequency of interference is calculateddis est(rad/s).Rotation speed estimated value ωdis est(rad/s) it is indicated with following (6) formula.
[mathematical expression 6]
Wherein, fdisIt is the frequency of interference.fdisUnit be 1/s.
Adjusting parameter resolver 14c is based on rotation speed estimated value ωdis est(rad/s) and rotation speed response ωuw res (rad/s) comparison result, by each cycle T of interferencedis(s) adjusting parameter α is updated, so that the resonance of model controller 14b Frequency is consistent with the frequency of interference.Adjusting parameter α is indicated with following (7) formula.
[mathematical expression 7]
Then, the cycle T of interference is illustrated using Figure 10dis(s) measurement.
Figure 10 is the week for the interference that the control device for illustrating by the unwinder in embodiments of the present invention two carries out The figure of the measuring method of phase.The horizontal axis of Figure 10 is the time (s).The longitudinal axis of Figure 10 is the tension response value (pu) from tensometer 5 Or carry out the rotation speed response (pu) of the speedometer of the rotation speed of self-test unwinder driving motor 6.
In Figure 10, T1、T2、T3It is that the tension response value (pu) from tensometer 5 or the rotation speed from speedometer are rung The period at the peak of the adjoining in (pu) should be worth.
Tension response value (pu) of the adjusting parameter resolver 14c measurement from tensometer 5 or the rotation speed from speedometer Spend cycle T of the period at the peak of the adjoining in response (pu) as interferencedis(s).In the tension response value from tensometer 5 (pu) in the case where being overlapped noise in the rotation speed response (pu) or from speedometer, appropriate time constant is passed through Low-pass filter inhibits noise.Thereafter, tension response value (pu) or next of the adjusting parameter resolver 14c measurement from tensometer 5 Cycle T dis (s) from period at the peak of the adjoining in the rotation speed response (pu) of speedometer as interference.
It is adjusted according to the resonant frequency in embodiments described above two, model controller 14b by adjusting parameter alpha It is whole.Therefore, the tension that can will act on sheet material 15 more effectively remains centainly.
In addition, rotation speed of the adjusting parameter α based on the tension response value (pu) from tensometer 5 or from speedometer is rung (pu) should be worth and be adjusted in real time.Therefore, adjustment can be easy to carry out to adjustment parameter alpha.
Industrial applicibility
Above such, the control device of unwinder according to the present invention can be used in the tension guarantor that will act on sheet material It holds as certain system.
Label declaration:
1 unwinder, 2 intermediate calender rolls, 3 cutting machines, 4 up- coilers, 5 tensometers, 6 unwinders driving motor, the driving of 7 intermediate calender rolls With motor, 8 cutting machines driving motor, 9 up- coilers driving motor, 10 unwinders, which drive, uses driving device, and 11 intermediate calender rolls drive Employ driving device, 12 cutting machines driving driving device, 13 up- coilers driving driving device, 14 control devices, 14a PI Controller (pi controller), 14b model controller, 14c adjusting parameter resolver, 15 sheet materials, 16a processor, 16b are deposited Reservoir, 17 hardware.

Claims (4)

1. a kind of control device of unwinder, has:
PI controller, that is, pi controller is having the volume that sheet material is carried out the unwinder of rollback and wound to sheet material In the winding machine equipment of machine, the input of the tension a reference value of the unwinder and the deviation of tension response value is accepted, by right It is proportional plus integral control to calculate the candidate of the torque reference value of the unwinder that the deviation, which carries out PI control,；And
Model controller accepts the input of the tension a reference value of the unwinder and the deviation of tension response value, has and quilt The sine wave for rolling up the corresponding resonant frequency of frequency of the PERIODIC INTERFERENCE caused by the bias of the sheet material on the unwinder passes Being calculated in delivery function with the deviation is the offset inputted, the torque reference to the unwinder calculated by the PI controller The candidate of value is set as the torque reference value of the unwinder plus the offset.
2. the control device of unwinder as described in claim 1,
The model controller has the adjusting parameter of resonant frequency in the sine wave transmission function, by joining to the adjustment Number is adjusted, and keeps resonant frequency consistent with the frequency of PERIODIC INTERFERENCE.
3. the control device of unwinder as claimed in claim 2,
The model controller makes resonance frequency by being adjusted based on the tension response value from tensometer to the adjusting parameter Rate is consistent with the frequency of PERIODIC INTERFERENCE, the tension of the tensometer detection sheet material.
4. the control device of unwinder as claimed in claim 2,
The model controller is made altogether by being adjusted based on the rotation speed response from speedometer to the adjusting parameter Vibration frequency is consistent with the frequency of PERIODIC INTERFERENCE, and the speedometer detection makes the unwinder driving motor of the unwinder rotation Rotation speed.
CN201680085175.4A 2016-08-02 2016-08-02 Control device of unwinder Active CN109071140B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/072658 WO2018025326A1 (en) 2016-08-02 2016-08-02 Unwinder control device

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CN109071140A true CN109071140A (en) 2018-12-21
CN109071140B CN109071140B (en) 2020-06-26

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CN (1) CN109071140B (en)
WO (1) WO2018025326A1 (en)

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TWI771135B (en) * 2020-08-12 2022-07-11 日商三菱電機股份有限公司 Tension control device and memory media

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KR102245144B1 (en) * 2020-10-22 2021-04-28 주식회사 진영엠티 Metal sheet cutting apparatus for maintaining a certain tension based on tension sensing data

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KR20180116358A (en) 2018-10-24
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