CN1310816C - Reelling device - Google Patents
Reelling device Download PDFInfo
- Publication number
- CN1310816C CN1310816C CNB031534678A CN03153467A CN1310816C CN 1310816 C CN1310816 C CN 1310816C CN B031534678 A CNB031534678 A CN B031534678A CN 03153467 A CN03153467 A CN 03153467A CN 1310816 C CN1310816 C CN 1310816C
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- voltage
- tension force
- control setup
- control
- current converter
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Abstract
To provide a winding device capable of dispensing with troublesome manual operation and preventing unevenness in tensile force as in the case of manual operation. A winding means such as a winding bobbin 8 winding a long object such as an electric wire 2 is driven by a torque motor 7, and tensile force applied on the long object is detected by a tensile force detection means such as a dancer 15. Voltage applied to the torque motor 7 is controlled by a control means such as a CPU 11 so that the tensile force agrees with a target value. (C)2004,JPO.
Description
Technical field
The present invention relates to a kind of wind2, in detail, relate to the wind2 of wire such as a kind of be used to reel steel wire or cable or banded rectangular object, particularly use the wind2 of torque motor at winding side.
Background technology
In the past, as the wind2 of wire such as be used to reel steel wire or cable or banded rectangular object, known had a wind2 shown in Figure 1 50.
Constitute the unwrapping wire source for line tube 1 on be wound with many electric wires 2, the induction motor (IM) 4 that drives by the rotary power source device by supply side current converter device 3 grades makes this confession line tube 1 rotation supply line (usually to supply side current converter device 3 sides supply source power supply).The electric wire of being supplied with by unwrapping wire 2 is winding on the winch spool 8 that is driven by torque motor 7 through middle rotating pulley 5,6.
On torque motor 7, be applied with the output voltage of slidec 9, be that armrest moves the output voltage of adjusting this slidec 9, so that the tension force when reeling keeps certain (supplying with source power supplies to slidec 9 usually) in the past.
In a word, in the universal epoch such as current converters,, can constitute a kind of simply constructed device that can manage adjustment tension force by people's M/C by using this torque motor 7.
That is, under the situation of wind2 50, if do not carry out any control, the curve that is applied to tension force when control " do not have " as shown in Figure 2 on the electric wire 2 is such, along with process coiling elapsed time T and reduce.This is owing to the increase that is wound on the electric wire amount on the winch spool 8 causes the not enough institute of moment of rotation extremely.
In this state, cause electric wire lax owing to tension force reduces, in the past, adjust slide wire resistance regulating control 9 increased the voltage that torque motor 7 is applied, and torque is recovered, and made tension force keep certain.
The variation that is applied to the tension force on the electric wire 2 during this hand adjustment is represented by the curve of Fig. 2 " manually time ".Basically tension force is remained near certain value, but, still have some changes as the figure expression according to the time and the adjustment amount of hand adjustment.
In this method in the past,, has manually operated miscellaneous property because the moment adjustment of torque motor 7 becomes the operation of dependence experience and intuition easily by manually carrying out.
In addition, because frequent handling device continuously, adjust and apply voltage certain difficulty is arranged,, can not look to improving the precision of winding tension no matter by the adjustment operation of what step.
Summary of the invention
Purpose of the present invention is exactly that providing a kind of does not have this manually operated miscellaneous property, and does not have the wind2 of the tension error under the manual operation state in order to address the above problem.
The present invention is in order to address the above problem, and main points are to have the winch spool of the rectangular object of reeling; Under the state that used power frequency is fixed, make aforementioned winch spool motor rotating according to applying voltage change output torque; Detection puts on the tension detecting device of the tension force on the aforementioned rectangular object; Control applies voltage to what aforementioned motor applied, so that the tension force of the aforementioned detection control setup consistent with expected value.
In addition, aforementioned control setup also can be kept the basic map that is made of the beginning voltage of reeling, coiling end voltage, the elapsed time of reeling, and will be added in applying in the voltage aforementioned motor mutually according to the voltage of this basic map.
In addition, aforementioned control setup also can have judges the whether judgment means in non-sensitive district of aforementioned detected tension force, aforementioned control setup calculates revises voltage, and judging aforementioned detected tension force in non-sensitive district the time, makes it keep the correction voltage that calculates before this.
In addition, aforementioned control setup also can have the storage gain change device of change storage gain, and this storage gain change device makes it that aforementioned storage gain is changed to higher value along with the deviation between aforementioned expected value and the aforementioned detected tension force becomes big.
Description of drawings
Fig. 1 is the block diagram of the example 50 of expression wind2 in the past.
Fig. 2 passes the diagram of curves of example for the expression wire tension.
Fig. 3 is the block diagram of the wind2 of expression embodiment.
Fig. 4 is the block diagram of current converter device 10 grades of expression embodiment.
Fig. 5 is the current converter device 10 of representing embodiment and the External view that takes out its guidance panel 16.
Fig. 6 is the block diagram that is illustrated in the function that realizes among the CPU11.
Fig. 7 adjusts the content graph that wheel (ダ Application サ one) is revised for expression.
Fig. 8 is expression I gain change illustration.
Fig. 9 is the example figure of expression basic map 20.
Figure 10 applies the diagram of curves of the passing example of voltage V3 for the expression torque motor.
The specific embodiment
Followingly embodiments of the invention are described with reference to accompanying drawing.
Fig. 3 is the pie graph of the wind2 10 of expression one embodiment of the invention.
Among the figure, 3 is supply side current converter device, by the source power supply supply of electrical energy.4 is induction motor (IM), by the output driving of supply side current converter 3, makes for 1 rotation of line tube.On for line tube 1, be wound with a large amount of electric wire 2, be wound on the winch spool 8 through each rotating pulley 5,6 from the electric wire of sending here 2.
10 is the current converter device of winding side, also by the source power supply supply of electrical energy.7 is torque motor, by the output driving of winding side current converter device 10, makes winch spool 8 rotations.15 for adjusting wheel, is arranged between rotating pulley 5 and 6, detects the tension force that is applied on the electric wire 2, its value (adjusting wheel tension force detected value) supplied with the current converter device 10 of winding side.
What Fig. 4 represented is the formation of winding side current converter device 10.
Winding side current converter device 10 is made of CPU (central processing unit) 11, E2-PROM (EEPROM (Electrically Erasable Programmable Read Only Memo)) 12, ROM (read-only memory (ROM)) 13, RAM (random access memory) 14, guidance panel 16, current converter portion 17.In Fig. 4, also represented the torque motor 7 that drives by this current converter portion 17.
CPU11 uses the output voltage V 3 of RAM14 control current converter portion 17, so that the tension force of electric wire 2 remains on expected value according to being stored in the program among the ROM13 and being stored in parameter among the E2-PROM12.
The function of CPU11 when Fig. 6 has represented to implement this control constitutes.In the figure, 33 is comparator, extracts adjustment wheel target location instruction that becomes the tension force expected value and the deviation delta y that adjusts wheel tension force detected value.
34 is the PI control part, carries out PI control (ratio, integration control) according to deviation delta y, revises voltage V3 with output.The details of PI control is narrated in the back.35 is judging part, when adjusting the non-sensitive district of wheel tension force detected value at Fig. 7, supplies with correction voltage hold instruction CH to PI control part 34.36 are I gain changing unit, will supply with PI control part 34 with the I yield value that increases that is in proportion of adjusting wheel tension force detected value.The details of these judging parts 35, I gain changing unit 36 is narrated in the back.
37 is the basic map operational part, exports basic map voltage V2 shown in Figure 9 (relevant basic map 20 is narrated in the back).38 is adder, with above-mentioned correction voltage V1 and basic map voltage V2 addition, generates current converter portion output voltage V 3.39 is clipper, surpasses under the source power supply voltage condition in aforementioned current converter portion output voltage V 3, and current converter portion output voltage V 3 is limited in the scope of source power supply voltage.Because source power supply voltage is different (for example 220V, 230V, 400V, 460V) with country, use the commercial voltage of guidance panel 16 defeated these states of people.
Below, to further specifying by the performed control that constitutes shown in Figure 6.
As shown in Figure 4, torque motor 7 is driven by winding side current converter device 10.For the absorption of carrying out tension force and the controlled reset of amount of tension, between rotating pulley 5 and 6, be provided with and adjust wheel (tension force absorption detecting device) 15, take turns 15 tension force detected value from this adjustments and feed back in the winding side current converter device 10.The output frequency of winding side current converter device 10 is fixed, and only output voltage V 3 is made the certain control of tension force of torque motor 7 as variable.
In carrying out the certain control of this tension force, carry out adjusting 2 processing that wheel is revised and basic map adds with merging.In addition, also can only adjust wheel correction according to the device situation.Revise in order to adjust wheel, as shown in Figure 7, the adjustment wheel location the when tension force of electric wire 2 is become desired value is instructed as the target location, logins (setting) in advance in winding side current converter 10.
This login is by carrying out (following omission " parameter code " language) from the value (voltage) of guidance panel 16 input this parameter code Cd626 and target location instruction.The parameter of input is stored among the E2-PROM12.In addition, also login has each parameter shown in Figure 7, promptly Kong Zhi non-sensitive district high level (Cd651), its down whose (Cd652) of water, upper, the most the next adjustment wheel high level (Cd653), adjust and take turns low level (Cd654).
According to these parameters, PI control part 34 shown in Figure 6 carries out following PI control.That is, at first, in the time of in the detected value of adjusting wheel tension force is in by the non-sensitive district of non-sensitive district high level, its low level regulation, judging part 35 is supplied with to PI control part 34 and is revised voltage hold instruction CH.Thus, control is stopped (but keeping integral operation), prevents to adjust the swing of wheel 15, realizes the stable of action.
Under the situation beyond the non-sensitive district, do not revise voltage hold instruction CH from judging part 35 outputs, PI control part 34 according to predefined P gain, the I gain (Cd655 of Fig. 7～Cd658) carry out PI control, to produce correction voltage V1.In addition, adjusting under the situation of taking turns high level because of electric wire 2 broken string isostension detected values surpass, or be lower than under the low level situation of adjustment wheel, judging part 35 is supplied with to PI control part 34 and is revised voltage hold instruction CH, to prevent to export excessive correction voltage.
In the controlled reset that carries out with PI control, adjust wheel tension force detected value and the deviation delta y that adjusts the instruction of wheel target location in order to eliminate, calculate usually and revise voltage V1.This revise voltage V1 by
V1=V old+ Δ y (P gain+I gain) (formula 1)
Try to achieve (V old is the V1 that calculated last time).By should revise voltage V1 and basic map voltage V2 addition in adder 38, V2 applies correction to basic map voltage, and as 3 outputs of current converter portion output voltage V.
, the P of above-mentioned formula 1 gain, I gain are generally certain value.At this, the P gain is certain value, but for the I gain, as shown in Figure 8, can be according to the size variation of adjusting wheel tension force detected value.
Be in particular, variable integration gain level Cd666 is being set under the situation of 1V, adjust the every increase of wheel tension force detected value 1V, just supply with I gain multiplying power information SI from 36 pairs of PI control parts of I gain changing unit 34 to be * 1 times, * 2 times, * 3 times, * 4 times.The I gain is set among Cd657 or the Cd658, but PI control part 34 is according to the information SI of this I gain multiplying power, with the I of reality gain with this setting value * 1 times, * 2 times, * 3 times, * 4 times form change, calculate the part relevant with the integration control of revising voltage V1.
Thus, can carry out high-speed response to load change or the interference of moment.But,, the situation that does not need this variable gain to handle is arranged also according to the situation of device.
Also have a kind of processing as shown in Figure 9, with basic map 20, promptly the characteristic curve of the desirable change of voltage that should apply to torque motor 7 is logined (storage) in advance, along with the coiling time of process, current converter portion output voltage V 3 is risen.Basic map 20 is by the elapsed time T that reels, reel beginning voltage Vs, coiling end voltage Ve regulation, when using guidance panel 16 that these values are preestablished, basic map operational part 37 carries out computing according to these setting values, and exports basic map voltage V2 accordingly with the elapsed time T that reels.
When carrying out this processing, do not wait until the generation of deviation delta y, increase current converter device portion output voltage V 3 with the increase of winch spool 8 diameters with matching.Therefore eliminated the delay of control, in addition, because it is less to revise voltage V1, dancing also is suppressed lessly.
Moreover basic map 20 both can the function mode be stored and be tried to achieve with calculating, also can store in the pictorialization mode.The form of basic map has various.For example can be chi square function, also can be linear function or quadratic function.As required, basic map 20 is preferably (roughly) function simple in structure, and 7 making alives of torque motor when too not enough, are kept by revising according to the tension force detected value.
In the present embodiment, handle merging ground with these 2 and carry out, tension force is frequent thereby control is applied to the voltage V3 (current converter portion output voltage) on the torque motor 7 keeps necessarily.Thus, be applied on the torque motor 7 voltage V3 with along with diameter big or small corresponding of the coiling elapsed time T of process and the winch spool 8 that increases, curve as shown in figure 10 " during control " increases like that.Thereby the tension force curve " during control " as shown in Figure 2 that is added on the electric wire 2 like that stably keeps certain.
Conclude the words of foregoing, present embodiment be that certain main points are with Tension Control, has basic map 20, to adjust wheel tension force detected value feedback and carry out PI control, it is characterized by, as the output key element in the control, only control the output voltage V 3 of winding side current converter device 10, promptly the voltage that applies to torque motor 7 carries out Tension Control.The frequency almost fixed of the output voltage V 3 of winding side current converter device 10 is not controlled it for for example 50Hz, 60Hz.
Moreover the present invention is not limited to the above embodiments, for example following modification can be arranged.
(1) will adjust wheel in an embodiment and revise with basic map voltage and add at last and usefulness, but according to the precision prescribed of device etc., also only the service adjustment wheel is revised.
(2) might not adjust the I gain-variable that wheel revises and handle, also can be fixed gain according to the precision prescribed of device etc.
According to the present invention, the wind2 by the rectangular object of torque motor driving coiling is detected the tension force that is applied on the above-mentioned rectangular object by tension detecting device.By the apply voltage of control setup control, so that this tension force is consistent with expected value to torque motor.At this,, also can apply the maneuverable motor that voltage is adjusted moment by adjustment even torque motor is a kind of not control frequency.Thereby, only can realize having the advantage of torque motor that just can control torque by voltage, in the past manually operated trouble not again, and tension force simultaneously not have the wind2 that fluctuates.
In addition, according to preferred embodiment, aforementioned control setup maintains the basic map that is made of the beginning voltage of reeling, coiling end voltage, the elapsed time of reeling, and will be added in mutually on the voltage that aforementioned motor is applied according to the voltage of this basic map.Thereby, do not wait until the generation of deviation, corresponding with the increase of the diameter of winch spool, just increase the output voltage of current converter portion.As a result, eliminated the delay of control, it is also less to revise voltage.Therefore, dancing also is suppressed lessly.
In addition,, have judgment means in the aforementioned control setup, judge detected tension force in non-sensitive district the time, keep the correction voltage that calculates before this as far as possible by this judgment means according to other preferred embodiments.Thereby, tension force be positioned at non-sensitive district during, the moment that torque motor produces is constant, has prevented to adjust the swing of wheel, has realized the stable of action.
In addition, according to other preferred embodiments, in aforementioned control setup, has the storage gain change device of change storage gain, along with the deviation between expected value and the detected tension force becomes big, by this storage gain change device, aforementioned storage gain is changed to higher value.Thereby, can carry out high-speed response to load change and the interference of moment.
Claims (4)
1. a wind2 is characterized by, and has the winch spool of the rectangular object of reeling; Under the state of adding frequency fixing, make described winch spool motor rotating according to applying voltage change output torque; Detection is applied to the tension detecting device of the tension force on the described rectangular object; Control applies voltage, makes described detected tension force and the certain control setup of expected value described motor.
2. according to the described wind2 of claim 1, it is characterized by, described control setup maintains the basic map that is made of the beginning voltage of reeling, coiling end voltage, the elapsed time of reeling, and will be added in applying in the voltage described motor mutually according to the voltage of this basic map.
3. according to claim 1 or 2 described wind2s, it is characterized by, described control setup has judges the whether judgment means in non-sensitive district of described detected tension force, described control setup calculates revises voltage, and judge described detected tension force in non-sensitive district the time, keep the correction voltage of computing before this.
4. according to claim 1 or 2 described wind2s, it is characterized by, described control setup has the storage gain change device of change storage gain, this storage gain change device changes to higher value along with the deviation between described expected value and the described detected tension force becomes big with described storage gain.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002236851A JP4089346B2 (en) | 2002-08-15 | 2002-08-15 | Winding device |
| JP2002236851 | 2002-08-15 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1482055A CN1482055A (en) | 2004-03-17 |
| CN1310816C true CN1310816C (en) | 2007-04-18 |
Family
ID=32020857
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031534678A Expired - Fee Related CN1310816C (en) | 2002-08-15 | 2003-08-13 | Reelling device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4089346B2 (en) |
| CN (1) | CN1310816C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7725624B2 (en) | 2005-12-30 | 2010-05-25 | Intel Corporation | System and method for cryptography processing units and multiplier |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005044339B4 (en) * | 2005-09-16 | 2016-01-14 | Siemens Aktiengesellschaft | Method for operating a winder machine |
| CN102180385B (en) * | 2011-04-08 | 2015-09-09 | 江苏江扬建材机械有限公司 | A kind of steel wire tension on-Line Monitor Device twined on a machine |
| JP7135991B2 (en) * | 2019-04-25 | 2022-09-13 | トヨタ自動車株式会社 | Calibration judgment device and calibration judgment method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06255885A (en) * | 1993-03-08 | 1994-09-13 | Sumitomo Electric Ind Ltd | Tension applying dancer roller device for linear unit |
| CN1197033A (en) * | 1997-04-09 | 1998-10-28 | 住友电气工业株式会社 | Tension control apparatus |
| JP2001310869A (en) * | 2000-04-28 | 2001-11-06 | Sanken Electric Co Ltd | Winding device for longitudinal object |
-
2002
- 2002-08-15 JP JP2002236851A patent/JP4089346B2/en not_active Expired - Fee Related
-
2003
- 2003-08-13 CN CNB031534678A patent/CN1310816C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06255885A (en) * | 1993-03-08 | 1994-09-13 | Sumitomo Electric Ind Ltd | Tension applying dancer roller device for linear unit |
| CN1197033A (en) * | 1997-04-09 | 1998-10-28 | 住友电气工业株式会社 | Tension control apparatus |
| JP2001310869A (en) * | 2000-04-28 | 2001-11-06 | Sanken Electric Co Ltd | Winding device for longitudinal object |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7725624B2 (en) | 2005-12-30 | 2010-05-25 | Intel Corporation | System and method for cryptography processing units and multiplier |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4089346B2 (en) | 2008-05-28 |
| CN1482055A (en) | 2004-03-17 |
| JP2004075273A (en) | 2004-03-11 |
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Granted publication date: 20070418 Termination date: 20200813 |