EP0634507A1 - System to increase production of spinning machines - Google Patents

System to increase production of spinning machines Download PDF

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Publication number
EP0634507A1
EP0634507A1 EP94110331A EP94110331A EP0634507A1 EP 0634507 A1 EP0634507 A1 EP 0634507A1 EP 94110331 A EP94110331 A EP 94110331A EP 94110331 A EP94110331 A EP 94110331A EP 0634507 A1 EP0634507 A1 EP 0634507A1
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Prior art keywords
control
parameters
speed
variables
fuzzy
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German (de)
French (fr)
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EP0634507B2 (en
EP0634507B1 (en
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Christoph Kaufmann
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Zellweger Luwa AG
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Zellweger Luwa AG
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    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H13/00—Other common constructional features, details or accessories
    • D01H13/32—Counting, measuring, recording or registering devices

Definitions

  • the present invention relates to a system for increasing the production of spinning machines, with sensors for measuring parameters that influence production, and with a control system for deriving control variables from these parameters and for forming control variables for the spinning machine from the control variables obtained, those parameters which have a clear mathematical connection with the respective control variable are included in the control by conventional algorithms.
  • the invention is now to provide a system for increasing the production of spinning machines, which enables an improved influence on the production and in which a larger number of parameters can be used to obtain the controlled variables.
  • this object is achieved in that further parameters, in particular parameters that are difficult to measure or difficult to measure, can be entered, and that those parameters that have no clear mathematical connection with the respective controlled variable are included in the control by means of fuzzy logic .
  • fuzzy logic does not require a model of the process to be controlled, and that the parameters have not just a single defined value, but several fuzzy sets, the so-called fuzzy sets.
  • the system according to the invention thus has two major advantages: on the one hand, not all parameters need to be present as a mathematically defined function of the controlled variables, and on the other hand, not all parameters necessarily have to be measurable with a sensor system. Both advantages mean that parameters perceived by the operator can also be entered into the system, which in turn means a considerable amount Extension of the range of parameters that can be used.
  • FIG. 1 shows a block diagram representation of a control system for a ring spinning machine RS, the control system preferably being based on the known data system USTER RINGDATA (USTER - registered trademark of Zellweger Uster AG) and also using components known therefrom. These known components are in particular a so-called machine station MS, to which the various sensors for parameters to be recorded are connected, a machine input station ES for data input, such as article change, or data input, such as a creep spindle report, and a motor control MA of the ring spinning machine RS.
  • USTER RINGDATA USTER - registered trademark of Zellweger Uster AG
  • the sensors mentioned are, for example, a hiking sensor provided on each machine side and guided along the ring bench, an underwind sensor and a production sensor.
  • the production sensor detects the revolutions of the discharge cylinder on the drafting system and provides basic information about production quantities and delivery speeds, frequency and duration of long downtimes and the like.
  • the underwind position of the ring bench is recorded with the underwind sensor to record the number and duration of the bobbin takeoffs.
  • the walking sensor is provided once on each machine side and is guided along the ring bench. It detects the rotational movement of the ring travelers without contact and provides information about thread breaks at each spinning station and the mean time to remedy them, as well as the average speed of the ring travelers and thus about the spinning stations with insufficient speed.
  • the machine station MS is connected via a line 1 to a control stage ST, also referred to as the central unit in the USTER RINGDATA data system, in which the information received via line 1 from the machine station MS about the measurable parameters is processed into control variables.
  • a control stage ST also referred to as the central unit in the USTER RINGDATA data system
  • the configuration of the control system described so far is known from USTER News Bulletin No. 27 of August 1979 "The detection of thread breaks in the ring spinning mill”.
  • the motor control MA receives a manipulated variable on a line 2 for adjusting the drive of the ring spinning machine RS on the basis of the control variables obtained in the control stage ST.
  • Essential 1 of the control system shown in FIG. 1 is the fact that the control stage ST not only receives information about the measurable parameters, but also information about non-measurable parameters, and that the latter parameters are also taken into account when the control variables are obtained.
  • the control stage ST receives the information about the measurable parameters from the sensors connected to the machine station and the information about non-measurable parameters from the input station ES connected to the machine station MS via a line 3.
  • the traditional control technology be it state controller, P controller (controller with proportional component, i.e. with one setting parameter), PI controller (controller with proportional and integral component, i.e. with two setting parameters), PID controller (controller with proportional, integral and differential component, i.e. with three setting parameters) or the like, assume that the relationships of the process to be controlled are known and can be described and can be represented in a model.
  • This modeling also includes disturbance variables such as temperature drift, although it is also known to integrate the disturbance variables into the control in such a way that they do not have a negative effect on the control process. But here too there must be a mathematical relationship between the disturbance variable and the controlled variable. If this is not the case, the regulation will fail, apart from coincidences.
  • the speed of the spindles which essentially determines the production of the ring spinning machine, is not only dependent on the parameters monitored and measured with the sensors mentioned, but also on influencing factors such as climate, airborne dust, air flow or also on subjective and individual parameters of the operating personnel , such as its workload.
  • influencing factors such as climate, airborne dust, air flow or also on subjective and individual parameters of the operating personnel , such as its workload.
  • the parameters can be divided into technically measurable and technically non-measurable. If one takes the possibility of establishing a mathematical connection between parameters and control variables as a criterion, then the parameters can be divided into those with and without such a mathematical connection with the relevant control variable.
  • the control system shown in Figure 1 is now to enable all four classes of parameters mentioned to be included in the control. This is achieved through a synthesis of conventional adaptive control and fuzzy logic.
  • fuzzy logic With regard to fuzzy logic, reference is made to the now extensive literature on this topic, for example the book “Fuzzy Set Theory and its Applications” by H.-J. Zimmermann, Kluwer Academic Publishers, 1991. The so-called fuzzy sets were introduced 25 years ago in order to mathematically describe inaccurate and incomplete data sets that often occur in the real world (images, subjective descriptions). While the classic control logic only has the two sharp values yes or no, 0 or 1, the fuzzy logic has a membership function that can take any value within the range 0 to 1 to describe the belonging of an object to a certain quantity.
  • control technology is operated using fuzzy set theory
  • the basic idea is to incorporate the experience of a human process operator into the design of the controller. Based on a set of linguistic rules that describe the operator's control strategy, a control algorithm is constructed in which the words are defined as fuzzy sets. In this way, experience and intuition can be implemented and no process model is required.
  • control system is designed in such a way that further parameters that are not yet known can be defined, be they technically measurable or not technically measurable.
  • relationship between parameter and controlled variable can be entered in the control system.
  • thunderstorm tendency is the name for the likelihood of a thunderstorm. she is depending on various factors, including general weather conditions, air pressure, local electric field, local ionization of the air, and so on.
  • tendency to thunderstorms for example, all operators of a spinning mill are asked which subject to thunderstorm tendencies they feel, and the degree of perceived thunderstorm tendency is assigned to one of three classes (no, medium or strong thunderstorm tendency). These statements are compared with the thunderstorm tendency objectified by information from meteorological experts and the three classes mentioned are compiled in the manner shown in FIG. 2.
  • Each class is, for example, a trapezoidal fuzzy set, with the thunderstorm GN on the abscissa and the weight G on the ordinate. It is typical of these sets that overlap areas of the individual states exist, in which several states can be assigned to unique values of the thunderstorm tendency on the x axis.
  • a fuzzy controller FC is arranged between the control ST and the motor control MA. This consists of a rule base 4 and an interference machine 5 for the premises and an action interface 6 for the conclusions. Strictly speaking, the input station ES, which acts as a user interface, is also part of the fuzzy controller FC.
  • the system enters limit values for the speeds within which the control may move (minimum below maximum upper speed).
  • the entered speed change i.e. the reduction or increase in speed, per control step and per acquisition size used.
  • the speed is regulated step by step within the permissible speed interval, taking into account and updating the degree of truth.
  • Fig. 3 shows a graphical representation of the control of the speed of a ring spinning machine based on the number of thread breaks.
  • the speed D (in revolutions per minute) is shown in the upper half of the figure and the thread break rate FDB (in number of thread breaks per thousand spindle running hours) is plotted against the time t in the lower half.
  • the permissible maximum upper rotational speed Do the permissible minimum lower rotational speed Du
  • the ring spinning machine runs at time t 1 at a speed D 1, the yarn break rate being just above the target thread break level FB s .
  • the thread break rate exceeds the limit FB s + 5%, whereupon the speed is reduced by the set amount.
  • the limit FB s exceeds + 10%, and since the time t2-t1 is greater than the set drag interval, the speed D is reduced again by the set amount at this time, and so further.
  • the control is carried out analogously to the thread breaks. If the target temperature or the target humidity is exceeded or not reached, the speed is changed step by step within the permissible speed interval.
  • the speed is regulated on the basis of the entered rules a to e, the output variables preferably being calculated by forming the center of gravity (CoA) or by establishing the mean value (MoM).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Feedback Control In General (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Preliminary Treatment Of Fibers (AREA)
  • Spinning Methods And Devices For Manufacturing Artificial Fibers (AREA)
  • Incineration Of Waste (AREA)

Abstract

The system contains closed-loop control for deriving controlled values from parameters which influence the productivity of the spinning machine (RS). In addition to parameters which are measured by sensors, the system also takes into account for the closed-loop control those parameters which cannot be measured or can only be measured with difficulty. The latter parameters are included in the closed-loop control by means of a fuzzy logic unit, for which purpose the closed-loop control has a fuzzy controller (FC). <IMAGE>

Description

Die vorliegende Erfindung betrifft ein System zur Produktionssteigerung von Spinnereimaschinen, mit Sensoren zur Messung von Parametern, welche die Produktion beeinflussen, und mit einer Regelung zur Ableitung von Regelgrössen aus diesen Parametern und zur Bildung von Stellgrössen für die Spinnereimaschine aus den gewonnenen Regelgrössen, wobei diejenigen Parameter, die einen eindeutigen mathematischen Zusammenhang mit der jeweiligen Regelgrösse aufweisen, durch konventionelle Algorithmen in die Regelung einbezogen sind.The present invention relates to a system for increasing the production of spinning machines, with sensors for measuring parameters that influence production, and with a control system for deriving control variables from these parameters and for forming control variables for the spinning machine from the control variables obtained, those parameters which have a clear mathematical connection with the respective control variable are included in the control by conventional algorithms.

Mit den heute bekannten Systemen dieser Art ist eine Produktionssteigerung nur dann möglich, wenn die einzelnen Parameter, wie beispielsweise Anzahl der Fadenbrüche, Klima, Verstaubung, Luftführung, exakt bestimmbar und ihre Auswirkungen auf den Spinnprozess bekannt sind. Das heisst mit anderen Worten, dass zwischen Parameter und Regelgrösse jeweils ein eindeutiger mathematischer Zusammenhang bestehen muss. Da diese Bedingung aber immer nur für bestimmte einzelne Parameter in einer bestimmten Spinnerei und keinesfalls allgemein gilt, können bei den bekannten Systemen nur sehr wenige Parameter für die Produktionssteigerung herangezogen werden, so dass auch die Einflussmöglichkeit auf die Produktion und somit auch die Möglichkeit von deren Steigerung nur relativ gering ist.With the systems of this type known today, an increase in production is only possible if the individual parameters, such as the number of thread breaks, climate, dustiness, air flow, can be exactly determined and their effects on the spinning process are known. In other words, this means that there must be a clear mathematical relationship between the parameter and the controlled variable. However, since this condition always only applies to certain individual parameters in a particular spinning mill and in no way in general, only very few parameters can be used for the increase in production in the known systems, so that there is also the possibility of influencing the production and thus also the possibility of increasing it is only relatively small.

Durch die Erfindung soll nun ein System zur Produktionssteigerung von Spinnereimaschinen angegeben werden, das eine verbesserte Beeinflussung der Produktion ermöglicht und bei dem für die Gewinnung der Regelgrössen eine grössere Anzahl von Parametern verwendet werden kann.The invention is now to provide a system for increasing the production of spinning machines, which enables an improved influence on the production and in which a larger number of parameters can be used to obtain the controlled variables.

Diese Aufgabe wird erfindungsgemäss dadurch gelöst, dass in die Regelung weitere, insbesondere nicht oder nur schwer messbare, Parameter eingebbar sind, und dass diejenigen Parameter, die keinen eindeutigen mathematischen Zusammenhang mit der jeweiligen Regelgrösse aufweisen, mittels einer Fuzzy-Logik in die Regelung einbezogen sind.According to the invention, this object is achieved in that further parameters, in particular parameters that are difficult to measure or difficult to measure, can be entered, and that those parameters that have no clear mathematical connection with the respective controlled variable are included in the control by means of fuzzy logic .

Der wesentliche Unterschied der Fuzzy-Logik zur traditionellen Regelungstechnik liegt darin, dass die erstere kein Modell des zu regelnden Prozesses benötigt, und dass die Parameter nicht nur einen einzigen definierten Wert, sondern mehrere unscharfe Mengen, die sogenannten Fuzzy-Sets, aufweisen.The main difference between fuzzy logic and traditional control technology is that the former does not require a model of the process to be controlled, and that the parameters have not just a single defined value, but several fuzzy sets, the so-called fuzzy sets.

Das erfindungsgemässe System hat somit zwei wesentliche Vorteile: Einerseits müssen nicht alle Parameter als mathematisch definierte Funktion der Regelgrössen vorliegen, und andererseits müssen auch nicht alle Parameter zwingend mit einer Sensorik messbar sein. Beide Vorteile führen dazu, dass dem System auch vom Bedienungspersonal wahrgenommene Parameter eingegeben werden können, und das bedeutet wiederum eine beträchtliche Erweiterung der Palette der verwendbaren Parameter.The system according to the invention thus has two major advantages: on the one hand, not all parameters need to be present as a mathematically defined function of the controlled variables, and on the other hand, not all parameters necessarily have to be measurable with a sensor system. Both advantages mean that parameters perceived by the operator can also be entered into the system, which in turn means a considerable amount Extension of the range of parameters that can be used.

Im folgenden wird die Erfindung anhand eines Ausführungsbeispiels und der Zeichnungen näher erläutert; es zeigt:

Fig. 1
den Aufbau eines erfindungsgemässen Regelsystems,
Fig. 2
ein Diagramm mit Fuzzy-Sets; und
Fig. 3
eine grafische Darstellung der Regelung der Drehzahl einer Ringspinnmaschine anhand der Fadenbruchzahl.
The invention is explained in more detail below with the aid of an exemplary embodiment and the drawings; it shows:
Fig. 1
the construction of a control system according to the invention,
Fig. 2
a diagram with fuzzy sets; and
Fig. 3
a graphic representation of the control of the speed of a ring spinning machine based on the number of thread breaks.

Fig. 1 zeigt eine Blockbilddarstellung eines Regelsystems für eine Ringspinnmaschine RS, wobei das Regelsystem vorzugsweise auf dem bekannten Datensystem USTER RINGDATA (USTER - eingetragenes Warenzeichen der Zellweger Uster AG) aufbaut und von diesem bekannte Komponenten mitverwendet. Diese bekannten Komponenten sind insbesondere eine sogenannte Maschinenstation MS, an die die verschiedenen Sensoren für zu erfassende Parameter angeschlossen sind, eine Maschineneingabestation ES für Dateneingabe, wie Artikelwechsel, oder Datenangabe, wie Schleichspindelbericht, und eine Motoransteuerung MA der Ringspinnmaschine RS.1 shows a block diagram representation of a control system for a ring spinning machine RS, the control system preferably being based on the known data system USTER RINGDATA (USTER - registered trademark of Zellweger Uster AG) and also using components known therefrom. These known components are in particular a so-called machine station MS, to which the various sensors for parameters to be recorded are connected, a machine input station ES for data input, such as article change, or data input, such as a creep spindle report, and a motor control MA of the ring spinning machine RS.

Die erwähnten Sensoren sind beispielsweise ein pro Maschinenseite vorgesehener und an der Ringbank entlanggeführter Wandersensor, ein Unterwindsensor und ein Produktionssensor. Der Produktionssensor erfasst die Umdrehungen des Auslaufzylinders am Streckwerk und liefert Basis-Informationen über Produktionsmengen und Abliefergeschwindigkeiten, Häufigkeit und Dauer längerer Stillstände und dergleichen. Mit dem Unterwindsensor wird die Unterwindstellung der Ringbank zur Erfassung der Anzahl und Dauer der Kopsabnahmen registriert. Der Wandersensor ist einmal pro Maschinenseite vorgesehen und wird an der Ringbank entlanggeführt. Er erfasst dabei berührungslos die Rotationsbewegung der Ringläufer und liefert Informationen über Fadenbrüche an jeder Spinnstelle und die mittlere Zeit zu deren Behebung sowie über die mittlere Drehzahl der Ringläufer und somit über die Spinnstellen mit zu geringer Drehzahl.The sensors mentioned are, for example, a hiking sensor provided on each machine side and guided along the ring bench, an underwind sensor and a production sensor. The production sensor detects the revolutions of the discharge cylinder on the drafting system and provides basic information about production quantities and delivery speeds, frequency and duration of long downtimes and the like. The underwind position of the ring bench is recorded with the underwind sensor to record the number and duration of the bobbin takeoffs. The walking sensor is provided once on each machine side and is guided along the ring bench. It detects the rotational movement of the ring travelers without contact and provides information about thread breaks at each spinning station and the mean time to remedy them, as well as the average speed of the ring travelers and thus about the spinning stations with insufficient speed.

Die Maschinenstation MS ist über eine Leitung 1 an eine beim Datensystem USTER RINGDATA auch als Zentraleinheit bezeichnete Steuerstufe ST angeschlossen, in der unter anderem die über die Leitung 1 von der Maschinenstation MS erhaltenen Informationen über die messbaren Parameter zu Regelgrössen verarbeitet werden. Die bisher beschriebene Konfiguration des Regelsystems ist aus dem USTER News Bulletin Nr. 27 vom August 1979 "Die Erfassung der Fadenbrüche in der Ringspinnerei" bekannt. Der Wandersensor ist ausserdem in der CH-A-601 093 (= US-A-4,122,657) beschrieben.The machine station MS is connected via a line 1 to a control stage ST, also referred to as the central unit in the USTER RINGDATA data system, in which the information received via line 1 from the machine station MS about the measurable parameters is processed into control variables. The configuration of the control system described so far is known from USTER News Bulletin No. 27 of August 1979 "The detection of thread breaks in the ring spinning mill". The hiking sensor is also described in CH-A-601 093 (= US-A-4,122,657).

Die Motoransteuerung MA erhält auf einer Leitung 2 eine Stellgrösse, zur Verstellung des Antriebs der Ringspinnmaschine RS anhand der in der Steuerstufe ST gewonnenen Regelgrössen. Wesentlich an dem in Fig. 1 dargestellten Regelsystem ist nun der Umstand, dass die Steuerstufe ST nicht nur Informationen über die messbaren Parameter, sondern auch Informationen über nicht messbare Parameter erhält, und dass auch die letzteren Parameter bei der Gewinnung der Regelgrössen berücksichtigt werden. Die Steuerstufe ST erhält die Informationen über die messbaren Parameter von den an die Maschinenstation angeschlossenen Sensoren und die Informationen über nicht messbare Parameter von der mit der Maschinenstation MS über eine Leitung 3 verbundenen Eingabestation ES.The motor control MA receives a manipulated variable on a line 2 for adjusting the drive of the ring spinning machine RS on the basis of the control variables obtained in the control stage ST. Essential 1 of the control system shown in FIG. 1 is the fact that the control stage ST not only receives information about the measurable parameters, but also information about non-measurable parameters, and that the latter parameters are also taken into account when the control variables are obtained. The control stage ST receives the information about the measurable parameters from the sensors connected to the machine station and the information about non-measurable parameters from the input station ES connected to the machine station MS via a line 3.

Die traditionelle Regelungstechnik, seien dies Zustandsregler, P-Regler (Regler mit Proportionalanteil, also mit einem Einstellparameter), PI-Regler (Regler mit Proportional- und Integralanteil, also mit zwei Einstellparametern), PID-Regler (Regler mit Proportional-, Integral- und Differentialanteil, also mit drei Einstellparametern) oder dergleichen geht davon aus, dass die Zusammenhänge des zu regelnden Prozesses bekannt und beschreibbar sind und in einem Modell abgebildet werden können. Diese Modellbildung beinhaltet auch Störgrössen wie beispielsweise Temperaturdrift, wobei es auch bekannt ist, die Störgrössen so in die Regelung zu integrieren, dass sie sich auf den Regelprozess nicht negativ auswirken. Aber auch hier muss ein mathematischer Zusammenhang zwischen Störgrösse und Regelgrösse vorliegen. Ist dies nicht der Fall, dann wird die Regelung, von Zufällen abgesehen, versagen.The traditional control technology, be it state controller, P controller (controller with proportional component, i.e. with one setting parameter), PI controller (controller with proportional and integral component, i.e. with two setting parameters), PID controller (controller with proportional, integral and differential component, i.e. with three setting parameters) or the like, assume that the relationships of the process to be controlled are known and can be described and can be represented in a model. This modeling also includes disturbance variables such as temperature drift, although it is also known to integrate the disturbance variables into the control in such a way that they do not have a negative effect on the control process. But here too there must be a mathematical relationship between the disturbance variable and the controlled variable. If this is not the case, the regulation will fail, apart from coincidences.

Auf der anderen Seite ist aber die die Produktion der Ringspinnmaschine wesentlich bestimmende Drehzahl der Spindeln nicht nur von den mit den erwähnten Sensoren überwachten und gemessenen Parametern abhängig, sondern auch von Einflussgrössen wie beispielsweise Klima, Flugstaub, Luftführung oder auch von subjektiven und individuellen Parametern des Bedienungspersonals, wie beispielsweise dessen Arbeitsbelastung. Diese zusätzlichen Einflussgrössen kann man nach zwei unterschiedlichen Kriterien in je zwei Klassen einteilen, wobei sich die beiden Gruppen von Klassen teilweise überschneiden können.On the other hand, the speed of the spindles, which essentially determines the production of the ring spinning machine, is not only dependent on the parameters monitored and measured with the sensors mentioned, but also on influencing factors such as climate, airborne dust, air flow or also on subjective and individual parameters of the operating personnel , such as its workload. These additional influencing factors can be divided into two classes according to two different criteria, whereby the two groups of classes can partially overlap.

Wenn man als erstes Kriterium die technische Messbarkeit der Einflussgrössen oder Parameter wählt, dann kann man die Parameter in technisch messbare und in technisch nicht messbare einteilen. Nimmt man als Kriterium die Möglichkeit der Herstellung eines mathematischen Zusammenhangs zwischen Parametern und Regelgrössen, dann kann man die Parameter in solche mit und in solche ohne mathematischen Zusammenhang mit der betreffenden Regelgrösse einteilen. Das in Figur 1 dargestellte Regelsystem soll nun ermöglichen, alle vier genannten Klassen von Parametern in die Regelung miteinzubeziehen. Dies wird durch eine Synthese von herkömmlicher adaptiver Regelung und Fuzzy-Logik erreicht.If the first criterion is the technical measurability of the influencing variables or parameters, then the parameters can be divided into technically measurable and technically non-measurable. If one takes the possibility of establishing a mathematical connection between parameters and control variables as a criterion, then the parameters can be divided into those with and without such a mathematical connection with the relevant control variable. The control system shown in Figure 1 is now to enable all four classes of parameters mentioned to be included in the control. This is achieved through a synthesis of conventional adaptive control and fuzzy logic.

Bezüglich der Fuzzy-Logik wird auf die mittlerweile umfangreiche Literatur zu diesem Thema verwiesen, beispielsweise auf das Buch "Fuzzy Set Theory and its Applications" von H.-J. Zimmermann, Kluwer Academic Publishers, 1991. Die sogenannten Fuzzy Sets wurden vor 25 Jahren eingeführt, um nicht exakte und unvollständige Datensätze, wie sie in der realen Welt oft auftreten (Bilder, subjektive Beschreibungen) mathematisch zu beschreiben. Während die klassische Steuerungslogik nur die beiden scharfen Werte Ja oder Nein, 0 oder 1 aufweist, kennt die Fuzzy-Logik eine Zugehörigkeitsfunktion, die zur Beschreibung der Zugehörigkeit eines Objekts zu einer bestimmten Menge innerhalb des Bereichs 0 bis 1 beliebige Werte annehmen kann.With regard to fuzzy logic, reference is made to the now extensive literature on this topic, for example the book "Fuzzy Set Theory and its Applications" by H.-J. Zimmermann, Kluwer Academic Publishers, 1991. The so-called fuzzy sets were introduced 25 years ago in order to mathematically describe inaccurate and incomplete data sets that often occur in the real world (images, subjective descriptions). While the classic control logic only has the two sharp values yes or no, 0 or 1, the fuzzy logic has a membership function that can take any value within the range 0 to 1 to describe the belonging of an object to a certain quantity.

Wenn mit Hilfe der Fuzzy-Set-Theorie Regelungstechnik betrieben wird, dann ist die grundlegende Idee dabei die, die Erfahrungen eines menschlichen Prozessoperateurs in das Design des Reglers einfliessen zu lassen. Dabei wird ausgehend von einem Satz linguistischer Regeln, die die Kontrollstrategie des Operateurs beschreiben, ein Regelalgorithmus konstruiert, bei dem die Worte als Fuzzy-Sets definiert sind. Auf diese Weise können Erfahrungen und Intuition implementiert werden und es wird kein Prozessmodell benötigt.If control technology is operated using fuzzy set theory, the basic idea is to incorporate the experience of a human process operator into the design of the controller. Based on a set of linguistic rules that describe the operator's control strategy, a control algorithm is constructed in which the words are defined as fuzzy sets. In this way, experience and intuition can be implemented and no process model is required.

Die erwähnte Synthese der herkömmlichen adaptiven Regelung und der Fuzzy-Logik wird konkret durch die folgenden vier Massnahmen bewirkt:

  • 1. Messung der technisch messbaren Parameter durch Sensoren. Diese Parameter sind beispielsweise die folgenden:
    • Lufttemperatur in °C,
    • Luftfeuchtigkeit in mg/m³,
    • Fadenbruchniveau in Anzahl Fadenbrüche Pro 1000 Spindelstunden,
    • statistisch schlechte Spinnstellen (das sind diejenigen Spindeln, die statistisch zu viele Fadenbrüche produzieren, d.h. die um mehr als 3% vom Mittelwert abweichen),
    • Schleicherspindeln (das sind Spindeln mit deutlich abweichenden Drehzahlen, was zu einem Drehungsverlust und somit zu einem veränderten Garncharakter, insbesondere zu einer geringeren Reisskraft, führt),
    • elektrisches Feld in V/m, und so weiter.
  • 2. Bekanntgabe der technisch nicht messbaren Parameter an das System durch Eingabe an der Eingabestation ES nach dem menschlichen Empfinden. Derartige Parameter sind beispielsweise gewisse schwer erfassbare klimatische Faktoren wie die Gewitterneigung (keine, mittlere oder starke Gewitterneigung), oder subjektive Faktoren, wie beispielsweise die Arbeitsbelastung der Bedienungsperson (zu gering, mittel, zu gross), und so weiter.
  • 3. Einbezug derjenigen Parameter, bei denen ein mathematischer Zusammenhang zur Regelgrösse hergeleitet werden kann, in die Regelung durch konventionelle Regelalgorithmen.
  • 4. Einbezug derjenigen Parameter, bei denen ein mathematischer Zusammenhang zur Regelgrösse nicht hergeleitet werden kann, in die Regelung mittels Fuzzy-Logik.
The aforementioned synthesis of conventional adaptive control and fuzzy logic is brought about by the following four measures:
  • 1. Measurement of the technically measurable parameters by sensors. Examples of these parameters are:
    • Air temperature in ° C,
    • Air humidity in mg / m³,
    • Thread break level in number of thread breaks per 1000 spindle hours,
    • statistically poor spinning positions (these are the spindles which statistically produce too many thread breaks, ie which deviate from the mean by more than 3%),
    • Schleicher spindles (these are spindles with significantly different speeds, which leads to a loss of twist and thus to a changed yarn character, in particular to a lower tensile strength),
    • electric field in V / m, and so on.
  • 2. Announcement of the technically non-measurable parameters to the system by input at the input station ES according to human perception. Such parameters are, for example, certain difficult to ascertain climatic factors such as the tendency to thunderstorm (no, medium or strong thunderstorm tendency), or subjective factors, such as the workload of the operator (too low, medium, too large), and so on.
  • 3. Inclusion of those parameters, for which a mathematical connection to the controlled variable can be derived, in the control using conventional control algorithms.
  • 4. Inclusion of those parameters for which a mathematical relationship to the controlled variable cannot be derived in the control using fuzzy logic.

Schliesslich ist das Regelsystem so konzipiert, dass weitere, heute noch nicht bekannte Parameter definiert werden können, seien diese technisch messbar oder technisch nicht messbar. Ausserdem kann in das Regelsystem eingegeben werden, welche Beziehung zwischen Parameter und Regelgrösse erwartet wird.Finally, the control system is designed in such a way that further parameters that are not yet known can be defined, be they technically measurable or not technically measurable. In addition, the relationship between parameter and controlled variable can be entered in the control system.

Die praktische Umsetzung dieser vier Massnahmen erfolgt in den Schritten Bestimmung der Parameter, Definition der Parameter und von deren Beziehung zur Regelgrösse und schliesslich Auswertung der Beziehungen. Die Bestimmung der technisch messbaren Parameter erfolgt analog wie beim USTER RINGDATA, das heisst, dass diese Parameter durch Sensoren automatisch gemessen und an das Regelsystem weitergegeben werden. Beispielsweise werden Fadenbrüche durch den schon erwähnten Wandersensor erfasst, der an jeder Spindel die Läuferdrehzahl misst und eine Läuferdrehzahl von null Umdrehungen pro Zeiteinheit als Fadenbruch interpretiert. Der Wandersensor erfasst also die Spindeldrehzahl und die Fadenbrüche und liefert die entsprechenden Daten an die Maschinenstation MS, von wo sie über die Leitung 1 in die Steuerstufe ST und damit in das Prozessleitsystem gelangen.The practical implementation of these four measures takes place in the steps of determining the parameters, defining the parameters and their relationship to the controlled variable and finally evaluating the relationships. The determination of the technically measurable parameters is carried out in the same way as with the USTER RINGDATA, which means that these parameters are automatically measured by sensors and passed on to the control system. For example, thread breaks are detected by the already mentioned traveling sensor, which measures the rotor speed on each spindle and interprets a rotor speed of zero revolutions per unit of time as a thread break. The traveling sensor thus detects the spindle speed and the thread breaks and delivers the corresponding data to the machine station MS, from where they reach the control stage ST via line 1 and thus into the process control system.

Technisch nicht oder nur mit viel Aufwand messbare Parameter werden zuerst mit einem Namen versehen und anschliessend definiert. So ist beispielsweise Gewitterneigung der Name für die Wahrscheinlichkeit des Aufziehens eines Gewitters. Sie ist von verschiedenen Faktoren abhängig, unter anderem von der allgemeinen Wetterlage, dem Luftdruck, dem örtlichen elektrischen Feld, der örtlichen Ionisation der Luft, und so weiter. Zur Definition der Gewitterneigung werden beispielsweise alle Bedienungspersonen einer Spinnerei befragt, welche Gewitterneigung sie subjektiv empfinden, und es wird der Grad der empfundenen Gewitterneigung einer von drei Klassen (keine, mittlere oder starke Gewitterneigung) zugeordnet. Diese Aussagen werden mit der durch Angaben von meteorologischen Fachleuten objektivierten Gewitterneigung verglichen und es werden die genannten drei Klassen in der aus Fig. 2 ersichtlichen Art zusammengestellt. Dabei ist jede Klasse zum Beispiel ein trapezförmiges Fuzzy-Set, mit der Gewitterneigung GN auf der Abszisse und mit der Gewichtung G auf der Ordinate. Typisch für diese Sets ist, dass Ueberlappungsbereiche der einzelnen Zustände existieren, in denen eindeutigen Werten der Gewitterneigung auf der x-Achse mehrere Zustände zugeordnet werden können.Parameters that are not technically measurable or can only be measured with great effort are first given a name and then defined. For example, thunderstorm tendency is the name for the likelihood of a thunderstorm. she is depending on various factors, including general weather conditions, air pressure, local electric field, local ionization of the air, and so on. To define the tendency to thunderstorms, for example, all operators of a spinning mill are asked which subject to thunderstorm tendencies they feel, and the degree of perceived thunderstorm tendency is assigned to one of three classes (no, medium or strong thunderstorm tendency). These statements are compared with the thunderstorm tendency objectified by information from meteorological experts and the three classes mentioned are compiled in the manner shown in FIG. 2. Each class is, for example, a trapezoidal fuzzy set, with the thunderstorm GN on the abscissa and the weight G on the ordinate. It is typical of these sets that overlap areas of the individual states exist, in which several states can be assigned to unique values of the thunderstorm tendency on the x axis.

Bei dem in Fig. 1 dargestellten Regelsystem ist zwischen der Steuerung ST und der Motoransteuerung MA ein Fuzzy-Controller FC angeordnet. Dieser besteht aus einer Regelbasis 4 und einer Interferenzmaschine 5 für die Prämissen und aus einem Aktionsinterface 6 für die Schlussfolgerungen. Streng genommen ist auch die als Bedienungsinterface wirkende Eingabestation ES Bestandteil des Fuzzy-Controllers FC.In the control system shown in FIG. 1, a fuzzy controller FC is arranged between the control ST and the motor control MA. This consists of a rule base 4 and an interference machine 5 for the premises and an action interface 6 for the conclusions. Strictly speaking, the input station ES, which acts as a user interface, is also part of the fuzzy controller FC.

Der Entwurf des Fuzzy-Controllers FC wird grob in folgenden Schritten vollzogen:

  • Definition aller Eingangs- und Ausgangsvariablen
  • Definition der unscharfen Mengen für die linguistischen Variablen, die die Ein- und Ausgangsgrössen repräsentieren. Linguistische Variable sind Wörter und Ausdrücke der Umgangssprache oder einer natürlichen Sprache; beim Beispiel von Fig. 2 heisst die linguistische Variable "Gewitterneigung". Diese Variable soll als Werte die natürlichsprachigen Ausdrücke (keine, mittlere, starke) annehmen können, wobei diese Ausdrücke Namen für die in Fig. 2 dargestellten Fuzzy-Sets sind.
  • Aufstellen der Regeln
  • Festlegung der Interferenzmaschine. Die meisten kommerziellen Systeme erlauben die Wahl zwischen dem Minimum- und dem Algebraic-Produkt-Operator. Der Minimum-Operator ist der Operator für den Durchschnitt von zwei Fuzzy-Sets, der Algebraic-Produkt-Operator ist ein Operator aus der Klasse der T-Normen, das sind zweiwertige Funktionen aus dem Bereich [0,1] x [0,1], die unter anderem monoton sind und das Kommutativ- und das Assoziativgesetz erfüllen.
  • Definition der Berechnung der scharfen Ausgangsgrössen
  • Optimierung des Reglerverhaltens.
The design of the fuzzy controller FC is roughly carried out in the following steps:
  • Definition of all input and output variables
  • Definition of the fuzzy sets for the linguistic variables that represent the input and output variables. Linguistic variables are words and expressions of colloquial or natural language; in the example of FIG. 2, the linguistic variable is called "thunderstorm tendency". This variable should be able to take the natural language expressions (no, medium, strong) as values, these expressions being names for the fuzzy sets shown in FIG. 2.
  • Establishing the rules
  • Determination of the interference machine. Most commercial systems allow you to choose between the minimum and the algebraic product operator. The minimum operator is the operator for the average of two fuzzy sets, the algebraic product operator is an operator from the class of the T standards, that is, two-valued functions from the range [0.1] x [0.1 ], which are, among other things, monotonous and comply with the commutative and associative law.
  • Definition of the calculation of the sharp output variables
  • Optimization of controller behavior.

Wie schon erwähnt wurde, wird bei dem in Fig. 1 dargestellten Regelsystem bei der Definition der Eingangsvariablen und deren Beziehung zur Regelgrösse zwischen eindeutig beschreibbaren und nicht mathematisch beschreibbaren Beziehungen unterschieden. Eindeutig beschreibbare Beziehungen sind die Fadenbrüche und das Klima.As already mentioned, in the control system shown in FIG. 1, the definition of the input variables and their Differentiate relationship to the control variable between clearly describable and non-mathematically describable relationships. Relationships that can be clearly described are the thread breaks and the climate.

Die Regulierung der Drehzahl anhand der Fadenbrüche ist eine adaptive Regelung, wobei dem System folgende Parameter eingegeben werden können:

  • Einstellung des Soll-Fadenbruchniveaus
  • Einstellung, ab welcher Abweichungsgrösse des Fadenbruchniveaus reguliert werden soll
  • Berücksichtigung der Ausreisser- und/oder der Schleicherspindeln
  • Berücksichtigung aller anderen Einflussparameter anhand des Wahrheitsgrades der Regeln
  • Einstellung des Schleppintervalls (= zu beobachtendes Zeitfenster für die Messgrösse)
  • Einstellung der Drehzahlveränderung pro Regelschritt.
The regulation of the speed based on the thread breaks is an adaptive regulation, whereby the following parameters can be entered into the system:
  • Setting the target thread break level
  • Setting from which deviation size of the thread break level is to be regulated
  • Consideration of the outlier and / or the creeping spindles
  • Consideration of all other influencing parameters based on the degree of truth of the rules
  • Setting the drag interval (= time window to be observed for the measured variable)
  • Setting the speed change per control step.

Die Regulierung der Drehzahl anhand der Klimadaten ist grundsätzlich eine Zustandsregelung, die durch Berücksichtigung der Wahrheitsgrade der anderen Einflussparameter zur adaptiven Regelung erweitert ist. Im System bereits integriert ist eine Tabelle der Verspinnbarkeit von Garnen in Abhängigkeit von Temperatur und Luftfeuchtigkeit; die folgenden Parameter können dem System mitgeteilt werden:

  • Garnmummer
  • Anpassung der im System integrierten Tabelle der Verspinnbarkeit von Garnen in Abhängigkeit von Temperatur und Luftfeuchtigkeit
  • Einstellung, ab welcher Abweichungsgrösse des Klimas (Temperatur und Luftfeuchtigkeit) reguliert werden soll
  • Einstellung der Drehzahlveränderung pro Regelschritt.
The regulation of the rotational speed on the basis of the climate data is basically a state control, which is expanded by adapting the degrees of truth of the other influencing parameters to adaptive control. A table of the spinnability of yarns as a function of temperature and air humidity is already integrated in the system; The following parameters can be communicated to the system:
  • Yarn number
  • Adjustment of the spinnability of yarns integrated in the system depending on temperature and humidity
  • Setting from which deviation in the climate (temperature and humidity) should be regulated
  • Setting the speed change per control step.

Neben den eindeutig beschreibbaren Beziehungen kennt das Regelsystem noch die folgenden Beziehungen zwischen den einzelnen Einflussgrössen (Eingangsvariablen) und der Regelgrösse:

  • a. Je grösser die Einflussgrösse, desto kleiner die Regelgrösse,
  • b. je kleiner die Einflussgrösse, desto grösser die Regelgrösse,
  • c. je kleiner die Einflussgrösse, desto kleiner die Regelgrösse,
  • d. je grösser die Einflussgrösse, desto grösser die Regelgrösse,
  • e. alle Kombinationen von a bis d verknüpft mit allen Einflussgrössen.
Weiter kann dem System der zu erwartende Wahrheitsgrad der Beziehungen eingegeben werden, wodurch eine kontinuierliche Anpassung des Systems anhand von Erfahrungswerten erfolgt.In addition to the clearly describable relationships, the control system also knows the following relationships between the individual influencing variables (input variables) and the controlled variable:
  • a. The larger the influencing variable, the smaller the control variable,
  • b. the smaller the influencing variable, the larger the control variable,
  • c. the smaller the influencing variable, the smaller the controlled variable,
  • d. the larger the influencing variable, the larger the control variable,
  • e. all combinations from a to d linked to all influencing factors.
Furthermore, the expected degree of truth of the relationships can be entered into the system, whereby the system is continuously adapted on the basis of empirical values.

Für die Auswertung der Beziehungen werden dem Systen Grenzwerte für die Drehzahlen eingegeben, innerhalb derer sich die Regelung bewegen darf (minimale unter maximale obere Drehzahl). Ausserdem wird bei der Auswertung die eingegebene Drehzahlveränderung, d.h. die Absenkung oder Steigerung der Drehzahl, pro Regelschritt und pro Erfassungsgrösse verwendet.To evaluate the relationships, the system enters limit values for the speeds within which the control may move (minimum below maximum upper speed). In addition, the entered speed change, i.e. the reduction or increase in speed, per control step and per acquisition size used.

Bei den Fadenbrüchen erfolgt bei Ueber- oder Unterschreiten des Soll-Fadenbruchniveaus über die Beobachtungsdauer des Schleppintervalls die Drehzahlregulierung schrittweise innerhalb des zulässigen Drehzahlintervalls unter Berücksichtigung und Nachführung des Wahrheitsgrades.In the case of thread breaks, if the target thread break level is exceeded or fallen below over the observation period of the drag interval, the speed is regulated step by step within the permissible speed interval, taking into account and updating the degree of truth.

Fig. 3 zeigt eine grafische Darstellung der Regelung der Drehzahl einer Ringspinnmaschine anhand der Fadenbruchzahl. In der oberen Hälfte der Figur ist die Drehzahl D (in Umdrehungen pro Minute) und in der unteren Hälfte ist die Fadenbruchrate FDB (in Anzahl Fadenbrüche pro tausend Spindellaufstunden) jeweils über der Zeit t aufgetragen. Ausserdem sind die zulässige maximale obere Drehzahl Do, die zulässige minimale untere Drehzahl Du, das Soll-Fadenbruchniveau FBs sowie symmetrisch zu diesem liegende, jeweils um 5% beabstandete Grenzen für die Abweichungen der Fadenbruchrate eingezeichnet.Fig. 3 shows a graphical representation of the control of the speed of a ring spinning machine based on the number of thread breaks. The speed D (in revolutions per minute) is shown in the upper half of the figure and the thread break rate FDB (in number of thread breaks per thousand spindle running hours) is plotted against the time t in the lower half. In addition, the permissible maximum upper rotational speed Do, the permissible minimum lower rotational speed Du, the target thread break level FBs and symmetrical limits 5 mm apart for the deviations in the thread break rate are shown.

Darstellungsgemäss läuft die Ringspinnmaschine zum Zeitpunkt t₁ mit einer Drehzahl D₁, wobei die Fadenbruchrate knapp oberhalb des Soll-Fadenbruchniveaus FBs liegt. Zum Zeitpunkt t₂ überschreitet die Fadenbruchrate die Grenze FBs+5%, worauf die Drehzahl um den eingestellten Betrag abgesenkt wird. Da die Fadenbruchrate aber weiter steigt und beim Zeitpunkt t₃ die Grenze FBs+10% übersteigt, und da auch die Zeit t₂-t₁ grösser als das eingestellte Schleppintervall ist, wird zu diesem Zeitpunkt die Drehzahl D erneut um den eingestellten Betrag abgesenkt, und so weiter.According to the illustration, the ring spinning machine runs at time t 1 at a speed D 1, the yarn break rate being just above the target thread break level FB s . At time t₂ the thread break rate exceeds the limit FB s + 5%, whereupon the speed is reduced by the set amount. However, since the thread breakage rate continues to increase and at the time t₃ the limit FB s exceeds + 10%, and since the time t₂-t₁ is greater than the set drag interval, the speed D is reduced again by the set amount at this time, and so further.

Beim Einflussfaktor Klima (Lufttemperatur, Luftfeuchtigkeit) erfolgt die Regelung analog wie bei den Fadenbrüchen. Bei Ueber- oder Unterschreiten der Soll-Temperatur oder der Soll-Feuchtigkeit wird die Drehzahl schrittweise innerhalb des zulässigen Drehzahlintervalls geändert.With the influencing factor climate (air temperature, air humidity), the control is carried out analogously to the thread breaks. If the target temperature or the target humidity is exceeded or not reached, the speed is changed step by step within the permissible speed interval.

Bei den nicht mathematisch beschreibbaren Beziehungen erfolgt die Drehzahlregulierung anhand der eingegebenen Regeln a bis e, wobei die Berechnung der Ausgangsgrössen vorzugsweise mittels Schwerpunktbildung (CoA - Center of Area) oder Bildung des Höchstwertmittels (MoM - Mean of Maximum) erfolgt.In the case of relationships that cannot be described mathematically, the speed is regulated on the basis of the entered rules a to e, the output variables preferably being calculated by forming the center of gravity (CoA) or by establishing the mean value (MoM).

Claims (6)

System zur Produktionssteigerung von Spinnereimaschinen, mit Sensoren zur Messung von Parametern, welche die Produktion beeinflussen, und mit einer Regelung zur Ableitung von Regelgrössen aus diesen Parametern und zur Bildung von Stellgrössen für die Spinnereimaschine aus den gewonnenen Regelgrössen, wobei diejenigen Parameter, die einen eindeutigen mathematischen Zusammenhang mit der jeweiligen Regelgrösse aufweisen, durch konventionelle Algorithmen in die Regelung einbezogen sind, dadurch gekennzeichnet, dass in die Regelung weitere, insbesondere nicht oder nur schwer messbare, Parameter eingebbar sind, und dass diejenigen Parameter, die keinen eindeutigen mathematischen Zusammenhang mit der jeweiligen Regelgrösse aufweisen, mittels einer Fuzzy-Logik in die Regelung einbezogen sind.System for increasing the production of spinning machines, with sensors for measuring parameters that influence production, and with a control system for deriving control variables from these parameters and for forming control variables for the spinning machine from the control variables obtained, whereby those parameters that have a clear mathematical Have a connection with the respective controlled variable, are included in the control by conventional algorithms, characterized in that further, in particular, parameters that are difficult or impossible to measure, can be entered in the control, and those parameters that have no clear mathematical connection with the respective controlled variable have are included in the control by means of fuzzy logic. System nach Anspruch 1, dessen Regelung eine an die Sensoren angeschlossene Steuerstufe und eine mit den Stellgrössen beaufschlagte Ansteuerung für die Spinnereimaschine (RS) aufweist, dadurch gekennzeichnet, dass zwischen Steuerstufe (ST) und Ansteuerung (MA) ein Fuzzy-Controller (FC) angeordnet ist.System according to claim 1, the control of which has a control stage connected to the sensors and a control for the spinning machine (RS) acted upon by the manipulated variables, characterized in that a fuzzy controller (FC) is arranged between the control stage (ST) and control (MA) is. System nach Anspruch 2, dadurch gekennzeichnet, dass in den Fuzzy-Controller (FC) die nicht messbaren Parameter nach dem menschlichen Empfinden eingegeben werden, wobei diese Eingabe in Form von Fuzzy-Sets mit verschiedenen Werten erfolgt.System according to claim 2, characterized in that the non-measurable parameters are input into the fuzzy controller (FC) according to human perception, this input being in the form of fuzzy sets with different values. System nach Anspruch 3, dadurch gekennzeichnet, dass die genannten nicht messbaren Parameter durch Umwelt- oder Umgebungsfaktoren und/oder durch das Bedienungspersonal subjektiv festgestellte Faktoren gebildet sind.System according to claim 3, characterized in that said non-measurable parameters are formed by environmental or environmental factors and / or factors determined subjectively by the operating personnel. System nach Anspruch 4, dadurch gekennzeichnet, dass die genannten nicht messbaren Parameter durch die Gewitterneigung und/oder durch die Arbeitsbelastung des Bedienungspersonals gebildet sind.System according to claim 4, characterized in that the said non-measurable parameters are formed by the thunderstorm tendency and / or by the workload of the operating personnel. System nach einem der Ansprüche 1 bis 5, bei welchem die gewonnenen Stellgrössen auf den Antrieb der Spinnereimaschine wirken und deren Drehzahl beeinflussen, dadurch gekennzeichnet, dass für den jeweiligen Parameter Sollwerte und für die Drehzahl ein zulässiges Intervall vorgegeben wird, und dass die Regulierung der Drehzahl in diskreten Schritten erfolgt.System according to one of Claims 1 to 5, in which the manipulated variables obtained act on the drive of the spinning machine and influence its speed, characterized in that setpoints are specified for the respective parameter and a permissible interval is specified for the speed, and in that the speed is regulated done in discrete steps.
EP94110331A 1993-07-14 1994-07-04 System to increase production of spinning machines Expired - Lifetime EP0634507B2 (en)

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