DE102022002512A1 - Method and device for determining a speed control variable for a drive unit of a winding spindle turret - Google Patents

Abstract

The invention relates to a method and a device for determining a speed control variable for a drive unit (3) of a winding spindle turret (1) of a winder (1), based on a real operating parameter of the winder (1) and a theoretical operating parameter of a bobbin growth model of the winder (1 ) a speed control variable of the drive unit (3) of the winding spindle turret is determined.

Description

The invention relates to a method for determining a speed control variable for a drive unit of a winding spindle turret of a winder and a device for determining a speed control variable for a drive unit of a winding spindle turret of a winder.

Winders for winding synthetic fibers with a winding spindle turret are available, for example EP 0374536 A2 known.

A winder of this type has a bobbin turret on which at least two winding spindles are rotatable and drivable. The winding spindle turret rotates the respective winding spindle into a winding position and into a doffing position.

In the winding position, a pressure roller is provided on the winding area and traversing area of the bobbin package to be wound on the winding spindle.

The pressure roller presses the synthetic thread to be wound against the winding area of the bobbin package, with the winding spindle rotating at a predetermined speed.

When the coil pack is wound, the diameter of the coil pack increases. This requires intermittent movement of the pressure roller, whereby a substantially constant axial distance between the pressure roller and the coil package should be maintained.

In addition, this also requires so-called clocking of the drive unit of the winding spindle turret. Clocking means starting up and then braking the drive unit of the winding spindle turret and also a change in the contact force of the pressure roller, since this is raised by the bobbin pack and subsequently lowered back onto the bobbin pack.

These two changes in the rotational movement of the winding spindle turret and the change in the position of the pressure roller can have a negative effect on the thread properties of the synthetic thread and the bobbin structure of the bobbin package.

The object of the invention is therefore to provide a method that avoids or at least can minimize the negative effects of clocking when building the coil pack.

It is also an object of the invention to provide a device which can avoid or at least reduce the corresponding negative consequences on the thread properties and the bobbin structure during cycling.

The object is achieved with regard to the method with a method for determining a speed control variable for a drive unit of a winding spindle turret of a winder with the features of claim 1.

According to one aspect of the invention, a method for determining a speed control variable for a drive unit of a winding spindle turret of a winder is provided, wherein a speed control variable of a drive unit of the winding spindle turret is determined from a real operating parameter of the winder and a theoretical operating parameter of a bobbin growth model of the winder.

With the method it is possible to switch from a clocked rotation of the winding spindle turret to a continuous rotation without there being any changes in the rotation speeds and the associated effects on the thread properties when building the bobbin of the synthetic thread.

In other words, a theoretical operating parameter from a simulated coil growth model is combined with a actually recorded operating parameter of the winder. A speed control variable is then combined from the two recorded or determined values, with the help of which real influences that cannot be recorded with the theoretical coil growth model are taken into account.

The coil growth model has a computer simulation of a kinematic winder model and simulates the structure of a coil package during winding, the theoretical operating parameters of which can be used to control the winder and the associated winding spindle turret if the winding is error-free.

Control using the theoretical operating parameters from the kinematic winder model advantageously has good control behavior.

The actually recorded operating parameters from the winder allow additional control.

This control concept has two degrees of freedom control and combines the advantages of a control that allows errors and disruptions to be compensated for with a control that provides safe and good control behavior.

In other words, a kinematic winder model is simulated in the control device of the winder, from which essential theoretical operating parameters for controlling the winder can be called up. With the kinematic winder model, for example, a rotor position of the winding spindle turret is theoretically determined using a known coil diameter and a predetermined position of a pivoting lever of a pressure roller of the winder. This also makes it possible to theoretically determine the required speed that is used to control the drive unit. To control the theoretical operating parameter, a real operating parameter is recorded, with which the theoretical operating parameter is corrected if necessary in order to determine a regulated manipulated variable with which the drive unit of the winding spindle turret is then controlled.

This helps to correct and avoid errors in the control of the drive unit of the winding spindle turret and at the same time provides good control behavior.

• - Berechnen einer vorbestimmten Drehzahl des Spulspindelrevolvers mittels eines Spulenzuwachsmodells,
• - Antreiben des Spulspindelrevolvers mit der vorbestimmten Drehzahl,
• - Erfassen eines realen Betriebsparameters des Wicklers,
• - Ermitteln eines Drehzahlkorrekturwertes aus dem realen Betriebsparameter des Wicklers,
• - Zusammenfassen der vorbestimmten Drehzahl und des Drehzahlkorrekturwertes zu einer Drehzahlstellgröße,
• - Einstellen der Drehzahl der Antriebseinheit des Spulspindelrevolvers gemäß der Drehzahlstellgröße.

According to a special embodiment, the process has the following steps:

• - Calculating a predetermined speed of the bobbin spindle turret using a bobbin growth model,
• - driving the winding spindle turret at the predetermined speed,
• - Detecting a real operating parameter of the winder,
• - Determining a speed correction value from the real operating parameter of the winder,
• - Combining the predetermined speed and the speed correction value into a speed control variable,
• - Setting the speed of the drive unit of the winding spindle turret according to the speed control variable.

According to one embodiment of the method, the coil growth model has a kinematic winder model and the real operating parameter has an operating parameter from a control loop of the winder.

A kinematic winder model is to be understood in particular as a simulated representation of the bobbin package structure on the winder by means of a simulation program of the winder, including the bobbin spindle turret device with its drive as well as the bobbin packages arranged thereon, which are wound up by means of a traversing unit and the bobbin spindles arranged thereon with their bobbin growth. The simulation program can be used to access the theoretical speed, which will generally occur on the winder, although corresponding misalignments and disturbances, such as bulging of the coil packs, are not taken into account.

However, these small misalignments can be corrected on the winder using the reference value shown above, hereinafter also referred to as operating parameters.

The kinematic winder model cannot take into account and/or simulate all errors that occur. For example, temperature fluctuations in the production hall and/or additional external influences affecting the device are difficult to simulate in the winder model. In order to compensate for these external influences, a real operating parameter that is recorded on the winder is also added. With the help of the real operating parameter, the determined theoretical operating parameter for the speed of the drive of the winding spindle turret can then be corrected, so that operation at a continuous speed without clocking is possible.

The control loop can be, for example, the position control loop of the pivoting lever of the pressure roller. However, any other winder device that has a control circuit can also be provided.

According to one embodiment of the method, the predetermined speed is determined using the kinematic winder model.

ermittelt wobei der Drehzahlkorrekturwert aus dem realen Betriebsparameter ermittelt wird.According to one embodiment of the method, the speed control variable is determined by means of $$n_{StellGr\ddot{\text{O}}ße}=n_{MOdell}+n_{KOrrektur}$$

determined, whereby the speed correction value is determined from the real operating parameter.

According to one embodiment of the method, the kinematic winder model has at least the following theoretical operating parameters: winding package radius, pressure roller radius, winding spindle turret radius, winding spindle turret angle, pivoting lever radius, pressure roller contact pressure and/or pivoting lever angle.

The pivoting lever angle is to be understood in particular as meaning the angle of a lever mechanism of the pressure roller with respect to the winder housing. The theoretical operating parameters have a geometric relationship to the dimensions of the winder.

With the operating parameters mentioned above, the kinematic winder model can be calculated and from this the predetermined speed for the winding spindle turret. A correction is not necessary if, for example, the coil package is wound without errors. A typical error that is difficult to take into account with the kinematic winder model is, for example, a one-sided bulging of the coil package when winding.

According to a preferred embodiment, the speed correction value is determined based on the pivoting lever angle of the pressure roller and/or determined based on the pressure roller contact force.

The pivoting lever angle results here at the rotation point of the pivoting lever to which the pressure roller is attached, relative to a reference point on the winder housing. With the help of this pivoting lever, a theoretical operating parameter can be determined, which is then compared with a real operating parameter, so that a corresponding speed correction value can be determined in order to compensate for any errors and thus be able to adapt the speed control variable.

Alternatively and/or in addition to the pivot lever angle, the speed correction value can also be determined based on the pressure roller contact force.

The contact pressure can also simply be recorded in real terms on the existing winder by providing appropriate sensors and / or indirectly determining this force from the existing sensors.

According to a preferred embodiment of the method, the speed correction value is determined using a P controller, a PI controller and/or a PID controller.

A control system generally includes a control circuit with controllers that regulate the respective components of the device depending on the recorded values.

With a PID controller (proportional-integral-derivative controller), the controller has components of a P controller, an I controller and a D controller.

The P controller only has a proportional component. Its output signal is proportional to the input signal.

A 1-controller (integral controller) acts on the speed control variables of the weighting and the reset time by integrating the control deviations over time.

The D component (differential) is a differentiator that is only used as a controller in conjunction with controllers with P and / or I behavior. The D element does not react to the level of the control deviation, but only to its rate of change.

According to one embodiment of the method, the bobbin package radius is determined from the speed of the contact roller and the speed of the winding spindle.

To determine the winder model and the speed correction value, all detectable and/or indirectly or directly detectable operating parameters of the winder can be used, such as the detected speed of the pressure roller and/or the detected speed of the winding spindle. These values can also be determined directly from the associated drive unit if it is speed-controlled, or indirectly, for example via power consumption.

The resulting values can be used both for the winder model and for the speed correction value in order to determine the speed control variable.

The object is achieved with regard to the device with a device for determining a speed control variable for a drive unit of a winding spindle turret of a winder with the features according to claim 10.

According to one aspect of the invention, a device for determining a speed control variable for a drive unit of a winding spindle turret is provided by a winder, comprising a drive unit for rotating the winding spindle turret, and a speed control variable determining device for determining the speed control variable of the speed of the winding spindle turret from a real operating parameter of the winder and a theoretical one Operating parameters of a coil growth model of the winder.

With the speed control variable determination device for determining a speed control variable for a drive unit of a winding spindle turret of a winder, it is possible to provide a correct speed control variable based on known operating parameters of the winder, which is based on a theoretical operating parameter and a real operating parameter of the winder.

The speed control variable determination device can have a RAM and/or ROM memory for have the control of the winder and an associated control program.

According to a special embodiment of the device, the device has a calculation device for determining the coil diameter of a coil package to be wound.

According to one embodiment of the device, the drive unit is speed-controlled and/or the drive unit has a speed control.

The drive unit itself can have a speed control device, but can also be designed to be speed-controlled.

The rotation control regulation can be provided in the drive unit itself and/or as a separate regulation in the control of the winder.

According to one embodiment of the device, the speed control variable determination device is set up to determine the speed control variable of the speed of the winding spindle turret from the spool diameter and the pivoting position of the pressure roller.

According to one embodiment, the device has a winding spindle turret rotational position detection device for detecting a rotational position of the winding spindle turret.

According to a further embodiment, the device has a pressure roller position detection device.

Depending on the design, the pressure roller can be pressed against the surface of the coil package via a gear, a push rod and/or a lifting device.

The required or existing contact pressure of the pressure roller against the surface of the coil package can be determined directly using sensors and/or indirectly from the required pneumatic, translational force and/or distances.

Further refinements and advantages arise in the following description of particular embodiments of the invention.

• 1 eine schematische Ansicht eines Wicklers mit einer Changier-Einrichtung zum Changieren eines synthetischen Fadens, einer Andrückwalze und einem Spulspindelrevolver,
• 2 eine schematische Ansicht des in 1 gezeigten Wicklers zusätzlich mit einer Spulspindel-Drehpositionserfassungsvorrichtung,
• 3 den in 1 gezeigten Wickler 1 mit Anzeige von Betriebsparametem des Wicklers, insbesondere des Spulspindelrevolver, zum Ermitteln einer Drehzahlstellengröße für den Antrieb des Spulspindelrevolvers, und
• 4 ein Ablaufdiagramm von Schritten zum Ermitteln der Drehzahlstellgröße für den Antrieb des Spulspindelrevolvers aus einem kinematischen Wicklermodell und einer realen Bezugsgröße eines Parameters aus einem Regelkreis des Wicklers

The figures show:

• 1 a schematic view of a winder with a traversing device for traversing a synthetic thread, a pressure roller and a winding spindle turret,
• 2 a schematic view of the in 1 shown winder additionally with a winding spindle rotation position detection device,
• 3 the in 1 Winder 1 shown with display of operating parameters of the winder, in particular of the winding spindle turret, for determining a speed variable for driving the winding spindle turret, and
• 4 a flowchart of steps for determining the speed control variable for driving the winding spindle turret from a kinematic winder model and a real reference value of a parameter from a control loop of the winder

In the figures, a main reference system with an XYZ direction is indicated in each view, the orientation of which is decisive for the local reference systems of the associated devices of the winder shown in the figures.

That in the 1-3 The main reference system shown is also decisive for different positions of the devices shown there to indicate the reference directions. Examples of this are the reference system Y _s -X _s for the axis of rotation 21 of a pivot lever 24 of a pressure roller 10, the reference system Y _R -X _R for a winding spindle turret axis 9 of a winding spindle turret 2 and / or the reference system Y _K -X _K for the determination of theoretical Operating parameters of a kinematic winder model with a coil growth model, as in 3 stated.

In 1 a schematic view of a winder 1 with its essential components for winding a synthetic thread 12 onto a bobbin 6 is shown.

For better understanding and easier representation, only one synthetic thread 12 with the associated traversing device 15 is shown in the figures.

In general, a winder 1 has a plurality of traversing devices 15 which extend in the Z direction in the longitudinal direction of the winding spindle 4 for traversing a plurality of synthetic threads 12.

The winding tube 6 is generally a paper tube that is releasably fixed on the winding spindle 4. In general, a plurality of winding tubes 6 can be fixed on the winding spindle 4.

The winding spindle 4 is driven and rotatably mounted on one side of a winding spindle turret 2, which allows the respective winding spindle 4 to be moved from a winding position for winding up the synthetic material Thread 12 on the winding tube 6 to bring a bobbin pack 8 into a doffer position for removing the bobbin packs 8 from the winding spindle 4. The wound bobbin 6 can also be referred to as a bobbin package 8.

In the winding position, the winding spindle 4 is rotated about its winding spindle turret axis 9 and is arranged adjacent to a pressure roller 10, which presses against the winding package 8 with its own weight.

In the doffer position, the winding spindle 4 is arranged at a distance from the pressure roller 10 and stands still, so that the wound winding packages 8 can be removed from the winding spindle 4.

The fully wound bobbin packages 8 are moved into the doffer position when the bobbin tubes 6 are wound with synthetic threads 12.

In the doffer position, the winding spindle 4 is locked and does not rotate. Additional holding devices for holding the plurality of bobbin tubes 6 on the winding spindle are released, so that the bobbin tubes 6 wound with synthetic threads 12 can be pushed off the winding spindle 4.

In the winding position, the winding spindle 4 is in a winding position by means of the winding spindle turret 2, as in 1 shown, which allows the synthetic thread 12 to be wound up. The winding spindle turret 2 can be rotated about the winding spindle turret axis 9 by means of a winding spindle turret drive unit 3.

The winding spindle 4 is rotated into the winding position at a predetermined winding spindle speed with a drive, not shown. At the same time, the synthetic thread 12 is pressed onto the bobbin tube 6 or the bobbin package 8 that is being formed by means of the pressure roller 10. In addition, the synthetic thread is moved back and forth across the width of the bobbin tube in the Z direction via a traversing device 15, which can also be referred to as oscillating.

The traversing device 15 moves or oscillates the synthetic thread 12 by means of a traversing thread guide 18 back and forth in the longitudinal direction Z of the winding tube 6, which is held on the winding spindle 4.

The winding spindle 4 rotates and has its own drive, which is arranged in its longitudinal direction in the Z direction.

To move the traversing thread guide 18 of the traversing device 15, a traversing drive unit 16 is present, which is held stationary and rotatable on one side on a support frame 22 of the winder 1 via a traversing bearing 20.

In addition, a pivot lever 24 is provided on the support frame 22, which on the one hand is pivotally attached to the support frame 22 on a rotation axis 21 and on the other hand holds the pressure roller 10 via a pivot bearing 11.

The pressure roller 10 is either rotated by pressing against the coil pack 8 or, in an embodiment not shown, additionally has its own drive.

So that the pressure roller 10 can provide a constant contact force F _aw against the coil pack 8 even when the diameter of the coil pack 8 increases, a pivot piston 28 is provided on the pivot lever 24, which moves the pivot lever 24 and the pressure roller 10 connected to it in the Y direction can move from and thus controls the contact force of the pressure roller against the coil package.

A winding spindle turret drive unit 3 is provided to drive the winding spindle turret 2. With the winding spindle turret drive unit 3, the respective winding spindle 4 is rotated into the winding position or into the doffer position with the winding spindle turret 4.

In addition, the winding spindle turret drive unit 3, with the determination of the speed control variable n _{control variable} according to the invention, ensures that the position of the pressure roller 10 relative to the bobbin pack 8 remains essentially constant through a corresponding rotation. This means that a continuous rotational movement of the bobbin spindle turret 2 can be provided over the entire bobbin travel, as a result of which the contact pressure F _aw of the pressure roller 10 on the bobbin pack 8 also remains constant.

Without a regulated control, the pressure roller 10 is regularly raised by means of the pivoting piston 28, so that different contact pressures occur. The regular raising and lowering of the pressure roller 10 is referred to as cycling and can influence the quality of the synthetic thread 12, as this results in fluctuations in the contact pressure F _aw .

In 2 winder 1 is off 1 additionally shown with a speed sensor or winding spindle turret position detection device 30. With the help of the winding spindle turret position detection device 30, the speed of the winding spindle turret 2 can be detected.

So that clocking can be avoided, a speed control variable n _{control variable} for the drive unit 3 of the winding spindle turret 2 is determined using a theoretical operating parameter recorded from a kinematic winder model and a real operating parameter. With the kinematic winder model, the growth of the coil pack 8 during winding is recorded using a coil growth model that can be derived from it. In addition, the control of the winder 1 can be carried out from the kinematic winder model and/or the coil growth model.

The kinematic winder model can be used to wind up the coil pack 8. Pure control of the winder 1 according to the kinematic winder model is possible. But if errors occur during winding, winding that is controlled only on the basis of the kinematic winder model can lead to incorrectly and poorly wound coil packs 8 that cannot be used for further processing.

A frequently occurring error is, for example, a bulging of the bobbin pack 8 on the end faces and bobbin tube edges of the bobbin tube 6. This leads to the growth of the bobbin pack 8 not taking place, as simulated in the bobbin growth model of the winder model, and therefore incorrect control of the drive roller 10 or . the resulting contact pressure F _aw comes. This can also lead to further bulges and incorrect windings, which can then subsequently affect the thread quality.

The result is also an incorrectly calculated rotor motor speed n _model , since a theoretically determined coil pack radius r _SP of the coil pack 8 is used to calculate the rotor motor speed n _model in the kinematic winder model.

In order to avoid bulges and misalignments of the synthetic thread 12 during winding, the winder model according to the invention is supplemented by a real operating parameter of the winder 1. With the real operating parameter, a theoretical operating parameter from the winder model, such as a predetermined speed n _model for the drive unit 3, is corrected so that possible errors, such as bulging of the winding package 8, can be compensated for.

A speed correction value n _correction is only to be taken into account or is introduced into the speed control variable n _{control variable} for the speed of the winding spindle turret 2 if errors occur. If no errors occur, no additional correction is necessary. The speed correction value n _correction for the speed of the winding spindle turret drive unit 3 cannot have the amount zero in the event of any error.

In order to compensate for possible errors in the kinematic winder model from the theoretical operating parameters and to determine the speed control variable n _{manipulated variable} , the model speed n model from the kinematic winder model is calculated using a recorded real operating parameter, such as the swivel lever angle α of the swivel lever 24, from the kinematic winder _model with a speed correction value n _correction according to the formula I added. $$n_{StellGr\ddot{\text{O}}ße}=n_{MOdell}+n_{KOrrektur}$$

To determine the speed correction value n _correction . A P controller, a PI controller and/or a PID controller can be provided.

The correction variable of the speed correction value n _correction is preferably determined from the pivot lever angle α and the associated pivot lever radius I _S. However, other real operating parameters can also be used here additionally or separately, such as the contact pressure F _aw of the pressure roller 10.

For example, a control difference from the target pivoting lever angle Sollα and the actual pivoting lever angle Istα is stored in the control circuit of the winder 10 via a teach-in process. The actual pivot lever angle Istα is a real operating parameter that can be indirectly detected by means of the position sensor 26 on the pivot lever 24 of the pressure roller 10. The swivel lever angle shallα is known from the kinematic winder model and is therefore assigned to the theoretical operating parameters (see 3 ).

To determine the speed correction value n _correction , the difference Δα is first formed from the target swivel lever angle Sollα and the actual swivel lever angle Actα: $$\Delta \mathrm{\alpha }=\text{Should}\mathrm{\alpha }-\text{Is}\mathrm{\alpha }$$

A speed correction value n _correction is then determined from the angle difference Δα and one of the formulas IIIa, IIIb and/or IIIc listed below, which is then used to determine the speed control variable n _{control variable} according to Formula I.

The speed correction value n _correction can be determined according to a P controller, a PI controller and / or a PID controller, as specified by formulas IIIa to IIIc.

definieren.The P controller or proportional controller is defined as a continuous controller with a constant control difference ned. This relationship can be expressed mathematically, for example for the speed correction value n _correction using formula IIIa $$n_{KOrrektur}=\Delta \alpha \ast Kp$$

define.

The proportional share Kp is also known as the proportionality factor. It can specify how strongly the angle difference Δα should be amplified.

For other operating parameters, a different proportionality factor Kp may be decisive. In principle, the larger the proportionality factor Kp, the smaller the control difference can be.

A correction with a P controller is particularly useful for an operating parameter with a permanent control deviation, where, for example, the setpoint and actual value do not match, as is the case, for example, with the pivot lever angle α. The control deviation that occurs can be reduced by increasing the proportionality factor.

The P controller is the simplest form of the PID controller and only has the control parameter Kp. This has the advantage that you can react particularly quickly to changes in the setpoint.

A PI and/or PID controller can also be used to determine the speed correction value n _correction over time.

A PI controller has a proportional component Kp and an integral component KI: $$n_{KOrrektur}=\Delta \alpha \left(t\right)\ast Kp+{\displaystyle {\int }_0^t\propto }\left(t\right)dt\ast KI$$

PID controller has a proportional component Kp, an integral component KI and a differential component KD: $$n_{KOrrektur}=\Delta \alpha \left(t\right)\ast Kp+{\displaystyle {\int }_0^t\propto \left(t\right)dt\ast KI+\frac{d\propto \left(t\right)}{dt}\ast KD}$$

3 shows a schematic view of the winder 1 1 , whereby the associated theoretical operating parameters for the calculation of the winder model and the calculation of the correcting real operating parameters are also displayed.

The theoretical operating parameters of the kinematic winder model are explained in detail with the associated formulas below.

Out of 3 it can be seen how the pivot lever angle α can be assigned. Additionally is in 3 the pivot lever radius I _S is specified, the pivot lever I _S extending from the axis of rotation 21 of the pivot lever 24 to the pivot bearing 11 of the pressure roller 10.

The kinematic winder model can be determined using the pressure roller radius r _AW , the winding package radius r _SP , the winding spindle turret radius Rr and the winding spindle turret angle φ.

The kinematic winder model can use trigonometric functions to simulate the relationship between the theoretical operating parameters of the spool radius r _sp , the pivot lever angle α and the spool spindle turret angle φ.

mit $$f=\frac{R_r}{I_s}\text{sin }\alpha -\frac{x_s{R}_r}{I{s}^2},g=\frac{-R_r}{I_s}\text{cos }\alpha +\frac{y_s{R}_r}{I_s}$$

und $$h=\frac{x_s}{I_s}sin\alpha +\frac{y_s}{I_s}cos\alpha +\frac{r_{sp}^2}{2I_s^2}-\frac{1}{2I_s}\left(x_s^2+y_s^2\right)-\frac{R_r{}^2}{2I_s^2}-\frac{1}{2},$$

wobei die Parameter h, f und g der Formel IV mit dem Spulspindelrevolverradius R_r, dem Schwenkhebelradius 1s, dem Spulspindelrevolverwinkel α, Spulpaketradius r_SP, X-Spulspindel-Revolver-Koordinate x_s und Y-Spulenspindel-Revolver-Koordinate ys in dem kinematischen Wicklermodell berechnet werden.The winding spindle turret angle φ can be calculated in the kinematic winder model as shown below: $$\phi =\text{arccos}-\frac{H}{\sqrt{{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="DE102022002512A1\_0014.png,DE102022002512A1\_0015.png"\; state="\{\{state\}\}">f</figure-callout>}}^2+{\mathrm{<figure-callout\; id="2"\; label="G"\; filenames="DE102022002512A1\_0014.png,DE102022002512A1\_0015.png"\; state="\{\{state\}\}">G</figure-callout>}}^2}}+\text{arctan}\frac{G}{f}$$

with $$f=\frac{R_r}{I_s}\text{sin}\alpha -\frac{x_s{R}_r}{I{s}^2},G=\frac{-R_r}{I_s}\text{cos}\alpha +\frac{y_s{R}_r}{I_s}$$

and $$H=\frac{x_s}{I_s}sin\alpha +\frac{y_s}{I_s}cOs\alpha +\frac{r_{sp}^2}{2I_s^2}-\frac{1}{2I_s}\left(x_s^2+y_s^2\right)-\frac{R_r{}^2}{2I_s^2}-\frac{1}{2},$$

where the parameters h, f and g of formula IV with the bobbin spindle turret radius R _r , the pivoting lever radius 1s, the bobbin spindle turret angle α, bobbin package radius r _SP , X bobbin spindle turret coordinate x _s and Y bobbin spindle turret coordinate ys in the kinematic Winder model can be calculated.

The parameters x _s , y _s , l _s are after 3 geometric constants of the winder 1 and, like the parameters R _r , α, r _SP, also have a geometric reference to the winder 1.

lässt sich die theoretische vorbestimmte Drehzahl n_Modell in l/min in dem kinematischen Wicklermodell berechnen: $$n_{Modell}=i_{Getriebe}\frac{\Delta \mathrm{\phi }}{\Delta \text{t}}\cdot \frac{60\frac{sek}{min}}{2\pi }$$

About the difference quotient $\frac{\Delta \mathrm{\phi }}{\Delta \text{t}}$

The theoretical predetermined speed n _model can be calculated in l/min in the kinematic winder model: $$n_{MOdell}=i_{Getriebe}\frac{\Delta \mathrm{\phi }}{\Delta \text{t}}\cdot \frac{60\frac{sek}{min}}{2\pi }$$

Here, the sampling time Δt and the gear ratio i _gear between the rotor motor and rotor of the drive unit 3 are known or previously determined.

In another embodiment, the speed correction value can alternatively or additionally be determined by means of a pressure roller contact force F _AW if appropriate sensors are present and / or the force can be determined indirectly from suitable components, such as the pivoting piston 28.

4 shows a schematic block diagram in which the individual steps for determining the speed control variable for the speed of the winding spindle turret drive unit 3 are determined.

In step S1, a calculation of a predetermined speed n _model takes place based on the winder model for the winding spindle turret 2. The drive unit 3 of the winding spindle turret 2 is then driven at the predetermined speed S1. In step S2, a real operating parameter of the winder 1 is recorded. The real operating parameter can have, for example, the pivot lever angle α and / or the pressure roller contact force F _aw .

A speed correction value n _correction is then calculated in step S3 using the real operating parameter.

From the theoretical predetermined speed value n _model and the speed correction value n _correction of the real reference variable, the speed manipulated variable n _{manipulated variable} is determined in step S4.

With the help of the speed variable value n _{manipulated variable} , the drive 3 of the bobbin spindle turret 2 is controlled in step S5, so that any misalignments and bulges of the bobbin pack 8 can be compensated for.

Reference symbol list

1

Winder

2

Winding spindle turret

3

Bobbin spindle turret drive unit

4

Bobbin spindle

5

Bobbin spindle turret axis

6

Bobbin tube

8th

Spool pack

9

Bobbin spindle turret axis

10

pressure roller

11

Pivot bearing

12

thread

14

Thread guide

15

Changing facility

16

Traversing drive unit

18

Changing thread guide

20

Changing storage

21

Axis of rotation

22

support frame

24

Swing lever

26

Position sensor

28

Pivoting piston

30

speed sensor; Bobbin spindle turret rotation position detection device

32

Speed control variable determination device

α

Pivot lever angle

φ

Bobbin spindle turret angle

Faw

Pressure roller contact force

ls

Pivot lever radius

rAW

Pressure roller radius

rSP

Coil package radius

Rr

Bobbin spindle turret radius

xs

X bobbin spindle turret coordinate

ys

Y coil spindle turret coordinate

S1

Calculating a predetermined speed

S2

Detecting an operating parameter

S3

Determining a speed correction value

S4

Combine into one speed control variable

S5

Setting the drive to the speed control variable

QUOTES INCLUDED IN THE DESCRIPTION

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Cited patent literature

• EP 0374536 A2 [0002]

Claims (15)

Method for determining a speed control variable for a drive unit (3) of a winding spindle turret (1) of a winder (1), the speed control variable of a drive unit (3) being determined from a real operating parameter of the winder (1) and a theoretical operating parameter of a bobbin growth model of the winder (1). ) of the winding spindle turret (1) is determined. Method for determining a speed control variable Claim 1 , comprising the steps: - calculating (S1) a predetermined speed (n _model ) of the winding spindle turret by means of a bobbin increment model (S), - driving the winding spindle turret with the predetermined speed (n _model ), - detecting (S2) a real operating parameter of the winder, - Determining (S3) a speed correction value (n _correction ) from the real operating parameter of the winder, - Combining (S4) the predetermined speed and the speed correction value to form a speed manipulated variable (n _{manipulated variable} ), - Setting (S5) the speed of the drive unit (3). Winding spindle turret according to the speed control variable. Method for determining a speed control variable according to one of the preceding claims, characterized in that the coil growth model (S) has a kinematic winder model and the real operating parameter has an operating parameter from a control loop of the winder. Method for determining a speed control variable according to one of the preceding claims, characterized in that the predetermined speed (n _model ) is determined using the kinematic winder model. Method for determining a speed control variable according to one of the preceding claims, characterized in that the speed control variable (n _{rotor motor} ) by means of $$n_{StellGr\ddot{\text{O}}ße}=n_{MOdell}+n_{KOrrektur}$$

is determined, whereby the speed correction value (n _correction ) is determined from the real operating parameter. Method for determining a speed control variable according to one of the preceding claims, characterized in that the kinematic winder model has at least the following theoretical operating parameters: bobbin package radius (r _SP ), pressure roller radius (r _AW ), bobbin spindle turret radius (R _r ), bobbin spindle turret angle (φ), pivot lever radius (ls), pressure roller contact force (F _aw ) and/or pivot lever angle (α). Method for determining a speed control variable according to one of the preceding claims, characterized in that the speed correction value is determined based on the pivot lever angle (α) of the pressure roller and/or is determined based on the pressure roller contact force. Method for determining a speed control variable according to one of the preceding claims, characterized in that the speed correction value is determined using a P controller, a PI controller and/or a PID controller. Method for determining a speed control variable according to one of the preceding claims, characterized in that the bobbin package radius (r _SP ) is determined from the speed of the pressure roller (10) and the speed of the winding spindle (4). Device for determining a speed control variable for a drive unit (3) of a winding spindle turret (2) of a winder, comprising: a drive unit (3) for rotating the winding spindle turret, and a speed control variable determination device (32) for determining the speed control variable of the speed of the winding spindle turret from a real operating parameter of the winder and a theoretical operating parameter of a bobbin growth model of the winder. Device for determining a speed control variable Claim 10 , characterized in that the device has a calculation device for determining the coil diameter of a coil package (8) to be wound up. Device for determining a speed control variable according to at least one of the Claims 10 or 11 , characterized in that the drive unit is speed-controlled and/or the drive unit (3) has a speed control. Device for determining a speed control variable according to one of the preceding Claim 10 until 12 , characterized in that the speed control variable determination device is set up to determine the speed control variable of the speed of the winding spindle turret from the spool diameter and the pivoting position of the pressure roller. Device for determining a speed control variable according to one of the preceding Claim 10 until 13 , characterized in that the device has a winding spindle turret rotation position detection device (30) for detecting a rotational position of the winding spindle turret (2). Device for determining a speed control variable for a drive unit (3) of a winding spindle turret (1) according to one of the preceding Claim 10 until 14 , characterized in that the device has a pressure roller position detection device (26).

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