CN1305747C

CN1305747C - Method for controlling rotation speed of reel and converter

Info

Publication number: CN1305747C
Application number: CNB2004100837084A
Authority: CN
Inventors: 佐藤清市郎
Original assignee: Sanken Electric Co Ltd
Current assignee: Sanken Electric Co Ltd
Priority date: 2003-10-30
Filing date: 2004-10-14
Publication date: 2007-03-21
Anticipated expiration: 2024-10-14
Also published as: CN1611436A; JP4075770B2; JP2005132573A

Abstract

The invention stabilized frequency when a speed control for a winding ribbon is switched. In this spinning speed control method for the winding ribbon, when yarns S1 to S5 supplied in order are wound up by the rotation of the winding bobbin 2 at a winding position while switching the winding bobbin 2 and a replacement bobbin 4 between the winding position and a waiting position, the rotating speed value of the winding bobbin at the winding position is controlled by feedback based on a speed value given for feedback according to the line speed of the yarns S1 to S5. Irrespective of the deviation of the instruction value of the rotating speed of the winding bobbin 2 disposed at the winding position before the yarns S1 to S5 are wound and the speed value given for the feedback, the deviation is set to 0, and the rotating speed value of the winding bobbin 2 is forcibly set to the instruction value.

Description

The method for controlling number of revolution of reel and changer

Technical field

The method for controlling number of revolution of the reel when the present invention relates to wire-like members in employed batch up gear such as weaving manufacture etc. etc. and batching and the rotating speed control changer of this reel.

Background technology

In employed batch up gears such as weaving manufacture, batching (in this manual by reel as wire-like members, be not limited to the member of literal wire, during the thread member that also comprises strand etc.) for example strand, by to the reel hanging wire, along this strand that axially traverses of reel,, this reel is batched on one side Yi Bian rotate reel.

At this moment, when not carrying out the rotating speed control of reel, follow and batch the elapsed time, reel expands, the coiling speed of the strand that is batched on reel (speed of the strand that is batched, linear velocity) rises, to the rising of linear velocity that should strand, cause the amount of batching to increase, be difficult to batch uniformly.

Therefore, in the past, according to batching the elapsed time, perhaps detected the linear velocity and the feedback of strand by the revolution detector of on the part of strand, installing with manual change frequency instruction, carry out linear velocity constant control, batch (opening flat 2002-12368 communique) with reference to the spy

In addition, when finishing at the Coiler for filament and strip shaped materials of 1 reel is approaching, promptly when reel during near full volume state, except batch up gear being stopped method that one shot manually exchanging, known also has, the reel of full volume state is exchanged into the reel of other blank coil state, the method for batching continuously (opening flat 2003-171065 communique with reference to the spy) automatically.

In controlled reset in the past, when carrying out linear velocity constant control, according to the detection speed of strand and the deviation of target velocity, calculate control command value by PI control or PID control, the rotating speed of control reel is that gyrofrequency makes it follow the tracks of this control command value.

But, state in the use in the controlled reset of simple PI control (PID control), because want the gyrofrequency of frequent Correction and Control reel, so PI control (PID control) part burden is bigger, in addition, also produced the danger that phenomenons such as velocity pulsation or vibration take place.

Particularly, realize batching of high speed revolution (300Hz), significantly encourage the danger that phenomenons such as above-mentioned velocity pulsation or vibration take place, so difficulty is difficult to improve the production efficiency of the reel (to call product in the following text) that batches strand because exist.

This point is opened in the flat 2002-12368 communique above-mentioned spy, discloses the acceleration control of combination reel and the content of controlled reset (PI controls (PID control)).

But, about the concrete method when above-mentioned acceleration control switches to controlled reset without any explanation, and since the steep variation of the frequency that causes because of above-mentioned switching produced and batched unsettled danger.

Moreover, when the bobbin when batching end switches, when the reel of one side deceleration control near full volume state, the reel that starts on one side the blank coil state is when continuing to batch, because the frequency change the when controlled reset during from above-mentioned batching switches to deceleration control, so to the last batch difficulty of strand equably by reel.

Therefore, batch inequality in the state batching of product, batch crooked or batch loosely etc., just must repair in the operation afterwards.

Summary of the invention

The present invention In view of the foregoing proposes, and purpose is: provide by stabilized frequency when switching the speed control of reel, can stablize the method for controlling number of revolution and the changer of the reel that batches of the wire-like members that relies on reel.

The 1st form of the present invention, for solving above-mentioned problem, main points are: while be to batch when switching a plurality of reels between position and position of readiness and batching successively the wire-like members of supplying with by this rotation of batching the reel of position, according to the velocity amplitude that linear velocity that should wire-like members is fed back, come the reel method for controlling number of revolution of the tachometer value of the above-mentioned reel that batches the position of controlled reset; No matter above-mentioned wire-like members is batched before,, be 0 with this deviation setting, and the tachometer value pressure of above-mentioned reel be set at above-mentioned command value in the command value of the above-mentioned rotating speed that batches the reel that the position disposes and the deviation of the velocity amplitude that is fed back.

According to the present invention, for example reel be switched to from position of readiness batch the position after, the state of above-mentioned wire-like members before batching, because force to have set the tachometer value of reel according to command value, so can stably carry out switching with above-mentioned command value as benchmark to following controlled reset.

Therefore, carry out the exchange of above-mentioned reel, can realize raising based on the production efficiency of continuous and stable reel change action while can be controlled at the variation of frequency of the reel when exchanging.

In suitable embodiment of the present invention, the tachometer value of the command value of above-mentioned rotating speed, the velocity amplitude that is fed back and above-mentioned reel, it is the frequency of the corresponding rotating speed of difference, be forced to be set under the state with the cooresponding instruction frequency of the command value of above-mentioned rotating speed with the cooresponding frequency of the rotating speed of above-mentioned reel, pick-up time constant that also can be according to the rules, by the rising of above-mentioned instruction frequency, quicken to control the rotating speed of above-mentioned reel.

By this suitable embodiment, the acceleration control of the reel before can stably batching according to the rising of instruction frequency.

In addition, in suitable embodiment of the present invention, can finish the acceleration control of above-mentioned reel according to above-mentioned pick-up time constant, according to this concluding time, use deviation, the proportional gain of regulation and the storage gain of regulation of instruction frequency and the frequency fed back of the rotating speed of above-mentioned reel, it is 0 proportional plus integral control that execution makes above-mentioned deviation, also can make polarity according to above-mentioned deviation and change aforementioned proportion gain and storage gain when carrying out the aforementioned proportion integration control.

By this suitable embodiment, can for example will must compare the bigger aforementioned proportion gain and the storage gain that changes like that when carrying out the aforementioned proportion integration control of gain of the opposing party's polarity one side according to the polarity of above-mentioned deviation to the gain setting of a side polarity one side.

Therefore, when the rotating speed control of reel, promptly when controlling based on the thick rotating speed of controlling of volume of reel, because expect that deviation becomes negative polarity, so the proportional gain and the storage gain of polarity one side by will be negative are set greatlyyer than the proportional gain and the storage gain of positive polarity one side, also can control the variation of positive side of the gyrofrequency of reel from minus side.As a result, the generation that can avoid the oscillation action that causes owing to proportional plus integral control improves the stability of the gyrofrequency of reel.

In addition, suitable embodiment of the present invention, can prepare to represent variation of frequency data with the time fluctuation of the cooresponding frequency of rotating speed of above-mentioned reel, finish the acceleration control of above-mentioned reel according to above-mentioned pick-up time constant, according to this concluding time, according to the rotating speed cooresponding frequency of said frequencies incremental data setting with above-mentioned reel, deviation, the proportional gain of regulation and the storage gain of regulation of the frequency of use setting and the frequency of being fed back, carrying out and making above-mentioned deviation is 0 proportional plus integral control.

By this suitable embodiment, the controlling quantity of proportional plus integral control can be set at necessary Min., can avoid the stability that improves the gyrofrequency of reel owing to the generation of the oscillation action of proportional plus integral control.

In addition, the 2nd form of the present invention, for solving above-mentioned problem, main points are: while be to batch when switching a plurality of reels between position and position of readiness and batching successively the wire-like members of supplying with by this rotation of batching the reel of position, to should wire-like members, according to the velocity amplitude that is fed back, come the reel method for controlling number of revolution of the rotating speed of the above-mentioned reel that batches the position of controlled reset; Detect the above-mentioned reel that batches the position and become full volume state, according to this detection time, no matter the deviation of the command value of the rotating speed of this reel and the velocity amplitude that is fed back, with this deviation setting is 0, and the tachometer value when being above-mentioned detection time with the tachometer value positive lock of above-mentioned reel.

By the present invention, when the above-mentioned reel that batches the position becomes full volume state, because will be the tachometer value when detecting above-mentioned full volume state for the tachometer value positive lock of reel, so tachometer value that can be when detecting above-mentioned full volume state stably carries out the switching to following for example deceleration control as benchmark.

Therefore, carry out the exchange of the reel of full volume state, can realize raising based on the production efficiency of continuous and stable reel change action while can be controlled at the variation of frequency of the reel when exchanging.

Suitable embodiment of the present invention, for solving above-mentioned problem, also can make: the tachometer value of the command value of above-mentioned rotating speed, the velocity amplitude that is fed back and above-mentioned reel, it is the frequency of the corresponding rotating speed of difference, be forced to be locked as under the state with the above-mentioned cooresponding frequency of tachometer value when detecting the time with the cooresponding frequency of the rotating speed of above-mentioned reel, constant deceleration time that can be according to the rules, according to the decline of the cooresponding instruction frequency of the command value of above-mentioned rotating speed, come the rotating speed of the above-mentioned reel of deceleration control.

By this suitable embodiment, can stably carry out the deceleration control of the reel of full volume state according to the decline of instruction frequency.

The 3rd situation form of the present invention, for solving above-mentioned problem, main points are: while batching when switching a plurality of reels between position and position of readiness and batching successively the wire-like members of supplying with by this rotation of batching the reel of position, to should wire-like members, according to the velocity amplitude that is fed back, come the changer of the tachometer value of the above-mentioned reel that batches the position of controlled reset; Have no matter above-mentioned wire-like members is batched before in the deviation of the command value of the above-mentioned rotating speed that batches the reel that the position disposes and the velocity amplitude that fed back, with this deviation setting is 0, and the tachometer value of above-mentioned reel is forced to be set at the device of above-mentioned command value.

According to the present invention, for example reel such as is switched to after batching the position at state before above-mentioned wire-like members is batched from position of readiness under, because force to set the tachometer value of reel according to command value, so can stably carry out switching with above-mentioned command value as benchmark to following controlled reset.

The 4th form of the present invention, for solving above-mentioned problem, main points are: while batching when switching a plurality of reels between position and position of readiness and batching successively the wire-like members of supplying with by this rotation of batching the reel of position, to should wire-like members, according to the velocity amplitude that is fed back, come the changer of the rotating speed of the above-mentioned reel that batches the position of controlled reset; Have when the above-mentioned reel that batches the position becomes full volume state, time when completely rolling up according to this, no matter the deviation of the command value of the rotating speed of this reel and the velocity amplitude that is fed back, with this deviation setting is 0, and the device of the tachometer value when being above-mentioned detection time with the tachometer value positive lock of above-mentioned reel.

Description of drawings

Fig. 1 is that weave the at a high speed summary of batch up gear of the batch up gear that relates to of expression embodiments of the present invention constitutes block diagram.

Fig. 2 is the controlled reset formation that the functional block diagram of expression changer (INV) shown in Figure 1 constitutes and passes through the electrical motor M of PG.

Fig. 3 is the gain setting table that expression could rewrite and remain on the setting value of the proportional gain P of the PI control part of being stored in advance in for example memory device of changer shown in Figure 1 (INV) and storage gain I.

Fig. 4, be when will supplying with the time response of the frequency of the electrical motor of the cooresponding INV of reel shown in Figure 1 and representing after coming the additional mutually corresponding relation of time diagram of control signal of self-controller, with the diagram of supplying with the time response of the frequency of the electrical motor of the cooresponding INV of exchange bobbin and coming to represent behind the additional mutually corresponding relation of time diagram of control signal of self-controller.

Fig. 5 is the general flowchart of an example of the processing of controller shown in the chart 1 and changer.

Fig. 6 is the functional block diagram that is used to illustrate with the processing of the cooresponding changer of reel shown in Figure 1.

Fig. 7, be except that supplying with the time response of the frequency of the electrical motor of the cooresponding INV of reel shown in Figure 1 and come the time diagram of control signal of self-controller, also represent the diagram of the time response of the ratio output Pout that exported from the PI control part of INV and integration output Iout.

Fig. 8 is to be used to illustrate the modified embodiment of the present embodiment functional block diagram with the processing cooresponding changer of reel shown in Figure 1 that relate to.

Fig. 9 is to be used to illustrate other variation of present embodiment functional block diagram with the processing cooresponding changer of reel shown in Figure 1 that relate to.

The specific embodiment

An example of the batch up gear that Fig. 1 relates to as embodiments of the present invention, be that expression is used for high-speed wind-up for example as (at Fig. 1, having been represented the block diagram that the summary of high speed weaving batch up gear (following is called batch up gear) 1 of source line (the following strand that all is designated as) S1～Sn (Sn=S5 in Fig. 1) of the wire-like members of 5 cylindric bobbin B1～B5) batch respectively constitutes by a plurality of bobbin B1～Bn.

As shown in Figure 1, batch up gear 1, have: by batching a plurality of (are and become the above-mentioned cooresponding number of strand that batches object, be 5 in the present embodiment) reel cylindraceous 2 that bobbin constituted that is disposed at assigned position (hereinafter referred to as batching the position) of strand S1～S5 of supplying with successively from above-mentioned bobbin B1～B5 simultaneously; With by with batch the reel 2 that the position disposes at this and freely connect the liftoff guiding bobbin of supporting 3.

This guiding bobbin 3 has following function: while when traversing batching that the reel 2 of sending strand S1～S5 carries out by the not shown transverse arm supplied with from bobbin B1～B5 along reel 2 axial, the one rotation with the connecing the crimping pressure of regulation on one side for reel 2 is Yi Bian guide strand S1～S5.

Moreover batch up gear 1 has: as the exchange usefulness of reel 2, be provided in and the above-mentioned cooresponding position of readiness in position that batches, by the exchange bobbin 4 that bobbin constituted of reel 2 and identical number.

Batch up gear 1, have freely connect from and the supporting mechanism 5 that supports reel 2 and exchange bobbin 4 with rotating freely, by the spinning movement of this supporting mechanism 5, can respectively reel 2 be moved to position of readiness, and will exchange bobbin 4 and move to and batch the position.

Batch up gear 1 has: be installed in the S. A. of guiding bobbin 3 directly or indirectly, for example export the impulse deviser (PulseGenerator:PG) 10 of the revolution detector of the rotating speed that detects guiding bobbin 3 as pulse; Be used to rotate the electrical motor M11 that drives reel 2; With the electrical motor M12 that is used to rotate driving exchange bobbin 4.

And batch up gear 1 has: be used for being electrically connected with PG10 and electrical motor M11 respectively, variable control is to the voltage (V) and the frequency (Fout) of cooresponding electrical motor M11 supply, the changer (INP) 21 of the rotating speed of control motor M11 respectively respectively; Be used for being electrically connected with PG10 and electrical motor M12 respectively, variable control is to the voltage (V) and the frequency (Fout) of cooresponding electrical motor M12 supply, the changer (INP) 22 of the rotating speed of control motor M12 respectively respectively.

Batch up gear 1 has: be used for resistance R 31 that the regenerated energy of the electrical motor M11 of the inertia energy of the reel 2 when completely rolling up (electric energy that is produced by the generator action of electrical motor M11) is consumed as heat energy; Be used for the resistance R 32 that the regenerated energy of electrical motor M12 of the inertia energy of exchange bobbin 4 that will be when completely rolling up consumes as heat energy.

In addition, batch up gear 1, have: be arranged at reel 2 batch the position near, as the state that batches when batching the full volume of the bobbin that the position comprises rotation (reel 2 or exchange bobbin 4), be used for detecting respectively the state of the requirement ratio that at least for example arrives for full volume state (for example 70% etc.) and the state (when completely rolling up) that arrives full volume state, and as completely rolling up prepulse and completely rolling up the full volume sensor 35 of pulse output.

And, batch up gear 1, have:, according to from the full volume prepulse of completely rolling up sensor 35 outputs and completely roll up pulse, comprise to INV21 and INV22 output and to instruct the controller 42 of drive control signal of frequency respectively with INV21, INV22 and completely roll up sensor 35 and be electrically connected.

INV21 constitutes as its hardware, has respectively: not shown rectifier cells such as diode; Smoothing elements such as electric capacity; The microprocessor of a plurality of on-off elements such as transistor and memory built-in type etc.In addition, as memory device (flash memories etc.) the clear instruction input terminal IT4 of running command input terminals IT1, control switching signal input terminal IT2, frequency locking signal input terminal IT3 and the microprocessor of the outside output/input terminal of INV21, the control terminal with controller 42 is connected respectively.

Fig. 2 is the diagram that functional block diagram that expression has an INV21 shown in Figure 1 that above-mentioned hardware constitutes constitutes and the controlled reset of the electrical motor M11 by PG10 constitutes.

At this, as implied above, guiding bobbin 3, when the strand S1～S5 of reel 2 batches, have according to the rotation of reel 2 and rotate, and the function of guiding strand S1～S5, because himself does not batch the action of strand S1～S5, although so yet rotation does not take place because rise owing to Coiler for filament and strip shaped materials causes the linear velocity that causes that expands yet.Therefore, in the present embodiment, detect the rotating speed that guides bobbin 3 by PG10, keep constant in order to make this rotating speed, the rotating speed by INV21 controls reel 2 thus, makes the linear velocity of the strand that is batched by reel 2 keep constant.

That is, as shown in Figure 2, INV21, acceleration and deceleration portion 50 with acceleration and deceleration time constant of the instruction frequency FR that setting supplied with by controller 42.

In addition, so-called pick-up time constant, the meaning is the time of the electrical motor M11 of halted state up to the arrival maximum frequency that constant control sets according to V/Fout described later (being 300Hz in the present embodiment).So-called deceleration time constant, the meaning be electrical motor M11 from maximum frequency 300Hz up to the time that becomes " 0 " (shutting down).

In addition, INV21, have: based on the rotating speed of the guiding bobbin 3 of the rotating speed (for example 18000rpm) of reel 2 cooresponding electrical motor M11 { for example, rotating speed for electrical motor M11, multiply by the value of mechanical gain (Gain) G of the bobbin 2 that compares etc. at the diameter that comprises bobbin 2 and 3 and 3 generations of bobbin }, passing through PG10, for example the pulse repetition frequency (for example per 1 time rotation 32 pulses (32p/r)) by regulation detects and when feeding back to INV21, the rotating speed of this guiding bobbin 3 be multiply by gain doubly, the frequency conversion part 51 that gain rotating speed (rpm) doubly is transformed to frequency (Fb (Hz), for example 1800rpm-300Hz) will be multiply by.

At this frequency conversion part 51, become times rotating speed that to gain, even be because the output pulse repetition frequency of above-mentioned PG10 or when the mechanical gain of above-mentioned bobbin 2 and 3 generations changes because of the change of machine or member, also can change above-mentioned gain according to this change, thus, can easily detect correct rotating speed.

Moreover, INV21, have: obtain the instruction frequency Fin of the acceleration and deceleration time constant of setting by acceleration and deceleration portion 50 and the deviation delta F that is fed back the gyrofrequency Fb of the guiding bobbin 3 that comes by frequency conversion part 51, for making this deviation delta F be always 0, the frequency Fout of control supply electrical motor M11 (promptly, the drive signal of frequency Fout (for example PWM (Pulse Width Modulation) signal)), come the speed controlling portion 52 of the rotating speed (rotating speed of reel 2) of control motor M11.

In the present embodiment, speed controlling portion 52 is 0 controlled reset as making deviation delta F, carries out PI control.

That is, as shown in Figure 2, speed controlling portion 52 has: Fin deducts feedback frequency Fb from the instruction frequency, tries to achieve the subtracting section 52a1 of its deviation; With PI control part (PI) 52a2 with following function.PI control part (PI) 52a2 has: will multiply by the function of the value P* Δ F of proportional gain gained as ratio output Pout by the resulting deviation delta F of this subtracting section 52a1; And the value I* Δ F that deviation delta F be multiply by the storage gain I of regulation is kept at for example memory device of INV21, add up in time, this accumulated value is exported Iout as integration, aforementioned proportion is exported the function of Pout and integration output Iout addition as control output (frequency output Fout).

At this, Fig. 3 is the diagram of the gain setting table T of the expression setting value that can rewrite and remain on the proportional gain P of the PI control part 52a2 that for example memory device of INV21 stored in advance and storage gain I.

As shown in Figure 3, in the gain setting table, proportional gain P and storage gain I, (Δ F → just "+", Δ F → negative "-") preestablishes this value according to the polarity of frequency deviation F.

For example, as gain setting example 1,, proportional gain P and storage gain I are made as " 0 " respectively when the polarity of frequency deviation F during for just "+"; When the polarity of frequency deviation F is negative "-", proportional gain P and storage gain I are made as " 1 " respectively.

In addition, as other gain setting example 2, when the polarity of frequency deviation F is negative "-", proportional gain P and storage gain I are made as " 1 " respectively.When the polarity of frequency deviation F during, proportional gain P and storage gain I are set at respectively than the little value of above-mentioned gain " 1 " for example " 1/2 " for just "+".

In addition, for hardware formation and the functional block diagram formation of other INV22, since all identical with INV21, so omit repeat specification.

Below, the molar behavior of rotating speed (frequency) control of the reel 2 of the batch up gear 1 that present embodiment is related to and exchange bobbin 4 describes.

Fig. 4 is to supply with the time response (C1 among the figure) of the frequency of the electrical motor M11 of reel 2 cooresponding INV21 and represented diagram after coming the additional mutually corresponding relation of time diagram of control signal of self-controller 42.

Moreover Fig. 4 will supply with the time response (C2 among the figure) of the frequency of the electrical motor M12 of exchange bobbin 4 cooresponding INV22 and represented diagram after coming the additional mutually corresponding relation of time diagram of control signal of self-controller 42.

In addition, among Fig. 4, epimere is represented frequency-time response C1 of INV21 and from the time diagram at the control signal of the controller 42 of INV21, and hypomere is represented frequency-time response C2 of INV22 and from the time diagram at the control signal of the controller 42 of INV22.

At first, at batched position configuration in order the to batch strand S1～S5 state of the reel 2 before the hanging wire (during the initial stage or when exchanging again, guiding bobbin 3 is gapped apart from reel 2: in the time of time t=t0), controller 42 sends running instruction (instruction frequency) FR by control terminal and input terminal IT1 to INV21.Then, controller 42 sends control switching signal (ON pulse) VFPID (Fig. 5, step S1) by control terminal and input terminal IT2 to INV21.In addition, the signal for input terminal IT3 and input terminal IT4 is the OFF state.

At this moment, INV21, according to the running of sending instruction FR cooresponding instruction frequency Fin and control switching signal VFPID, ignore rotating speed by the detected guiding bobbin 3 of PG10, the constant control of V/Fout of open loop is carried out in pressure, even the voltage V of supply electrical motor M11 and the ratio V/Fout of frequency Fout are constant control (step S2).

Promptly, INV21, when control switching signal VFPID is the ON state, as Figure 6 and Figure 7, ignore the cooresponding gyrofrequency Fb of rotating speed with the guiding bobbin 3 that feeds back, frequency deviation F is set at 0 (Δ F=0) (step S2a1) by force, ignores the above-mentioned gyrofrequency Fb that feeds back, integration is exported Iout force to be set at instruction frequency Fin (Iout=Fin) (step S2a2).

Because it doesn't matter for the value of the deviation delta F of instruction frequency Fin and the frequency Fb that is fed back and the frequency Fb of feedback, be generally 0, so as Figure 6 and Figure 7, ratio output Pout (P* Δ F) also is 0.

This result, during control switching signal VFPID is ON (t0～t4), the speed of ignoring guiding bobbin 3 detects, execution is based on following the tracks of (the constant acceleration control of V/Fout of t0～t2) of pick-up time constant based on the instruction frequency Fin of above-mentioned integration output Lout, reel 2 is accelerated to the maximum frequency 300Hz of V/Fout figure by the constant control of V/Fout of INV21.

On the other hand, in the constant acceleration of the V/Fout of above-mentioned reel 2 is controlled, to sending storage, clearing signal MCL with the cooresponding INV22 of exchange bobbin, the memory device of removing INV22 is (with reference to Fig. 4: t1～t2) by control terminal and input terminal IT4 for controller 42

When the acceleration control of the reel 2 of the constant control of above-mentioned V/Fout, reel 2 one arrives the 300Hz in high speed field, then at the high speed revolution state of this reel 2, by the hanging wire portion of not shown supporting mechanism, automatically respectively to batching strand S1～S5 and reel 2 cooresponding each bobbin carry out hanging wire, when hanging wire finishes, guiding bobbin 3 moves and connects pressure to reel 2, and beginning strand S1～S5 batches.

In addition, when hanging wire finishes (time t=t3), the linear velocity constant control of controller 42 for preparing to batch during time t=t3～t4, will reduce some (being about about 30Hz) from the output frequency Fout of INV21, be set at about 270Hz (step S3).This is during for initial the batching after above-mentioned reel is installed (exchange), batches strand by the rotative speed with some quickenings, and is inhomogeneous to prevent to roll up.

Then, controller 42 when time t=t4, will be controlled switching signal VFPID and switch to OFF (step S4) from ON.

At this moment, INV21, ends above-mentioned frequency variation respectively and forces control and integration output Iout to force control from the switching of ON to OFF according to control switching signal VFPID, carries out common PI control, i.e. linear velocity constant control (step S5).

Promptly, INV21, try to achieve its deviation by subtracting section 52a1 from instructing frequency Fin to deduct with the cooresponding feedback frequency Fb of the rotating speed of current guiding bobbin 3, by PI control part 52a2, the value P* Δ F that the deviation delta F that tries to achieve be multiply by the proportional gain P gained of regulation adds instruction frequency Fin, obtains ratio output pout.

Then, INV21, by PI control part 52a2, deviation delta F being multiply by the value I* Δ F of storage gain I gained of regulation and the accumulated value that memory device is stored adds up, obtain integration output Iout (with reference to Fig. 7, in addition, in Fig. 7, to deviation delta F is illustrated as the situation of polarity for negative steady state value).

At this moment, in present embodiment, because be saved to memory device as integrated value instruction frequency Fin, so in the stage that PI control is begun, Iout forces control by integration output, (instruction frequency Fin) proceeds integration from current integrated value.

Like this, by PI control, be that the linear velocity of strand S1～S5 maintains under the state of constant at the rotating speed that will guide bobbin 3, batch strand S1～S5 by reel 2.

At this, as shown in Figure 4, one carry out for batching of the strand S1～S5 of reel 2, then the external diameter of reel 2 expands, so can suspect: because the linear velocity of following the external diameter of this reel 2 to increase rises, cause the frequency Fb that feeds back by controlled reset to become bigger than instruction frequency Fin, promptly the polarity of frequency deviation F is negative (-).

This point, in the present embodiment, consider the polarity relatively negative (-) of said frequencies deviation delta F, in advance according to the polarity of frequency deviation F (Δ F →+, or Δ F →-), for example as gain setting example 1, when the polarity of frequency deviation F is "+", proportional gain P and storage gain I are made as " 0 " respectively, when the polarity of frequency deviation F is "-", proportional gain P and storage gain I are made as " 1 " respectively.

Therefore, the correction of PI control only be that the polarity of frequency deviation F be "-" side, as the output result's of PI control output frequency Fout, is the just change of minus side (reduction instruct frequency value F out direction).

In addition, as gain setting example 2, when the polarity of frequency deviation F is negative "-", proportional gain P and storage gain I are made as " 1 " respectively.When the polarity of frequency deviation F during for just "+", even be set at than the little value of above-mentioned gain " 1 " proportional gain P and storage gain I for example when " 1/2 " respectively, to change as the positive side of the output result's of PI control output frequency Fout, also be the pact " 1/2 " of relative minus side change, significantly suppressed.

When the polarity of above-mentioned frequency deviation F is negative "-", by using the PI control of big proportional gain P and storage gain I, from the output frequency Fout of INV21, the i.e. rotating speed of electrical motor M11, along with batch be decelerated control (with reference to Fig. 4, time t=t4～t5).

At this, amount as the strand S1～S5 that is batched by reel 2, when arriving requirement ratio (for example 70%) (for example time t=t5) with respect to the full volume state of its bobbin 2, completely roll up sensor 35 and will completely roll up prepulse P1 and send to controller 42, controller 42 receives the full volume prepulse P1 that sends.

Controller 42, identical according to the full volume prepulse P1 that receives with above-mentioned step S1, send instruction frequency FR as running instruction FR, simultaneously, will control switching signal VFPID and be made as ON (step S6).

At this moment, INV22 by the step S2 same processing of execution with INV21, ignores the rotating speed by the detected guiding bobbin 3 of PG10, the constant control of V/Fout of open loop is carried out in pressure, even the voltage V of supply electrical motor M12 and the ratio V/Fout of frequency Fout are constant control (step S7).

Afterwards, at time t=t5～t6, the batching of strand S1～S5 of reel 2 advanced, (time t=t6 when volume state is expired in reel 2 arrival, at this moment the output frequency from INV21 is made as 30Hz), then the output frequency Fout of INV22 is to steady state (300Hz).

At this moment, controller 42 bases are from the full volume pulse P2 of the full volume sensor 35 of the full volume state that detects reel 2, for the switching motion of preparing bobbin and reel 2 volumes when preventing to exchange loose, and will rise some (about about 5Hz) from the output frequency Fout of INV21 during time t=t6～t7, be set at about 35Hz (step S8).

On the other hand, during above-mentioned time t=t6～t7, by the action of supportive device 5, reel 2 moves to position of readiness from batching the position, and exchange bobbin 4 moves to from position of readiness and batches the position, and carries out hanging wire and handle.

The exchange of bobbin finishes back (time t=t7), controller 42 is in order to finish the speed feedback control to the reel 2 after the exchange, by control terminal and input terminal IT3, will be used for sending to INV21 (step S9) from the control switching signal PIDLCK (ON signal) of PI control switching controls.

At this moment, INV21, according to the control switching signal PIDLCK that sends, positive lock is to the output frequency Fout of electrical motor M11, ignore the rotating speed by the detected guiding bobbin 3 of PG10, forcing to make the voltage V of supply electrical motor M11 and the ratio V/Fout of frequency Fout is constant control (step S10).

Promptly, INV21, when control switching signal PIDLCK is the ON state, as Figure 6 and Figure 7, the cooresponding gyrofrequency Fb of rotating speed of the guiding bobbin 3 of ignoring and being fed back, frequency deviation F is forced to be set at " 0 " (Δ F=0) (step S10a1), ignore the above-mentioned gyrofrequency Fb that feeds back, integration is exported α times (Iout=α Fin) (the step S10a2) that Iout forces to be set at instruction frequency Fin.

Below, the setting of the integration of step S10a2 being exported Iout describes.

Ratio (the α=Ia/Fin) be defined of integrated value (accumulated value) the Ia and instruction frequency Fin of (time t=t7) when this factor alpha is ON as control switching signal PIDLCK.

That is, factor alpha is integrated value (accumulated value) Ia that switches to the moment of ON from OFF at control switching signal PIDLCK and ratio at the instruction frequency Fin of above-mentioned switching instant.

Usually, switch to the state of ON from OFF, because, stably carry out speed control, so be 0 state on the frequency deviation F substrate by PI control at control switching signal PIDLCK.

Therefore, instruction frequency Fin, as the fast frequency (270Hz) that batches when beginning is constant, and the frequency (270Hz-30Hz=240Hz) of the retouch of the volume thick (external diameter increase) of the gyrofrequency (30Hz) of the reel 2 during for full volume state is accumulated value Ia, and is stabilized control.

This point, when aforementioned stable state (Ia=240Hz is stabilized state of a control as accumulated value), in order to lock output frequency Fout, and in instruction frequency Fin minimizing, stop action, as step S2a2 above-mentioned, to consider that also integration is exported Iout forces to be set at instruction frequency Fin (Iout=Fin).

But, passed through between when take-up near the state that finishes, because if integrated value Iout is made as high-revolving instruction frequency Fin quickly, then frequency rises quickly, so cause the frequency output instability.

So, till existing, slightly revise by the volume that carries out reel 2, with the accumulated value Ia that added up (=240Hz) with the ratio α of the instruction frequency Fin in the moment (t=t7) that rises to ON at control signal PIDLCK (=Ia/Fin) multiply by the instruction frequency, integration is exported Iout be set at (α * Fin=Ia), promptly be set at control signal PIDLCK rise to the moment (t=t7) of ON accumulated value Ia (=240Hz), by this integration output Iout locking output frequency Fout.

In addition, why only coming design factor α the 1st time with the ON edge of controlling switching signal PIDLCK, is because at lock-out state, when Fin changes, changes accumulated value with this state interlock, and it is stopped.If calculate each α, even then instruct frequency to reduce, accumulated value does not change yet, and causes stopping.

That is, will be set at integration output Iout as the function of instruction frequency Fin (α * Fin) from the output frequency Fout of INV21.

So, switching controls by INV21, at the speed control of reel 2 when PI control switches to the constant deceleration control of V/Fout (time t=t7), controller 42, same with the occasion of reel 2, during time t=t7～t8, to reduce some (about about 30Hz) from the output frequency Fout of INV22, be set at about 270Hz (step S11), then, when time t=t8, will control switching signal VFPID and switch to OFF (step S12) from ON.

Its result, INV22 according to the switching of control switching signal VFPID to ON, ends above-mentioned frequency variation respectively and forces control and integration output Iout to force control, and carrying out common PI control is linear velocity constant control (step S13 (with reference to step S5)).

Its result, identical with reel 2, strand S1～S5 is batched exchange bobbin 4 with constant linear velocity.

On the other hand, when time t=t9, when running instruction FR becomes OFF, execution is based on constant deceleration time of cooresponding instruction frequency Fin (the constant deceleration control (step S14) of V/Fout of t9～t10), its result, reel 2 is by the constant control deceleration control of the V/Fout of INV21, meet setting deceleration time constant time stop (0Hz).

Afterwards, reel 2 is exchanged for the ceases to be busy axle, prepares to batch next time as the exchange bobbin (the exchange bobbin 4 among Fig. 1) of position of readiness.

Below, by with reel 2 bobbin 4 in return, with INV21 as INV22, to exchange bobbin 4 as reel 2 and with INV22 as INV21, carry out above-mentioned time diagram shown in Figure 4 repeatedly and from the processing of step S1～step S13, can be repeatedly, at a high speed and automatically perform the bobbin exchange.

As above above-mentioned, according to present embodiment, during the constant control of V/Fout of the open loop that before reel 2 hanging wires for example, waits, ignore the cooresponding gyrofrequency Fb of rotating speed with guiding bobbin 3, frequency deviation F is forced to be set at " 0 " (Δ F=0), ignore the above-mentioned gyrofrequency Fb that feeds back, integration is exported Iout force to be set at instruction frequency Fin (Iout=Fin).

Therefore, when switching to common PI control based on feedback loop from the constant control of above-mentioned V/Fout and be linear velocity constant control,, can proceed integration from current integrated value (instruction frequency Fin) in the stage of beginning PI control.

Then, when above-mentioned control is switched, because instruction frequency Fin and feedback frequency Fb are about equally, so hurried frequency deviation F does not take place.

Therefore, even when switching to PI control (linear velocity constant control), also can stablize output frequency Fout from the constant control of V/Fout.

Moreover, in the present embodiment, after the bobbin exchange finishes, will be when PI control switches to the constant control of V/Fout to the speed control of the reel 2 after the exchange, ignore the gyrofrequency Fb of the guiding bobbin 3 that is fed back, frequency deviation F is forced to be set at " 0 " (Δ F=0), ignore the above-mentioned gyrofrequency Fb that feeds back, integration is exported the α that Iout forces to be set at instruction frequency Fin (α: integrated value (accumulated value) Ia that switches to the moment of ON at control switching signal PIDLCK from OFF and ratio at the instruction frequency Fin of above-mentioned switching instant).

That is, the frequency output Fout that rises to the moment of ON at control switching signal PIDLCK can be locked as with the cooresponding accumulated value Ia of the thick correction of volume in this moment (=240Hz).

Therefore,, do not produce frequency change yet, can stablize output frequency Fout even when switching to the constant speed deceleration control of V/Fout from PI control.

And then, by present embodiment, when PI controls, can only suppress change as the output result's of this PI control output frequency Fout minus side (reducing the direction of an instruction frequency value F out) side, perhaps suppress the variation of positive side more significantly than minus side.

Promptly, PID control is that always to make deviation delta F be that 0 control is so that value of feedback (step F b) trace command's value (frequency Fin), so, calculate by always carrying out PID, output (output frequency Fout) as its result is (to positive side and minus side change) change about one side in little scope always, reduce the action of going down on one side gradually, so, there is the danger that produces small oscillation action.

But, pass through present embodiment, as mentioned above, in PI control, because can only suppress the change of output frequency Fout minus side (reducing the direction of an instruction frequency value F out) side, perhaps suppress the variation of positive side more significantly,, further improve the stability of output frequency Fout so can avoid the generation that causes oscillation action because of PI control with the minus side ratio.

In addition, in the present embodiment, as the function of speed controlling portion 52, realized linear velocity constant control by carrying out PI control, still, the present invention is not limited to this formation.

That is, will be kept at existing in the device of INV21A in advance as base frequency incremental data (calculating formula/table) FD with minimizing curve on the time shaft of the cooresponding frequency F of rotating speed of the reel 2 of present embodiment (will by the reduction (degree of dip) of time as Δ ft).

And, PI control 52a2a as Fig. 8, to from the output frequency Fout of specific time, deduct value with the cooresponding reduction Δ of specific time ft gained as output frequency Fout, only mend the deviation delta F part of the frequency Fb that tastes this output frequency Fout and reality by PI control, thus, the deviation control amount of PI control can be reduced, the generation of the vibration etc. of the change up and down of following above-mentioned output frequency Fout can be avoided.

The correction of this PI is the correction of the value of feedback of frequency (linear velocity) after all, and is different with the tension feedback of the storage line device position feedback of wire drawing machine etc.

In addition, as shown in Figure 9, reduce the accurately minimizing curve of consistent instruction frequency Fin of curve by getting ready in advance with the frequency of the rotating speed of corresponding reel 2, can use the control of PI control carrying out output frequency, also can prevent the generation of the vibration that causes because follow the frequency of PI control to change up and down fully, come more stably to carry out linear velocity constant control.

In above-mentioned embodiment and variation, to INV21,22 and the frequency instruction of 21A, also can by from the communication of higher level's computing machine or with switching INV21 such as switch, 22 and the multistage speed of 21A instruct and carry out.

In addition, in above-mentioned embodiment and variation, the switching of bobbin not office also can be by same control realization when switching a plurality of bobbin at the same time in 2 bobbins.

Moreover the speed of strand detects and is not limited to the PG sensor, the sensor that the analog quantity that also can use TG (tachogenerator) to wait is exported.

In above-mentioned embodiment and variation, each INV21,22 and 21A as controlled reset, carries out PI control by PI control part 52a2 and 52a2a.But the present invention is not limited to this formation, also can add the PID control of codifferential (Differential) control.When carrying out this PID control, differential gain D in the differential control is the same with the P in the proportional control, when the polarity of frequency deviation F during for just "+", differential gain D is made as " 0 ", when the polarity of frequency deviation F is negative "-", differential gain D is made as " 1 ", perhaps as other gain setting example 2, when the polarity of frequency deviation F is negative "-", differential gain D is made as " 1 ", when the polarity of frequency deviation F during, differential gain D is set at than the little value of above-mentioned gain " 1 " for example " 1/2 " for just "+".

When carrying out this PID control, the correction of PID control, can be frequency deviation F polarity only the change of negative "-" side, promptly can with as the output result's of PID output frequency Fout as a change at minus side, so, can avoid the generation of the oscillation action that causes because of PID control, improve the stability of output frequency Fout more.

And, in above-mentioned embodiment and variation, be the batching of source line (strand) that batch up gear 1 is used for textile industry, still, do not limit to above-mentioned textile industry, so long as need batch the field of wire-like members, all applicable in what industry.

The present invention is not limited to above-mentioned embodiment and variation, in belonging to scope of the present invention, above-mentioned embodiment and variation can be carried out implementing after various distortion.

Claims

1. the method for controlling number of revolution of a reel is characterized in that:

Be batching between position and position of readiness, while switch a plurality of reels, when batching the wire-like members of supplying with successively by this rotation of batching the reel of position, according to the velocity amplitude that linear velocity that should wire-like members is fed back, come the method for controlling number of revolution of reel of the tachometer value of the above-mentioned reel that batches the position of controlled reset;

Regardless of the deviation of command value with the velocity amplitude that is fed back, with this deviation setting is 0, this command value be before above-mentioned wire-like members is batched in above-mentioned command value of batching the rotating speed of the reel that the position disposes, and the tachometer value of above-mentioned reel forced to be set at above-mentioned command value.

2. the method for controlling number of revolution of reel according to claim 1 is characterized in that:

The tachometer value of the command value of above-mentioned rotating speed, the velocity amplitude that is fed back and above-mentioned reel is the frequency of the corresponding rotating speed of difference;

Be forced to be set under the state with the cooresponding instruction frequency of the command value of above-mentioned rotating speed with the cooresponding frequency of the rotating speed of above-mentioned reel, pick-up time constant according to the rules quickens to control the rotating speed of above-mentioned reel by the rising of above-mentioned instruction frequency.

3. the method for controlling number of revolution of reel according to claim 2 is characterized in that:

Finish the acceleration control of above-mentioned reel according to above-mentioned pick-up time constant, according to this concluding time, use deviation, the proportional gain of regulation and the storage gain of regulation of instruction frequency and the frequency fed back of the rotating speed of above-mentioned reel, it is 0 proportional plus integral control that execution makes above-mentioned deviation, and aforementioned proportion gain and storage gain when changing the aforementioned proportion integration control and carry out according to the polarity of above-mentioned deviation.

4. the method for controlling number of revolution of reel according to claim 2 is characterized in that:

Prepare the variation of frequency data of expression change, this change is and the change of the cooresponding frequency of the rotating speed of above-mentioned reel with respect to the time;

Finish the acceleration control of above-mentioned reel according to above-mentioned pick-up time constant, according to this concluding time, by the rotating speed cooresponding frequency of said frequencies incremental data setting with above-mentioned reel, deviation, the proportional gain of regulation and the storage gain of regulation of the frequency of use setting and the frequency of being fed back, carrying out and making above-mentioned deviation is 0 proportional plus integral control.

5. the method for controlling number of revolution of a reel is characterized in that:

Detect the above-mentioned reel that batches the position and become full volume state, according to this detection time, no matter the deviation of the command value of the rotating speed of this reel and the velocity amplitude that is fed back is 0 with this deviation setting, and the tachometer value when being above-mentioned detection time with the tachometer value positive lock of above-mentioned reel.

6. the method for controlling number of revolution of reel according to claim 5 is characterized in that:

The tachometer value of the command value of above-mentioned rotating speed, the velocity amplitude that is fed back and above-mentioned reel be respectively with the cooresponding frequency of rotating speed;

Under the state of the cooresponding frequency of tachometer value when being forced to be locked as with above-mentioned detection time with the cooresponding frequency of the rotating speed of above-mentioned reel, constant deceleration time according to the rules comes the rotating speed of the above-mentioned reel of deceleration control by the decline with the cooresponding instruction frequency of the command value of above-mentioned rotating speed.

7. changer is characterized in that:

Be batching between position and position of readiness, while switch a plurality of reels, when batching the wire-like members of supplying with successively by this rotation of batching the reel of position, according to the velocity amplitude that linear velocity that should wire-like members is fed back, come the changer of the tachometer value of the above-mentioned reel that batches the position of controlled reset;

Have:

Regardless of the deviation of command value with the velocity amplitude that is fed back, with this deviation setting is 0, this command value be before above-mentioned wire-like members is batched in above-mentioned command value of batching the rotating speed of the reel that the position disposes, and the tachometer value of above-mentioned reel is forced to be set at the device of above-mentioned command value.

8. changer is characterized in that:

Have:

When the above-mentioned reel that batches the position becomes full volume state, time when completely rolling up according to this, no matter the deviation of the command value of the rotating speed of this reel and the velocity amplitude that is fed back, with this deviation setting is 0, and the device of the tachometer value when being above-mentioned detection time with the tachometer value positive lock of above-mentioned reel.