EP0107959A2 - Elektrohydraulischer Antrieb für Wickel- und Abwickelvorrichtungen und andere Einrichtungen in Fertigungsstrassen - Google Patents

Elektrohydraulischer Antrieb für Wickel- und Abwickelvorrichtungen und andere Einrichtungen in Fertigungsstrassen Download PDF

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Publication number
EP0107959A2
EP0107959A2 EP83306411A EP83306411A EP0107959A2 EP 0107959 A2 EP0107959 A2 EP 0107959A2 EP 83306411 A EP83306411 A EP 83306411A EP 83306411 A EP83306411 A EP 83306411A EP 0107959 A2 EP0107959 A2 EP 0107959A2
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EP
European Patent Office
Prior art keywords
motor
pressure
speed
drive
signal
Prior art date
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Ceased
Application number
EP83306411A
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English (en)
French (fr)
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EP0107959A3 (de
Inventor
Robert C. Ruhl
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Kennecott Corp
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Kennecott Corp
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Publication date
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Publication of EP0107959A2 publication Critical patent/EP0107959A2/de
Publication of EP0107959A3 publication Critical patent/EP0107959A3/de
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
    • B21C47/02—Winding-up or coiling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/195—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations
    • B65H23/1955—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations and controlling web tension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
    • B65H59/38—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension

Definitions

  • This invention relates in general to hydraulic drive and control systems for process line equipment. More specifically, it relates to an electrohydraulic drive and control system particularly useful for a spooler (also known as a traverse winder or level winder) that both winds and pays out an indefinite length of metallic strand.
  • a spooler also known as a traverse winder or level winder
  • the product In the production of many materials, whether metal, paper, plastic films or otherwise, the product is in the form of a moving strand or web. In the case of a strand, it can be a solid wire, tubing, strip, or a variety of other forms. Processing of the material occurs "on the fly” as it moves through the production equipment. Typically when the processing is complete, the material is wound onto a spool, core, reel or mandrel. In some applications, the material is wound and then later unwound for further processing. Regardless of the nature of the material, its form, or the type of processing, it is always important to control the speed and tension of the material during the processing.
  • Speed control is important because different materials or operations may require different speeds.
  • a drive system must be able to produce, and/or match, a wide range of line speeds, to adjust the line speed, to jog at slow speeds (with and without tension in the strand), to accelerate and decelerate, and in winding or unwinding to vary the strand speed as a function of the coil diameter.
  • Torque control is also very important in establishing a correct degree of tension in the strand.
  • the drive system can be a master or slave in setting or following the Line speed and all following slave drives normally need to operate in a tension control mode on a taut strand.
  • Tension control is important for many reasons. If it is too high, the strand may break or be damaged. If it is too slack, various operations may not be performed effectively or the strand may jump out of guides, catch on projections, etc. In winding or unwinding, the strand tension should usually be substantially constant in the processing line, but it is often necessary to vary the tension at the spooler as a function of the coil diameter in order to form a good coil. Even for constant tension, torque must change with coil diameter. It is also important to be able to vary the tension to accommodate different products or for other reasons.
  • the drive system exhibit as smooth a transition as possible,as it accelerates or decelerates between different speeds or rest.
  • a discontinuous, jerky transition can break the strand or introduce variations in the tension which adversely affect the quality of the product.
  • a controlled emergency stop capability is also important.
  • U.S. Patent No. 3,053,468 to 2ernov et al describes a hydraulic drive system where a mechanical cam system senses the diameter of the roll being wound to control the rate of rotation of the drive.
  • U.S. Patent No. 2,677,080 describes the control of a hydraulic motor or pump through a balancing of the hydraulic fluid pressure against a set pressure.
  • U.S. Patent Nos. 2,960,277 and 2,573,938 disclose a solenoid operated directional valves connected in a hydraulic system for control of the system in response to an electrical signal.
  • U.S. Patent No. 2,988,297 describes a pneumatic system for controlling a slip clutch in the drive train of a spooler.
  • 3,784,123 describes a hydraulic system where a mechanical system converts a web tension into a corresponding hydraulic pressure.
  • a hydraulic circuit compares this pressure to a reference value.
  • the output of this circuit controls the displacement of a hydraulic motor operating at a constant pressure to vary the output torque.
  • This patent also discusses many of the deficiencies of other prior art tension control systems, whether mechanical, hydraulic or electrical.
  • known hydraulic drive systems suffer from limited operating ranges with respect to both speed and tension, a stepped, jolting transition between motoring and braking and between different speed and tension settings on the fly, an inability to brake suddenly without jolts, and a limitation as to the controls that can interface with the system.
  • known hydraulic systems do not provide a stepless transition between speed control and tension control modes.
  • most hydraulic systems are comparatively costly and complex.
  • Another object of the invention is to provide a system with the foregoing advantages that also brakes smoothly and rapidly under emergency conditions from a high line speed to a stop even when the system is driving a high inertia load.
  • Another object of the invention is to provide a drive and control system that operates well in winding or unwinding coils of material having a large mass and a high rotational inertia.
  • Another object of the invention is to provide a drive and control system that interfaces with a variety of manual and automatic controls including computer controls, switches, relays and a variety of transducers.
  • Another object of the invention is to provide a drive system which can maintain a moderate to large stall tension for an indefinite period of time.
  • Still another object of the invention is to provide a drive system and control that automatically tapers the tension during winding and accommodates for the system inertia on acceleration or deceleration to maintain a desired tension level in the material.
  • Yet another object of the invention is to provide a drive and control system that is formed through a comparatively small number of components, has a relatively uncomplicated design, and has a comparatively moderate cost as compared to known drive and control systems.
  • a still further object of the invention is to provide an electrohydraulic drive and control system for traversing a spooler that maintains the strand being wound or payed out in a precisely predetermined lateral position.
  • the present invention provides an electrohydraulic drive and control system for process line equipment such as winders, unwinders (collectively “spoolers”), pinch rolls and bridles.
  • the system includes a bi-directional, variable displacement hydraulic motor that rotates a spool or other member that engages the product, whether a web or strand. Hydraulic fluid is directed by a feed line from a constant pressure, variable flow rate supply to a directional valve connected to the motor. Fluid exiting the motor through the directional valve is directed back to the power supply by a return line.
  • a pressure reducing valve controlled by a proportional electrical actuator is connected in the feed line.
  • a sequence valve located in the return line maintains the pressure upstream of the valve at a predetermined and adjustable value.
  • the regeneration circuit includes a second adjustable sequence valve set at a pressure less than that of the first sequence valve and a check valve which prevents a flow of the fluid directly from the feed line to the return line.
  • the directional valve is preferably a four-way, double solenoid directional valve with forward, reverse and neutral positions.
  • An electronic control circuit for the proportional actuator includes an integrating servo-amplifier, an analog multiplier, a diode, and a linear power amplifier.
  • the integrating servo-amplifier receives the output signal from a tachometer which measures the actual speed of rotation of the motor and an electrical speed command signal from a controller. Unless these signals are the same, the integrating amplifier will:change its output signal upwards or downwards, depending upon the sign of the error.
  • the output signal of the integrating amplifier is applied to the analog multiplier which also receives a pressure limit command signal that is proportional to a preselected desired maximum pressure for the hydraulic feed line.
  • the output of the multiplier which will correspond to from 0 to 1.0 times the maximum pressure setting, is applied through a diode to a linear power amplifier which produces an output signal of suitable magnitude to operate the proportional actuator on the pressure reducing valve.
  • the control system also includes a second proportional actuator that controls the displacement of the motor in response to a remote electrical control signal.
  • the speed limit, pressure limit, and displacement command signals are generated by a digital computer acting through a multi-channel digital-to-analog converter.
  • the rotational speed from the tachometer and an output signal from a transducer that measures the tension in the strand being processed are applied to the computer through a multi-channel analog-to-digital converter.
  • the computer also receives command signals from conventional manually operated switches and a keyboard terminal.
  • the computer can execute automatic controls such as a tapering of the tension in the strand as the diameter of a coil being wound on the spool increases and compensating for the inertia of the spooler during acceleration or deceleration.
  • the system also includes an electrohydraulic drive and control for a spooler that traverses the spooler with the strand that is being wound or paid out maintaining a generally constant passline.
  • a hydraulic cylinder drives the spooler.
  • the velocity and direction of movement of the actuating member of the cylinder is controlled by a high speed servo valve which in turn is controlled by an electrical control signal from a servo-amplifier.
  • the servo-amplifier receives information from a spooler position transducer, a spooler velocity transducer and the tachometer. Adjustable electrical controls set the limits of travel and the pitch of the spooler in winding mode.
  • a strip position sensor sends a signal to a different servo-amplifier, which also receives a traverse velocity signal, and which controls the traverse to keep the strip centered on the position sensor.
  • Figs. 1 and 2 show an electrohydraulic drive and control system 12 that includes a bi-directional hydraulic motor 14 that has a variable displacement.
  • the motor 14 can be of the axial piston type with an adjustable swashplate. Depending upon the relative fluid pressures applied to its inlet 14a and outlet L4b, the motor can function as either a motor or a pump.
  • the rotor 14 is connected to drive a spool 16 through a winding arbor L7 either directly or through a conventional speed reducer such as a gearbelt (not shown).
  • the drive, transmission and spool will be referred to herein collectively as the "spooler", whether it is used for winding or unwinding. As shown in Fig.
  • the spool 16 is rotating in a clockwise direction to wind a narrow strand 18 of metal such as copper or bronze as it leaves a processing line at the line speed. While the material can be non-metallic and in the form of a wide web, for simplicity the following discussion is limited to the processing of a metallic strand.
  • the ratio of the diameter of the empty spool to that of a full coil 19 wound on the spool 16 can vary from unity to more than 12 to 1.
  • a fully coiled spool can typically carry up to 6 tons of metallic strand.
  • the spooler should operate from 0 to 125 rpm, or faster, depending upon requirements.
  • the hydraulic system includes a hydraulic fluid supply 20 that provides a variable volume of the hydraulic fluid ("oil") at a substantially constant supply pressure.
  • the supply 20 can be a reservoir that supplies a pressure-compensated variable-displacement piston pump with an accumulator on the discharge side.
  • a feed line 22 conducts the oil from the supply 20 to the motor 14.
  • a central feature of this invention is a pressure reducing valve 24 connected in the feed line and controlled by a remote electrical signal through a proportional actuator 30 such as a torque motor or a proportional solenoid. The valve 24 maintains a constant pressure in the downstream feed line 22 regardless of the flow rate of the hydraulic fluid through the valve.
  • the pressure varies generally 7 linearly from a low value such as 7kg/cm 2 (100 psi) to approximately the supply pressure of the source 20 as a function of the amplitude of the control signal applied over a line 28 to the proportional-actuator 30.
  • the motor 14 is reversible and acts as a motor or a brake depending on the pressure difference applied across its inlet and outlet ports 14a and 14b, and a directional valve 26 that controls the oil flow direction through the motor.
  • the valve 26 is preferably a four-way, three-position valve operated by double solenoids. In one position the valve 26 provides a forward operation; in another position it reverses the flow direction and hence the direction of rotation. In a neutral position shown in Fig. 1, the hydraulic lines to and from the motor 14 are interconnected at the valve 26. This puts a zero pressure differential across the motor 14 which is useful for manual rotation of the spooler. Hydraulic fluid exiting the motor 14 through the outlet 14b and the valve 26 is carried by a return line 32 back to the reservoir or tank feeding the supply 20.
  • a sequence valve 34 connected in the return line 32 limits the pressure in the return line 32 upstream of the valve to a fixed value that is independent of the flow rate of the oil.
  • the set value of the sequence valve is adjustable by a manual screw 38. Oil discharged from the valve 34 is at substantially zero pressure and flows to the supply 20.
  • a "regeneration" circuit 40 connected between the return line 32 and the feed line 22 is another significant feature of this invention. It provides a flow path for the hydraulic fluid from the line 32 to the line 22 during braking.
  • the circuit 40 includes a sequence valve 42 which is adjustable via a manual screw 44, a flow divider 48 and a check valve 52.
  • the sequence valve 42 limits the upstream pressure in line 46 to a value lower than the set pressure of the sequence valve 34. Oil flowing through the regeneration circuit passes through the positive-displacement fluid divider 48 which directs a substantial portion of the flow through line 50 and the check valve 52 to the feed line 22. A smaller portion of the flow, typically one-quarter, is directed via line 54 to the reservoir or tank of the supply 20.
  • the magnitude of the flow through the line 50 conserves oil flow from the supply 20.
  • the remaining fluid requirement during braking is supplied through valve 24, which will never allow the pressure in line 22 to fall below about 7kg /em 2 (100 psi), thus preventing any possibility of motor-damaging cavitation.
  • the hydraulic fluid dumped into the line 54 is sufficient to cool the motor 14 during braking.
  • the motor 14 has a displacement per revolution which may be continually varied during operation. Variation of the displacement and/or the pressure difference across the motor 14 determines the torque developed by the motor.
  • the displacement of the motor 14 is controlled by a proportional actuator 56 which like the actuator 30 is controlled by a remote electrical signal carried on a line 58.
  • the actuator 56 may also be a torque motor or a proportional solenoid.
  • the motor 14 is one whose displacement can be varied continuously over a significant range, for example 312 to 1, while the motor is in operation.
  • an electronic servo-amplifier circuit indicated generally by reference numeral 60 is another significant aspect of the present invention. It receives inputs, typically in the form of DC voltages, from three sources, and produces as an analog output the control signal on.line 28 for the actuator 30.
  • One input is an analog signal produced by a tachometer 61 that measures the actual speed of rotation of the motor 14.
  • Another input on line 62 is a speed limit control signal which is generated by a controller (in the preferred form, a computer 92 and a multichannel digital-to-analog converter 98 as shown in Fig. 2).
  • a pressure limit command signal is applied over line 64 to the circuitry 60. The pressure limit command provides an electrical signal that is proportional to the desired maximum pressure in the feed line 22 downstream of the pressure reducing valve 24.
  • An integrating servo-amplifier 66 receives the output signal of the tachometer 61 carried on line 68 and the speed limit command carried on line 62.
  • An RC loop 70 provides the feedback which allows the amplifier 66 to operate as an integrator.
  • the servo-amplifier 66 will integrate towards a saturation voltage (e.g. +10 volts or -10 volts depending on the direction of rotation of the motor 14) whenever there is a difference in the signals on the lines 68 and 62. If there is a large difference in these signals, the amplifier 66 will rapidly integrate towards its saturation output voltage, whereas if the signals differ by a small amount the amplifier 66 will integrate less rapidly.
  • the l output on line 72 will remain constant.
  • the signal 72 is proportional to a fraction (ranging in absolute value from 0 to 1.0) of the pressure limit to be used.
  • the output signal of the amplifier 66 is applied over line 72 to an analog multiplier 74 which also receives the pressure limit command signal carried on the line 64.
  • the multiplier is appropriately weighted to produce an output signal that rapidly (limited in speed by the reaction time of valve 24) brings the pressure in the feed line 22 to the appropriate value corresponding to the pressure limit command signal multiplied by the 0 to 1.0 multiplier on line 72.
  • the output signal of the analog multiplier 74 is supplied through a diode 76 that eliminates negative products (since oil pressure is always positive).
  • the rectified output signal of the diode is applied to a linear power amplifier 78 including an associated resistive feedback loop 80.
  • the power amplifier 78 produces an electrical control signal on the line 28 of sufficient voltage and current magnitudes to operate the proportional actuator 30.
  • the electrohydraulic drive and control system 12 described above with reference to Fig. 1 is delineated by dashed lines.
  • the remaining components show a preferred arrangement for generating the command signals for speed, pressure and motor displacement on lines 62, 64 and 58, respectively.
  • the rotational speed of the motor 14 is measured by the tachometer 61.
  • the output signal of the tachometer is applied both to the circuitry 60 over line 68 and to a multi-channel analog-to-digital converter 82 over line 69.
  • This converter also receives an input from a tensiometer 84 which oprates in conjunction with two fixed passline rolls 86, 86' that are near the tensiometer and oppose a roller 84a associated with the tensiometer.
  • the rollers 84a, 86 and 86' all engage the strand 18.
  • the force on the roller 84a is proportional to the tension in the strand and is converted by the tensiometer 84 into an analog output signal, typically a DC voltage, applied over line 88 to the converter 82.
  • Digital representations of the strand tension and the rotational speed are applied over line 90 to the computer 92.
  • the computer also receives inputs from an operator switch station 94 and a video keyboard terminal 96.
  • the switch station 94 includes manual operating switches to control on-off, forward, reverse, acceleration or deceleration of the line, and to vary the tension in the strand.
  • the terminal 96 allows an operator to set the operating parameters for the system such as the line speed or tension to be maintained in the strand 18, or allows an input of information concerning the nature of the strand 18 being processed such as its cross-sectional shape, dimensional material in the form of packaging desired, i.e. the amount of strand to be wound onto the spool 16.
  • the computer 92 can include an internal program for tapering the strand tension (i.e. reducing tension as the diameter increases) to produce a coil on the spool 16 that is neatly wound without damage.
  • Output control signals generated by the computer 92 are directed to a multi-channel digital-to-analog converter 98 that has (at least) three output channels.
  • the output speed limit command signal is applied over line 62
  • the output pressure limit command signal is applied over line 64
  • a motor displacement control signal is applied over line 58.
  • a linear amplifier 100 connected in line 58 produces a control signal having the appropriate voltage and current magnitudes to operate the proportional actuator 56.
  • the computer 92 also generates an output to a video display 102 which provides the operator with a readout of the current operating conditions of the system such as the line speed, strand tension and the quantity of strand wound onto the spool 16.
  • Fig. 3 shows in a schematic form another electrohydraulic drive and control system 104 which controls the linear traverse of the spool 16 along its axis of rotation.
  • the traverse mechanism produces a compact, even and level wound coil of the strand 18 on the spool 16 with a substantially constant passline (when viewed from above) for the strand entering or leaving the spool.
  • the traverse drive is powered by a hydraulic cylinder 106 which is connected through a linkage 106a to main bearings 108 that support the spool 16.
  • the cylinder 106 has a small orifice (not shown) through its piston to provide damping and facilitate air elimination.
  • Input information to control the operation of the cylinder is provided by four transducers; a tachometer 110 (which is usually the tachometer 61 of Figs. 1 and 2) coupled to the mandrel or shaft of the spool 16 through a linkage 112; a linear position transducer 114 that indicates the lateral position of the spool 16; a linear velocity transducer 116 that indicates the instantaneous linear velocity of the spool 16 1 and an optical sensor 118 that determines the lateral position of the strand 18 and generates an output voltage proportional to the sensed position.
  • a tachometer 110 which is usually the tachometer 61 of Figs. 1 and 2
  • a linear position transducer 114 that indicates the lateral position of the spool 16
  • a linear velocity transducer 116 that indicates the instantaneous linear velocity of the spool 16 1
  • an optical sensor 118 that determines the lateral position of the strand 18 and generates an output voltage proportional to the sense
  • the cylinder 106 is supplied oil by a high quality servo valve 136, which in turn obtains its control signal from one of two servo-amplifiers 126 or 138 according to the state of a velocity relay 142.
  • the output signal of the amplifier 126 is appled to the relay 142 over line 150 and the output signal of the amplifier 138 is applied to the relay 142 over line 152.
  • the amplifier 138 is the position control servo-amplifier, which is used (a) to hold the spool in a fixed traverse position for indefinite periods, (b) for manual : traversing of the spool, and (c) for payoff operation under the control of the strip position sensor 118.
  • Relay 144 is the payoff relay, which is energized to connect sensor 118 and de-energized to connect the spooler position sensor 114 (position signal on line 127).
  • the output signal of the velocity sensor 116 is connected via line 124 to provide velocity compensation at high payoff speeds.
  • a position command signal over line 154 from an external source such as the computer is used for manual traverse of the spooler.
  • the amplifier 138 will adjust valve 136 to minimize the position error of the strip or spool.
  • the velocity servo-amplifier 126 is used for strip winding.
  • the velocity command is obtained by first scaling the spooler tachometer 110 signal by a pitch potentiometer 132, corresponding to the desired traverse per revolution.
  • This signal over line 146 which is always positive, is fed into an inverter circuit 140 controlled by a comparator circuit 128.
  • the comparator circuit compares the actual traverse position signal 127 with values set on traverse limits pots 130 (extend) and 134 (retract) and causes a control signal on line 148 to change from a logical "1" (extend) to a logical "0" (retract) at the end of each cycle and back again.
  • the inverter 140 will then either invert the signal on line 146 to an equal negative value or not, producing a velocity command signal on line 149.
  • a velocity feedback signal is on line 124.
  • a velocity derivative (not shown) may be added to improve performance.
  • a typical cycle of operation of the spooler shown in Figs. 1 and 2 will include (1) manually moving the machine to secure the strand to the spool, (2) jogging the spooler and the strand at a slow forward speed without tension in the strand, (3) establishing and holding a stall tension, (4) accelerating to a running speed, (5) maintaining a running mode, (6) decelerating, and (7) stopping with a stall tension.
  • the following detailed discussion of these various modes of operation illustrate the operation and flexibility of the present invention.
  • the supply 20 is assumed to be at a substantially constant pressure of 211kg/cm 2 (3,000 psi), the sequence valve 34 is set at 56kg/cm 2 (800k psi)and the sequence valve 42 in the regeneration circuit is set at 52.7kg/cm 2 (750 psi).
  • the system will operate with a wide variety of other pressure settings.
  • valve 26 Manual rotation is possible by placing the valve 26 in its center position which cross-connects all of the lines and by applying a zero voltage over the line 28 to produce a minimum pressure in the feed line 22. Under these conditions, the motor 14 and spool 16 can be rotated manually in either direction.
  • the valve 26 To move from manual rotation to jogging without tension in the strand material, the valve 26 is moved to a position associated.with a forward rotation of the motor 14.
  • the torque range for the motor is selected by adjusting the displacement of the motor through a suitable control voltage generated by the computer 92 acting through the amplifier 100 and the proportional actuator 56.
  • the computer also generates the desired jog speed limit command to the line 62.
  • the DC voltage speed limit signal can correspond to 10 rpm.
  • the computer generates a pressure limit command signal applied to the line 64. Given the pressure values noted above, an appropriate pressure limit command might be 98.4 kg/cm 2 (1400 psi).
  • the tachometer 61 Because the drive is initially at rest, the tachometer 61 produces no voltage on the line 68. As a result, the amplifier 66 rapidly integrates upwardly-which causes the ouput signal on the line 28 to also increase rapidly from zero. This causes a corresponding increase in the pressure in the feed line 22 as set by the valve 24 until the pressure is sufficiently in excess of the setting of the sequence valve 34 56 k,g/cm2 (800 psi) to overcome the breakaway friction of the drive system. In practice the drive will begin to rotate when the pressure in the feed line reaches typically 77.3 kg/cm2 (1,100 psi). Once rotation begins, an output voltage generated by the tachometer appears on the line 68.
  • a typical feed line pressure value for this jog speed is 66.8 kg/cm2 (950 psi).
  • the pressure difference across the motor is 10.8kg/cm 2 (150 pis) 66.8-56 (950-800).
  • the output torque of the motor 14 is therefore comparatively small.
  • the jogging mode of operation is used to wind slack material. Once the slack is wound, however, the strand will suddenly become taut. It is clearly important that this sudden transition from a slack state to a taut state does not jerk the material with sufficient force to break or damage it. It is usually also desirable to be able to maintain the material in a taut condition without movement.
  • the electrohydraulic drive and control system 12 of the present invention achieves these objectives as follows.
  • the jog speed is selected so that the momentum of the spool and its drive is moderate. Also, during jogging the torque (which is determined, for any given displacement, by the pressure difference across the hydraulic motor 14) is comparatively small.
  • the integrating amplifier 66 will smoothly integrate upwardly causing the pressure in the feed line 22 to increase from the jogging pressure 66.8 kg/cm2 (950 psi) to the value set by the pressure limit command, in this case 98.4kg/cm 2 (1,400. psi).
  • the pressure in the return line will remain at 56kg/cm 2 (800 psi) psi) as set by the sequence valve 34 so that-a 42.4kg/cm 2 (600 psi)pressure difference is created and maintained across the motor without any rotation. This pressure difference creates the desired stall tension.
  • a small leakage flow of the hydraulic fluid through the valves and the motor is (indicated by the dashed lines in Fig. 1) provides the required cooling.
  • a significant advantage of this invention is that the stall tension may be controlled accurately and held substantially indefinitely, and may be quite large when so desired.
  • the speed limit command on the line 62 is set at a value larger than the line speed and begin to move material along the line from its source. Because the line speed is determined by the other equipment in the processing line and is held at a value less than the speed limit command value, the amplifier 66 remains saturated at, for example, +10 volts output, corresponding to 100%. The output torque of the electrohydraulic drive system 12 is then determined by the pressure limit command on the line 64. The net effect is that the spooler rotates in a forward direction at an actual speed that matches the line speed, but at a tension determined by the pressure differential across the motor 14 (assuming that the displacement of the motor is not changed during acceleration).
  • the computer 92 can be programmed to increase the value of the pressure limit command on the line 64 during acceleration tb compensate for the inertia of the spooler and its drive system. This system maintains a generally constant tension in the strand material as it is being accelerated from rest to a steady state running speed.
  • the speed limit command is set slightly above the line speed and the pressure limit command is preferably varied in a pattern in accordance with the diameter of the coil being formed on the spool 16. Again, with the speed limit command slightly above the line speed, the amplifier 66 will remain saturated. However, if the material brakes or otherwise loses its back-tension, the actual speed of the winder will quickly exceed the set speed limit command. In this situation the speed servo-amplifier quickly integrates downwardly which rapidly decreases the line pressure in the feed line 22 to a lower value to maintain speed at the speed limit value. This operation of the system 12 therefore limits the "runaway" speed of the winder. It should also be noted that the precise value of the set speed command is not critical; it is only necessary that it be slightly greater than the line speed.
  • the pressure limit command may be varied at will during the running mode. Variations can be in response to a variety of inputs, either manual ones from the operator switch station 94 or the video keyboard terminal 96, or automatic ones in response to sensed strand tension from transducers such as the tensiometer 82, a transducer that directly senses coil diameter, or through some other input such as a read- only memory or software program in the computer 92 designed to vary the strand tension as a function of the coil diameter. Coil diameter is readily calculated by the computer from the tachometer 61 and a line speed transducer (not shown).
  • the displacement of the motor 14 is generally maintained at a constant value during the running mode.
  • the displacement is usually preset, primarily as a factor of the cross-sectional dimensions of the strand material and the line speed. For example, small to moderate torques are usually used for thin products being produced at high speed.
  • the motor displacement set by a control signal on the line 58 will usually be at a minimum value to reduce the applied torque, increase horsepower efficiency, minimize the amount of hydraulic fluid consumed, and to improve the sensitivity of the tension control of the system.
  • other products require medium to large tensions and greater output torques from the motor. In these situations the motor displacement is increased to its maximum value.
  • Deceleration typically involves only adjusting the pressure limit command to maintain the desired level of tension in the strand.
  • an inertia compensation increment may be subtracted from the pressure limit command signal in the same manner described above with respect to the acceleration increment.
  • a special technique is employed, however, for rapid deceleration particularly for an emergency stop from a high operating speed with a high inertia load (many tons of coil rotating to match the line speed).
  • the pressure limit command is rapidly reduced and the motor displacement is increased.
  • the pressure limit command is reduced to zero and the motor displacement is increased to its maximum value.
  • the fluid flow from the motor 14 therefore passes through the flow divider 48, preferably a rotary type divider, which diverts approximately one-quarter of the input flow to a supply tank for the power source 20 and three-quarters of the flow to the feed line 22.
  • the flow divider 48 preferably a rotary type divider, which diverts approximately one-quarter of the input flow to a supply tank for the power source 20 and three-quarters of the flow to the feed line 22.
  • the regeneration circuit 40 As a result, much of the oil flow needed for the motor 14 is supplied by the regeneration circuit 40. This is important since a failure to supply all of the hydraulic fluid required by the motor would result in damaging the motor due to cavitation.
  • the additional required flow to the motor 14 is supplied through the valve 24. This oil flow also compensates for all the leakage flows in the 7 kg/c m 2 system.
  • the pressure in the feed line remains at approximatel (100 psi)throughout the deceleration (braking).
  • the diversion of one-quarter of the return line fluid to the supply 20 provides the necessary heat dissipation for the system during the braking.
  • the regeneration circuit is also important because the valve 24 is not sized to supply all of the fluid flow requirements of the motor 14 during this rapid deceleration when the speed is very high and there is an accompanying increase in the motor displacement to its full value.
  • the pressure limit command will maintain a stall tension on the strand 18 in the same manner as described above with respect to a stall with tension prior to acceleration.
  • the pressure from the limit command is set to zero and the valve 26 is placed in its center position to interconnect all of the hydraulic lines. This situation is analogous to the initial situation described with respect to a manual rotation of the spooler.
  • the same equipment can also be used as an unwinder or "payoff" drive.
  • the hydraulic motor 14 during unwinding or payoff operates most of the time as a pump and the regeneration circuit is used to provide the necessary oil flow to the inlet 14a and to cool the system.
  • a desired back-tension on the strand 18 being paid off is set by generating a pressure limit command which is below the value which would cause the drive to motor in the forward direction (in 66.8 kg/cm2 the foregoing example - (950 psi)). Back-tension can also be increased by increasing the displacement of the motor. Therefore adjustment of the pressure limit command and the motor displacement signal provide a smooth and reliable control over the back-tension of the material being paid off.
  • a forward jog and reverse motoring are also readily provided when the system is operating in the payoff mode.
  • the electrohydraulic drive and control system 12 described above has a major advantage over known systems in that it provides a smooth, stepless transition from motoring to braking by simply changing a control voltage applied over the line 28 to a pressure controlling valve 24.
  • Other significant advantages, as noted above, are that the same equipment can be used both for winding and unwinding,for clockwise and counterclockwise rotation, the system is adaptable to meet a wide range of operating criteria, it can maintain a stall condition with tension for an indefinite period, and it has a rapid emergency braking capability, even with the very large inertias involved in spooling metallic strand.
  • the system is characterized by a simplicity of design and cost advantages that are quite significant compared to conventional electric drive systems widely used for winding and unwinding metallic strands from a process line.
  • This system is also highly advantageous in that it is readily interfaced with a wide variety controls such as potentiometers, relay circuits, external amplifiers, transducers, or, as described, a computer which receives inputs from manual controls and a variety of transducers.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Tension Adjustment In Filamentary Materials (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
  • Winding, Rewinding, Material Storage Devices (AREA)
  • Feedback Control In General (AREA)
  • Servomotors (AREA)
EP83306411A 1982-10-22 1983-10-21 Elektrohydraulischer Antrieb für Wickel- und Abwickelvorrichtungen und andere Einrichtungen in Fertigungsstrassen Ceased EP0107959A3 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US43597582A 1982-10-22 1982-10-22
US435975 1982-10-22

Related Child Applications (2)

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EP85202147A Division EP0188035A3 (de) 1982-10-22 1983-10-21 Elektrohydraulischer Antrieb für Wickel- und Abwickelvorrichtungen und andere Einrichtungen in Fertigungsstrassen
EP85202147.6 Division-Into 1983-10-21

Publications (2)

Publication Number Publication Date
EP0107959A2 true EP0107959A2 (de) 1984-05-09
EP0107959A3 EP0107959A3 (de) 1984-07-11

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EP83306411A Ceased EP0107959A3 (de) 1982-10-22 1983-10-21 Elektrohydraulischer Antrieb für Wickel- und Abwickelvorrichtungen und andere Einrichtungen in Fertigungsstrassen
EP85202147A Withdrawn EP0188035A3 (de) 1982-10-22 1983-10-21 Elektrohydraulischer Antrieb für Wickel- und Abwickelvorrichtungen und andere Einrichtungen in Fertigungsstrassen

Family Applications After (1)

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EP85202147A Withdrawn EP0188035A3 (de) 1982-10-22 1983-10-21 Elektrohydraulischer Antrieb für Wickel- und Abwickelvorrichtungen und andere Einrichtungen in Fertigungsstrassen

Country Status (9)

Country Link
EP (2) EP0107959A3 (de)
JP (1) JPS5997971A (de)
AU (1) AU2049383A (de)
BR (1) BR8305796A (de)
CA (1) CA1199704A (de)
DK (1) DK485883A (de)
ES (1) ES526678A0 (de)
FI (1) FI833436A (de)
ZA (1) ZA837137B (de)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE1002897A3 (nl) * 1989-03-02 1991-07-16 Picanol Nv Onafhankelijke doekopwikkelinrichting.
DE4010352A1 (de) * 1990-03-28 1991-10-02 Mannesmann Ag Verfahren und vorrichtung zum verbessern der banddickentoleranz an einem auf einem kaltbandwalzwerk gewalztem band
EP0796807A1 (de) * 1996-03-20 1997-09-24 Lucas G. S.A. Verfahren und Vorrichtung zum Regulieren der Vorschubgeschwindigkeit eines von einem Hydromotor angetriebenen Förderers,angewendet in einer Maschine wie Silageverteiler, Streuer oder dgl
US7380747B2 (en) 2005-12-14 2008-06-03 Kimberly-Clark Wolrdwide, Inc. Through-roll profile unwind control system and method
CN105508325A (zh) * 2015-12-31 2016-04-20 中冶南方工程技术有限公司 一种带收尾卷功能的钢卷车液压控制系统
CN109980993A (zh) * 2019-05-21 2019-07-05 江苏科瑞德智控自动化科技有限公司 一种基于嵌入式的盘式电机定子嵌线机控制系统
CN116336025A (zh) * 2023-04-14 2023-06-27 太原理工大学 矿用梭车卷缆电液控制阀组及其卷缆控制方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE509262C2 (sv) * 1995-03-02 1998-12-21 Sandvik Ab Borr med kylkanaler och sätt för tillverkning därav
DE10324179A1 (de) * 2003-05-26 2004-12-16 Adolf Müller GmbH + Co. KG Spulmaschine

Citations (11)

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Publication number Priority date Publication date Assignee Title
US2232317A (en) * 1939-07-03 1941-02-18 Oilgear Co Winder drive
US2573938A (en) * 1948-06-12 1951-11-06 Oilgear Co Hydraulic drive for winding machines
US2677080A (en) * 1949-09-17 1954-04-27 Allis Chalmers Mfg Co Strip tensioning system responsive to two fluid pressures
US2960277A (en) * 1956-07-27 1960-11-15 Samuel M Langston Co Web winding machine
US2988297A (en) * 1956-05-02 1961-06-13 Walter F Pawlowski Automatic control mechanism for reeling and unreeling
US3053468A (en) * 1960-07-21 1962-09-11 Miehle Goss Dexter Inc Web tension regulating mechanism for hydraulic rewinders
DE1574408A1 (de) * 1966-09-14 1971-06-16 Os Cornelius Johannes Van Steuervorrichtung zum Ab- und Aufwickeln von Ballen,Stoff,Papier u.dgl.
DE2146585A1 (de) * 1971-09-17 1973-03-22 Rexroth Gmbh G L Hydrostatischer antrieb fuer haspelanlagen
US3784123A (en) * 1971-04-05 1974-01-08 Whiteley Ind Inc Tension control system
CH561658A5 (de) * 1972-07-17 1975-05-15 Kataoka Machine Product Co
DD116590A1 (de) * 1974-11-11 1975-12-05

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH569658A5 (en) * 1974-03-13 1975-11-28 Stein Kg Drahtzug Drahtfab Winding device in which yarn is inclined to diametric axis of bobbin - enables adjacent windings to be automatically packed closely together
US4083515A (en) * 1975-11-20 1978-04-11 Westinghouse Electric Corporation Method and apparatus for determining and controlling wire spacing on a spool
JPS57126350A (en) * 1981-01-22 1982-08-06 Kobe Steel Ltd Automatic method of lineup winding thick linear object

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2232317A (en) * 1939-07-03 1941-02-18 Oilgear Co Winder drive
US2573938A (en) * 1948-06-12 1951-11-06 Oilgear Co Hydraulic drive for winding machines
US2677080A (en) * 1949-09-17 1954-04-27 Allis Chalmers Mfg Co Strip tensioning system responsive to two fluid pressures
US2988297A (en) * 1956-05-02 1961-06-13 Walter F Pawlowski Automatic control mechanism for reeling and unreeling
US2960277A (en) * 1956-07-27 1960-11-15 Samuel M Langston Co Web winding machine
US3053468A (en) * 1960-07-21 1962-09-11 Miehle Goss Dexter Inc Web tension regulating mechanism for hydraulic rewinders
DE1574408A1 (de) * 1966-09-14 1971-06-16 Os Cornelius Johannes Van Steuervorrichtung zum Ab- und Aufwickeln von Ballen,Stoff,Papier u.dgl.
US3784123A (en) * 1971-04-05 1974-01-08 Whiteley Ind Inc Tension control system
DE2146585A1 (de) * 1971-09-17 1973-03-22 Rexroth Gmbh G L Hydrostatischer antrieb fuer haspelanlagen
CH561658A5 (de) * 1972-07-17 1975-05-15 Kataoka Machine Product Co
DD116590A1 (de) * 1974-11-11 1975-12-05

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE1002897A3 (nl) * 1989-03-02 1991-07-16 Picanol Nv Onafhankelijke doekopwikkelinrichting.
DE4010352A1 (de) * 1990-03-28 1991-10-02 Mannesmann Ag Verfahren und vorrichtung zum verbessern der banddickentoleranz an einem auf einem kaltbandwalzwerk gewalztem band
EP0796807A1 (de) * 1996-03-20 1997-09-24 Lucas G. S.A. Verfahren und Vorrichtung zum Regulieren der Vorschubgeschwindigkeit eines von einem Hydromotor angetriebenen Förderers,angewendet in einer Maschine wie Silageverteiler, Streuer oder dgl
FR2746380A1 (fr) * 1996-03-20 1997-09-26 Lucas Sa G Procede et dispositif de reglage de la vitesse d'avancement d'un convoyeur entraine par un moteur hydraulique, applique a une machine du genre desileuse-distributrice, epandeuse ou autre
US7380747B2 (en) 2005-12-14 2008-06-03 Kimberly-Clark Wolrdwide, Inc. Through-roll profile unwind control system and method
CN105508325A (zh) * 2015-12-31 2016-04-20 中冶南方工程技术有限公司 一种带收尾卷功能的钢卷车液压控制系统
CN109980993A (zh) * 2019-05-21 2019-07-05 江苏科瑞德智控自动化科技有限公司 一种基于嵌入式的盘式电机定子嵌线机控制系统
CN109980993B (zh) * 2019-05-21 2024-04-23 江苏科瑞德智控自动化科技有限公司 一种基于嵌入式的盘式电机定子嵌线机控制系统
CN116336025A (zh) * 2023-04-14 2023-06-27 太原理工大学 矿用梭车卷缆电液控制阀组及其卷缆控制方法
CN116336025B (zh) * 2023-04-14 2024-04-09 太原理工大学 矿用梭车卷缆电液控制阀组及其卷缆控制方法

Also Published As

Publication number Publication date
JPH0371346B2 (de) 1991-11-12
FI833436A (fi) 1984-04-23
EP0107959A3 (de) 1984-07-11
ES8502403A1 (es) 1985-01-01
BR8305796A (pt) 1984-05-29
ES526678A0 (es) 1985-01-01
AU2049383A (en) 1984-05-03
JPS5997971A (ja) 1984-06-06
DK485883A (da) 1984-04-23
FI833436A0 (fi) 1983-09-26
DK485883D0 (da) 1983-10-22
ZA837137B (en) 1984-06-27
EP0188035A3 (de) 1986-12-10
CA1199704A (en) 1986-01-21
EP0188035A2 (de) 1986-07-23

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