CN1435366A - Traverse controlling device - Google Patents
Traverse controlling device Download PDFInfo
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- CN1435366A CN1435366A CN 03102281 CN03102281A CN1435366A CN 1435366 A CN1435366 A CN 1435366A CN 03102281 CN03102281 CN 03102281 CN 03102281 A CN03102281 A CN 03102281A CN 1435366 A CN1435366 A CN 1435366A
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- advance angle
- traverses
- motor
- rotor
- speed
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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
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/28—Traversing devices; Package-shaping arrangements
- B65H54/2821—Traversing devices driven by belts or chains
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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
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
Abstract
There is a problem that, in a conventional traverse control device for making magnetic flux control of a traverse device, a current cannot follow correctly at the time of high speed driving because of many reasons such as the rising delay of an electric current by the inductance of a coil. The inventive traverse control device (5) for controlling the backward and forward drive of a transverse motor (11) in order to reciprocatingly move a transverse guide, includes: a speed positon detector (53) for detecting the present position of the rotor of the transverse motor (11); a spark-advance excitation position calculator (55a) for supplying electricity to a motor coil based on the present positon detected by the speed positon detector (53), after lapse of predetermined spark-advance time period from the present position detection time.
Description
Technical field
The present invention relates to a kind of to the position of the reciprocal traverse guide that drives of motor and the formation of (traverse) control setup that traverses that speed is controlled of being traversed.
Background technology
In former single ingot traverse gear, the traverse guide of each ingot is back and forth driven by the motor that traverses respectively.As so single ingot traverse gear, as patent 2001-516319 communique, produce the voltage of the stator that offers the motor that traverses that drives traverse guide continuously with magnetic flux controls, thus, the fixing stator magnetic flux control that the Malus baccata voltage that rotatablely moves of the rotor of the motor that traverses is produced.Such formation is known.
But, above-mentioned traverse gear, the electric current that flows through in the stator coil can not always flow through on desirable opportunity, can not always make maximum torsional interaction in rotor.Therefore, can not in the stroke that traverses region-wide, keep high-precision position, have the bad possibility of winding form that produces the coiling package.And, above-mentioned traverse gear exist because the moment of torsion deficiency and can not high speed revolution, need the problem of the high-performance motor that traverses in order to carry out high speed revolution.As the reason that coil current was flow through on desirable opportunity, have following several may: because the influence of the inductance of stator coil and producing on electric current begins postpones, perhaps the rate of change of current-order becomes greatly in necessary current amount (moment of torsion) becomes big acceleration and deceleration time.
Summary of the invention
Therefore, the objective of the invention is not only will use the motor that traverses of irreducible minimum to make high speed revolution become possibility, but also will in the whole zone of the stroke that traverses, realize high-precision position control, make the high speed that traverses thus, improve the winding form of coiling package.
The present invention uses following means in order to solve above problem.Promptly, the control setup that traverses of the present invention is controlled forward and reverse driving of the motor that traverses in order to make the traverse guide crank motion, it comprises the position detector of the present position of the rotor that detects the motor that traverses, with just in time shifted to an earlier date the moment of the angle of regulation according to the detected present position of this position detector with present position, the advance angle control setup that motor coil is switched on respect to rotor.Thus, the influence that the delay that eliminating begins owing to electric current produces can always make the electric current to rotor effect torque peak flow through motor coil.Therefore, even when high-speed operation, actual current of electric also can be followed target current.For example, can make the structure of advance angle control setup is to comprise: calculate the position that the torque peak on-position (with the present perpendicular position, position of rotor) that becomes maximum than the moment of torsion that acts on rotor has just in time shifted to an earlier date the advance angle of regulation---be the advance angle on-position calculating apparatus of advance angle on-position; With control to motor coil energising, make the direction of the magnetic flux that produces by energising be in the power control apparatus of above-mentioned advance angle on-position to motor coil.
And, the present invention includes the speed detector of the present speed of detection rotor, above-mentioned advance angle control setup is according to the present rapid change advance angle of rotor.For example, can preestablish the datum velocity of regulation, when the present speed of rotor is faster than datum velocity, increase advance angle, when slower, reduce advance angle than datum velocity.And it is proportional with the present speed of rotor that the size that can also change advance angle makes it.As long as it is good just passable that the speed that rotor is present and the relation of advance angle preestablish storage, perhaps preferably should concern to make it can set change in advance as parameter.Thus, can automatically change advance angle according to the present speed of rotor.
And above-mentioned advance angle control setup of the present invention is according to the present position change advance angle of traverse guide.For example, can when traverse guide is positioned at the central portion of the stroke that traverses, increase advance angle, be positioned at the end regions that traverses at traverse guide and reduce advance angle when (comprising position of rotation).As long as it is good just passable that the relation of the position of traverse guide and advance angle preestablishes storage, perhaps preferably should concern to make it can set change in advance as parameter.Thus, can automatically change advance angle according to the position of traverse guide.
And above-mentioned advance angle control setup of the present invention changes advance angle according to the target location of rotor and the deviation of present position.For example, when big (lag behind target location) increases advance angle when can be in the deviation of the target location of rotor and present position big, and deviation hour (lag behind target location hour) reduces advance angle.As long as it is good just passable that the relation of deviation and advance angle preestablishes storage, perhaps preferably should concern to make it can set change in advance as parameter.Thus, can automatically change advance angle to the followability of target location according to rotor.
Above-mentioned advance angle control setup of the present invention has advance angle is limited in predefined higher limit with interior killer.Can prevent thus owing to the advance angle excessive moment of torsion that makes that becomes is low.
Description of drawings
The scheme drawing of the overall formation of Fig. 1 control setup that traverses of the present invention
In the stroke that traverses, respectively the traverse scheme drawing of the locational speed of traversing of Fig. 2
Fig. 3 represents to be used for the traverse block scheme of motor actuator of motor of vector controlled and advance angle control
Fig. 4 illustrates the vectogram of advance angle control with motor rotational coordinates (d-q coordinate)
The specific embodiment
Use the description of drawings embodiments of the present invention.Fig. 1 is the scheme drawing of the overall formation of traverse gear of the present invention, Fig. 2 is on the position of respectively traversing in the stroke that traverses, the scheme drawing of the speed of traversing, Fig. 3 is used for the traverse block scheme of formation of motor actuator of motor of vector controlled and advance angle control for expression, and Fig. 4 is for illustrate the vectogram that advance angle is controlled with motor rotational coordinates (d-q coordinate).
At first the formation of the traverse gear of the control setup that traverses of the present invention is carried in explanation.As shown in Figure 1, the application's lift-launch the traverse gear of the control setup that traverses, on one side the axially reciprocating that is applied to make the yarn feeding package that does not illustrate from figure to separate easypro sliver Y one edge bobbin is recoiled the Winder in the coiling package.Coiling package 3 forms by sliver Y being wound on the bobbin 31, is freely supporting with reel cage 32 rotations.And though coiling package 3 is for along with becoming narrow down the gradually package of the conical end that forms of the width (coiling width) that traverses greatly gradually in Fig. 1, the package shape is not limited to the shape of such conical end.By reeling, driving coiling package 3 by these take up roll 2 rotations with the take up roll 2 of motor driven in rotation and the outer peripheral face butt of coiling package 3.
As the traverse gear 1 of above formation, constitute: for mono-coiling package 3 motor 11 that traverses is set individually, controls the position and the speed of traverse guides 15 by comprising the control setup 5 that traverses of microcomputer.And the control setup 5 that traverses is made of motion controller 52 described later and motor actuator 51.Motion controller 52 output be equivalent to the to traverse motion impulse of position command of motor 11, the motor actuator 51 controls motor 11 that traverses makes it rotation and the corresponding amount of motion impulse number.
Then, the traverse control of motor 11 of 5 pairs of the control setups that traverse is described.Traverse control setup 5 for carry out the device of the position control of traverse guide 15 by the motor 11 that traverses, as mentioned above, comprise generate be used to make traverse the drive actions that motor 11 stipulates command signal (position command) motion controller 52, drive the motor actuator 51 of the motor 11 that traverses according to the command signal that generates.The main function of motion controller 52 and motor actuator 51 realizes by common microcomputer (diagram slightly).This microcomputer is a main composition with the device of carrying out motion control function and motor excitation function, comprises the traverse random access memory of read-only memory (ROM), interim storage computational data etc. of control program (motor program) etc. of mono-central process unit (CPU), storage.Central process unit carries out the control (control of traversing) of the such motor 11 that traverses of aftermentioned by the control program that execution is stored in the read-only memory (ROM).In addition, also microcomputer (central process unit) can be set respectively in motion controller 52 and the motor actuator 51, realize each function by each microcomputer.And, traversing connecting on the control setup 5 is used to detect the traverse motor rotation detector (rotary encoder) 53 and being used to of rotative speed of motor 11 and detects the package rotation detector 54 of the rotative speed of coiling package 3, and their detected value is imported respectively in the control setup 5 that traverses.
In the motion controller 52 of control setup 5 that traverses, be provided with roll diameter calculating apparatus 52a, always calculate the diameter of package in the coiling according to the detected value of package rotation detector 54.And, be arranged on command signal generating apparatus 52b in the motion controller 52 and generate according to predefined drive pattern and the roll diameter of calculating and be used for the traverse command signal (motion impulse) of motor 11 of drive controlling.In addition, as the calculation method of roll diameter, can use and detect coiling package 3 with respect to the relative position (angle of reel cage 32) of take up roll 2 etc. and other methods.
Motor actuator 51 comprises the driving circuit that contains a plurality of on-off elements (diagram slightly), and the motion impulse that generates according to motion controller 52 is to motor 11 output drive signals that traverse.The motor 11 that traverses of having imported motor drive signal is to be driven in rotation just and the corresponding angle of motion impulse number with the corresponding speed of the frequency of motion impulse.Promptly, motor actuator 51 utilizes the rotation detector 53 of rotary encoder etc. to detect the position of rotation of the motor 11 that traverses, obtain the deviation of above-mentioned detected position of rotation and position command value (motion impulse number) by microcomputer, in order to make this deviation is zero, promptly in order to make the detection position follow position command, the position control of the motor 11 that traverses.Particularly, as the back illustrates with Fig. 3, motor actuator 51 comprises the current sensing means (current probe 70) that detects current of electric, according to calculating speed command with the corresponding position command of motion impulse number with by rotation detector 53 detected present positions, calculate current instruction value according to this speed value with by rotation detector 53 detected present speed, the control excitation of motor 11 of traversing according to this current instruction value and current detection value.
Carry out the control setup 5 that traverses of the drive controlling of the aforesaid motor 11 that traverses, when reciprocating traverse guide 15 is positioned at the middle position of the crank motion stroke that passes through of the scope of traversing, the driving motor 11 that traverses is driven the constant speed of these traverse guide 15 at high speeds is moved, when traverse guide 15 is positioned at the both ends of the stroke that traverses, the motor 11 that traverses be driven make traverse guide on one side with rapid change to lower than the speed when the central portion, on one side move.
Specifically as shown in Figure 2, the stroke R that traverses of traverse guide 15 is divided into the constant speed region Rc of central portion and the end regions Re at both ends, and in constant speed region Rc, traverse guide 15 moves evenly so that the guiding speed Sg of regulation is approximate.And at end regions Re, traverse guide 15 is zero at the end of rotational travel moving velocity, and along with moving to center side from end of travel, moving velocity rises, and the intersection that arrives end regions Re and constant speed region Rc reaches guiding speed Sg.
And the present invention makes actual position with respect to rotor, carries out the energising control of motor coil in the moment (being degree of advance) of the angle that has just in time shifted to an earlier date regulation with respect to this rotor-position, makes to carry out advance angle control and become possibility.At this moment, stipulated that the speed of rotor and the pattern of traversing of position (the perhaps speed of traverse guide 15 and position) are stored in the read-only memory (ROM) in advance, controlled the motor 11 that traverses and make it follow this pattern of traversing.
Control carried out advance angle by the motor 11 that traverses of vector controlled with Fig. 3, Fig. 4 explanation below.The motion impulse (command signal) that generates in aforesaid command signal generating apparatus 52b constitutes the signal of the target anglec of rotation (position command signal) of the stepping motor of the motor 11 that traverses for expression.In motor actuator 51, position command signal that position control unit 61 is calculated according to the number of motion impulse (target location) and position calculation unit 67 are that rotation detector 53 detected pulses are position calculation result (present position) the formation speed command signal that basic calculation goes out with rotary encoder.Particularly, position command signal of calculating with deviation calculation unit 60 and position calculation result's deviation and predefined coefficient of amplification are by PI control or PID control formation speed command signal.
The speed calculation result that speed control unit 62 is calculated according to the detection pulse of coder according to the speed command signal (target velocity) and the speed calculation unit 68 of generation in the position control unit 61 (speed now) generates torque current command signal (Iqref:q axle target current).Particularly, deviation and the predefined coefficient of amplification with speed command signal and speed calculation result generates the torque current command signal by PI control or PID control.Flux current command signal (Idref:d axle target current) input advance angle on-position is calculated among the 55a of portion.In the present embodiment, because rotor forms, determined rotor magnetic flux by permanent magnet, therefore control like this: making the flux current command signal is zero, only changes above-mentioned torque current command signal, produces and the proportional moment of torsion of moment of torsion electric current.And the flux current command signal also can be got negative value except that zero.
And above-mentioned position calculation result imports the advance angle on-position and calculates among the 55a of portion.The advance angle on-position is calculated the 55a of portion and is calculated the advance angle on-position that the position present with respect to rotor has the degree of advance of regulation according to the position calculation result.Promptly as shown in Figure 4, calculate position---the advance angle on-position q ' that moment of torsion than the rotor flux d that acts on expression rotor present position torque peak on-position (with the present perpendicular position, position of the rotor) q when becoming maximum has just in time shifted to an earlier date the advance angle θ of regulation.And the d ' among Fig. 4 is the position of the magnetic flux of the perpendicular direction of expression and advance angle on-position q ', has represented to pay the imaginary rotor-position behind the advance angle.And advance angle θ preestablishes and is storing.
And the speed calculation result of speed calculation unit 68 imports the advance angle on-position and calculates in the 55a of portion.The advance angle on-position is calculated the 55a of portion and is changed advance angle θ according to the speed calculation result who represents the present speed of rotor.And torque current command signal (Iqref:q axle target current) the input advance angle on-position that generates in the speed control unit 62 is calculated among the 55a of portion.The advance angle on-position is calculated the 55a of portion pays torque current command signal behind the advance angle (Iqref ': pay q axle target current behind the advance angle) according to the torque current command signal deciding size.Thus, size acts on rotor with the corresponding stator magnetic flux of velocity deviation amount (moment of torsion).
According to above input, the advance angle on-position calculate the 55a of portion generate the flux current command signal pay behind the advance angle (Idref ': pay d axle target current behind the advance angle) and pay advance angle after torque current command signal (Iqref ': pay q axle target current behind the advance angle).Then, sin, cos calculating unit (trigonometric function generation unit) the 77 position calculation results according to position calculation unit 67 are that the electric angle detection signal generates trigonometric function signal (sin signal and cos signal).Flux current control unit 64 bases are paid the flux current command signal (Idref ') and actual flux current value (id:d shaft current detected value) output magnetic flux voltage command signal (d shaft voltage command signal) behind the advance angle.Particularly, with deviation and the predefined coefficient of amplification of paying flux current command signal (Idref ') and actual flux current value (id) behind the advance angle, generate the magnetic flux voltage command signal by PI control or PID control.
Moment of torsion current control unit 63 bases are paid flux current command signal (Idref ') and actual moment of torsion current value (iq:q shaft current detected value) the output torque voltage command signal (q shaft voltage command signal) behind the advance angle.Particularly, deviation and predefined coefficient of amplification with paying torque current command signal (Iqref ') and actual moment of torsion current value (iq) behind the advance angle generate the moment of torsion voltage command signal by PI control or PID control.Coordinate transformation unit (dq/AB phase inversion unit) 65 is transformed into stator voltage command signal (A phase voltage directive signal and B phase voltage directive signal) according to the trigonometric function signal with magnetic flux voltage command signal and moment of torsion voltage command signal.
A, B phase waveform output unit (PWM inverter) 66 reach the B phase voltage according to the stator voltage command signal mutually with A and offer stepping motor.That is, A, B phase waveform output unit 66 are the power converter unit, comprise PWM modulator (diagram slightly) and driving circuit (diagram slightly), and PWM modulation A reaches the B phase voltage directive mutually, comprises the switch of the driving circuit of a plurality of on-off elements by base drive circuit control.And velocity location detector 53 follows the rotation of the motor 11 that traverses to detect the absolute location of rotor.For example, velocity location detector 53 can use the optical encoders, angle sensors that generates with the corresponding detection pulse of the anglec of rotation (absolute location pulse) of the output shaft of stepping motor.Can not use optical encoders, angle sensors and use phase resolver or Hall unit etc., perhaps also can detect spin velocity, its integration is exported by the operating speed meter.
And, extracted out as A phase current values IA, B phase current values IB by D/A 78,78 by current sampler 79 by above-mentioned current probe 70,70 detected current of electric.This A phase current values IA and B phase current values IB are transformed into d phase current values id and q phase current values iq according to the trigonometric function signal that generates in sin, the cos calculating unit 77 by coordinate transformation unit (AB/dq phase inversion unit) 80.
And position calculation unit 67 is calculated the present position of rotor based on the detection signal of velocity location detector 53 by signal processing unit 69.On the other hand, speed calculation unit 68 is calculated the present speed of rotor based on the detection signal of velocity location detector 53 by signal processing unit 69.And current probe 70 is the member that detects the current of electric of the motor 11 that traverses, and is provided with A respectively and reaches B phase current detector 70 mutually.And, constitute control by above-mentioned moment of torsion current control unit 63, flux current control unit 64, coordinate transformation unit (dq/AB phase inversion unit) 65 and A, B phase waveform output unit (PWM inverter) 66 and switch on, make the direction of the magnetic flux that produces by energising to be in the power control apparatus of above-mentioned advance angle on-position motor coil to motor coil.And the d-q coordinate is the rotation rotor rotated coordinate along with rotor, and the d axle is the coordinate axle along rotor flux, and the q axle is the coordinate axle vertical with the d axle.
Like this, by according to rotor-position control torque electric current, carry out vector controlled, can control the motor 11 that traverses speed and make moment of torsion reach High Performance.Thus, not only can make the positional precision of traverse guide higher, and can make the rotative speed of the end of traversing higher.Therefore, the winding form of coiling package 3 can be improved, the easy zbility of subsequent handling can be improved.And, the vector controlled of control of motor 11 of being used to traverse is so a kind of method: it is by after being transformed into detected current of electric (A reaches the B phase current mutually) the rotating machine system of axes (d-q system of axes) with rotor rotation synchronously, current of electric is divided into d axle composition (being used to produce the electric current of magnetic flux) and q axle composition (to producing the electric current that moment of torsion works) control, always produces the stator magnetic flux of the direction vertical with rotor flux.
And,, also can constitute according to the present speed change advance angle of detected rotor though have the velocity location detector 53 of the present speed of the rotor that detects the motor 11 that traverses in the present embodiment.That is, calculate the 55a of portion with the advance angle on-position and set advance angle according to the present speed of velocity location detector 53 detected rotors.Like this,, can for example preestablish the datum velocity of regulation, when the present speed of rotor is bigger than datum velocity, increase advance angle, when slower, reduce advance angle than datum velocity by according to the present rapid change advance angle of rotor.And, the size that also can change advance angle make it with rotor present hasten proportional.In either case, as long as the relation of present speed of rotor and advance angle preestablishes and stores good just passablely, perhaps preferably should concern to make it can set change in advance as parameter.Can automatically change advance angle according to the present speed of rotor thus.By such formation, can make advance angle always for only value, can always produce the actv. moment of torsion on good opportunity.And,, can further improve the easy zbility that is wrapped in subsequent handling no matter the speed of traversing how, always advance angle can be maintained only value, can realize high-precision position control.
And the control setup that traverses of the present invention also can constitute according to the present position change advance angle of traverse guide 15.For example, can constitute: in Fig. 4, calculate inside or the outer setting thread-carrier position detecting device of the 55a of portion at the advance angle on-position, detect the present position of traverse guide 15, change advance angle when traverse guide 15 is positioned at the above-mentioned central portion that traverses stroke R and is constant speed region Rc and when being positioned at its two ends end regions Re.That is, in by the scope of the constant speed region Rc of high-speed driving, can control the increase advance angle, in by the scope of the end regions Re of driven at low speed, can control and reduce advance angle.At this moment, just passable as long as the position of the position of traverse guide and advance angle relation preestablishes storage, perhaps preferably should concern to make it can set change in advance as parameter.Can automatically change advance angle according to the position of traverse guide thus.
For example, the detection of traverse guide 15 present positions can the rotor counter-rotating (traverse guide counter-rotating) by the motor 11 that traverses after, calculate with counting machine and to be undertaken by rotation detector 53 detected signal impulse numbers.Therefore, in constant speed region Rc and each zone of end regions Re, advance angle can be set at only value respectively, can improve the maximum speed in constant speed region Rc, can make the high speed that traverses.And, at end regions Re, can carry out rapid acceleration-deceleration, not only can prevent that producing the edge in the end of package 3 increases, and can in the end regions Re of the backward position that comprises traverse guide 15, carry out high-precision position control, can prevent skips or attempt to improve the winding form of coiling package 3.And,, can further improve the easy zbility that is wrapped in the subsequent handling no matter the position of traversing how, can maintain advance angle only value, realize high-precision position control.
And, though carry out position control as previously mentioned so that the motor 11 that traverses is followed the position command of input, calculate advance angle control that the 55a of portion carries out by the advance angle on-position and can constitute target on-position and the present position change advance angle of rotor according to input.For example, can change advance angle continuously and make it proportional with the extent of the present position of target on-position and rotor.This formation can offer the advance angle on-position and calculate the 55a of portion realization by the output (position deviation) that will be positioned at position control unit 61 deviation calculation unit 60 before among Fig. 3.And the target location of rotor is as long as calculate just passable according to position command (motion impulse number).
For example, when big (lag behind target location) can increase advance angle when the deviation of the target location of rotor and present position is big, when deviation hour (lag behind target location hour) can reduce advance angle.At this moment, just passable as long as the relation of deviation and advance angle preestablishes storage, perhaps preferably should concern to make it can set change in advance as parameter.Thus, can automatically change advance angle to the tracing ability of target location according to rotor.Like this, by the follow degree change advance angle of basis to the position command of driven rotor, even under the altered situation of for example loading condition, also can always advance angle be remained on only state and realize high-precision position control, can improve easy zbility in subsequent handling.
And, though by carrying out the moment of torsion of advance angle control can the raising motor 11 that traverses as described above, but, could reduce moment of torsion on the contrary because if advance angle is excessive, would therefore calculate the killer that has the control advance angle upper limit on the 55a of portion at above-mentioned advance angle on-position.Like this, by killer is set, can prevents that advance angle is excessive, the moment of torsion of the motor 11 that traverses is reduced.Can prevent to produce the bad of coiling package shape thus owing to positional precision is low.
And, if adopt this vector controlled, can improve the torque characteristics of the motor 11 that traverses, can from the low-speed region to the high-speed region, obtain stable torque characteristics.
The invention effect
Therefore the present invention plays following effect owing to adopt aforesaid formation.Promptly, the control setup that traverses of controlling forward and reverse driving of the motor that traverses in order to make the traverse guide crank motion of the present invention, owing to comprise the position detector of the present position of the rotor that detects the motor that traverses, the advance angle control setup that has just in time shifted to an earlier date opportunity of the angle of regulation motor coil switched on present position according to the detected present position of this position detector with respect to rotor, therefore not only can make the positional precision of traverse guide higher, and make at the end high speed revolution that traverses and become possibility.Therefore, the winding form of coiling package can be improved, easy zbility can be improved at subsequent technique.
And, owing to comprise the speed detector of the speed that detection rotor is present, above-mentioned advance angle control setup is according to the present rapid change advance angle of rotor, therefore no matter how traverse speed, advance angle can be maintained only value, high-precision position control can be realized, the easy zbility that is wrapped in subsequent technique can be improved.
Because above-mentioned advance angle control setup is according to the present position change advance angle of traverse guide, therefore no matter how traverse the position, advance angle can be maintained only value, can realize high-precision position control, can improve the easy zbility that is wrapped in subsequent technique.
Because above-mentioned advance angle control setup changes advance angle according to the target location of rotor and the deviation of present position, therefore advance angle can be maintained only state, realize high-precision position control, can improve the easy zbility at subsequent technique.
And, owing to above-mentioned advance angle control setup has advance angle is limited in predefined higher limit with interior killer, so can prevent the low shape defect of coiling package that produces owing to positional precision.
Claims (5)
1. the control setup that traverses is controlled forward and reverse driving of the motor that traverses in order to make the traverse guide crank motion, it is characterized in that, comprising: the position detector of present position that detects the rotor of the motor that traverses; According to the detected present position of this position detector, just in time shifted to an earlier date the moment of the angle of regulation in present position, the advance angle control setup that motor coil is switched on respect to rotor.
2. the control setup that traverses as claimed in claim 1 is characterized in that, comprises the speed detector of the speed that detection rotor is present, and above-mentioned advance angle control setup is according to the present rapid change advance angle of rotor.
3. the control setup that traverses as claimed in claim 1 is characterized in that, above-mentioned advance angle control setup is according to the present position change advance angle of traverse guide.
4. the control setup that traverses as claimed in claim 1 is characterized in that, above-mentioned advance angle control setup changes advance angle according to the target location of rotor and the deviation of present position.
5. as each described control setup that traverses in the claim 2～4, it is characterized in that above-mentioned advance angle control setup has advance angle is limited in predefined higher limit with interior killer.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP020573/2002 | 2002-01-29 | ||
| JP2002020573A JP3697583B2 (en) | 2002-01-29 | 2002-01-29 | Traverse control device |
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| Publication Number | Publication Date |
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| CN1435366A true CN1435366A (en) | 2003-08-13 |
| CN1332867C CN1332867C (en) | 2007-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031022812A Expired - Lifetime CN1332867C (en) | 2002-01-29 | 2003-01-27 | Traverse controlling device |
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|---|---|
| JP (1) | JP3697583B2 (en) |
| CN (1) | CN1332867C (en) |
| DE (1) | DE10300106B4 (en) |
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| JP3335246B2 (en) * | 1994-03-23 | 2002-10-15 | 金井 宏之 | Traverse control apparatus and control method for filament winding reel winder |
| TW492944B (en) * | 1997-03-20 | 2002-07-01 | Barmag Barmer Maschf | Traversing device and method for controlling a traversing device |
| DE59810677D1 (en) * | 1997-07-26 | 2004-03-04 | Barmag Barmer Maschf | METHOD AND CHANGING DEVICE FOR LAYING A THREAD |
| JP4548678B2 (en) * | 1998-08-06 | 2010-09-22 | 有限会社ユニオン技研 | Winding machine |
| DE19858548A1 (en) * | 1998-12-18 | 2000-06-21 | Schlafhorst & Co W | Electromechanical drive for the reciprocating yarn guide for winding cross wound bobbins has a structured air gap with magnetic field lines through it acting on a coil at the yarn guide |
| IT1312588B1 (en) * | 1999-05-31 | 2002-04-22 | Sp El Srl | PROCEDURE AND EQUIPMENT FOR THE CONTROL OF THE WINDING OF THREADS AND SIMILAR ON ROTARY SUPPORTS SUCH AS SPOOLS OF YARN AND SIMILAR. |
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- 2002-01-29 JP JP2002020573A patent/JP3697583B2/en not_active Expired - Lifetime
-
2003
- 2003-01-07 DE DE2003100106 patent/DE10300106B4/en not_active Expired - Lifetime
- 2003-01-27 CN CNB031022812A patent/CN1332867C/en not_active Expired - Lifetime
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| CN100419143C (en) * | 2004-01-17 | 2008-09-17 | 无锡市宏源针织机械厂 | Traversing thread guiding mechanism |
| CN1847127B (en) * | 2005-04-15 | 2011-08-03 | 村田机械株式会社 | Yarn traverse apparatus |
| CN1986365B (en) * | 2005-12-23 | 2011-07-20 | 爱维电子责任有限公司 | Driving system and driving device for yarn carrier of spinning machine |
| CN101962136A (en) * | 2009-07-24 | 2011-02-02 | 日本Tmt机械株式会社 | Control device of a transversing gear |
| CN101962136B (en) * | 2009-07-24 | 2012-12-05 | 日本Tmt机械株式会社 | Control device of a transversing gear |
| CN101830370A (en) * | 2010-03-10 | 2010-09-15 | 无锡市百川科技有限公司 | Winding control method of high-speed stretch yarn machine and winding control device thereof |
| CN101830370B (en) * | 2010-03-10 | 2012-06-20 | 无锡市百川科技有限公司 | Winding control method of high-speed stretch yarn machine and winding control device thereof |
| CN101830371A (en) * | 2010-04-30 | 2010-09-15 | 江苏宏源纺机股份有限公司 | Method for winding yarns |
| CN109075727A (en) * | 2016-05-09 | 2018-12-21 | 日本电产株式会社 | Motor module, motor stepwise operation control system and controller for motor |
| CN109075727B (en) * | 2016-05-09 | 2022-07-19 | 日本电产株式会社 | Motor module and motor stepping motion control system |
| CN109626112A (en) * | 2018-12-02 | 2019-04-16 | 华东理工大学 | A kind of reciprocating cross winding system speed cooperative control method of electronics |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1332867C (en) | 2007-08-22 |
| DE10300106B4 (en) | 2008-11-06 |
| JP3697583B2 (en) | 2005-09-21 |
| JP2003221161A (en) | 2003-08-05 |
| DE10300106A1 (en) | 2003-08-21 |
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