CN109843764A - The mathematical model computing device and control device of sheet production line - Google Patents
The mathematical model computing device and control device of sheet production line Download PDFInfo
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- CN109843764A CN109843764A CN201780063842.3A CN201780063842A CN109843764A CN 109843764 A CN109843764 A CN 109843764A CN 201780063842 A CN201780063842 A CN 201780063842A CN 109843764 A CN109843764 A CN 109843764A
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- 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
- B65H23/00—Registering, tensioning, smoothing or guiding webs
- B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
- B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
- B65H23/195—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations
- B65H23/198—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations motor-controlled (Controlling electrical drive motors therefor)
-
- 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
- B65H2557/20—Calculating means; Controlling methods
- B65H2557/24—Calculating methods; Mathematic models
- B65H2557/242—Calculating methods; Mathematic models involving a particular data profile or curve
Abstract
A kind of mathematical model computing device of sheet production line for capableing of the higher mathematical model of computational accuracy is provided.The mathematical model computing device of sheet production line has mathematical model calculation part, the resume of measured value based on sheet production line, to based on configuration between multiple rolling devices, the sheet production line that the measured value of a tensometer measured towards the tension of another sheet material advanced from above-mentioned multiple rolling devices is controlled, to drive the deviation of the torque of another the 2nd motor apparatus of above-mentioned multiple rolling devices and the torque of one the 1st motor apparatus of the above-mentioned multiple rolling devices of driving for input, it is output with the measured value of above-mentioned tensometer, calculate mathematical model.
Description
Technical field
The present invention relates to the mathematical model computing devices and control device of sheet production line.
Background technique
Patent document 1 discloses a kind of tenslator of sheet production line.The tenslator is based on considering
The result of the up- coiler diameter of the excitation delay time of induction conductivity controls the tension of sheet material.
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2009-113911 bulletin
Summary of the invention
Subject to be solved by the invention
But in the tenslator documented by patent document 1, because including in the measurement in tensometer
The influence of noise and the gain that controller cannot be improved.It is thus impossible to improve the precision of the tension force of sheet material.
The present invention makes in order to solve the above problems.The object of the present invention is to provide one kind can calculate for
The mathematical model computing device and control device of the sheet production line of the higher mathematical model of the precision of the tension force of sheet material.
For the means to solve the problem
The mathematical model computing device of sheet production line for the present invention has mathematical model calculation part, raw based on sheet material
The resume of the measured value of producing line, to based on configuration between multiple rolling devices, to a court from above-mentioned multiple rolling devices
The sheet production line that the measured value for the tensometer that the tension for the sheet material advanced to another measures is controlled, in driving
It states the torque of the 2nd motor apparatus of another of multiple rolling devices and drives one the 1st horse of above-mentioned multiple rolling devices
Deviation up to the torque of device is input, is output with the measured value of above-mentioned tensometer, calculates mathematical model.
The mathematical model computing device of sheet production line for the present invention has mathematical model calculation part, raw based on sheet material
The resume of the measured value of producing line, to based on configuration between multiple rolling devices, to a court from above-mentioned multiple rolling devices
The sheet production line that the measured value of tensometer that the tension for the sheet material advanced to another measures is controlled, with to will be upper
The angular velocity of rotation of the 2nd motor apparatus of another driving of multiple rolling devices is stated multiplied by the another of above-mentioned multiple rolling devices
Value after a radius and to by the angular velocity of rotation of the 1st motor apparatus of a driving of above-mentioned multiple rolling devices multiplied by upper
The deviation of value after stating one radius of multiple rolling devices is input, is output with the measured value of above-mentioned tensometer, calculates
Mathematical model.
The control device of sheet production line for the present invention has control unit, in the operating of above sheet production line,
Obtain above-mentioned mathematical model computing device with the torque of above-mentioned 1st motor apparatus and the torque of above-mentioned 2nd motor apparatus be input,
Based on the calculated tension predicted value of mathematical model, the torque of above-mentioned 1st motor apparatus is controlled based on the tension predicted value.
Invention effect
According to these inventions, mathematical model is calculated based on the resume of the measured value of sheet production line.Therefore, it can calculate
Mathematical model higher for the precision of the tension force of sheet material out.
Detailed description of the invention
Fig. 1 is the structure for applying the longitudinal sectional equipment of up- coiler of the mathematical model computing device of embodiments of the present invention 1
Figure.
Fig. 2 is the longitudinal sectional equipment of up- coiler for illustrating the mathematical model computing device using embodiments of the present invention 1
Control figure.
Fig. 3 is for illustrating using the calculated mathematical modulo of mathematical model computing device by embodiments of the present invention 1
The block diagram of the tension force of the paper wood of type.
Fig. 4 is the calculation method for the mathematical model for illustrating the mathematical model computing device of embodiments of the present invention 1
Summary block diagram.
Fig. 5 is the calculation method for the mathematical model for illustrating the mathematical model computing device of embodiments of the present invention 1
Summary block diagram.
Fig. 6 is the calculation method for the mathematical model for illustrating the mathematical model computing device of embodiments of the present invention 1
Summary block diagram.
Fig. 7 is the calculation method for the mathematical model for illustrating the mathematical model computing device of embodiments of the present invention 1
Example figure.
Fig. 8 is the calculation method for the mathematical model for illustrating the mathematical model computing device of embodiments of the present invention 1
Example figure.
Fig. 9 is the calculation method for the mathematical model for illustrating the mathematical model computing device of embodiments of the present invention 1
Example figure.
Figure 10 is for illustrating based on the mathematical model obtained by the mathematical model computing device of embodiments of the present invention 1
Tension predicted value example figure.
Figure 11 is the hardware structure diagram for having the control device of mathematical model computing device of embodiments of the present invention 1.
Figure 12 is the calculated mathematics of mathematical model computing device for indicating the sheet production line of embodiments of the present invention 2
The figure of the analog result of model.
Figure 13 is the structure chart for applying the rolling equipment of mathematical model computing device of embodiments of the present invention 3.
Specific embodiment
The specific embodiment is illustrated according to attached drawing.In addition, in the various figures, being assigned for identical or corresponding part
Give identical label.The repeated explanation of the part is suitably simplified or is omitted.
Embodiment 1.
Fig. 1 is the structure chart using the longitudinal sectional equipment of up- coiler of the mathematical model computing device of embodiments of the present invention 1.
The sheet production line of Fig. 1 is the longitudinal sectional equipment of up- coiler.As shown in Figure 1, unwinder 1 as one of rolling device and
The upstream side of the longitudinal sectional equipment of up- coiler is set.Up- coiler 2 as rolling device another and be arranged in that up- coiler is longitudinal sectional to be set
Standby downstream side.Up- coiler 2 has front roll 3, back roll 4 and pressure roller 5.The setting of slitter 6 unwinder 1 and up- coiler 2 it
Between.Intermediate calender rolls 7 are arranged between unwinder 1 and slitter 6.
Unwinder uses motor 8 to be correspondingly arranged as the 1st motor apparatus with unwinder 1.Front roll motor 9 as the 2nd
A part of motor apparatus, it is corresponding with front roll 3 and be arranged.Back roll uses motor 10 as a part of the 2nd motor apparatus, with
Back roll 4 is corresponding and is arranged.Pressure roller uses motor 11 as a part of the 2nd motor apparatus, corresponding with pressure roller 5 and be arranged.It is longitudinal sectional
Machine motor 12 is correspondingly arranged with slitter 6.Intermediate calender rolls are corresponding with intermediate calender rolls 7 with motor 13 and are arranged.
Unwinder is corresponding with unwinder 1 with driving device 14 and is arranged.Front roll is corresponding with front roll 3 with driving device 15
And it is arranged.Back roll is corresponding with back roll 4 with driving device 16 and is arranged.Pressure roller driving device 17 is corresponding with pressure roller 5 and sets
It sets.Slitter is corresponding with slitter 6 with driving device 18 and is arranged.Intermediate calender rolls driving device 19 is corresponding with intermediate calender rolls 7 and sets
It sets.
The downstream side of slitter 6 is arranged in tensometer 20 between unwinder 1 and up- coiler 2.
Control device 21 has mathematical model computing device 22.Mathematical model computing device 22 has mathematical model calculation part
23.Mathematical model calculation part 23 is set as, and it is vertical that up- coiler can be calculated based on the resume of the measured value of the longitudinal sectional equipment of up- coiler
Cut the mathematical model of equipment.
Control device 21 has control unit 24.Control unit 24 is set as, and can be based on being calculated by mathematical model calculation part 23
Mathematical model out controls the movement of the longitudinal sectional equipment of up- coiler.
In the longitudinal sectional equipment of up- coiler, paper wood 25 is arranged between unwinder 1 and up- coiler 2.Paper wood 25 is from unwinder 1
It advances towards up- coiler 2.
Paper wood 25 is used as sheet material in advance on unwinder 1.At unwinder 1, the winding diameter of paper wood 25 is larger.Paper
The heavier-weight of material 25.Use slitter 6 with preset width severing via intermediate calender rolls 7 paper wood 25.Paper wood 25 is wound
Machine 2 batches.At up- coiler 2, paper wood 25 is batched until preset outer diameter.Paper wood 25 at this time batches diameter ratio
The winding diameter of the paper wood 25 of unwinder 1 is small.
Then, the control of the longitudinal sectional equipment of up- coiler is illustrated using Fig. 2.
Fig. 2 is the longitudinal sectional equipment of up- coiler for illustrating the mathematical model computing device using embodiments of the present invention 1
Control figure.
As shown in Fig. 2, the input unit of control device 21 is connected to the output section of tensometer 20, front roll driving device 15
Output section, on the output section of back roll driving device 16 and the output section of pressure roller driving device 17.Control device 21
Output section is connected to the input unit of the device of unwinder driving device 14, the input unit of front roll driving device 15, rear rolling
Cylinder with the input unit of driving device 16, the input unit of pressure roller driving device 17, the input unit of slitter driving device 18 and
In input unit of the intermediate calender rolls with driving device 19.
Speed control is carried out at front roll 3.It is revolved specifically, control unit 24 exports front roll with driving device 15
Tarnsition velocity a reference value ωfd ref(rad/s).Front roll is based on angular velocity of rotation a reference value ω with driving device 15fd refBy preceding rolling
Cylinder is driven with motor 9.Front roll motor 9 drives front roll 3.
Speed control is carried out at back roll 4.It is revolved specifically, control unit 24 exports back roll with driving device 16
Tarnsition velocity a reference value ωrd ref(rad/s).Back roll is based on angular velocity of rotation a reference value ω with driving device 16rd refIt is rolled by after
Cylinder is driven with motor 10.Back roll motor 10 drives back roll 4.
Speed control is carried out at pressure roller 5.Specifically, control unit 24 exports rotation angle for pressure roller driving device 17
Velocity Reference value ωrr ref(rad/s).Pressure roller is based on angular velocity of rotation a reference value ω with driving device 17rr refBy pressure roller motor
11 drivings.Pressure roller motor 11 drives pressure roller 5.
Speed control is carried out at slitter 6.It is revolved specifically, control unit 24 exports slitter with driving device 18
Tarnsition velocity a reference value ωsl ref(rad/s).Slitter is based on angular velocity of rotation a reference value ω with driving device 18sl refIt will be longitudinal sectional
Machine is driven with motor 12.Slitter motor 12 drives slitter 6.
Speed control is carried out at intermediate calender rolls 7.It is revolved specifically, control unit 24 exports intermediate calender rolls with driving device 19
Tarnsition velocity a reference value ωint ref(rad/s).Intermediate calender rolls are based on angular velocity of rotation a reference value ω with driving device 19int refWill in
Between roller with motor 13 drive.Intermediate calender rolls motor 13 drives intermediate calender rolls 7.
Control unit 24 accepts torque reference value τ from front roll driving device 15fd ref(Nm) input.Control unit 24 from
Back roll driving device 16 accepts torque reference value τrd ref(Nm) input.Control unit 24 from pressure roller with driving device 17 by
Manage torque reference value τrr ref(Nm) input.Control unit 24 accepts the tension response value T as the measured value of tensometer 20res
(MPa) input.
Tension force is carried out in unwinder 1.Specifically, control unit 24 is based on torque reference value τfd ref, torque reference
Value τrd ref, torque reference value τrr refWith tension response value Tres, to unwinder 14 output torque a reference value τ of driving deviceuw ref
(N·m).Unwinder is based on torque reference value τ with driving device 14uw refUnwinder motor 8 is driven.Unwinder motor 8
Unwinder 1 is driven.
As a result, paper wood 25 is when up- coiler 2 is taken up by certain tension.If the tension acted on paper wood 25 is
Certain, then inhibit the cutting of the fold and paper wood 25 of paper wood 25.If inhibiting the fold of paper wood 25 and cutting for paper wood 25
Disconnected, then the operation of the longitudinal sectional equipment of up- coiler is stablized.If the operation of the longitudinal sectional equipment of up- coiler is stablized, product property is improved.
Then, the tension force of paper wood 25 is illustrated using Fig. 3.
Fig. 3 is for illustrating using the calculated mathematical modulo of mathematical model computing device by embodiments of the present invention 1
The block diagram of the tension force of the paper wood of type.
As shown in figure 3, control unit 24 has tension fallout predictor 26 and PI controller 27.
26 use of tension fallout predictor transmission function G corresponding with mathematical modelT(s), according to torque reference value τfd ref, torque
A reference value τrd refWith torque reference value τrr refSum and torque reference value τuw refDeviation, calculate tension predicted value Tm(MPa)。
PI controller 27 is based on proportional gain Kp, integral gain KI and Laplace operator s, according to tension a reference value Tref
(MPa) with tension predicted value TmDeviation, calculating torque a reference value τuw ref。
At this point, unwinder driving device 14 and unwinder motor 8 are based on torque reference value τuw refCarry out current control.
The torque response value τ of unwinder motor 8uw res(Nm) it is determined based on the current control.The angular velocity of rotation of unwinder 1 is rung
It should value ωuw res(rad/s) the moment of inertia Juw (kgm based on unwinder 12) and Laplace operator s, according to torque response value
τuw resWith interference torque taudis(Nm) it determines.
Then, the summary of the calculation method of mathematical model is illustrated using fig. 4 to fig. 6.
Fig. 4 to fig. 6 is the calculating for the mathematical model for illustrating the mathematical model computing device of embodiments of the present invention 1
The block diagram of the summary of method.
As shown in figure 4, mathematical model calculation part 23 is constructed for acting on paper wood 25 according to the data-speculative that experiment obtains
On tension mathematical model.Specifically, mathematical model calculation part 23 is with the torque response value τ of front roll motor 9fd res
(Nm), the torque response value τ of back roll motor 10rd res(Nm) and the torque response value τ of pressure roller motor 11rr res
(Nm) the torque response value τ of sum and unwinder motor 8uw res(Nm) deviation is input, with the tension of tensometer 20
Response TresFor output, calculate from the difierence equation, transmission function, equation of state for being input to output.
For example, as shown in figure 5, mathematical model calculation part 23 calculates the ARMAX (Auto- as linear difference equation formula
Regressive Moving Average eXogonous) model.ARMAX model is indicated with (1) formula below.
[numerical expression 1]
A (z) y (k)=B (z) u (k)+C (z) w (k) (1)
(1) A (z) of formula is indicated by (2) formula below.
[numerical expression 2]
A (z)=1+a1z-1+a2z-2+…+anz-n (2)
(1) B (z) of formula is indicated by (3) formula below.
[numerical expression 3]
B (z)=1+b1z-1+b2z-2+…+bnz-n (3)
(1) C (z) of formula is indicated by (4) formula below.
[numerical expression 4]
C (z)=1+c1z-1+c2z-2+…+cnz-n (4)
In ARMAX model, define multinomial rational function G (z).G (z) is the transmitting from input u (k) to output y (k)
Function.Specifically, G (z) is indicated by (5) formula below.
[numerical expression 5]
In ARMAX model, define multinomial rational function H (z).H (z) is the biography from noise w (k) to distracter v (k)
Delivery function.Specifically, H (z) is indicated by (6) formula below.
[numerical expression 6]
As a result, the block diagram of Fig. 5 is transformed to the block diagram of Fig. 6.At this point, output y (k) is indicated by (7) formula below.
[numerical expression 7]
Y (k)=G (z) u (k)+H (z) w (k) (7)
The predicted value of the output y (k) of current time k uses the past data until moment (k-1) and by below
(8) formula indicates.
[numerical expression 8]
In addition, the 2nd of the right of (8) formula is defined by (9) formula below.
[numerical expression 9]
If (8) formula is updated in (7) formula, (10) formula below is obtained.
[numerical expression 10]
If noise w (k) is eliminated by (7) formula and (10) formula, obtain (11) formula below.
[numerical expression 11]
As shown in (11) formula, by current output as past input with export it is linear in conjunction with calculating.At this point, making
It is defined with the prediction error ε of 1 rank predicted value by (12) formula below.
[numerical expression 12]
A (z), B (z) and C (z) are by using the prediction theory of error of (12) formula to determine.Specifically, determining A (z), B (z) and C
(z), so that the evaluation function being made of prediction error ε becomes minimum.
In discrete-time system, from input u (k) to the transmission function G (z) of output y (k) by (13) formula table below
Show.
[numerical expression 13]
In continuous time system, passes through from input u (k) to the transmission function G ' (s) of output y (k) and convert (13) formula
And it obtains.Transmission function G ' (s) is indicated with (14) formula below.
[numerical expression 14]
Then, using Fig. 7 to Fig. 9, illustrate the example of the calculation method of mathematical model.
Fig. 7 to Fig. 9 is the calculating for the mathematical model for illustrating the mathematical model computing device of embodiments of the present invention 1
The figure of the example of method.
The upper section of Fig. 7 indicates the torque response value τ of front roll motor 9fd res, back roll motor 10 torque response value
τrd resWith the torque response value τ of pressure roller motor 11rr resSum and the torque response value τ of unwinder motor 8uw resDeviation.
In the upper section of Fig. 7, the torque response value τ of front roll motor 9fd res, back roll motor 10 torque response value τrd res, pressure
The torque response value τ of roller motor 11rr resWith the torque response value τ of unwinder motor 8uw resIt is to be set as nominal torque
100% and the value that converses.
The lower section of Fig. 7 indicates the tension response value T of tensometer 20res.In the lower section of Fig. 7, the tension response value of tensometer 20
TresIt is the value after being carried out low-pass filtering.
The upper section of Fig. 8 is the figure for indicating the state of the transitionality that goal tension is reached after rigid start of upper section of Fig. 7.
Specifically, the upper section of Fig. 8 is the enlarged drawing at moment from 0 (s) to 20 (s).In the upper section of Fig. 8, dotted line is to carry out data
The approximate line of straight line.
The lower section of Fig. 8 is the figure for indicating the state of the transitionality that goal tension is reached after rigid start of lower section of Fig. 7.
Specifically, the lower section of Fig. 8 is the enlarged drawing at moment from 0 (s) to 20 (s).In the lower section of Fig. 8, dotted line is to carry out data
The approximate line of straight line.
The upper section of Fig. 9 be the pre-treatment as the data before inputting to mathematical model and will from the data of the upper section of Fig. 8
Average value and slope as low-frequency disturbance remove after data.
The lower section of Fig. 9 be the pre-treatment as the data before inputting to mathematical model and will from the data of the lower section of Fig. 8
Average value and slope as low-frequency disturbance remove after data.
In the upper section and lower section of Fig. 9, the average value and slope of data are 0.Collection of the mathematical model calculation part 23 in data
Carry out processing corresponding with the upper section of Fig. 9 and lower section offline afterwards.Mathematical model calculation part 23 using Fig. 9 upper section and lower section
Data calculation of transfer function.For example, transmission function GT(s) it is indicated by (15) formula below.
[numerical expression 15]
Obtained transmission function GT(s) it is used for the tension force of next later paper wood 25.Mathematical model calculation part 23
From the torque reference value according to each motor it is calculated batch in the data of the deviation of the torque of debatching, will be in the paper wood of last time
Transmission function G is estimated in 25T(s) average value and slope removed when from input data removes online.Mathematical model calculation part
The value is input to transmission function G by 23T(s).Mathematical model calculation part 23 is calculated for transmission function GT(s) output adds
Calculation of transfer function GT(s) value after the average value and slope that remove when from output data, as tension predicted value Tm。
Then, using Figure 10, illustrate the tension predicted value T based on mathematical modelmExample.
Figure 10 is for illustrating based on the mathematical model obtained by the mathematical model computing device of embodiments of the present invention 1
Tension predicted value example figure.
As shown in Figure 10, tension predicted value TmCalculate closing to reality tension response value Tres.As a result, by paper wood 25
Tension precisely controls.
Embodiment 1 from the description above, calculates mathematical model based on the resume of the measured value of sheet production line.Cause
This, can calculate mathematical model higher for the precision of the tension force of sheet material.
Specifically, mathematical model is with the torque response value τ of front roll motor 9fd res, back roll motor 10 torque
Response τrd resWith the torque response value τ of pressure roller motor 11rr resSum and the torque response value τ of unwinder motor 8uw res
Deviation be input, with the tension response value T of tensometer 20resIt is calculated to export.It therefore, can be to the longitudinal sectional equipment of up- coiler
The higher mathematical model of computational accuracy.
Alternatively, it is also possible in the torque response value τ to front roll motor 9fd res, back roll motor 10 torque response
Value τrd resWith the torque response value τ of pressure roller motor 11rr resSum and the torque response value τ of unwinder motor 8uw resIt carries out
After weighting, mathematical model is calculated.In the case, it can be matched and the higher mathematical model of computational accuracy with actual conditions.
In addition, mathematical model is output and input with 1 straight line approximation, corresponding 1 is subtracted using from the input and the output
Value after secondary straight line calculates.Therefore, the higher mathematical model of precision can be calculated.
In addition, mathematical model is calculated so that the value after the measured value implementation low-pass filtering to tensometer 20 is output.Therefore,
The noise for including in the measured value of tensometer 20 can be removed.As a result, it is possible to calculate the higher mathematical model of precision.
In addition it is also possible to be output with the average value of multiple sampled values of the measured value of tensometer 20, to calculate mathematical modulo
Type.In the case, the noise for including in the measured value of tensometer 20 can be removed.As a result, it is possible to calculate precision more
High mathematical model.
In addition, by unwinder with motor 8 based on exported by the calculated mathematical model of mathematical model computing device 22
Power predicted value TmTo control.Therefore, it is able to suppress the influence for the noise for including in the measured value of tensometer 20.As a result, it is possible to
Improve the precision of the tension force of paper wood 25.
In addition, when calculating mathematical model, it can also be to use front roll motor 9, back roll motor 10 and pressure roller
Most fast rotation speed in motor 11 multiplies multiplied by the value after the radius of corresponding roller with the rotation speed to unwinder motor 8
It is input with the deviation of the value after the radius of unwinder 1.At this point, as transmission function corresponding with mathematical model, as long as calculating
The transmission function of tension from the linear velocity of roller to paper wood 25.It in the case, also being capable of the higher number of computational accuracy
Learn model.
In addition it is also possible to the production line application of film and the same control device of the control device 21 of embodiment 1.Herein
In the case of, the precision of tension force can be also improved based on the higher mathematical model of precision.
Then, the example of control device 21 is illustrated using Figure 11.
Figure 11 is the hardware structure diagram for having the control device of mathematical model computing device of embodiments of the present invention 1.
Each function of control device 21 can be realized by processing circuit.For example, processing circuit has at least one processor
28a and at least one memory 28b.For example, processing circuit has the dedicated hardware 29 of at least one.
In the case where processing circuit has at least one processor 28a and at least one memory 28b, control device 21
Each function is realized by the combination of software, firmware or software and firmware.It is described at least one of software and firmware as program.
At least one of software and firmware are saved at least one memory 28b.By at least one processor 28a will be stored in
Program in few 1 memory 28b reads and executes, and realizes each function of control device 21.At least one processor 28a is also referred to as
Make CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer
Calculation machine, DSP.For example, at least one memory 28b be the non-volatile of RAM, ROM, flash memories, EPROM, EEPROM etc. or
The semiconductor memory of volatibility, disk, floppy disk, CD, CD, MD, DVD etc..
In the case where processing circuit has dedicated hardware 29 of at least one, processing circuit is for example by single circuit, compound
Circuit, the processor of sequencing, the processor of concurrent program, ASIC, FPGA combine them and realize.For example, control
Each function of device 21 is realized by processing circuit respectively.For example, each function concentration of control device 21 is realized by processing circuit.
About each function of control device 21, the dedicated hardware 29 of a part can be realized, by other parts with soft
Part or firmware are realized.For example, can realize the function of mathematical model calculation part 23 by the processing circuit as dedicated hardware 29
Can, the program being stored at least one memory 28b is read and executed to realize mathematics by least one processor 28a
Function other than the function of model calculation part 23.
In this way, processing circuit realizes each function of control device 21 by hardware 29, software, firmware or their combination
Energy.
Embodiment 2.
Figure 12 is the calculated mathematics of mathematical model computing device for indicating the sheet production line of embodiments of the present invention 2
The figure of the analog result of model.In addition, assigning identical label to the same or equivalent part in the part of embodiment 1.It saves
The slightly explanation of the part.
In embodiment 2, calculated each translation of transfer function is equation of state by mathematical model calculation part 23, is led to
It crosses and uses karr door filter (Kalman filter) Lai Gaishan precision of prediction.Karr door filter is using the system of expression
The equation of state of dynamic characteristic and the measured data at every moment provided carry out the on-line Algorithm of the successively state of estimating system.Card
The influence followed normal distribution for the noise for including in your interference and sensor of the filter using the system that acts on is distributed this hypothesis.
In the installation of karr door filter, need to show the dynamic characteristic of control object with equation of state.So
Mathematical model calculation part 23 will be transformed to equation of state by the calculated order transfer function of embodiment 1.From transmission function
There is unlimited kind of method to the transformation of equation of state.For example, shape of the order transfer function of (16) formula below by (17) formula
The performance of state equation.
[numerical expression 16]
[numerical expression 17]
In addition, x is state variable in (17) formula.U is input (torque differences).Y is output (tension).
Karr door filter based on to 1 sampling before until information and current moment obtain information come estimating system
Optimal state.
Where it is assumed that state variable x and output y include noise.
In karr door filter, whenever sampling instant is updated, prediction processing and update processing are just carried out.
In prediction processing, information at the time of state under current moment is based on before 1 sampling is estimated.
In prediction processing, state estimation is indicated by (18) formula below in advance.
[numerical expression 18]
In prediction processing, error covariance is indicated by (19) formula below in advance.
[numerical expression 19]
In update processing, correct state is estimated by being corrected tension predicted value based on the measured value of current moment.
In update processing, the gain of karr door is indicated by (20) formula below.
[numerical expression 20]
In update processing, state estimation is indicated by (21) formula below.
[numerical expression 21]
In update processing, subsequent error covariance is indicated by (22) formula below.
[numerical expression 22]
P (k)=(I-g (k) cT)P-(k) (22)
Successively carry out the operation of (18) formula to (22) formula.At this point, tension predicted value Tc mIt is indicated by (23) formula below.
[numerical expression 23]
Mathematical model calculation part 23 will in the embodiment 1 calculated each translation of transfer function be (17) formula state side
Formula installs karr door filter.Mathematical model calculation part 23 uses the tension response value T that sampling obtains every timeresIt is pre- with tension
Measured value Tc mDeviation successively by tension predicted value Tc mAmendment.Specifically, mathematical model calculation part 23 passes through in each sampling
Carry out (18) formula to (22) formula operation, to calculate tension predicted value Tc m。
Mathematical model is transformed to equation of state, made by embodiment 2 from the description above, mathematical model calculation part 23
With karr door filter, the measured value of the tensometer 20 in the operating based on the longitudinal sectional machine equipment of up- coiler will be obtained by mathematical model
The tension predicted value T arrivedc mAmendment.Therefore, the precision of the tension force of paper wood 25 can be further increased.
In addition it is also possible to the production line application of film and the same control device of the control device 21 of embodiment 1.Herein
In the case of, the precision of tension force can be also improved based on the higher mathematical model of precision.
Embodiment 3.
Figure 13 is the structure chart for applying the rolling equipment of mathematical model computing device of embodiments of the present invention 3.Separately
Outside, for assigning identical label with the same or equivalent part in the part of embodiment 1.Omit the explanation of the part.
As shown in figure 13, the upstream side that seat 30 is arranged on rolling equipment as one of rolling device is rolled in front.Front
The setting of roll 31 is rolled on seat 30 in front.The top that seat 30 is rolled in front is arranged in front screwdown gear 32.
Seat 33 is rolled as another of rolling device and is arranged on the downstream side of rolling equipment in rear.Rear roll 34 is arranged
It is rolled on seat 33 at rear.The top that seat 33 is rolled at rear is arranged in rear screwdown gear 35.
Front motor 36 is used as the 1st motor apparatus, and it is corresponding and be arranged to roll seat 30 with front.Rear motor 37 is used as the 2nd horse
Up to device, it is corresponding and be arranged that seat 33 is rolled with rear.
It is corresponding and be arranged that front motor with driving device 38 and front rolls seat 30.Rear motor driving device 39 and rear
Seat 33 is rolled to correspond to and be arranged.
The setting of tensometer 40 rolls seat 30 in front and rear is rolled between seat 33.
Seat 30 is rolled in front and rear is rolled between seat 33, and the tension of stocking 41 is based on the torque of rear motor 37 and front horse
It is determined up to the deviation of 36 torque.
Mathematical model calculation part 23 is inclined with the torque response value of rear motor 37 and the torque response value of front motor 36
Difference is input, is output with the tension response value of tensometer 40, calculates mathematical model.
The resume of embodiment 3 from the description above, the measured value based on rolling equipment calculate mathematical model.Therefore,
It can be to the higher mathematical model of rolling equipment computational accuracy.
Specifically, mathematical model is with the inclined of the torque normal value of rear motor 37 and the torque normal value of front motor 36
Difference is to input, be output with the tension response value of tensometer 40 and calculate.It therefore, can be higher to rolling equipment computational accuracy
Mathematical model.
In addition, when calculating mathematical model, it can also be with the rotation speed to rear motor 37 multiplied by rear roll 34
The value of radius and multiplied by the deviation of the value of the radius of front roll 31 be input to the rotation speed of front motor 36.At this point, making
For transmission function corresponding with mathematical model, the transmission function of the tension from the linear velocity of each roller to stocking 41 is calculated.?
In this case, also being capable of the higher mathematical model of computational accuracy.
In addition, can also equally use karr door filter with embodiment 2 in embodiment 3.In the case,
The precision of the tension force of stocking 41 can be further increased.
Industrial availability
As above, the mathematical model computing device of sheet production line for the present invention and control device can be used in
The system of the higher mathematical model of computational accuracy.
Description of symbols
1 unwinder；2 up- coilers；3 front rolls；4 back rolls；5 pressure rollers；6 slitters；7 intermediate calender rolls；8 unwinder motors；9
Front roll motor；10 back roll motors；11 pressure roller motors；12 slitter motors；13 intermediate calender rolls motors；14 unwindings
Machine driving device；15 front roll driving devices；16 back roll driving devices；17 pressure roller driving devices；18 slitters
Use driving device；19 intermediate calender rolls driving devices；20 tensometers；21 control devices；22 mathematical model computing devices；23 mathematical modulos
Type calculation part；24 control units；25 paper woods；26 tension fallout predictors；27PI controller；28a processor；28b memory；29 hardware；
Roll seat in 30 fronts；31 front rolls；32 front screwdown gears；Roll seat in 33 rears；34 rear rolls；35 rear screwdown gears；36
Front motor；37 rear motors；38 front motor driving devices；39 rear motor driving devices；40 tensometers；41 roll
Material.
Claims (12)
1. a kind of mathematical model computing device of sheet production line, which is characterized in that
Have mathematical model calculation part, the resume of the measured value based on sheet production line, to based on configuration in multiple rolling devices
Between, the survey to the tensometer measured from one of above-mentioned multiple rolling devices towards the tension of another sheet material advanced
The sheet production line that magnitude is controlled, with drive above-mentioned multiple rolling devices another the 2nd motor apparatus torque and
Drive the deviation of the torque of one the 1st motor apparatus of above-mentioned multiple rolling devices for input, with the measurement of above-mentioned tensometer
Value is output, calculates mathematical model.
2. the mathematical model computing device of sheet production line as described in claim 1, which is characterized in that
One of above-mentioned multiple rolling devices is the unwinder for unwinding sheet material；
Above-mentioned multiple rolling devices the other is the up- coiler for being batched sheet material using front roll, back roll and pressure roller；
Above-mentioned 1st motor apparatus has the motor for driving above-mentioned unwinder；
Above-mentioned 2nd motor apparatus has above-mentioned front roll, above-mentioned back roll and the separately-driven multiple motors of above-mentioned pressure roller；
Above-mentioned mathematical model calculation part is with by above-mentioned front roll, above-mentioned back roll and the separately-driven multiple motors of above-mentioned pressure roller
The deviation of the torque of the sum of torque and the motor for driving above-mentioned unwinder is input, calculates mathematical model.
3. the mathematical model computing device of sheet production line as claimed in claim 2, which is characterized in that
Above-mentioned mathematical model calculation part is to by above-mentioned front roll, above-mentioned back roll and the separately-driven multiple motors of above-mentioned pressure roller
Torque be weighted after, by the torque of above-mentioned front roll, above-mentioned back roll and the separately-driven multiple motors of above-mentioned pressure roller
Sum and the motor for driving above-mentioned unwinder torque deviation be input, calculate mathematical model.
4. the mathematical model computing device of sheet production line as described in claim 1, which is characterized in that
Above-mentioned multiple rolling devices are multiple to roll seat；
Above-mentioned 1st motor apparatus has the motor of above-mentioned multiple one roller drivings for rolling seat；
Above-mentioned 2nd motor apparatus has the motor of above-mentioned multiple another roller drivings for rolling seat；
Above-mentioned mathematical model calculation part with by it is above-mentioned it is multiple roll seat another rollers driving motor torque with will be above-mentioned more
The deviation of the torque of the motor of a one roller driving for rolling seat is input, calculates mathematical model.
5. a kind of mathematical model computing device of sheet production line, which is characterized in that
Have mathematical model calculation part, the resume of the measured value based on sheet production line, to based on configuration in multiple rolling devices
Between, the survey to the tensometer measured from one of above-mentioned multiple rolling devices towards the tension of another sheet material advanced
The sheet production line that magnitude is controlled, with to by above-mentioned multiple rolling devices another driving the 2nd motor apparatus rotation
Tarnsition velocity is multiplied by the value after another radius of above-mentioned multiple rolling devices and to by one of above-mentioned multiple rolling devices
The angular velocity of rotation of 1st motor apparatus of driving is defeated multiplied by the deviation of the value after one radius of above-mentioned multiple rolling devices
Enter, is output with the measured value of above-mentioned tensometer, calculates mathematical model.
6. the mathematical model computing device of sheet production line as claimed in claim 5, which is characterized in that
One of above-mentioned multiple rolling devices is the unwinder for being wrapped around sheet material；
Above-mentioned multiple rolling devices the other is the up- coiler for being batched sheet material using front roll, back roll and pressure roller；
Above-mentioned 1st motor apparatus has the motor for driving above-mentioned unwinder；
Above-mentioned 2nd motor apparatus has above-mentioned front roll, above-mentioned back roll and the separately-driven multiple motors of above-mentioned pressure roller；
Above-mentioned mathematical model calculation part is to by above-mentioned front roll, above-mentioned back roll and the separately-driven multiple motors of above-mentioned pressure roller
Rotation speed in most fast angular velocity of rotation multiplied by after the radius of corresponding roller value with to above-mentioned unwinder is driven
The angular velocity of rotation of motor is input multiplied by the deviation of the value after the radius of above-mentioned unwinder, calculates mathematical model.
7. the mathematical model computing device of sheet production line as claimed in claim 5, which is characterized in that
Above-mentioned multiple rolling devices are multiple to roll seat；
Above-mentioned 1st motor apparatus has the motor of above-mentioned multiple one roller drivings for rolling seat；
Above-mentioned 2nd motor apparatus has the motor of above-mentioned multiple another roller drivings for rolling seat；
Above-mentioned mathematical model calculation part with to by it is above-mentioned it is multiple roll seat another driving motors angular velocity of rotation multiplied by upper
Value after stating the radius of multiple another rollers for rolling seat and the rotation angle to the motor for driving above-mentioned multiple one for rolling seat
Speed is input multiplied by the deviation of the value after the radius of above-mentioned multiple one roller for rolling seat, calculates mathematical model.
8. such as the mathematical model computing device of sheet production line according to any one of claims 1 to 7, which is characterized in that
Above-mentioned mathematical model calculation part carries out approximation to outputting and inputting with 1 straight line, subtracts using from the input and the output
Value after corresponding 1 straight line calculates mathematical model.
9. such as the mathematical model computing device of sheet production line according to any one of claims 1 to 8, which is characterized in that
Value of the above-mentioned mathematical model calculation part after implementing low-pass filtering to the measured value in terms of mentioned strain is output, calculates mathematics
Model.
10. such as the mathematical model computing device of sheet production line according to any one of claims 1 to 9, which is characterized in that
Above-mentioned mathematical model calculation part is output with the average value of multiple sampled values of the measured value of above-mentioned tensometer, calculates mathematics
Model.
11. a kind of control device of sheet production line, which is characterized in that
Have control unit, in the operating of above sheet production line, obtains mathematical modulo according to any one of claims 1 to 10
Type computing device is input, based on mathematical model by the torque of above-mentioned 1st motor apparatus and the torque of above-mentioned 2nd motor apparatus
The tension predicted value of calculating controls the torque of above-mentioned 1st motor apparatus based on the tension predicted value.
12. the control device of sheet production line as claimed in claim 11, which is characterized in that
Mathematical model is transformed to equation of state by above-mentioned mathematical model computing device, using karr door filter, based on above-mentioned
The measured value of mentioned strain meter in the operating of sheet production line corrects the tension predicted value obtained by mathematical model.
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| PCT/JP2017/007823 WO2018158828A1 (en) | 2017-02-28 | 2017-02-28 | Mathematical model calculation apparatus for seat material production line, and control apparatus |
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| JP (1) | JP6835200B2 (en) |
| KR (1) | KR102186020B1 (en) |
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- 2017-02-28 JP JP2019502326A patent/JP6835200B2/en active Active
- 2017-02-28 KR KR1020197013943A patent/KR102186020B1/en active IP Right Grant
- 2017-02-28 CN CN201780063842.3A patent/CN109843764B/en active Active
- 2017-02-28 WO PCT/JP2017/007823 patent/WO2018158828A1/en active Application Filing
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| WO1993015008A1 (en) * | 1992-01-27 | 1993-08-05 | Beloit Technologies, Inc. | Closed loop control for a web winding machine |
| JPH09110251A (en) * | 1995-10-23 | 1997-04-28 | Yaskawa Electric Corp | Web tensile force control method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109843764B (en) | 2020-08-18 |
| JP6835200B2 (en) | 2021-02-24 |
| WO2018158828A1 (en) | 2018-09-07 |
| KR20190062577A (en) | 2019-06-05 |
| JPWO2018158828A1 (en) | 2019-11-07 |
| KR102186020B1 (en) | 2020-12-03 |
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