EP0906239A1 - Verfahren zum steuern einer changiereinrichtung - Google Patents
Verfahren zum steuern einer changiereinrichtungInfo
- Publication number
- EP0906239A1 EP0906239A1 EP98916956A EP98916956A EP0906239A1 EP 0906239 A1 EP0906239 A1 EP 0906239A1 EP 98916956 A EP98916956 A EP 98916956A EP 98916956 A EP98916956 A EP 98916956A EP 0906239 A1 EP0906239 A1 EP 0906239A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- stator
- rotor
- flow
- actual
- torque
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/28—Traversing devices; Package-shaping arrangements
- B65H54/2821—Traversing devices driven by belts or chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/28—Traversing devices; Package-shaping arrangements
- B65H54/2833—Traversing devices driven by electromagnetic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/28—Traversing devices; Package-shaping arrangements
- B65H54/2884—Microprocessor-controlled traversing devices in so far the control is not special to one of the traversing devices of groups B65H54/2803 - B65H54/325 or group B65H54/38
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
Definitions
- the invention relates to a method for controlling a traversing device driven by a stepping motor and a traversing device according to the preamble of claim 11.
- a traversing thread guide of a traversing device for laying a thread is driven by a stepping motor.
- the movement of the rotor of the stepping motor is transmitted directly to the thread guide. The transmission takes place via a belt drive.
- the stepper motor is operated with a higher nominal current in the stroke reversal areas. As a result, the stepper motor is able to generate a higher torque.
- Such an increase in current in conjunction with a step frequency required to generate the high acceleration and deceleration, leads to overshoot of the rotor in the stepper motor, which is transferred directly to the traversing thread guide. This also causes the rotor to lose its sequence of steps.
- a current increase requires one correspondingly powerful stepper motor.
- the torque increase in a larger motor generally results in a higher moment of inertia, which is disadvantageous for achieving the high acceleration and braking times.
- Another object of the invention is to drive the traversing thread guide in the stroke reversing area with as little vibration as possible.
- the particular advantage of the method according to the invention is that the field variables generated in the stepper motor are used directly to control the traversing device. Since the method is based on the stator flow of the stepper motor, a highly dynamic control of the drive is achieved.
- the principle of the stepper motor is based on the fact that a rotor designed as a permanent magnet rotates within a stator with several windings. In order to move the rotor, the windings, which are arranged offset to one another, are supplied with current after a time sequence. Magnetic fields are generated which, in conjunction with the magnetic field of the rotor, enable the rotor to move.
- the stator is formed from a large number of windings which, as pole pairs, determine the step size of the stepper motor.
- the torque of the Stepper motor is determined by the magnetic flux in the stator (stator flux) and the magnetic flux in the rotor (rotor flux).
- the rotor Since the rotor is designed as a permanent magnet, the rotor flux will not change, so that the torque of the stepper motor is essentially influenced by the stator flux amplitude and the angle to the rotor flux.
- the method according to the invention now uses this dependency to control the movement of the rotor and thus the traversing thread guide.
- a stator voltage generated by a flow control device is specified.
- the movement of the rotor is controlled by changing magnetic excitations with a predetermined magnetic stator flux in the windings of the stator.
- the load current will set itself depending on the operating point of the stepper motor.
- a particularly advantageous development of the invention provides that the torque generated by the stepper motor is regulated.
- a torque controller carries out an actual-target comparison between an actual torque and a predetermined target torque.
- a corresponding torque correction value is generated which is converted into the stator voltage in order to control the stepper motor.
- a torque and acceleration sufficient to guide the traversing thread guide in each position of the traversing thread guide can thus be generated in the traversing device.
- the phase position i.e. regulate the angular velocity of the rotor.
- the torque acting on the rotor is essentially dependent on the position of the rotor, the rotor flux and the stator flux. Since the rotor has a constant rotor flux, according to a particularly advantageous development of the invention, the actual torque can be calculated solely from the electrical parameters stator current and stator flux. There are two ways to determine the current stator flux of the stepper motor.
- the first possibility is that the rotor position is determined without an encoder.
- the stator voltage and the stator current are measured continuously and linked in a computing circuit in such a way that a stator flux which is dependent on the rotor position results.
- the actual torque can now be determined using the stator flux and the stator current, so that the determined actual torque can be compared with a target torque.
- the setpoint torque results from the law of motion of the traversing thread guide and is known as a function of the respective winding laws.
- the torque can be determined beforehand from the position and the speed of the traversing thread guide for each position of the rotor and is given to the torque controller.
- Angular position of the rotor detected by a sensor and included in the control of the stepper motor. If you bring these position signals into phase equilibrium with the rotor, you have a standardized rotor flux signal. These standardized rotor flux signals can advantageously be converted into corresponding stator flux signals. So that is the stator flow known.
- the actual stator flow is continuously determined and a flow controller is used for the actual-target comparison.
- a flow controller is used for the actual-target comparison.
- the stepper motor can be given a target stator flow profile that exactly reflects the movement of the traversing thread guide.
- phase position of the stator flux essentially influences the increase in torque, but the amplitude of the stator flux determines the absolute value of the torque, optimal utilization of the stepper motor is achieved if, in addition to torque regulation, flux regulation also takes place.
- stator voltages generated by the controllers can be advantageously applied directly to a pulse width modulator for controlling a converter. This means that all common types of windings, such as wild winding, precision winding, etc., as well as traversing stroke changes can be carried out with the traversing device.
- Fig. 2 shows schematically a stepper motor with two stator windings
- FIG. 3 shows the schematic structure of a flow control device
- Fig. 4 is an equivalent circuit diagram of a stepper motor; 5 shows the stator flux and rotor flux in the coordinate system fixed to the stator;
- Fig. 6 is a block diagram of the flow control device.
- a traversing device is shown schematically in FIG. 1.
- the traversing thread guide 8 is moved back and forth within a traversing stroke by means of a stepping motor 4.
- the transmission of the movement from the stepper motor 4 to the thread guide 8 takes place via a belt 7.
- the belt 7 loops around the pulleys 6, 9 and 11.
- the traversing thread guide 8 is firmly connected to the endless belt 7 and is attached to the belt 7 between the pulleys 11 and 9 back and forth.
- the pulley 11 is rotatably supported on an axis 12, the pulley 9 is rotatably supported on the axis 10.
- the pulley 6 is attached to a rotor shaft 5, which is driven by means of a rotor of the stepping motor 4 with an alternating direction of rotation.
- the stepper motor 4 is controlled via a control unit 22.
- the control unit 22 has a converter 2 and a flow control device 1.
- the flow control device 1 is connected to the converter 2 by a control line 23 and a signal line 24.
- the flow control device 1 is connected to a sensor 3 which senses the position of the rotor or the rotor shaft 5.
- River control device also has an input for the transmission of target specifications for the traversing.
- a winding spindle 15 is arranged below the belt drive, on the a sleeve 14 is attached.
- a coil 13 is wound on the sleeve 14.
- a thread is moved back and forth from the traversing thread guide 8 along the bobbin surface.
- each position of the traversing thread guide 8 is assigned to a specific angular position of the rotor in the stepper motor.
- the required field sizes for influencing the rotor can be specified for each traversing thread guide position via the flow control device 1.
- stepper motor The operation of the stepper motor can be described as follows using the schematic illustration shown in FIG. 2.
- the stepper motor 4 has at least two windings 16 and 17 arranged offset by 90 ° to one another.
- the windings 16 and 17 are alternately controlled by a converter 2 according to a predetermined time sequence.
- a magnetic field with a magnetic flux ⁇ s builds up in each of the windings.
- a load current (stator current) i s flows in windings.
- a rotor (not shown here) mounted in the middle of the windings will move with its permanent magnetic field.
- a sensor 3 is attached to the stepper motor to detect the position of the rotor.
- the sensor 3 is designed so that the number of steps of the sensor can be divided in whole numbers by the number of pole pairs of the step motor.
- His signal can thus be used for position control of the rotor as well as for stator flux determination.
- Particularly simple relationships result when a gearwheel is used whose number of teeth is identical to the number of pole pairs of the motor.
- a sine signal and a cosine signal are obtained by means of two field plates, which have an offset of 90 ° in relation to the tooth pitch. If you bring these signals into phase equilibrium with the rotor, you get my normalized rotor flux signal.
- the current stator current i s and the sensor signal ⁇ are then - as shown in FIG. 3 - given to a converter 18 of the flow control.
- the flow control device is shown schematically in FIG. 3. Vector sizes are indicated by an arrow.
- the converter 18 determines an actual value of the stator flux s from the stator current and the sensor signal ⁇ .
- the actual value of the stator flux is then fed to a flux regulator 20 and at the same time to a torque regulator 19.
- a comparison is made directly at the controller input between a predetermined setpoint value of the stator flow with the instantaneous actual value of the stator flow.
- the flux regulator 20 will generate a voltage signal which is applied to a pulse width modulator 21 which is connected to the converter 2.
- a comparison is made in the torque controller 19 between a predetermined target value of the torque and the actual value of the torque of the stepping motor.
- the actual torque is determined from the given values of the stator current i s and the stator flux s . If there is a deviation, the torque controller 19 likewise generates a voltage signal which is fed to the pulse width modulator 21.
- the stator voltage u s is composed of a torque-forming component u M and a flux-forming component u ⁇ , the connection of which will be discussed in more detail later.
- the equivalent circuit diagram shown in FIG. 4 and the pointer diagram shown in FIG. 5 are also used to describe the stepping motor.
- the machine sizes are understood as space pointers in a frame-fixed coordinate system, the ⁇ -axis of the coordinate system coinciding with the winding axis of the machine and the 3-axis being orthogonal to the ⁇ -axis.
- the torque of a two-phase stepper motor can then be calculated using the following equation:
- the rotor flux cannot be influenced in its amplitude because of the permanent excitation. Its position only depends on the position of the rotor.
- the tip of the stator flow space pointer should be guided on a circular path. This can be achieved by connecting a voltage space vector u M to the winding, the direction of which is orthogonal to the stator flow direction. Since the stator flux s is essentially an integral of the stator voltage, such a voltage space pointer causes the stator flow space pointer s to rotate. However, this voltage space pointer alone can only influence the angular velocity ⁇ , but not the amplitude of the stator flux. A further voltage space pointer u ⁇ is therefore required in the direction of the stator flux.
- Stator flow space pointer ⁇ s shows.
- the stator voltage u s is thus the sum of the two components u M and u.
- stator flux in the stepper motor can thus be determined or controlled in its amplitude and in its phase position by the stator voltage u s .
- the output signal of the stator voltage can be used directly as an input signal of a pulse width modulator after appropriate standardization. It should be noted that the voltage space pointer can only be influenced in the periods in which the converter is still clocking.
- stator fluxes result, based on the stator coordinate system:
- stator flow can now be given to a flow controller or a torque controller.
- FIG. 6 shows a block diagram of a combined control of a stator flux and the torque.
Landscapes
- Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Control Of Stepping Motors (AREA)
- Winding Filamentary Materials (AREA)
- Manufacture Of Motors, Generators (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19711546 | 1997-03-20 | ||
DE19711546 | 1997-03-20 | ||
PCT/EP1998/001504 WO1998042606A1 (de) | 1997-03-20 | 1998-03-16 | Verfahren zum steuern einer changiereinrichtung |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0906239A1 true EP0906239A1 (de) | 1999-04-07 |
EP0906239B1 EP0906239B1 (de) | 2000-11-02 |
Family
ID=7823960
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP98916956A Expired - Lifetime EP0906239B1 (de) | 1997-03-20 | 1998-03-16 | Verfahren zum steuern einer changiereinrichtung |
Country Status (8)
Country | Link |
---|---|
US (1) | US6008613A (de) |
EP (1) | EP0906239B1 (de) |
JP (1) | JP4647043B2 (de) |
CN (1) | CN1131839C (de) |
DE (1) | DE59800323D1 (de) |
TR (1) | TR199802005T1 (de) |
TW (1) | TW492944B (de) |
WO (1) | WO1998042606A1 (de) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE59810677D1 (de) * | 1997-07-26 | 2004-03-04 | Barmag Barmer Maschf | Verfahren und changiereinrichtung zum verlegen eines fadens |
DE29904699U1 (de) * | 1999-03-15 | 2000-09-28 | Muennekehoff Gerd | Changiereinrichtung |
IT1312588B1 (it) * | 1999-05-31 | 2002-04-22 | Sp El Srl | Procedimento e apparecchiatura per il controllo dell'avvolgimento difili e simili su supporti rotanti quali rocche di filati e simili. |
ITMI20011851A1 (it) * | 2001-09-03 | 2003-03-03 | Sp El Srl | Dispositivo e apparecchiatura a guidafilo magnetico per l'avvolgimento di un filo su supporti cilindrici |
JP3697583B2 (ja) * | 2002-01-29 | 2005-09-21 | 村田機械株式会社 | トラバース制御装置 |
JP4711103B2 (ja) * | 2003-03-28 | 2011-06-29 | 村田機械株式会社 | 糸の巻き取り方法とその装置 |
DE102005002409A1 (de) * | 2005-01-19 | 2006-07-27 | Saurer Gmbh & Co. Kg | Verfahren und Vorrichtung zum Bestimmen der Nullposition eines changierbaren Fadenführers |
JP2006298499A (ja) * | 2005-04-15 | 2006-11-02 | Murata Mach Ltd | 糸のトラバース装置 |
CN101513966B (zh) * | 2009-01-20 | 2012-01-11 | 常州工学院 | 线型收卷机 |
DE102009022061A1 (de) | 2009-05-20 | 2010-11-25 | Oerlikon Textile Gmbh & Co. Kg | Changiereinrichtung |
JP5368205B2 (ja) * | 2009-07-24 | 2013-12-18 | Tmtマシナリー株式会社 | トラバース装置の制御装置 |
JP5291058B2 (ja) * | 2010-08-26 | 2013-09-18 | 村田機械株式会社 | 糸の巻き取り方法とその装置 |
JP2014094786A (ja) * | 2012-11-07 | 2014-05-22 | Murata Mach Ltd | 綾振装置およびこれを備えた巻取装置 |
CZ201380A3 (cs) * | 2013-02-07 | 2014-08-27 | Rieter Cz S.R.O. | Způsob rozvádění navíjené příze a zařízení k jeho provádění |
DE102018112802A1 (de) * | 2018-05-29 | 2019-12-05 | Maschinenfabrik Rieter Ag | Verfahren zum Betreiben einer Textilmaschine sowie Textilmaschine |
WO2020182980A1 (de) * | 2019-03-14 | 2020-09-17 | Oerlikon Textile Gmbh & Co. Kg | Verfahren zur steuerung einer mehrzahl von spuleinrichtungen sowie eine textilmaschine |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NL160125C (nl) * | 1967-10-28 | 1979-09-17 | Vdo Schindling | Stapmotor met een permanent-magnetisch rotor. |
US3945581A (en) * | 1970-08-14 | 1976-03-23 | Barmag Barmer Maschinenfabrik Aktiengesellschaft | High-speed cross-winding device |
DE2935800A1 (de) * | 1979-09-05 | 1981-04-02 | Ibm Deutschland Gmbh, 7000 Stuttgart | Quantisierte geschwindigkeitssteuerung eines schrittmotors |
US4336484A (en) * | 1980-07-03 | 1982-06-22 | Textron, Inc. | Motor control |
US4437619A (en) * | 1981-05-06 | 1984-03-20 | Hall Cary | Catenary controller |
JPS63277495A (ja) * | 1987-05-09 | 1988-11-15 | Oki Electric Ind Co Ltd | ステッピングモ−タ駆動装置 |
DE3902485C2 (de) * | 1988-01-29 | 1996-04-11 | Canon Kk | Aufzeichnungsgerät |
JP2524807B2 (ja) * | 1988-04-22 | 1996-08-14 | 帝人製機株式会社 | 糸条の巻取機におけるトラバ―ス装置 |
JPH0798414B2 (ja) * | 1989-07-18 | 1995-10-25 | キヤノン株式会社 | 記録装置 |
DE8915275U1 (de) * | 1989-12-30 | 1990-02-15 | Palitex Project-Company GmbH, 47804 Krefeld | Textilmaschine mit einer oder mehreren parallel liegenden Reihen von Fadenaufwickelaggregaten |
EP0453622B1 (de) * | 1990-04-23 | 1995-02-15 | Ssm Schärer Schweiter Mettler Ag | Verfahren und Vorrichtung zum Aufwickeln eines Fadens auf eine Spule |
JPH04312400A (ja) * | 1991-04-09 | 1992-11-04 | Seikosha Co Ltd | ステップモータの逆転駆動方法 |
JP2692548B2 (ja) * | 1993-11-04 | 1997-12-17 | 村田機械株式会社 | ワインダの巻取制御方法 |
DE29616651U1 (de) * | 1996-09-25 | 1998-01-29 | C + L Textilmaschinen GmbH, 88367 Hohentengen | Wickelmaschine |
-
1998
- 1998-03-05 TW TW087103236A patent/TW492944B/zh not_active IP Right Cessation
- 1998-03-16 US US09/194,103 patent/US6008613A/en not_active Expired - Fee Related
- 1998-03-16 EP EP98916956A patent/EP0906239B1/de not_active Expired - Lifetime
- 1998-03-16 TR TR1998/02005T patent/TR199802005T1/xx unknown
- 1998-03-16 CN CN988003066A patent/CN1131839C/zh not_active Expired - Fee Related
- 1998-03-16 DE DE59800323T patent/DE59800323D1/de not_active Expired - Lifetime
- 1998-03-16 JP JP54482798A patent/JP4647043B2/ja not_active Expired - Fee Related
- 1998-03-16 WO PCT/EP1998/001504 patent/WO1998042606A1/de active IP Right Grant
Non-Patent Citations (1)
Title |
---|
See references of WO9842606A1 * |
Also Published As
Publication number | Publication date |
---|---|
CN1131839C (zh) | 2003-12-24 |
WO1998042606A1 (de) | 1998-10-01 |
JP2001516319A (ja) | 2001-09-25 |
EP0906239B1 (de) | 2000-11-02 |
TW492944B (en) | 2002-07-01 |
JP4647043B2 (ja) | 2011-03-09 |
DE59800323D1 (de) | 2000-12-07 |
CN1220641A (zh) | 1999-06-23 |
US6008613A (en) | 1999-12-28 |
TR199802005T1 (xx) | 2001-03-21 |
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