EP0466049B1 - Entraînement pour un système d'étirage - Google Patents

Entraînement pour un système d'étirage Download PDF

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Publication number
EP0466049B1
EP0466049B1 EP91111232A EP91111232A EP0466049B1 EP 0466049 B1 EP0466049 B1 EP 0466049B1 EP 91111232 A EP91111232 A EP 91111232A EP 91111232 A EP91111232 A EP 91111232A EP 0466049 B1 EP0466049 B1 EP 0466049B1
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EP
European Patent Office
Prior art keywords
drive
motor
signal
control
drafting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Revoked
Application number
EP91111232A
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German (de)
English (en)
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EP0466049A1 (fr
Inventor
Erich Jornot
Urs Keller
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Maschinenfabrik Rieter AG
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Maschinenfabrik Rieter AG
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Application filed by Maschinenfabrik Rieter AG filed Critical Maschinenfabrik Rieter AG
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    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H1/00—Spinning or twisting machines in which the product is wound-up continuously
    • D01H1/14—Details
    • D01H1/20—Driving or stopping arrangements
    • D01H1/32—Driving or stopping arrangements for complete machines
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H1/00—Spinning or twisting machines in which the product is wound-up continuously
    • D01H1/14—Details
    • D01H1/20—Driving or stopping arrangements
    • D01H1/22—Driving or stopping arrangements for rollers of drafting machines; Roller speed control

Definitions

  • This invention relates to a drafting system drive for textile machines.
  • the invention is particularly in connection with drafting systems in the so-called front mill of a spinning mill, e.g. advantageous in draw frames or in combing machines.
  • the sliver treated in the line must be deposited in a so-called can for transport between processing stages. Normally, the distance for the can change after filling of a can must be switched off briefly, which requires a braking period and a subsequent start-up period.
  • DE-OS 2 650 287 has identified the problems of the ramp-up or braking time.
  • the solution proposed therein deals exclusively with the transition from run-up to normal operation or from normal operation to braking. It has been assumed that the delay can be kept constant during the run-up or braking phase.
  • EP 38 927 has recognized that the delay must continue to be regulated even during the run-up or braking phase. However, the "inertia" of the control loop when starting and braking would have to be increased in order to overcome control problems. This solution alleviates the effects of the overall problem without eliminating them.
  • EP 141 505 also deals with these problems.
  • the proposed solution indicates that in the "worst" area (namely just before and after standstill) the drive system should be brought to a start or standstill "suddenly".
  • the invention provides a drafting system drive with a position-controlled motor, and is characterized in that the control circuit for regulating the motor comprises a position sensor, which also when the Motor armature can deliver a signal corresponding to the angular position of the armature.
  • the control loop can also include an evaluation for the position signal, which can derive a speed-dependent signal from changes in the position signal.
  • the invention can also be used when only one drive motor is present and, under these circumstances, it enables this motor to be started or braked very precisely.
  • the invention is particularly advantageous where there are two or more drive motors, each motor having its own control loop. In such an arrangement, the mutual behavior of the speeds of the controlled motors can also be precisely determined up to or from standstill.
  • the position sensor is preferably an electromagnetic sensor.
  • This sensor can comprise a means for generating an electromagnetic field, this field having a preferred direction in space.
  • This field generator is preferably mounted on the motor shaft or connected to the motor armature, so that the angular position of the preferred field direction changes when the motor arm is rotated about the longitudinal axis of the armature.
  • the position sensor can then have a plurality of field sensors which are distributed around the motor shaft and react to the rotating field with a predetermined phase shift.
  • the field can preferably be excited by alternating current, so that a position signal can be obtained from the field sensors even when the armature is at a standstill.
  • the position sensor preferably continuously delivers a position signal (analog signal) when the field is excited, a quasi-continuous position signal (with such a high sampling frequency that the evaluation is not influenced by the discontinuities in the position signal) would also be useful.
  • the evaluation is still based preferably on digital technology, so that an analog-digital converter should be provided between the position sensor and the evaluation.
  • the sampling rate of the converter should be chosen in relation to the delivery speed and the properties of the fiber sliver to be drawn in such a way that no control problems (eg vibrations) arise in the existing control loops.
  • the optimal sampling rate can only be determined depending on the desired operating conditions, but a sampling frequency higher than 2500 Hz will normally be required.
  • Fig. 1 shows a schematic representation of an embodiment of the route.
  • our Swiss patent application No. 4754/88 we show the use of a controlled drafting system in a comber. The principles and systems described below can be used in the comber as well as in the draw frame.
  • the fleece 18 emerging from the route is thinner than the fleece of the fed strips 15.1 - 15.6 and correspondingly longer. Because the warping processes can be regulated as a function of the cross section of the fed strips, the strips or the fleece are made more uniform as they pass through the section, i.e. the cross section of the emerging fleece is more uniform than the cross section of the fed fleece or strips .
  • the present route has a pre-drafting area 11 and a main drafting area 12.
  • the invention can also be used in an analogous manner in connection with routes with only one or more than two delay areas.
  • the belts 15.1 - 15.6 are fed into the line by two systems 1 and 2 of conveyor rollers.
  • a first system 1 consists, for example, of two rollers 1.1 and 1.2, between which the fed belts 15.1 - 15.6, which are combined to form a loose fleece, are transported.
  • a roller system 2 follows, which here consists of an active conveyor roller 2.1 and two passive conveyor rollers 2.2, 2.3.
  • the fed strips 15.1 - 15.6 are brought together to form a fleece 16.
  • the two roller systems 1 and 2 of the feed are followed in the transport direction of the fleece 16 by a third system 3 of pre-drafting rollers 3.1 and 3.2, between which the fleece is transported on.
  • the peripheral speed v3 of the pre-drafting rollers is higher than that of the infeed rollers v 1.2 , so that the fleece 16 is stretched in the pre-drafting area 11 between the infeed rollers 2 and the pre-drafting rollers 3, its cross section being reduced.
  • the pre-drawn rolls 3 are followed by a further system 4 of an active conveying roll 4.1 and two passive conveying rolls 4.2, 4.3 for further transport of the fleece.
  • the peripheral speed v4 of the conveyor rollers 4 for further transport is the same as v3 of the pre-drawing rollers 3rd
  • the roller system for further transport 4 is followed by a fifth system 5 of main drafting rollers 5.1 and 5.2 in the transport direction of the fleece 17.
  • the main drafting rollers in turn have a higher surface speed v5 than the preceding transport rollers, so that the pre-drawn fleece 17 is further drawn between the transport rollers 4 and the main drafting rollers 5 in the main drafting area 12 to form the finished drafted fleece 18.
  • the fleece 18 is brought together into a band via a funnel T.
  • the roller systems 1, 2 and 4 are driven by a first servo motor 7.1, preferably via toothed belts.
  • the pre-drawing rollers 3 are mechanically coupled to the roller system 4, wherein the translation can be adjustable or a target value can be specified.
  • the gear (not visible on the figure) determines the ratio of the peripheral speeds of the inlet rollers (v in ) and the peripheral speed v3 of the pre-drafting rollers 3.1, 3.2, hence the pre-drafting ratio.
  • the roller systems 5 and 6 are in turn driven by a servo motor 7.2.
  • the inlet rollers 1.1, 1.2 can also be driven by the first servo motor 7.1 or optionally by an independent motor 7.3.
  • the two servomotors 7.1 and 7.2 each have their own controller 8.1 and 8.2.
  • the regulation takes place via a closed control loop 8.a, 8.b or 8.c, 8.d.
  • the actual value of one servo motor can be transmitted to the other servo motor in one or both directions via a control connection 8.e so that everyone can react accordingly to deviations from the other.
  • the mass or a quantity proportional to the mass e.g. the cross section of the fed strips 15.1 - 15.6 measured by an inlet measuring element 9.1.
  • the cross section of the emerging strip 16 is then measured by an outlet measuring element 9.2.
  • a central computer unit 10 transmits an initial setting of the target size for the first drive via 10.a to the first controller 8.1.
  • the measured variables of the two measuring elements 9.1, 9.2 are continuously transmitted to the central computer unit via the connections 9.a and 9.b during the stretching process. From these measurement results and the setpoint for the servo motor 8.2 is determined in the central computer unit and any other elements from the setpoint for the cross section of the emerging strip 18. This setpoint is continuously given to the second controller 8.2 via 10.b.
  • this control system the "main control"
  • fluctuations in the cross-section of the fed strips 15.1 - 15.6 can be compensated for by appropriate control of the main drafting process or the strip can be made more uniform.
  • the drive concept of an arrangement according to FIG. 1 with its regulation is explained in more detail with reference to FIG. 2.
  • the two servomotors 7.1 and 7.2 serve as the main drive.
  • the servo motor 7.1 drives the roller system 1 of the inlet and the system 4 of conveyor rollers, the latter following the advance section.
  • the pair of pre-drafting rollers 3 is mechanically coupled to the roller system 4 and is therefore also driven by the servo motor 7.1.
  • the pair of rollers 1 at the inlet is either driven by the servo motor 7.1 via an intermediate drive 7.3 (gear) or can be driven by an independent servo motor 7.3 in another embodiment variant of the line drive.
  • the servo motor 7.2 drives the pair of main drafting rollers 5 directly.
  • the funnel wheel pair 6 is also driven by the servo motor 7.2 via a gear 7.4.
  • the can 13 is driven at the outlet of the drafting system either via an intermediate drive 7.5 (gearbox) driven by the servo motor 7.2 or, in another embodiment variant of the drafting system, by means of an independent drive motor 7.5.
  • the drive concept is based on the fact that at least one drive group within the route is driven independently by a regulated motor.
  • a regulated motor can be provided; in the example shown, there are two of them, namely the motors 7.1, 7.2 of the pre-drafting area 11 and of the main drafting area 12.
  • faults caused by the drives can be compensated for as part of the overall system control, ie the main control.
  • the drive of the drafting system is regulated on two levels, a superordinate main control 9.a, 9.b, 10.a, 10.b, in which the central computer unit 10 takes over an essential function, and at least one subordinate auxiliary control 8.2 for the main delay area.
  • two controllers 8.1 and 8.2 are provided for the auxiliary control of both the main delay area (including the run-out area) and the advance area (including the lead-in area).
  • Any additional controllers 8.3, 8.5 can also be provided in the design variants already mentioned, which are shown here in dashed lines.
  • Position controllers are preferably used in connection with the two servomotors, which can be designed, for example, as brushless DC motors.
  • the meshed control with a main and at least one auxiliary control relieves the load on the central computer unit 10 and reduces the risk of large strokes occurring in the main control.
  • the main control 9.a, 9.b, 10.a, 10.b delivers setpoints, for example speed setpoints, via 10.a or 10.b to the main drive motors 7.1 or 7.2, which are from the The desired cross-section of the emerging belt and the measured actual cross-sections of the fed-in belt or the fed-in belts 9.a and the emerging belt 9.b are calculated. Depending on the configuration of the control, further parameters can be taken into account.
  • the speeds of the individual drive motors 7.1 and 7.2 are set in closed position control loops 8.a, 8.b and 8.c, 8.d (in the design variants) by means of auxiliary controls 8.a - 8.k. also 8.f, 8.g and 8.i, 8.j) regulated to the target values required by the upper regulation level. Differences between the actual and target values of the motor speeds are transmitted between the position controllers 8.1, 8.2 via a control connection 8.e (possibly also 8.k and 8.h).
  • a deviation outside the control range of the relevant controller 8.1 and 8.2 (possibly also 8.3 or 8.5) between the setpoint and actual value of the speed of the motor in question and the position controllers of the other motors can be compensated for by appropriate corrections in the setpoints for the speeds of the other motors.
  • corresponding returns to the central computer unit 10 can be provided. In a preferred embodiment, this correction takes place internally in the corresponding controllers.
  • the drive motors which determine the warpage, each form a position-controlled drive system with their respective control loops.
  • each motor can be provided with an encoder or a resolver, which gives the angular position of the drive shaft to the position control for this motor at any time with predetermined accuracy as an actual value.
  • the control of the drafting system can use these position control loops to determine the angular positions of the motor shafts and thus those driven by them Rollers of the drafting system are mutually coordinated.
  • Such a drive system enables much better warping accuracy than can be achieved with speed-controlled motors.
  • the use of position controllers according to the present invention as an auxiliary controller has the advantage that the controller is guaranteed even when the motor is at a standstill. There are advantages when starting up or running down the line, since much better control accuracy is possible at low speeds until standstill.
  • Position regulators according to the present invention are used as regulators in the context of the auxiliary regulation, since these ensure regulation even when the motor is at a standstill.
  • the corresponding controllers 8.1, 8.2 can contain separate computer units (for example with digital signal processors or microprocessors) or can also be designed as a module of the central computer unit 10.
  • a drive group is understood to mean a unit that contains at least one motor, including the rollers or guide or transport rollers driven by it.
  • Such a drive group represents, for example in the exemplary embodiment according to FIG. 2, the group 7.2, 7.4, 7.5, 5 and 6 containing the motor 7.2.
  • a preferred embodiment of the route provides a digital synchronization control of the drive groups for the nominal settings.
  • a drive group serves as the master drive. The control of a drive group can then be achieved by changing the nominal setting.
  • the drive system shown enables meshed control and thus uses the improved time dependency.
  • the control connections 8.e, 8.h, 8.k also enable shorter system response times. Divergences in the drive systems do not have to be detected via a closed main control loop with a corresponding dead time.
  • Such a separate regulation of each drive group also has significant advantages, in particular when several warpage regions are provided, of which, however, only or a part of or should be regulated. Those areas with constant delay can be operated by simply specifying the setpoint, without the need for regulation by the main regulation.
  • the control principle shown in FIGS. 1 and 2 ensures very good evenness even in the event of unforeseen changes in the operating conditions. Both short-term disruptions and slow changes can be optimally compensated within the scope of this regulation.
  • the manipulated variable determined by a main control here for example for the main delay, serves as an input variable for the corresponding controller 8.2.
  • FIG. 3 schematically shows a position sensor for use in the closed control loops 8a, 8b, and 8c, 8d of FIGS. 1 and 2.
  • the reference number 30 indicates the armature, for example of the motor 7.1 (FIG. 1). With suitable current excitation of the stator windings (not shown) of the motor, the armature 30 rotates about its own longitudinal axis 32.
  • the armature 30 is connected to a shaft 34 which carries a field-generating element 36.
  • the element 36 comprises two "shoes" 38, 40 made of a ferromagnetic material (eg steel) or a material with corresponding field-influencing properties.
  • the shoe 38 is mounted directly on the shaft 34, while the shoe 40 is carried by the shoe 38 via an intermediate piece (bolt) 42.
  • a conductor 44 for electrical current lies with a few turns 46 on the intermediate piece 42.
  • a suitable source 48 When current is applied to the conductor 44 from a suitable source 48, an electromagnetic field is generated in the intermediate piece 42, which is then influenced by the shoes, in order to avoid that in the adjoining room to design the resulting field in a predetermined manner.
  • the electromagnetic field generated by the turns 46 in the bolt 42 is rotationally symmetrical. At the transition from the bolt 42 to the shoes 38, 40, the rotational symmetry is eliminated by the shape of the shoes.
  • Each shoe 38, 40 is namely a flat element with a depth t which is substantially smaller than the axial length 1 or the width b of the element.
  • the effect of this flat shape of the shoes 38, 40 is that when the bolt 42 in the shoes transitions, the electromagnetic field preferably propagates in directions that lie within these shoes. This means that the field has preferred directions, which are indicated schematically by the arrows X in FIG. 3.
  • Each shoe 38, 40 has two surfaces 50 (only one surface 50 per shoe visible in FIG. 3), which are directed radially outwards.
  • each pair of surfaces 50 describes a circular cylinder, hereinafter referred to as "Coat” is called.
  • Two field-sensitive elements 52, 54 adjoin the jacket of the shoes 38, 40 as close as possible.
  • Each element 52, 54 has two shoes 39, 41 and a connecting rod 56.
  • Each shoe 39 has a surface 58 which corresponds in shape and dimensions to the surfaces 50 of the shoe 38 and which is as close as possible to the jacket of the shoe 38.
  • each shoe 41 has a surface 60 which corresponds in shape and dimensions to the surfaces of the shoe 40 and which is as close as possible to the jacket of the shoe 40.
  • the surfaces 58, 60 of the element 52 are perpendicular to the surfaces 58, 60 of the element 54. This means that the electromagnetic coupling between the shoes 38, 40 and the element 52 reaches a maximum strength at the point in time when the electromagnetic coupling between the shoes 38, 40 and the element 54 have a minimum thickness.
  • source 48 generates an AC voltage with a sinusoidal waveform.
  • the alternating current in the turns 46 generates an electromagnetic field in the bolt 42 and in the shoes 38, 40.
  • the electromagnetic field is coupled to both output lines 64 via the two pairs of shoes 39, 41, so that the input signal coming from the source 48 excites an output signal which consists of two components, namely a component in the conductor 64 of the element 52 and a second component in the Conductor 64 of element 54.
  • both components A, B of the output signal are directly dependent on the input signal, it is possible to filter out the influence of the input signal in a suitable evaluation and to obtain a signal which is a function of only the angular position of the shoes 38, 40.
  • the carrier wave the input signal generated by the source 48
  • the two components A, B of the output signal arise in the conductors 64 even when the armature 30 (and therefore the shoes 38, 40) stand still. This means that the angular position (the position) of the shoes 38, 40 can also be derived from the evaluation if the motor is not excited with the armature 30.
  • the position of an object can be determined at any time and can be represented by a suitable signal, it is possible to derive the speed (in the case of a rotary movement, the speed) of the movement by changing this position by forming a differential function. This derivation can also take place in the evaluation, which is now to be described in rough outline with reference to FIG. 4.
  • FIG. 4 again shows the motor 7.1 and schematically the sensor 36 with the connecting shaft 34 and the two output lines 64. These two lines each give their signal components to an input from a microprocessor 70.
  • This processor receives another Input signal from the central controller 10 (see also FIG. 1) and forwards a control signal to a motor controller 72.
  • the motor controller 72 uses the latter signal to determine the power made available to the motor 7.1.
  • the operations performed in the microprocessor 70 are determined by the programming of the processor. To explain these operations, however, the main steps are shown graphically in FIG. 4A as "hardware elements". Accordingly, the two signal components emitted by the sensor 36 are first converted into respective digital signals by an analog / digital converter A / D and passed on to a divider 74.
  • the divider 74 forms, for example, the quantity tan ⁇ and forwards the corresponding signal to a comparator 76.
  • This instantaneous (actual) value for the angular position of the shoes 38, 40 is compared in the comparator 76 with a target value, which is available in a suitable memory 78. Any difference (deviation) between the setpoint and actual value is represented by the comparator 76 in the form of a deviation signal and is output to the engine controller 72 for controlling the engine output.
  • the setpoint value in the memory 78 can be changed depending on the programming, specifically depending on a sequence program defined in the central control 10 and on the machine settings entered in the central control 10. An example of a sequence program has been shown schematically in FIGS. 5 and 6.
  • a start-up curve with a controlled transition 84 from standstill, a central part of constant steepness (constant acceleration) and a controlled transition 86 into the operating speed N is desired.
  • the constant steepness of the central part of this characteristic and the controlled transition 86 into the operating speed N also provide today no particular problems for systems according to the prior art. Problems arise at transition 84 from standstill. In this context, it is not sufficient to provide a position control for the drive motor if the generation of an output signal from the position sensor of this control is dependent on a rotary movement of the motor armature. It is then practically impossible to track the "position" of the anchor exactly at a standstill.
  • This sensor delivers a position signal even when the motor armature 30 is at a standstill.
  • a speed-dependent signal can be derived from the corresponding changes in the output signal from the sensor 36 even at the lowest speeds of the armature 30.
  • the invention therefore enables the precise regulation of the motor speed during starting and braking and offers corresponding advantages, even if only one motor is present.
  • the invention is particularly advantageous where two or more motors are present (see FIG. 1) and an exact speed ratio between these motors is to be maintained in all operating states, ie also during common run-up and braking phases. This is known to be the case in connection with drafting systems.
  • Fig. 5 it was assumed that it was only necessary to understand a preprogrammed running characteristic. In practice, this is the case for a drive group (roller group) that runs at a constant speed in normal operation. In a regulating section, however, the speed of at least one drive group must also be changeable after reaching the programmed speed N, in order to compensate for fluctuations in mass in the processed sliver due to changes in the warping. This is indicated schematically in FIG. 6, for the sake of simplicity a sinusoidal change (dashed line) in the speed of the relevant drive group by the operating speed N is assumed.
  • a regulating section which at delivery speeds of at least 800 m / min. Also to compensate for short-wave mass fluctuations, sinusoidal speed changes (as shown in dashed lines in FIG.
  • the sampling rate of the A / D converter should be at least 3 kHz, so that each cycle Z (FIG. 6) is sampled at least ten times by an (imaginary) sinusoidal speed change and with one corresponding target value can be compared.
  • FIG. 3 An arrangement according to FIG. 3 gives a position signal which corresponds to the angular position of any radius on the motor armature (for example of the radius R, FIG. 3) with an uncertainty of ⁇ 180 °, ie it is not possible using a position signal from sensor 36 determine whether the radius R is in the position shown or in a diametrically opposite position.
  • the distinction between these two options is not necessary for use in a draft control. If, however, it appears necessary in a certain case, a position signal can be obtained by a suitable design of the field generator (the shoes 38, 40) and a corresponding adaptation of the field-sensitive elements 52, 54, which both indicates the direction as well as the angular position of a reference vector on the motor armature.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Control Of Multiple Motors (AREA)

Claims (3)

  1. Entraînement, comportant un moteur (7.1) à commande asservie, d'un dispositif d'étirage, dans le cas duquel des signaux sont délivrés pour indiquer la position angulaire réelle de l'arbre d'entraînement du dispositif d'étirage, caractérisé en ce que, après la mise à l'arrêt et/ou avant la mise en service du moteur (7.1), un signal concernant la position de repos de son arbre est délivré pour indiquer la position angulaire exacte.
  2. Entraînement d'un dispositif d'étirage selon la revendication 1, caractérisé en ce qu'il comporte une exploitation (70) destinée à obtenir, à partir des variations du signal indicateur de position, un signal dépendant de la vitesse de rotation.
  3. Entraînement d'un dispositif d'étirage selon la revendication 2, caractérisé en ce que l'exploitation (70) est destinée à traiter des signaux numériques et il existe un moyen pour transformer un signal analogique de position en un signal numérique de position.
EP91111232A 1990-07-13 1991-07-05 Entraînement pour un système d'étirage Revoked EP0466049B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH2357/90 1990-07-13
CH2357/90A CH683535A5 (de) 1990-07-13 1990-07-13 Streckwerkantrieb.

Publications (2)

Publication Number Publication Date
EP0466049A1 EP0466049A1 (fr) 1992-01-15
EP0466049B1 true EP0466049B1 (fr) 1994-09-07

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Application Number Title Priority Date Filing Date
EP91111232A Revoked EP0466049B1 (fr) 1990-07-13 1991-07-05 Entraînement pour un système d'étirage

Country Status (5)

Country Link
US (1) US5412301A (fr)
EP (1) EP0466049B1 (fr)
JP (1) JPH04240227A (fr)
CH (1) CH683535A5 (fr)
DE (1) DE59102817D1 (fr)

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DE4423464A1 (de) * 1994-07-05 1996-01-11 Rieter Ingolstadt Spinnerei Antriebsregelung einer Strecke
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US5412301A (en) 1995-05-02
CH683535A5 (de) 1994-03-31
DE59102817D1 (de) 1994-10-13
EP0466049A1 (fr) 1992-01-15
JPH04240227A (ja) 1992-08-27

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