CN1459409A

CN1459409A - Traverse method and controller thereof

Info

Publication number: CN1459409A
Application number: CN03136926A
Authority: CN
Inventors: 正井哲司; 梅原嘉人
Original assignee: Murata Machinery Ltd
Current assignee: Murata Machinery Ltd
Priority date: 2002-05-23
Filing date: 2003-05-22
Publication date: 2003-12-03
Anticipated expiration: 2023-05-22
Also published as: DE10322533A1; JP2003341935A; JP4078879B2; CN1297462C

Abstract

The invention relates to a traverse control device for controlling a traverse motor 11 to rotate in the two directions for reciprocating a traverse guide 15, wherein the traverse motor 11 is equipped with a rotor consisting of a rotor disc 21c formed from a disc-shaped member and a pair of stator parts 22a and 22b arranged confronting the two sides of the rotor. The traverse control device comprises a stator formed by a stator part couple 22 which forms a magnetic circuit in the gap 35 between the stator parts 22a and 22b.The traverse control device outputs a torque voltage command signal, based on torque component electric-current command value and actual torque electric current to control the traverse motor 11 by controlling the excitation.

Description

The method of traversing and the control setup that traverses

Technical field

The present invention relates to a kind of control setup that traverses, this device Motion Transmission to of rotor of motor guide that traverses that will traverse, and implement control and at both direction rotation and the driving motor that traverses, thus make the guide crank motion that traverses.Especially, the present invention relates to a kind of structure that can improve the control setup that traverses of the turning velocity that traverses.

Background technology

Be arranged at traverse simultaneously yarn and around the conventional traverse gear in the up-coiler of package coiling yarn in, the motor that traverses that rotates at both direction by controlling by the control setup that traverses, with the Motion Transmission to of the rotor of the motor that the traverses guide that traverses, make this guide crank motion that traverses (the special table of the Japanese edition 2001-516319 of PCT application open source literature).

Recently, needed to improve the speed of traverse gear.For the yarn that under high speed, traverses, must improve the turning velocity of traverse gear at reciprocating end points.

Above-mentioned special table 2001-516319 only relates to a bit, is about to a permanent magnet and is used for rotor.For the motor that traverses, generally adopt permanent magnetism (PM) type motor, wherein cylindrical permanent magnet is used for rotor.

For the traverse gear that under high speed, turns to, when turning to, need a high pulling torque.In order to improve the moment of torsion of conventional PM type motor, can consider to add the magnet of greater trochanter, perhaps strengthen the iron core of making by silicon steel plate etc.

But when the PM type motor that uses rotor circle of position cylindricality permanent magnet and when strengthening rotor magnet, the inertia of rotor improves, and has hindered high speed steering.The result has hindered the high speed steering of traverse gear, and yarn is deposited in the end that traverses.In addition, owing to produced the saddle type rear portion, the winding form of package also is damaged.

In addition, when speed setting that maximum is traversed at the middle body of stroke that traverses, and when improving difference between the zero velocity of the speed of traversing when reverse, because high speed steering is hindered, therefore the compliance for rotor has constituted restriction, and has produced the inconvenience as power pulses or torque ripple.So, for the traverse restriction that has been set with of speed of maximum.

Summary of the invention

An advantage of the invention is provides a kind of control setup that traverses, and it uses the motor that traverses with low inertia and high moment of torsion to control the high speed steering that traverses.

According to a first aspect of the invention, a kind of method of traversing is used for the Motion Transmission to of the rotor of the motor that the traverses guide that traverses, and makes this guide crank motion that traverses.This method of traversing comprises: on the basis of a torque component current command signal and an actual torque current value, a moment of torsion voltage command signal is outputed to a stator.In addition, to forming, this stator component to forming magnetic circuit by a pair of stator component that is arranged on the both sides of the rotor of being made by a disc-shaped element with facing with each other by a stator component for this stator.In addition, the method for traversing also comprises by control excitation and controls the motor that traverses; Reach the driving of controlling the guide that traverses.

According to second aspect, on the basis of flux component current command signal and actual magnetic flux current value, a magnetic flow voltage command signal is outputed to stator.Also control the motor that traverses by the control excitation.

According to the third aspect, the detected current location of position detecting device that detects according to the current location that is used for the rotor made by disc-shaped element outputs to stator with voltage command signal at rotor from advance moment of a predetermined advance angle amount of current location.Then, control the motor that traverses by the control excitation.

According to fourth aspect, a kind of control setup that traverses is used for the Motion Transmission to of the rotor of the motor that the traverses guide that traverses, and control is used to make the traverse driving and the rotation of the reciprocating motor that traverses of guide on both direction.This motor comprises a rotor and the stator made by disc-shaped element.This stator comprises a pair of stator component that is arranged at the rotor both sides with facing with each other.In addition, stator is by forming a stator component of a magnetic circuit to forming by a pair of stator component.This control setup that traverses comprises a motor driver, and it is used to calculate the current instruction value and the control excitation of stator.This motor driver comprises a torque component current control unit.This torque component current control unit is exported a moment of torsion voltage command signal on the basis of a torque component current command signal that will become target current and an actual torque current value.

According to the 5th aspect, this motor driver comprises a flux component current control unit.This flux component current control unit is exported a magnetic flow voltage command signal on the basis of a flux component current command signal that will become target current and an actual magnetic flux electric current.

According to the 6th aspect, the control setup that traverses comprises a position detecting device, and it is used to detect the current location of the rotor of being made by a disc-shaped element.This motor driver comprises an advance angle energized position calculating unit, this advance angle energized position calculating unit calculates the advance angle energized position that a current location with respect to rotor has predetermined advance angle amount on the basis of the detected current location of position detecting device, and determines the amplitude of current command signal after applying advance angle on the basis of current command signal.

Description of drawings

Fig. 1 represents an integral structure of traverse gear of the present invention.

Fig. 2 is a block diagram, and expression is used to control the structure of motor driver of vectorial sum advance angle of motor of traversing.

Fig. 3 is the side sectional view of motor of traversing.

Fig. 4 is a partial top view, the traverse stator component of motor of expression.

Fig. 5 is a partial top view, the traverse rotor part of motor of expression.

Fig. 6 is a side sectional view, and expression comprises the motor that traverses of a plurality of rotor disks.

The specific embodiment

With reference to the accompanying drawings one embodiment of the present of invention are described.

At first describe and comprise the traverse structure of traverse gear of control setup of the present invention.

As shown in fig. 1, comprise that the traverse traverse gear 1 of control setup of the present invention is used for a up-coiler, this up-coiler will be recoiled on the coiling package 3 from the yarns Y of a feeding yarns package (not shown) coil stripping, and the while is in the axial direction coiling yarns Y of bobbin.Coiling package 3 is by forming around bobbin 31 coiling yarns Y, and by support 32 swivel bearings.

In addition, in Fig. 1, coiling package 3 is tapered end packages, and it forms by transverse width (coiling width) being narrowed down gradually increase winding diameter simultaneously.(for example, the package width La when reeling beginning is longer than the package width Lb that reels when finishing).But the form of coiling package is not limit this tapered end form.

Press the external peripheral surface of coiling package 3 by take up roll 2 contacts of a coiling motor rotation and driving.Coiling package 3 is by take up roll 2 rotations and driving.

Traverse gear 1 comprises that one can drive and the motor 11 that traverses of rotor at both direction.In addition, traverse gear 1 also comprises a drive pulley that is rotated and drives 12, can be switched and at both direction by traversing motor 11 (rotor) rotation.Traverse gear 1 also comprises the drive pulley 13,13 that is arranged on the scope two ends of traversing, and a rotating band 14 of being reeled by drive pulley 12 and drive pulley 13,13.In addition, traverse gear 1 also comprises a guide 15 that traverses that is fixed on the rotating band 14 and yarns Y is led.

In addition, rotating band 14 can also be various bands, and as synchronous band or metal filament, perhaps other has the flexible ring body of identity function.

Accompany in the rotation of both direction with drive pulley 12 (rotor of the motor 11 that traverses), rotatablely moving on both direction is delivered to the guide 15 that traverses by rotating band 14.Then, the guide 15 that traverses passes through at the axial direction of bobbin 31, perhaps from the other end to this end crank motion.Therefore 15 pairs of yarns Y around coiling package 3 coilings of traverse gear are traversed.

In addition, traverse gear 1 also comprises the control unit 5 that traverses, and controls the driving of the motor 11 that traverses, the position and the actuating speed of guide 15 thereby control is traversed.By the control driving of motor 11 on both direction of traversing as mentioned above, with the yarns Y ingear traverse guide 15 can be in a predetermined width that traverses crank motion.

In addition, the motor 11 that traverses is arranged on in a plurality of up-coilers each.The control setup that traverses comprises a plurality of motor control units 5 and a Central Processing Unit (CPU) (mainframe computer) 6.Motor control unit 5 is separately positioned on each motor 11 that traverses.Central Processing Unit (CPU) 6 is sent to the motor control unit 5 that is used for package information with data etc.

Above-mentioned traverse gear 1 comprises the motor 11 that traverses that is respectively applied for single coiling package 3, and the position of the guide 15 that traverses and speed are by motor control unit 5 controls with a microprocessor.

Motor control unit 5 is made of a drive pattern generation unit 52 and motor driver 51.One of drive pattern generation unit 52 output be used to the to traverse position command of motor 11.Motor driver 51 is controlled the motor 11 that traverses, and the rotative speed that makes the motor 11 that traverses is corresponding to position command.

The following describes by the traverse control of motor 11 of 5 pairs of motor control units.Motor control unit 5 is controlled the position of the guide 15 that traverses by the motor 11 that traverses.As mentioned above, motor control unit 5 comprises drive pattern generation unit 52 and motor driver 51, drive pattern generation unit 52 produces the command signal (position command) of the motor 11 that is used to traverse, to finish a predetermined driving operation, motor driver 51 drives the motor 11 that traverses according to the command signal that produces.

The radical function of drive pattern generation unit 52 and motor driver 51 is realized by a shared microprocessor (not shown).

Microprocessor comprises a single central processing unit (CPU), and it is the keystone configuration that is used to carry out the device of motion control function and motor-driven function.In addition, microprocessor also comprises the traverse random-access memory (ram) of the read-only memory (ROM) (ROM) of control program (motor program) etc. and interim storage computation data etc. of a storage.

CPU is stored in the control program among the ROM and the motor 11 that traverses is finished control described below (control of traversing) by execution.

In addition, can to each drive pattern generation unit 52 and motor driver 51 microprocessor be set respectively, each function can be realized by an independent microprocessor.

In addition, 53 and package rotation detectors 54 of a motor rotation detector (rotary encoder) connect with motor control unit 5.Motor rotation detector 53 is connected on the axle of rotor of the motor 11 that traverses, and detects the angle of rotation (position) of the motor 11 that traverses.Package rotation detector 54 detects the rotative speed of coiling package 3.Detected value in each motor rotation detector 53 and the package rotation detector 54 is input in the motor control unit 5.

In the drive pattern generation unit 52 of motor control unit 5, be provided with a package diameter computer device 52a.Full time in winding process calculates the package diameter on the basis of the detected value of package rotation detector 54.

In addition, the command signal generating means 52b that is arranged in the drive pattern generation unit 52 produces a position command, is used for control on the basis of motor program that is stored in ROM and the package diameter that calculated and drives the motor 11 that traverses.In addition, for package diameter method of calculating, can adopt other method.For example, can detect the relative position (angle of support 32) of coiling package 3 with respect to take up roll 2.

In addition, being stored in motor program among the ROM is to form at the package width La of the parameter relevant with package shapes when reeling beginning, on the basis of the package width Lb when finishing of reeling, reel package diameter D when finishing and taper angle theta.The supplemental characteristic relevant with package shapes sends out from Central Processing Unit (CPU) 6, by send out the data of various patterns from Central Processing Unit (CPU) 6, can form the package with reservation shape.

Motor driver 51 comprises a driving circuit (not shown) with a plurality of on-off elements.Motor driver 51 outputs to the motor 11 that traverses according to the position command that is produced by drive pattern generation unit 52 with a motor drive signal.

The motor 11 that traverses of having imported motor drive signal only rotates under the speed corresponding to the frequency of position command and drives a angle corresponding to this position command.That is to say that motor driver 51 detects the position of rotation of the motor 11 that traverses as rotary encoder by rotation detector 53.In addition, motor driver 51 is also by definite position of rotation that is detected of microprocessor and the deviation between the position command value.Then, motor driver 51 is controlled the position of the motor 11 that traverses, and making deviation is zero, in other words, the position of being detected is conformed to position command.

Particularly, describe with reference to Fig. 2 as following, motor driver 51 comprises a current sensing means (current probe) 70 that is used to detect current of electric.Motor driver 51 is the computation speed command value on the basis of position command and the current location that detected by rotation detector 53.In addition, motor driver 51 also calculates current instruction value on the basis of this speed value and the present speed that detected by rotation detector 53.Then, motor driver 51 is controlled the excitation of the motor 11 that traverses on the basis of this current instruction value and current detection value.

In the motor control unit of as mentioned above driving of the motor 11 that traverses being controlled 5, when the reciprocating guide 15 that traverses is positioned at middle body from an end of the scope of traversing to the stroke that traverses of the other end, the driving motor 11 that traverses moves the guide 15 that traverses under high constant speed.When the guide 15 that traverses is positioned at two ends of the stroke that traverses, drive the motor 11 that traverses, by its rapid change is moved the guide 15 that traverses to the speed that is lower than its speed when the middle body.

Particularly, the guide 15 that traverses is divided into an end region that is positioned at the constant speed district of middle body and is positioned at two ends.In the constant speed district, the guide 15 that traverses is in that predetermined guiding speed moves under as the constant speed of maximum speed with one.In addition, in end region, the end point of travel vanishing that the speed of traversing turns at the guide 15 that traverses, guide 15 improves from the end point of travel speed of traversing when middle body moves when traversing.The traverse border of the speed of traversing between end region and constant speed district of guide 15 reaches guiding speed.

As mentioned above, the control setup that traverses comprises Central Processing Unit (CPU) 6, and this unit 6 forms package with the motor control unit 5 of data transfer to each traverse gear 1 with predetermined shape.Motor control unit 5 comprises package diameter computer device 52a and command signal generating means 52b.Command signal generating means 52b is in the number of packages certificate of transmitting from Central Processing Unit (CPU) 6, and produces the control signal that traverses on the basis of the package diameter that is calculated by package diameter computer device 52a.

Then, in order to form coiling package 3,, can control the driving of the guide 15 that traverses reliably by producing position command with these devices with predetermined shape.

In addition, can finish an advance angle control to the control setup that traverses that the driving of the motor 11 that traverses is controlled, thereby finish energising control with respect to advanced moment of a predetermined angular (in other words, advanced an advance angle) of the actual position of rotor to motor coil at rotor-position.

In this case, the motor program that is stored among the ROM defines the pattern of traversing, as speed and position (speed and the position of the guide 15 that perhaps traverses) of rotor.The motor 11 that traverses is controlled to satisfy the pattern of traversing.

Below with reference to Fig. 2 the situation of under vector controlled the motor that traverses being carried out advance angle control is described.

As mentioned above, the command signal that is produced by command signal generating means 52b is the signal (position command signal) of indicating the target angle of rotation of the motor that forms the motor 11 that traverses.

Position control unit 61 in the motor driver 51 is at the position command signal (target location) that is calculated by position command signal, and by a position calculation unit 67 on the position calculation result's's (current location) who calculates on the basis as the pulse that detects of the motor rotation detector 53 of rotary encoder basis, produce a speed command signal.Particularly, position control unit 61 usefulness produce speed command signal by position command signal and deviation between the position calculation result and the gain of setting in advance that deviation calculation unit 60 calculates by PI control and PID control.

A speed control unit 62 is according to the speed command signal (target velocity) that is produced by position control unit, and, produce a torque component current command signal (Iqref.:q axle target current) on the basis of the pulse that detects of coder by speed calculation result's (present speed) that speed calculation unit 68 calculates.Particularly, deviation between speed control unit 62 usefulness position command signals and the position calculation result and the gain of setting in advance produce the torque component current command signal by PI control and PID control.A flux component current command signal (Idref:d axle target current) is input among the advance angle energized position calculating unit 55a.In this example, rotor is made by permanent magnet, and has set up a rotor magnetic flux.Therefore making the flux component current command signal is zero, and only changes the torque component current command signal, and it is controlled, and produces and the proportional moment of torsion of torque component electric current.

In addition, the flux component current command signal can be the value except that zero, and can be negative value.

In addition, the position calculation result is imported among the advance angle energized position calculating unit 55a.Advance angle energized position calculating unit 55a calculates the advance angle energized position that has predetermined advance angle amount with respect to the rotor current location according to the position calculation result.

Calculate an advance angle energized position q '.Advance angle energized position q ' is that the moment of torsion that wherein is applied to the expression rotor current location on the rotor magnetic flux d becomes maximum with respect to the advanced position of a predetermined advance angle amount θ of a torque peak energized position (perpendicular to the position of rotor current location) q.In addition, d ' is illustrated in perpendicular to the magnetic flow on the direction of advance angle energized position q ', also is illustrated in to apply an advance angle imaginary rotor-position afterwards.In addition, advance angle amount θ sets in advance and stores.

In addition, the speed calculation result with speed calculation unit 68 imports among the advance angle energized position calculating unit 55a.Advance angle energized position calculating unit 55a changes advance angle amount θ according to the speed calculation result of expression rotor present speed.

In addition, will be input among the advance angle energized position calculating unit 55a by the torque current command signal (Iqref:q axle target current) that speed control unit 62 produces.Advance angle energized position calculating unit 55a according to the torque component current command signal determine the amplitude that applies torque component current command signal after the advance angle (Iqref ': the q axle target current after applying advance angle).

Therefore, the rotor magnetic flux (moment of torsion) corresponding to the velocity deviation value acts on rotor on amplitude.

According to above input, advance angle energized position calculating unit 55a produces the flux component current command signal apply after the advance angle (Idref ': apply the d axle target current after the advance angle), and applies torque component current command signal after the advance angle (Iqref ': apply the q axle target current after the advance angle).

Below, sine, cosine calculating unit (trigonometric function generation unit) 77 produce a trigonometric function signal (sinusoidal function or cosine function) according to the angular detection electric signal as the position calculation result of position calculation unit 67.

Flux component current control unit 64 is exported a flux component voltage command signal (d shaft voltage command signal) according to applying flux component current command signal after the advance angle (Idref ') and actual magnetic flux current value (Id:d shaft current detected value).Particularly, the magnetic flow voltage command signal is with applying deviation between flux component current command signal after the advance angle (Idref ') and the actual magnetic flux current value and the gain of setting in advance, controls by PI control and PID to produce.

Torque component current control unit 63 is according to applying torque component current command signal after the advance angle (Idref ') and actual magnetic flux current value (Iq:q shaft current detected value) output torque voltage command signal (q shaft voltage command signal).Particularly, the magnetic flow voltage command signal is with applying deviation between torque component current command signal after the advance angle (Idref ') and the actual magnetic flux current value (Iq) and the gain of setting in advance, controls by PI control and PID to produce.Coordinate converter (a dq/AB phase converter) 65 converts magnetic flow voltage command signal and moment of torsion voltage command signal to a stator voltage command signal (A phase voltage directive signal and B phase voltage directive signal) according to the trigonometric function signal.

A, B phase waveform output unit (PWM converting unit) 66 are fed to A phase voltage and B phase voltage in the motor according to the stator voltage command signal.That is to say that A, B phase waveform output unit 66 are power converters, comprise PWM modulating unit (not shown) and a driving circuit (not shown).A, B phase waveform output unit 66 are modulated into pwm signal with A phase voltage directive and B phase voltage directive.Then, A, B phase waveform output unit 66 have the switch of the driving circuit of a plurality of on-off elements by a basic driver unit controls.

In addition, speed-position detector 53 detects the absolute location of the rotor that accompanies with the rotation of the motor 11 that traverses.For example, an optical encoder can be used for speed-position detector 53, wherein this optical encoder can produce a detection pulse corresponding to the motor output shaft angle of rotation (absolute location pulse).Available resolver, Hall element etc. do not replace optical encoder.In addition, an available revolution counter detects spin velocity, can carry out integration and output to the spin velocity that is detected.

Current sampling unit 79 will be extracted as A phase current values IA and B phase current values IB by the current of electric that current probe 70,70 detects by D/A (digital-to-analog) conv 78,78.

A phase current values IA and B phase current values IB convert d phase current values Id and q phase current values Iq by coordinate converter (AB/dq phase converter) 80 to according to the trigonometric function signals that produced by sine, cosine calculating unit 77).

In addition, position calculation unit 67 is calculated the current location of rotor by signal processing unit 69 according to the detection signal of velocity location detector 53.Simultaneously, speed calculation unit 68 calculates the present speed of rotor by signal processing unit 69 according to the detection signal of velocity location detector 53.

In addition, current probe 70 also detects the current of electric of the motor 11 that traverses.For each A is provided with current probe 70 mutually with B mutually.

In addition, torque component current control unit 63, flux component current control unit 64, coordinate converter (dq/AB phase converter) 65 and A, B phase waveform output unit (PWM conv) 66 etc. form a power control apparatus, be used to control energising, make the magnetic flux direction that produces by energising become the advance angle energized position motor coil to motor coil.In addition, the d-q coordinate is to accompany and the coordinate of motor rotating with the rotation of rotor.The D axle is the coordinate axle along rotor magnetic flux.The Q axle is perpendicular to the coordinate axle of d axle.

By finish the vector controlled that is used for the control torque electric current according to position of rotation, can under High Performance, control the speed or the moment of torsion of the motor 11 that traverses.

Therefore, the positional precision of the guide that traverses can be brought up to higher, and the guide that traverses can partly turn at the end points that traverses under high speed.Therefore, can improve the coiling form of coiling package, and improve the coil stripping characteristic in the technology of back.

In addition,, can be reduced in the limit of the core maximum speed of traversing, and realize traversing at a high speed owing to can realize high speed steering.

In addition, being used to control the traverse vector controlled of motor 11 is the methods that are used to finish following process.That is to say that the current of electric that is detected (A phase current and B phase current) is switched to a rotating machine system of axes (d-q system of axes) that rotates synchronously with rotor.Then, afterwards, current of electric is controlled being divided into d axle component (being used to produce the electric current of magnetic flow) and q axle the component electric current of moment of torsion (produce).As a result, always producing stator flux does on the direction perpendicular to rotor magnetic flux.

In addition, owing to can not apply coil current in the predetermined moment, the rising of electric current is owing to the influence of rotor winding inductance has produced delay, and perhaps the pace of change of current-order in acceleration and moderating process improves when required current value (moment of torsion) becomes big.But in the present embodiment, be provided with and be used to detect the present speed folding velocity location detector 53 of rotor of motor 11 of traversing.Advance angle can change according to the rotor present speed that is detected.That is to say that the advance angle amount is to be set according to the rotor present speed that is detected by velocity location detector 53 by advance angle energized position calculating unit 55a.By changing the advance angle amount according to the present speed of rotor by this way, for example, when the present speed of rotor is faster than standard speed, can increase the advance angle amount by setting a preassigned speed in advance, and when the present speed of rotor is slower than standard speed, can reduce the advance angle amount.In addition, can change the amplitude of advance angle amount, make it proportional with the present speed of rotor.In both cases, the relation between rotor present speed and the advance angle amount can be set and store in advance.In addition, it is preferred setting variable as a parameter this relation.Therefore, can change the advance angle amount automatically according to the present speed of rotor.As a result, full time advance angle amount can get an optimal value with, and be engraved in full time at one when suitable and all produce effective tosional moment.In addition,, all can the advance angle amount be remained on an only value, and realize high precision position control at full time no matter how traverse speed.Thereby can improve coil stripping characteristic in the operation of the back of coiling package.

In addition, in the control setup that traverses of present embodiment, can change the advance angle amount according to the current location of the guide 15 that traverses.For example, it is inner or outside one " guiding position detecting device " can be arranged on advance angle energized position calculating unit 55a, and can detect the current location of the guide 15 that traverses, then, when the guide 15 that traverses is arranged in the constant speed district of the stroke middle body that traverses, and when the guide 15 that traverses is arranged in the end regions at the regional two ends of traversing, can change the advance angle amount.That is to say, can at high speed drives the constant velocity region scope of the guide 15 that traverses, be controlled to the advance angle amount bigger.In the end regions scope of the guide 15 that traverses with driven at low speed, be controlled to the advance angle amount less.In this case, can set and store the traverse position of guide and the relation between the advance angle amount in advance, it is preferred setting variable as a parameter this relation.Therefore, can be according to the position of the guide that traverses and change the advance angle amount automatically.

For example, can detect the current location of the guide 15 that traverses by in the pulse count of the rotor of the motor 11 that traverses reverse back (the oppositely back of guide 15 of traversing) with the detection signal of a counter measures rotation detector 53.Therefore, can the advance angle amount be set at an only value according to the current location of the guide 15 that traverses.As a result, can improve maximum speed, and quicken the speed of traversing in constant velocity region.In addition, it is feasible quick acceleration in the end regions and deceleration to become, and can prevent to produce the saddle type bag at the edge of package 8.In addition, carrying out high precision position control at the reverse position of the guide 15 that traverses becomes feasiblely, and can prevent to sew up or improve the winding form of coiling package 3.In addition, can also reduce in the limit of middle body maximum speed of traversing.

In addition, as mentioned above, the position of the motor 11 that traverses is controlled to meet the input position instruction.The advance angle control of being undertaken by advance angle energized position calculating unit 55a can change the advance angle amount according to the current location of input target excitation position and rotor.For example, can continuously change the advance angle amount, make it proportional with the amplitude of the difference of the target excitation position of rotor and current location.This formation can be by will being arranged in Fig. 3 position control unit 61 front portions the output (position deviation) of deviation calculation unit 60 be fed to advance angle energized position calculating unit 55a and realize.In addition, can calculate the current location of rotor by position command.

For example, when the target location of rotor and the deviation between the current location are big (when being equipped with long delay with respect to target bit), can increase the advance angle amount.When above-mentioned deviation hour (when with respect to the delay of target location more in short-term), can reduce the advance angle amount.In this case, can set and store the relation between deviation and the advance angle amount in advance, and should concern that it was preferred being set at variable as a parameter.As a result, can change the advance angle amount automatically with respect to the compliance of target location according to rotor.Therefore even by for example when loading condition changes, changing the advance angle amount with respect to the consistent degree of position command according to drive motor, can realize high precision position control by the advance angle amount being remained on an optimum state, and improve the coil stripping characteristic of back operation at full time.

In addition, by finishing aforesaid advance angle control, can improve the moment of torsion of the motor 11 that traverses.But when the advance angle amount increases when excessive, then moment of torsion reduces on the contrary.Therefore, advance angle energized position computer device 55a comprises a killer, is used to control the upper limit of advance angle amount.By this killer is provided, can prevent owing to controlling reducing of motor 11 moments of torsion that traverse that the advance angle amount causes significantly.Therefore, can prevent the degeneration of the shape of the coiling package that the reduction owing to positional precision causes.

In addition,, can improve the torque characteristics of the motor 11 that traverses, and can obtain stable torque characteristics to high velocity from low regime according to vector controlled.

Kong Zhi the motor 11 that traverses can be realized High Accuracy Control as mentioned above, and can strengthen at the turning velocity at end points place that traverses.In the present invention, the motor 11 that traverses is formed by the motor of a disk rotor type, and its rotor inertia is less, and has higher moment of torsion, thereby realizes more high-precision position control and at the high speed steering of end points that traverses.

Structure to the motor 11 that traverses describes below.

As shown in Fig. 3 to Fig. 5, in the motor 11 that traverses, holding

element

21a, 21b are fixed on the axle drive shaft 20, and the rotor disk 21c as disc-shaped element supports by holding

element

21a, 21b are rotatably whole.Rotor is by constituting with axle drive shaft 20 integrally rotated rotor disk 21c.

In addition, be provided with the supporting member 25a, the 25b that make by non-magnetic material such as resin that faces with each other along the axial direction of axle drive shaft 20.Supporting

member

25a, 25b support by means of

annular lip

26a, 26b are whole by a screwing element 29.

Bearing

39,39 inserts respectively among supporting member 25a, the 25b.Axle drive shaft 20 is by bearing 39,39 swivel

bearings.Supporting member

25a, 25b are separately positioned on a side and the opposite side of rotor disk 21c.(among Fig. 3, supporting member 25a is arranged on the upper surface of rotor disk 21c, and supporting member 25b is arranged on the lower surface of rotor disk 21c.)

In addition, a stator component 22a is arranged on the supporting member 25a, and the coil 23a that reels.In addition, a stator component 22b is arranged on the supporting member 25b, and the coil 23b that reels.

Stator component

22a, 22b observe the sandwich element with letter U shape shape from the side.Form a stator component to 22 by a pair of stator component 22a, the 22b that face with each other.The end face of the outer leg branching part of opposed

U-shaped stator component

22a, 22b presses contact each other.The end face of the inner leg parts of

U-shaped stator component

22a, 22b is separated from each other and forms a gap 25.

Coil

23a, 23b reel around the inner leg parts of the U-shaped stator component 22a, the 22b that form gap 35.

Coil

23a, 23b and

stator component

22a, 22b (stator component is to 22) constitute stator.

In addition, by this

stator component

22a, 22b are formed a magnetic circuit in gap 35.Rotor disk 21c is arranged on the gap 35.

In addition,

stator component

22a, 22b are made by magnetic material such as ferrosilicon and silicon steel.

By between each stator component is to 22 (with predetermined pitch) a predetermined interval is set, be that the center is provided with a plurality of stator components to 22 at circumferencial direction with axle drive shaft 20.

As shown in Figure 4, under uneven interval,,, each stator component is set to 22 as pitch angle (a), pitch angle (b) and pitch angle (c) with multiple pitch angle.

Simultaneously, a plurality of magnetic absorb north magnetic pole 211 on the arctic and a plurality of magnetic and absorb south magnetic pole 212 on the South Pole, are arranged on the rotor disk 21c at circumferencial direction one by one with angle same.

Therefore, be positioned at the north magnetic pole 211 of rotor-side and south magnetic pole 212 and stator component to 22 be arranged to make the whole north magnetic poles 211 that are positioned at rotor-side and south magnetic pole 212 not towards stator component to 22.For example, when rotor disk 21c is arranged to make the stator component that is positioned at a certain position to 22 and the north magnetic pole 211 that is positioned at a certain position when facing with each other, then stator component all is positioned at circumferencial direction to 22 and north magnetic poles 211 or each south magnetic pole 212 of being positioned at other position.

Locate with a predetermined space each other 22 when using the stator component that wherein is positioned at stator side, and comprise traversing during motor of a rotor-position that the whole north magnetic poles 211 that are positioned at rotor-side and south magnetic pole 212 face with each other, then the steering position when the turning to of the guide 15 that traverses is as described below.

When north magnetic pole 211 and south magnetic pole 212 are positioned at when stator component is set when the guide 15 that traverses turns to position of this position of 22, suction at stator component to 22 and all become big between north magnetic pole 211 and the south magnetic pole 212.As a result, the guide 15 that traverses can accurately and reliably be positioned at the steering position of setting.

Simultaneously, when being positioned at, north magnetic pole 211 and south magnetic pole 212 leave when stator component is set when the guide 15 that traverses turns to position of this position of 22, (in other words, when north magnetic pole 211 or south magnetic pole 212 at a certain stator component to 22 and during midway location between another stator component of a pitch is to 22), the stator component that is positioned at the north magnetic pole 211 of this midway location or steering position the same side that south magnetic pole 212 is pulled to and sets is to 22, and the stator component of steering position opposite side that perhaps is positioned at setting is right.Then north magnetic pole 211 or south magnetic pole 212 are positioned at and leave a position that sets steering position.As a result, generation is inhomogeneous on accuracy of positioning.

Therefore, when wherein setting tapered end that steering position moves (setting steering position moves to the package center gradually) with the package diameter when reeling, have such situation: the guide 15 that traverses is accurately being set the position that steering position turns to, and guide 15 inaccuracy ground mixes according to steering position in the position that the setting steering position turns to traversing.There is such situation in the result, and the tapering part at the edge of coiling package forms with the stair form.

As mentioned above, package shapes is subjected to the influence of engage torque, and this engage torque is the torque deviation of motor when the guide 15 that traverses turns to that traverse.

But as in the motor 11 that traverses of the present invention, face with each other with the whole north magnetic poles 211 and the south magnetic pole 212 that are positioned at rotor-side to 22 by the stator component of being arranged to avoid being positioned at stator side, all stator components do not correspond to each other simultaneously to 22 the position and the position of north magnetic pole 211 and south magnetic pole 212, perhaps not when the guide 15 that traverses turns to each other especially away from.Even when rotor is positioned at the optional position at hand of rotation with respect to the position of stator, stator component to 22 with north magnetic pole 211 and south magnetic pole 212 between whole suction not different especially, and can reduce engage torque.

As mentioned above, can consider that the stator component that two kinds of situations are avoided being positioned at stator side faces with each other with the whole north magnetic poles 211 and the south magnetic pole 212 that are positioned at rotor-side to 22.That is to say that being positioned at the north magnetic pole 211 of rotor-side and south magnetic pole 212 can the angle same setting, the stator component that is positioned at stator side can be provided with at uneven interval 22.Replacedly, can north magnetic pole 211 and the south magnetic pole 212 that be positioned at rotor-side be set uneven interval, and be positioned at the stator component of stator side to 22 with the setting of uniform interval.Therefore, can prevent at an easy rate that the stator component that is positioned at stator side from facing with each other with the whole north magnetic poles 211 and the south magnetic pole 212 that are positioned at rotor-side to 22.But have such situation: the stator component that not absolute demand is positioned at stator side faces with each other with the whole north magnetic poles 211 and the south magnetic pole 212 that are positioned at rotor-side to 22.Therefore have such situation: needn't in rotor-side whole north magnetic poles 211 and south magnetic pole 212 be set with uneven interval, the stator component that is provided with in stator side is to 22.

In addition, the traverse rotor of motor 11 is to be formed by the rotor disk 21c as the laminated disk linear element.Therefore, the inertia of rotor can be reduced to minimumly, and except that vector controlled, can improve the guide 15 that traverses at the turning velocity of end points that traverses.As a result, can improve the whole speed of traversing.Guide 15 can turn to by at high speed owing to traverse, and can further be reduced in the limit of the maximum speed of the middle body that traverses, and realizes traversing at a high speed.In addition, be provided with U-shaped stator component 22a, the 22b that faces with each other in the both sides of rotor disk 21c, and form magnetic circuit by a pair of stator component 22a, the 22b that can reduce the size in gap 35.Therefore can form an extremely short magnetic circuit, and the magnetic energy loss is dropped to minimum.Therefore the moment of torsion of the motor 11 that traverses can be improved, and the turning velocity of the guide 15 that traverses can be improved.

In addition, the motor 11 that traverses can form the motor 111 that traverses of another embodiment as shown in Figure 6.

In the motor 111 that traverses, axle drive shaft 20 is standardized, as a plurality of rotor disk 21c, the 21c (being two in the present embodiment) of rotor rotatably integral body be connected on this axle drive shaft 20.In addition, the stator component as stator is set on each rotor disk 21c 22.

That is to say that the motor 111 that traverses has a kind of like this structure, the motor 11 that wherein traverses superposes in axle drive shaft 20 directions.(in the motor 111 that traverses, those parts identical with parts in the motor 11 that traverses use with the motor 11 that traverses in identical Reference numeral represent).

As mentioned above, compare, by a plurality of

rotor disk

21c, 21c are set to axle drive shaft 20, can improve the driving torque of axle drive shaft 20, and can improve the turning velocity of the guide 15 that traverses with the motor 11 that traverses that has only a rotor disk 21c.

The present invention has following effect. That is, according to torque component current command signal and reality Border moment of torsion current value outputs to by stator component the moment of torsion voltage command signal to forming Stator, this stator component to being arranged on by a disc-shaped element by a pair of with facing with each other The stator component of the both sides of the rotor of making forms magnetic circuit. In addition, also by the control excitation Control the motor that traverses. In addition, by the traverse driving of guide of control, can be with it Be controlled to and exporting as the current command signal of target current and the basis of actual current Voltage command signal, and subtract as much as possible trochantinian inertia. Therefore, can improve horizontal stroke Action-oriented spare is at the turning velocity of end points that traverses. As a result, can reduce at the central portion that traverses Divide the limit of maximal rate, and may improve the whole speed of traversing.

In addition, in stator side, can between this is to stator component, form little gap. Cause This can make the magnetic circuit that is formed in this gap extremely short, and the magnetic energy loss can be minimized. Therefore, the moment of torsion of the motor that traverses can be improved, and turning to of the guide that traverses can be improved Speed.

In addition, detect according to the current location to the rotor made by disc-shaped element Position detecting device, and the detected current location of position detecting device are at rotor Voltage command signal is outputed to from advance moment of a predetermined angle of lead amount of current location Stator, and control the motor that traverses by control excitation. As a result, can improve to traverse and lead To part at the turning velocity of end points that traverses. Like this, can further reduce in the central authorities of traversing The limit of part maximal rate, and may improve the whole speed of traversing.

Claims

1. method of traversing is used for the Motion Transmission to of the rotor of the motor that the traverses guide that traverses, and makes this guide crank motion that traverses, and this method of traversing comprises:

According to a torque component current command signal and an actual torque current value, a moment of torsion voltage command signal is outputed to one by the stator of stator component to forming, and this stator component to forming magnetic circuit by a pair of stator component that is arranged on the both sides of the rotor of being made by a disc-shaped element with facing with each other;

Control the motor that traverses by the control excitation; And

Control the driving of the guide that traverses.

2. the method for traversing according to claim 1 comprises:

According to a flux component current command signal and an actual magnetic flux current value, a magnetic flow voltage command signal is outputed to stator;

Control the motor that traverses by the control excitation; Reach the driving of controlling the guide that traverses.

3. the method for traversing according to claim 1 and 2 comprises:

The detected current location of position detecting device that detects according to the current location that is used for the rotor made by disc-shaped element outputs to stator with voltage command signal at rotor from advance moment of a predetermined advance angle amount of current location; Reach by the control excitation and control the motor that traverses.

4. control setup that traverses, the Motion Transmission to one of rotor of motor of being used for the to traverse guide that traverses, and control is used to make the traverse driving and the rotation of the reciprocating motor that traverses of guide on both direction, wherein this motor comprises a rotor and a stator of being made by disc-shaped element, this stator comprises a pair of stator component that is arranged at the rotor both sides with facing with each other, and by forming the stator component of magnetic circuit to constituting by described a pair of stator component; This control setup that traverses comprises:

A motor driver, it is used to calculate the current instruction value and the control excitation of stator, wherein this motor driver comprises a torque component current control unit, and this torque component current control unit is exported a moment of torsion voltage command signal according to the torque component current command signal and an actual torque current value that will be used as target current.

5. the control setup that traverses according to claim 4, it is characterized in that, this motor driver comprises a flux component current control unit, and this flux component current control unit is exported a magnetic flow voltage command signal according to the flux component current command signal and an actual magnetic flux electric current that will be used as target current.

6. according to claim 4 or the 5 described control setups that traverse, comprising:

A position detecting device, it is used to detect the current location of the rotor of being made by a disc-shaped element;

Wherein this motor driver comprises an advance angle energized position calculating unit, this advance angle energized position calculating unit calculates the advance angle energized position that a current location with respect to rotor has predetermined advance angle amount according to the detected current location of position detecting device, and determines the amplitude of current command signal after applying advance angle according to current command signal.