EP0117896B1 - Guide device for the edges or the middle of a web - Google Patents

Guide device for the edges or the middle of a web Download PDF

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Publication number
EP0117896B1
EP0117896B1 EP83109530A EP83109530A EP0117896B1 EP 0117896 B1 EP0117896 B1 EP 0117896B1 EP 83109530 A EP83109530 A EP 83109530A EP 83109530 A EP83109530 A EP 83109530A EP 0117896 B1 EP0117896 B1 EP 0117896B1
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EP
European Patent Office
Prior art keywords
setting
setting member
control
equipment according
regulator
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EP83109530A
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German (de)
French (fr)
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EP0117896A3 (en
EP0117896A2 (en
Inventor
Heinz-Ludwig Ing.-Grad. Dingerkus
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ELMEG Elektro Mechanik GmbH
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ELMEG Elektro Mechanik GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/02—Registering, tensioning, smoothing or guiding webs transversely
    • B65H23/032—Controlling transverse register of web
    • B65H23/0326—Controlling transverse register of web by moving the unwinding device
    • 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
    • B65H23/02—Registering, tensioning, smoothing or guiding webs transversely
    • B65H23/032—Controlling transverse register of web
    • B65H23/038—Controlling transverse register of web by rollers

Definitions

  • the invention relates to a control device for guiding strip-shaped material webs that run precisely on the edge or in the middle, which run over rollers and are guided by an actuator and whose position is determined for detecting the control deviation, the belt speed being used for the control.
  • control devices for guiding material webs with precise edges or in the middle are used in the production and processing of band-shaped materials.
  • regulators with hydraulically or electrically driven actuators are used, the reel and / or control rollers being used as actuators.
  • the measuring device for detecting the position of the material web must be arranged in the immediate vicinity of the associated actuator. In many cases, however, this is not possible, since the material web is passed, for example, through a high-temperature furnace or a wet area. In these cases, the belt position must be scanned at a location distant from the actuator, which usually leads to an undesired oscillation of the material webs. According to US Pat. No. 3,568,904, this pendulum process can be avoided by clocking or adjusting the actuators step by step.
  • the object of the invention is to enable continuous, pendulum-free control and to quickly regulate the belt path to zero.
  • control deviation is given via a P controller to the first input and the belt speed to the second input of a multiplier which is followed by an integrator whose output signal is used to control the actuator is that the first control loop between the output of the integrator and the actuator is subordinate to a second control loop with a positioner for the actuator and that the positioner is subjected to a control deviation, which results from the output signal of the integrator as the setpoint and the actual value of the actuator or is formed by means of an actual value of the strip profile measured directly behind the actuator.
  • This control device has the advantage that an otherwise necessary control role can be omitted while maintaining continuous control. Another advantage can be seen in the fact that, even in cases where the control deviation is determined at a location remote from the actuator, continuous control is ensured, which quickly adjusts a belt path to zero without oscillation.
  • the control deviation multiplied by the belt speed, flows into the first control loop for stabilization.
  • the invention is based on the finding that the behavior of the controlled system changes as a function of the belt speed.
  • a running web of material always tends to maintain a right angle to the roll axis. If the material web is moved transversely to the strip running direction by means of a control roller or reel, there is a proportional angular deviation from the neutral position. This angular deviation is noticeable in a lateral displacement of the belt.
  • the resulting lateral transport speed is the product of the belt speed and the tangent of the angular deviation. Since the dead and delay times of the controlled system change with the belt speed in this way, the control parameters must also be adapted accordingly.
  • the control deviation is also given to the first input of the multiplier.
  • the belt speed is applied to the control loop via the second input of the multiplier.
  • the material web 1 runs in the direction of arrow 2 through a furnace 3.
  • the material web is driven by the drive rollers 4.
  • the reel arranged on the right-hand side in front of the furnace is not shown, since it is not used for regulation in the exemplary embodiment is used.
  • the tape 1 runs over the control roller 5 designed as an actuator to a water reservoir 6, which serves on this side of the furnace to seal the protective gas in the furnace.
  • the belt is then guided to the two drive rollers 4 via the deflection roller 7.
  • a tachometer machine 8 for measuring the belt speed is connected to the drive roller 4. Behind the drive rollers there is a measuring device 9 for determining the position of the material web. The actual value of the position for determining the control deviation is measured at this point.
  • control roller 5 serves as the actuator.
  • the control roller 5 is pivotably mounted about an axis 11 via a holder 10.
  • the swiveling process takes place hydraulically by means of an actuating cylinder 12.
  • the position of the swivel arm and thus the position of the control roller is measured by means of a displacement sensor 13.
  • the control path between the control roller 5 and the drive rollers, in which the deviating belt path is to be corrected, is symbolically represented by 16.
  • the measuring device 9 for recording the actual value.
  • This actual position of the material strip is given with the predetermined target position to the summing point 17, from which an exit leads to the input of the P controller 18.
  • the output signal of the P controller 18 is fed to a first input of the multiplier 19.
  • the belt speed is applied to the control loop via the second input of the multiplier.
  • the output of the tachometer machine 8 is routed to the second input of the multiplier 19.
  • the multiplier 19 is followed by an integrator 20.
  • a signal can be derived from the output signal of the integrator, which adjusts the control roller 5 as a manipulated variable.
  • a displacement sensor 13 is connected between the actuator 5 and the summing point 21. Furthermore, the output signal of the integrator is given to this summation point.
  • the output signal of the integrator 20 represents the target value for the control circuit 15.
  • the position of the control roller or of the actuator 5 is specified as the actual value.
  • the position of the actuator is determined or measured by the Wegaufnehrmers 13.
  • the control deviation is given to the positioner 22, the output signal of which controls a downstream servo valve 23, which in turn acts hydraulically on the actuating cylinder 12, as a result of which the actuator is hydraulically adjusted.
  • the effect of the two control loops 14 and 15 can also be summarized in that the multiplier 19 and the integrator 20 represent a stabilizing element for the control loop 14.
  • the positioner 2 has the characteristic of a P-controller, which is followed by the servo valve 23 and the actuating cylinder 12 as an I-element.
  • the tape 1 is unwound from the reel 25 in the direction of arrow 2.
  • the tape feed is effected via the drive rollers 4.
  • the strip is guided from the reel to the processing point 24 via the three deflection rollers 7, 7 ', 7 ".
  • the reel 25, which is designed as an actuator is connected to an unwinding block 26, on which the piston of an actuating cylinder 12 acts.
  • the actual value of the belt run is measured directly behind the reel 25 by means of the measuring device 27 and then in front of the processing point 24 0 by the measuring device 9.
  • a tachometer machine 8 is connected to the drive rollers 4 for measuring the belt speed
  • the controlled system is designated by 16. The control is carried out by means of the control device according to Fig. 2.
  • the output signal of the measuring device 27 positioned directly behind the actuator 25 is given to the summing point 27 the displacement sensor 13. Furthermore, the end of this summing point given the output signal of the integrator 20.
  • the output signal of the integrator 20 represents the desired value for the control circuit 14.
  • the position of the belt 1 behind the actuator 25 is specified as the actual value.
  • the control deviation is given to the positioner 22, the output signal of which controls a downstream servo valve 23, which in turn acts hydraulically on the actuating cylinder 12, as a result of which the actuator is hydraulically adjusted.

Landscapes

  • Registering, Tensioning, Guiding Webs, And Rollers Therefor (AREA)
  • Control Of Position Or Direction (AREA)

Description

Die Erfindung betrifft eine Regeleinrichtung zur kanten- oder mittengenauen Führung von bandförmigen Materialbahnen die über Rollen laufen und von einem Stellglied geführt werden und deren Position zur Erfassung der Regelabweichung bestimmt wird, wobei die Bandgeschwindigkeit zur Regelung herangezogen wird.The invention relates to a control device for guiding strip-shaped material webs that run precisely on the edge or in the middle, which run over rollers and are guided by an actuator and whose position is determined for detecting the control deviation, the belt speed being used for the control.

Bei der Herstellung und Verarbeitung von bandförmigen Materialien werden bekanntlich Regeleinrichtungen zur kanten- oder mittengenauen Führung von Materialbahnen eingesetzt. Zur Regelung werden Regler mit hydraulisch oder elektrisch angetriebenen Stellgliedern eingesetzt, wobei als Stellglieder die Haspel und/oder Steuerrollen verwendet werden. Zur Erzielung einer pendelfreien Regelung muß die Meßeinrichtung zur Erfassung der Position der Materialbahn in unmittelbarer Nähe des zugehörigen Stellglieds angeordnet sein. Dies ist jedoch in vielen Fällen nicht möglich, da die Materialbahn beispielsweise durch einen Ofen mit hoher Temperatur oder einen Naßbereich geführt wird. In diesen Fällen muß die Abtastung der Bandposition an einer vom Stellglied entfernten Stelle erfolgen, was in der Regel zu einem unerwünschten Pendeln der Materialbahnen führt. Dieser Pendelvorgang kann gemäß der US-PS 3 568 904 dadurch vermieden werden, daß die Stellglieder getaktet bzw. schrittweise verstellt werden.As is known, control devices for guiding material webs with precise edges or in the middle are used in the production and processing of band-shaped materials. For regulation, regulators with hydraulically or electrically driven actuators are used, the reel and / or control rollers being used as actuators. To achieve a pendulum-free control, the measuring device for detecting the position of the material web must be arranged in the immediate vicinity of the associated actuator. In many cases, however, this is not possible, since the material web is passed, for example, through a high-temperature furnace or a wet area. In these cases, the belt position must be scanned at a location distant from the actuator, which usually leads to an undesired oscillation of the material webs. According to US Pat. No. 3,568,904, this pendulum process can be avoided by clocking or adjusting the actuators step by step.

Eine ähnliche Situation liegt vor, wenn die Verhältnisse der Anlage den Einbau eines Stellgliedes nicht zulassen oder eine Regeleinrichtung aus technologischen Gründen bereits in einem davorliegenden Bereich eingesetzt werden muß. In diesen Fällen wird eine zweite Meßeinrichtung an der Stelle mit der gewünschten Führgenauigkeit positioniert und die direkt hinter dem Stellglied vorgesehene Meßeinrichtung schrittweise verstellt, und zwar getaktet von der Anlagengeschwindigkeit (US-PS 3 568 904).A similar situation exists if the conditions of the system do not allow the installation of an actuator or if a control device has to be used in a previous area for technological reasons. In these cases, a second measuring device is positioned at the point with the desired guiding accuracy and the measuring device provided directly behind the actuator is gradually adjusted, clocked by the system speed (US Pat. No. 3,568,904).

Bei der bekannten getakteten Regelung ist es als nachteilig anzusehen, daß das Stellsignal nicht proportional zu dem Bandverlauf ist und somit dessen Verlauf nicht exakt auf Null ausgeregelt werden kann. Aus der DE-AS 1 277 419 ist ferner eine proportionale Erfassung des Bandverlaufes und Verstellung des Stellgliedes bekannt, wobei zur Dämpfung des unerwünschten Pendelns der Materialbahn die Verstellgeschwindigkeit des Stellgliedes in Abhängigkeit von der Bandgeschwindigkeit geändert wird. Dabei wird bei niedrigen Bandgeschwindigkeiten eine langsame und bei hohen Bandgeschwindigkeiten eine schnelle Verstellung des Stellgliedes zugelassen. Diese Art der Regelung berücksichtigt jedoch nicht die Tot- und Verzugszeit in der Regelstrecke bei einer vom Stellglied entfernt angeordneten Abtastung der Bandposition. Die Stellgeschwindigkeit wird erst dann auf Null geregelt, wenn kein Bandverlauf in der Meßstelle mehr gemessen wird. Durch die genannten Verzögerungen in der Regelstrecke ist dann das Stellglied jedoch zu weit gefahren. Die Regelung neigt daher immer noch zum Pendeln der Materialbahn.In the known clocked regulation, it is to be regarded as disadvantageous that the control signal is not proportional to the band course and thus its course cannot be exactly adjusted to zero. From DE-AS 1 277 419 a proportional detection of the belt course and adjustment of the actuator is also known, the adjustment speed of the actuator being changed as a function of the belt speed to dampen the undesired oscillation of the material web. A slow adjustment of the actuator is permitted at low belt speeds and a fast adjustment at high belt speeds. However, this type of control does not take into account the dead time and delay time in the controlled system when the belt position is scanned away from the actuator. The positioning speed is only set to zero when no tape run is measured in the measuring point. However, due to the delays mentioned in the controlled system, the actuator has moved too far. The regulation therefore still tends to oscillate the material web.

Ausgehend von der vorgenannten Regeleinrichtung liegt der Erfindung die Aufgabe zugrunde, eine kontinuierliche pendelfreie Regelung zu ermöglichen und den Bandverlauf schnell auf Null auszuregeln.Starting from the above-mentioned control device, the object of the invention is to enable continuous, pendulum-free control and to quickly regulate the belt path to zero.

Diese Aufgabe wird gemäß der Erfindung dadurch gelöst, daß in einem ersten Regelkreis die Regelabweichung über einen P-Regler auf den ersten Eingang und die Bandgeschwindigkeit auf den zweiten Eingang eines Multiplizierers gegeben wird, dem ein 1ntegrator nachgeschaltet ist, dessen Ausgangssignal zur Steuerung des Stellgliedes herangezogen wird, daß dem ersten Regelkreis zwischen dem Ausgang des Integrators und dem Stellglied ein zweiter Regelkreis mit einem Stellungsregler für das Stellglied unterlagert ist und daß der Stellungsregler mit einer Regelabweichung beaufschlagt ist, die aus dem Ausgangssignal des Integrators als Sollwert und dem Istwert des Stellgliedes oder dem mittels einer direkt hinter dem Stellglied positionierten Meßeinrichtung gemessenen Istwert des Bandverlaufs gebildet wird.This object is achieved according to the invention in that in a first control loop the control deviation is given via a P controller to the first input and the belt speed to the second input of a multiplier which is followed by an integrator whose output signal is used to control the actuator is that the first control loop between the output of the integrator and the actuator is subordinate to a second control loop with a positioner for the actuator and that the positioner is subjected to a control deviation, which results from the output signal of the integrator as the setpoint and the actual value of the actuator or is formed by means of an actual value of the strip profile measured directly behind the actuator.

Diese Regeleinrichtung hat den Vorteil, daß unter Erhaltung einer kontinuierlichen Regelung eine sonst notwendige Steuerrolle entfallen kann. Ein weiterer Vorteil ist darin zu sehen, daß auch in den Fällen, in denen die Regelabweichung an einem von dem Stellglied entfernten Ort bestimmt wird, eine kontinuierliche Regelung gewährleistet ist, die einen Bandverlauf pendelfrei schnell auf Null ausregelt.This control device has the advantage that an otherwise necessary control role can be omitted while maintaining continuous control. Another advantage can be seen in the fact that, even in cases where the control deviation is determined at a location remote from the actuator, continuous control is ensured, which quickly adjusts a belt path to zero without oscillation.

Bei der Regeleinrichtung fließt die Regelabweichung multiplikativ mit der Bandgeschwindigkeit in den ersten Regelkreis zur Stabilisierung ein. Der Erfindung liegt dabei die Erkenntnis zugrunde, daß sich das Verhalten der Regelstrecke in Abhängigkeit von der Bandgeschwindigkeit ändert. Eine laufende Materialbahn hat immer die Tendenz, einen rechten Winkel zur Rollenachse aufrechtzuerhalten. Wird die Materialbahn mittels Steuerrolle oder Haspel quer zur Bandlaufrichtung verschoben, so ergibt sich eine proportionale Winkelabweichung von der neutralen Lage. Diese Winkelabweichung macht sich in einer seitlichen Verlagerung des Bandes bemerkbar. Die daraus resultierende seitliche Transportgeschwindigkeit ergibt sich als Produkt aus der Bandgeschwindigkeit und dem Tangens der Winkelabweichung. Da sich auf diese Weise die Tot- und Verzugszeit der Regelstrecke mit der Bandgeschwindigkeit ändert, müssen auch die Regelparameter entsprechend angepaßt werden. Dazu wird die Regelabweichung zusätzlich auf den ersten Eingang des Multiplizierers gegeben. Über den zweiten Eingang des Multiplizierers wird dem Regelkreis die Bandgeschwindigkeit aufgeschaltet.In the control device, the control deviation, multiplied by the belt speed, flows into the first control loop for stabilization. The invention is based on the finding that the behavior of the controlled system changes as a function of the belt speed. A running web of material always tends to maintain a right angle to the roll axis. If the material web is moved transversely to the strip running direction by means of a control roller or reel, there is a proportional angular deviation from the neutral position. This angular deviation is noticeable in a lateral displacement of the belt. The resulting lateral transport speed is the product of the belt speed and the tangent of the angular deviation. Since the dead and delay times of the controlled system change with the belt speed in this way, the control parameters must also be adapted accordingly. For this purpose, the control deviation is also given to the first input of the multiplier. The belt speed is applied to the control loop via the second input of the multiplier.

Weitere Ausgestaltungen der Erfindung sind den Unteransprüchen zu entnehmen.Further refinements of the invention are can be found in the subclaims.

Das Wesen der Erfindung soll anhand der Figuren erläutert werden.The essence of the invention will be explained with reference to the figures.

Es zeigen :

  • Figur 1 ein Anwendungsbeispiel der Erfindung mit halbschematischer Darstellung ;
  • Figur 2 ein Blockdiagramm der Regeleinrichtung gemäß der Erfindung und
  • Figur 3 ein weiteres Anwendungsbeispiel der Erfindung.
Show it :
  • Figure 1 shows an application example of the invention with a semi-schematic representation;
  • Figure 2 is a block diagram of the control device according to the invention and
  • Figure 3 shows another application example of the invention.

In den Figuren sind gleiche Teile mit den gleichen Bezugszeichen versehen.In the figures, the same parts are provided with the same reference symbols.

In Fig. 1 läuft die Materialbahn 1 in Richtung des Pfeiles 2 durch einen Ofen 3. Der Antrieb der Materialbahn erfolgt über die Antriebsrollen 4. Die auf der rechten Seite vor dem Ofen angeordnete Haspel ist nicht dargestellt, da sie in dem Ausführungsbeispiel nicht zur Regelung herangezogen wird. Das Band 1 läuft über die als Stellglied ausgebildete Steuerrolle 5 zu einem Wasserreservoir 6, das auf dieser Seite des Ofens zur Abdichtung des im Ofen befindlichen Schutzgases dient. Über die Umlenkrolle 7 wird das Band dann zu den beiden Antriebsrollen 4 geführt. An der Antriebsrolle 4 ist eine Tachometermaschine 8 zur Messung der Bandgeschwindigkeit angeschlossen. Hinter den Antriebsrollen befindet sich eine Meßeinrichtung 9 zur Bestimmung der Position der Materialbahn. An dieser Stelle wird der Istwert der Position zur Bestimmung der Regelabweichung gemessen. Als Stellglied dient - wie bereits erwähnt - die Steuerrolle 5. In dem vorliegenden Ausführungsbeispiel ist die Steuerrolle 5 über eine Halterung 10 um eine Achse 11 schwenkbar gelagert. Der Schwenkvorgang erfolgt hydraulisch mittels eines Stellzylinders 12. Die Lage des Schwenkarms und damit die Position der Steuerrolle wird mittels eines Wegaufnehmers 13 gemessen.In Fig. 1, the material web 1 runs in the direction of arrow 2 through a furnace 3. The material web is driven by the drive rollers 4. The reel arranged on the right-hand side in front of the furnace is not shown, since it is not used for regulation in the exemplary embodiment is used. The tape 1 runs over the control roller 5 designed as an actuator to a water reservoir 6, which serves on this side of the furnace to seal the protective gas in the furnace. The belt is then guided to the two drive rollers 4 via the deflection roller 7. A tachometer machine 8 for measuring the belt speed is connected to the drive roller 4. Behind the drive rollers there is a measuring device 9 for determining the position of the material web. The actual value of the position for determining the control deviation is measured at this point. As already mentioned, the control roller 5 serves as the actuator. In the present exemplary embodiment, the control roller 5 is pivotably mounted about an axis 11 via a holder 10. The swiveling process takes place hydraulically by means of an actuating cylinder 12. The position of the swivel arm and thus the position of the control roller is measured by means of a displacement sensor 13.

In Fig. 2 ist ein erster Regelkreis 14 dargestellt, dem ein zweiter Regelkreis 15 unterlagert ist. Mit 16 ist symbolisch die Regelstrecke zwischen der Steuerrolle 5 und den Antriebsrollen dargestellt, in welcher der abweichende Bandverlauf ausgeregelt werden soll. Daran anschließend befindet sich die Meßeinrichtung 9 zur Erfassung des Istwertes. Diese Istlage des Materialbandes wird mit der vorgegebenen Sollage auf den Summierpunkt 17 gegeben, von dem ein Abgang auf den Eingang des P-Reglers 18 führt. Das Ausgangssignal des P-Reglers 18 wird auf einen ersten Eingang des Multiplizierers 19 gegeben. Ferner wird über den zweiten Eingang des Multiplizierers dem Regelkreis die Bandgeschwindigkeit aufgeschaltet. Dazu ist der Ausgang der Tachometermaschine 8 auf den zweiten Eingang des Multiplizierers 19 geführt. Dem Multiplizierer 19 ist ein Integrator 20 nachgeschaltet. Von dem Ausgangssignal des Integrators läßt sich ein Signal ableiten, das als Stellgröße die Steuerrolle 5 verstellt.2 shows a first control loop 14, to which a second control loop 15 is subordinate. The control path between the control roller 5 and the drive rollers, in which the deviating belt path is to be corrected, is symbolically represented by 16. Then there is the measuring device 9 for recording the actual value. This actual position of the material strip is given with the predetermined target position to the summing point 17, from which an exit leads to the input of the P controller 18. The output signal of the P controller 18 is fed to a first input of the multiplier 19. Furthermore, the belt speed is applied to the control loop via the second input of the multiplier. For this purpose, the output of the tachometer machine 8 is routed to the second input of the multiplier 19. The multiplier 19 is followed by an integrator 20. A signal can be derived from the output signal of the integrator, which adjusts the control roller 5 as a manipulated variable.

Zur Bildung des unterlagerten Regelkreises 15 ist ein Wegaufnehmer 13 zwischen das Stellglied 5 und den Summierpunkt 21 geschaltet. Ferner wird auf diesen Summierpunkt das Ausgangssignal des Integrators gegeben. Das Ausgangssignal des Integrators 20 stellt den Sollwert für den Regelkreis 15 dar. Als Istwert ist die Position der Steuerrolle bzw. des Stellgliedes 5 vorgegeben. Die Position des Stellgliedes wird mittels des Wegaufnehrmers 13 ermittelt bzw. gemessen. Die Regelabweichung wird auf den Stellungsregler 22 gegeben, dessen Ausgangssignal ein nachgeschaltetes Servoventil 23 ansteuert, das wiederum hydraulisch auf den Stellzylinder 12 einwirkt, wodurch das Stellglied hydraulisch verstellt wird. Die Wirkung der beiden Regelkreise 14 und 15 läßt sich auch dahingehend zusammenfassen, daß der Multiplizierer 19, und der Integrator 20 ein Stabilisierungsglied für den Regelkreis 14 darstellen. Der Stellungsregler 2 hat die Charakteristik eines P-Reglers, dem als I-Glied das Servoventil 23 und der Stellzylinder 12 nachgeschaltet sind.To form the subordinate control circuit 15, a displacement sensor 13 is connected between the actuator 5 and the summing point 21. Furthermore, the output signal of the integrator is given to this summation point. The output signal of the integrator 20 represents the target value for the control circuit 15. The position of the control roller or of the actuator 5 is specified as the actual value. The position of the actuator is determined or measured by the Wegaufnehrmers 13. The control deviation is given to the positioner 22, the output signal of which controls a downstream servo valve 23, which in turn acts hydraulically on the actuating cylinder 12, as a result of which the actuator is hydraulically adjusted. The effect of the two control loops 14 and 15 can also be summarized in that the multiplier 19 and the integrator 20 represent a stabilizing element for the control loop 14. The positioner 2 has the characteristic of a P-controller, which is followed by the servo valve 23 and the actuating cylinder 12 as an I-element.

In Fig. 3 ist ein weiteres Anwendungsbeispiel gemäß der Erfindung dargestellt. Das Band 1 wird in Richtung des Pfeiles 2 von der Haspel 25 abgewickelt. Der Bandvorlauf wird über die Antriebsrollen 4 bewirkt. Über die drei Umlenkrollen 7, 7', 7" wird das Band von der Haspel bis zu der Bearbeitungsstelle 24 geführt. Zur Regelung des Bandverlaufs ist die als Stellglied ausgebildete Haspel 25 mit einem Abwickelblock 26 verbunden, auf den der Kolben eines Stellzylinders 12 einwirkt. Der Istwert des Bandverlaufs wird einmal direkt hinter der Haspel 25 mittels der Meßeinrichtung 27 und dann vor der Bearbeitungsstelle 24 0 mittels der Meßeinrichtung 9 erfaßt. Eine Tachometermaschine 8 ist mit den Antriebsrollen 4 zur Messung der Bandgeschwindigkeit verbunden. Die Verstellung der Haspel erfolgt senkrecht zum Bandverlauf. Die Regelstrecke ist mit 16 bezeichnet. Die Regelung erfolgt mittels der Regeleinrichtung nach Fig. 2. Zur Bildung des unterlagerten Regelkreises 15 wird das Ausgangssignal der direkt hinter dem Stellglied 25 positionierten Meßeinrichtung 27 auf den Summierpunkt gegeben. In Fig. 2 entspricht dann die Meßeinrichtung 27 dem Wegaufnehmer 13. Ferner wird auf diesen Summierpunkt das Ausgangssignal des Integrators 20 gegeben. Das Ausgangssignal des Integrators 20 stellt den Sollwert für den Regelkreis 14 dar. Als Istwert ist die Position des Bandes 1 hinter dem Stellglied 25 vorgegeben. Die Regelabweichung wird auf den Stellungsregler 22 gegeben, dessen Ausgangssignal ein nachgeschaltetes Servoventil 23 ansteuert, das wiederum hydraulisch auf den Stellzylinder 12 einwirkt, wodurch das Stellglied hydraulisch verstellt wird.3 shows a further application example according to the invention. The tape 1 is unwound from the reel 25 in the direction of arrow 2. The tape feed is effected via the drive rollers 4. The strip is guided from the reel to the processing point 24 via the three deflection rollers 7, 7 ', 7 ". To regulate the strip path, the reel 25, which is designed as an actuator, is connected to an unwinding block 26, on which the piston of an actuating cylinder 12 acts. The actual value of the belt run is measured directly behind the reel 25 by means of the measuring device 27 and then in front of the processing point 24 0 by the measuring device 9. A tachometer machine 8 is connected to the drive rollers 4 for measuring the belt speed The controlled system is designated by 16. The control is carried out by means of the control device according to Fig. 2. To form the lower-level control circuit 15, the output signal of the measuring device 27 positioned directly behind the actuator 25 is given to the summing point 27 the displacement sensor 13. Furthermore, the end of this summing point given the output signal of the integrator 20. The output signal of the integrator 20 represents the desired value for the control circuit 14. The position of the belt 1 behind the actuator 25 is specified as the actual value. The control deviation is given to the positioner 22, the output signal of which controls a downstream servo valve 23, which in turn acts hydraulically on the actuating cylinder 12, as a result of which the actuator is hydraulically adjusted.

Claims (8)

1. Regulating equipment for the edge-true or centre-true guidance of band-shaped material webs which run over rollers and are guided by a setting member and the position of which is ascertained for the detection of the deviation, wherein the band speed is drawn on for the regulation, characterised thereby, that the deviation is applied in a first regulating circuit (14) by way of a proportional regulator (14) to the first input and the band speed to the second input of a multiplier (19), behind which is connected an integrator (20), the output signal of which is drawn on for the control of the setting member (5, 25), that a second regulating circuit (15) with a setting regulator (22) for the setting member (5) is infraposed the first regulating circuit (14) between the output of the integrator (20) and the setting member and that the setting regulator (22) is acted on by a deviation which is formed from the output signal of the integrator (20) as target value and the actual value of the setting member or the actual value, measured by means of a measuring equipment (27) positioned directly behind the setting member, of the band course.
2. Regulating equipment according to claim 1, characterised thereby, that the actual value is measured by means of a measuring equipment (9) positioned remote from the setting member (5, 25).
3. Regulating equipment according to claim 1 or 2, characterised thereby, that the setting regulator (22) is a proportional regulator.
4. Regulating equipment according to one of the claims 1 to 3, characterised thereby, that the setting regulator (22) is hydraulically coupled with the setting member (5, 25)..
5. Regulating equipment according to claim 4, characterised thereby, that a servo-valve (23) and a setting cylinder (12) are connected in series behind the setting regulator (22) and that the piston of the setting cylinder acts on the setting member (5, 25).
6. Regulating equipment according to one of the claims 1 to 5, characterised thereby, that the setting member is a control roller (5) or a winch (25).
7. Regulating equipment according to claim 6, characterised thereby, that the control roller (5) is pivotably borne.
8. Regulating equipment according to one of the claims 1 to 7, characterised thereby, that a tachometer machine (8), the output of which is connected with the second input of the multiplier (7), is connected with the drive roller (4) for the band course.
EP83109530A 1983-03-03 1983-09-24 Guide device for the edges or the middle of a web Expired EP0117896B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3307499A DE3307499C3 (en) 1983-03-03 1983-03-03 Control device for edge or center-precise guidance of band-shaped material webs
DE3307499 1983-03-03

Publications (3)

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EP0117896A2 EP0117896A2 (en) 1984-09-12
EP0117896A3 EP0117896A3 (en) 1985-08-21
EP0117896B1 true EP0117896B1 (en) 1987-08-19

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EP83109530A Expired EP0117896B1 (en) 1983-03-03 1983-09-24 Guide device for the edges or the middle of a web

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US (1) US4648539A (en)
EP (1) EP0117896B1 (en)
JP (1) JPS59168516A (en)
DE (1) DE3307499C3 (en)

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Also Published As

Publication number Publication date
DE3307499A1 (en) 1984-09-06
DE3307499C2 (en) 1988-06-01
EP0117896A3 (en) 1985-08-21
JPH0574082B2 (en) 1993-10-15
US4648539A (en) 1987-03-10
JPS59168516A (en) 1984-09-22
DE3307499C3 (en) 1995-02-09
EP0117896A2 (en) 1984-09-12

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