EP1057765B1 - Verfahren und Vorrichtung zum Steuern des Aufwickeln von Faden und dergleichen auf rotierenden Trägern wie Garnspulen - Google Patents
Verfahren und Vorrichtung zum Steuern des Aufwickeln von Faden und dergleichen auf rotierenden Trägern wie Garnspulen Download PDFInfo
- Publication number
- EP1057765B1 EP1057765B1 EP00201890A EP00201890A EP1057765B1 EP 1057765 B1 EP1057765 B1 EP 1057765B1 EP 00201890 A EP00201890 A EP 00201890A EP 00201890 A EP00201890 A EP 00201890A EP 1057765 B1 EP1057765 B1 EP 1057765B1
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- EP
- European Patent Office
- Prior art keywords
- speed
- torque
- motor
- thread guide
- control
- 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.)
- Expired - Lifetime
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- 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
- B65H54/2887—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 detecting the position of the yarn guide
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- 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
- B65H54/38—Arrangements for preventing ribbon winding ; Arrangements for preventing irregular edge forming, e.g. edge raising or yarn falling from the edge
- B65H54/385—Preventing edge raising, e.g. creeping arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- 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
- B65H54/38—Arrangements for preventing ribbon winding ; Arrangements for preventing irregular edge forming, e.g. edge raising or yarn falling from the edge
- B65H54/388—Preventing the yarn from falling off the edge of the package
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
- B65H2557/60—Details of processes or procedures
- B65H2557/61—Details of processes or procedures for calibrating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
Definitions
- the present invention relates to a method and an associated apparatus for controlling the winding of threads and the like onto rotating supports such as reels for weaving and the like.
- One of the most common and widely used forms of storage consists of the so-called reel, namely a cylindrical element onto which the thread is wound so as to produce a spool (or reel) which must have precisely determined characteristics - such as the diameter, weight, shape, unwinding precision and speed - which are those used for defining the greater or lesser adaptability of a certain type of reel for subsequent processing which may require a high unwinding speed or an unwinding tension which is as small as possible, or a uniform density or high volume.
- Said winding is essentially performed by fastening one end of a thread to a cylinder supporting the reel and by causing rotation of the said cylinder by means of a controlled motor; the thread is simultaneously inserted into a guiding element (thread guide) which is actuated so as to perform an alternating rectilinear movement with a trajectory parallel to the axis of the cylinder.
- stepper motors In order to achieve control of the two abovementioned parameters, solutions based on the use of stepper motors have been proposed, said motors being operated by means of controlled and programmed sequences of pulses which, varying in frequency, perform slowing down and reversal of the movement of the thread guide as well as compensation of any errors in the reversal point.
- the technical problem which is posed, therefore, is that of providing a method and an associated apparatus for controlling devices for guiding and laying yarns and the like to be wound onto cylindrical supports for forming a reel, which are able to minimize the time required for reversing the direction of movement of the thread guide, thereby overcoming the abovementioned problems associated with pulse-controlled stepper motors.
- the method and the associated apparatus should be able to control with a high degree of repeatability the precision of the thread winding reversal point and that this control should be such as to allow easy and rapid variation of the associated parameters in relation to the different types of winding required.
- an apparatus for controlling the alternating movement of a thread guide which is actuated by an electric motor via means supporting the said thread guide and is intended to wind a thread onto rotating supports, comprising an angular transducer for detecting the angular position of the rotor of the motor, a device for vectorial control of the currents supplied to the motor, and a circuit for controlling the speed of rotation of the rotor, which is connected to the angular transducer and to the vector control circuit.
- the present invention also relates to a method for controlling the alternating movement of a thread guide which is actuated by an electric motor via means supporting the said thread guide and is intended to wind a thread onto rotating supports, comprising the steps of detecting the angular position of the rotor of the motor, sending corresponding signals to a circuit controlling the currents supplied to the motor and to a circuit controlling the speed of the thread guide, vectorial control of the currents supplied to the motor and control of the speed of the thread guide.
- a spooling machine of the known type essentially comprises a spool or reel 1 which is rotationally driven by a motor 2, optionally via a drive roller (not shown), and a thread guiding device comprising a second motor 4 (in the example of the two-phase type) which is independent of the first motor and connected to a first pulley 5a of the thread guiding device 5 which also comprises a second pulley 5b and a belt 6 endlessly wound around said pulleys and supporting the cursor 6a through which the thread 7 passes.
- a second motor 4 in the example of the two-phase type
- the motor 4 is of the multiple-pole type and may be of the stepper type or so-called brushless type.
- alternating movement (Fig. 3a) is performed between two ends (reversal points) X0 and X3 which are chosen according to the programmed winding parameters and determined with reference to a predefined "absolute zero" position of the machine; as shown in Figs. 1 and 3a, in a preferred embodiment, said reversal points are both on the same side with respect to the said absolute zero Z0 which forms the reference point for the entire machine.
- said absolute zero consists of a mechanical stop (or position sensor) 8 which is arranged beyond the right-hand reversal position for winding of the thread 7.
- the apparatus 100 for controlling winding comprises a first detection device consisting of an angular transducer 110 which in the example is formed by an incremental encoder and is able to detect the angular position of the rotor 4a of the motor 4 and send corresponding electric signals to a circuit 120 for vectorial control of the currents supplied to the stator 4b of the motor 4; the same signals of the encoder 110 are also sent to a circuit 130 for controlling the speed of rotation of the motor 4.
- a first detection device consisting of an angular transducer 110 which in the example is formed by an incremental encoder and is able to detect the angular position of the rotor 4a of the motor 4 and send corresponding electric signals to a circuit 120 for vectorial control of the currents supplied to the stator 4b of the motor 4; the same signals of the encoder 110 are also sent to a circuit 130 for controlling the speed of rotation of the motor 4.
- circuit 120 for vectorial control of the currents comprises:
- the vector control circuit 120 it is possible to perform also initial phase synchronization of the device suitable for determining output, by the motor, of the maximum available torque for each angular position of the rotor.
- Said phase synchronization of the maximum torque is obtained by ensuring that the vector representing the vectorial sum of the stator magnetic fields is always perpendicular to the vector of the rotor magnetic field.
- initial phase synchronization may alternatively be implemented by means of control of the counter 121 - or its output 121b - performed by the calculation unit 133.
- the circuit 130 controlling the speed of the rotor 4a - and therefore that of the thread guide 6a - is, as mentioned, based on the encoder 110 and comprises:
- the signal 110b of the encoder 110 is also sent to the speed control and regulation device 135 which, receiving at its input:
- the vector conversion circuit is able to control both the modulus and the direction of the torque which must be output by the motor 4 in order to obtain the speed value of the thread guide required for the specific situation along the travel path of the said thread guide.
- the encoder 110 is of the incremental type, all the control is also of the incremental (i.e. non-absolute) type and, whenever the machine is switched off, memorization of the position of the thread guide 6a with respect to the absolute zero 8 of the machine is lost, said memory having consequently to be restored whenever the apparatus is switched on.
- the counter 131 is set, at each switch-on, using the following procedure:
- the operating and control apparatus 100 also comprises a circuit 140 for correcting said reversal error.
- Said circuit 140 comprises:
- the error measuring device 145 receives at its input:
- the apparatus is able to displace, with each travel stroke, the torque reversal points X2,X5 depending on the error in the reversal point detected during the previous travel stroke.
- This calculated value 141b,142b is input into the position comparator 132b which in turn provides the new torque direction signal 132b.
- This initial error is introduced specifically in order to determine two initial switching points, and hence reversal points, which are definitely located internally with respect to the two actual reversal points X0,X3, thus ensuring that the reversal error during the first rotation is definitely an underestimation error such as not to move the thread beyond the maximum dimension of the reel, with consequent breakage of said thread and blockage of the apparatus;
- the speed control device 135 will initially request the maximum torque available in order to bring the thread guide 6a, which is at a standstill, to the programmed working speed which is maintained until the thread guide reaches the predefined, right-hand, first switching point X2 which is calibrated by means of the initial error introduced by the operator and is detected by the position comparator 132 and where the said comparator 132 causes reversal of the direction, adding 180° to the actual value of ⁇ detected and sending the corresponding signal 132b to the conversion block 122.
- This reversal causes braking of the motor and hence a reduction in the speed of the thread guide which is detected by the speed control circuit which reacts by requesting greater torque in order to compensate for the slowing down effect; in this way, since the torque is directed in the opposite direction to the direction of rotation of the motor, the thread guide is brought to zero speed at the reversal point X3 where the direction of its movement is reversed, said movement thereby matching the torque which, from this point, pushes the thread guide so as to reach the programmed speed 133c for the linear return section.
- the programmed speed is reached at the point X4 where the speed control circuit reduces the required torque signal, keeping it at the minimum value necessary for maintaining the speed as far as the first left-hand reversal point X5 which is calibrated by the initial error introduced by the operator and where the torque reversal cycle and then the thread guide movement reversal cycle are repeated when the reversal point X0 is reached.
- the respective error calculation circuits 141,142 detect the underestimation of the reversal point X0,X3 and set the new value of X2,X5 which compensates for the initial error set so that, as from the second rotation, reversal of the movement occurs at the predefined reversal points less the intrinsic error of the apparatus.
- control apparatus may also comprise a position control device 150 which intervenes, in place of the speed control circuit 135, along the section respectively lying between the right-hand switching point X2 and left-hand switching point X5 and the associated reversal point X0,X3.
- said position control device comprises:
- circuit 152 is able to perform the following:
- the position control device causes a short slowing down transient for the thread guide which allows the correction of any imprecision accumulated during the travel thereof, which is controlled only in terms of speed, as well as attainment of the programmed reversal point with a high degree of precision.
- the control device 133 again switches the switch 151 to the speed control device 135 which, finding a zero speed, instantaneously recalls the maximum torque value so as to adjust as rapidly as possible the speed of the thread guide to the programmed travel speed and resume normal control of the thread guide.
- the apparatus may comprise a second encoder 210 which is located between the reel 1 and the calculation unit 133 and by means of which it is possible to control the speed of the thread guide according to the speed of the reel and/or another parameter external to the control apparatus, so as to produce windings of a special type. It is therefore obvious how, with the apparatus according to the invention, it is possible to reverse the direction of the torque when the speed of the thread guide is still at a maximum level, thereby achieving a reduction in the time required for reversal of the thread guide movement; moreover, with the speed control system according to the invention it is possible to limit the current supplied to the motor to the minimum value required, limiting the dissipation phenomena and therefore wear of the said motor.
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Winding Filamentary Materials (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Tension Adjustment In Filamentary Materials (AREA)
- Storage Of Web-Like Or Filamentary Materials (AREA)
Claims (40)
- Vorrichtung zum Steuern der alternierenden Bewegung eines Fadenführers (6a), der mit einem Elektromotor (4) über den Fadenführer abstützende Mittel (5a, 5b, 6) betätigt wird und einen Faden (7) auf umlaufende Träger (1) aufwickeln soll,
dadurch gekennzeichnet, dass sieeinen Winkelgeber (110) zum Feststellen der Winkellage des Läufers (4a) des Motors (4);eine Anordnung (120) zur Vektorsteuerung der dem Motor (4) zugeführten Ströme undeinen Schaltkreis (130) zum Regeln der Drehzahl des Läufers (4a), der mit dem Winkelgeber (110) und dem Vektorsteuerkreis (120) verbunden ist, - Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass der Winkelgeber (110) ein Codierer ist.
- Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass der Winkelgeber ein inkrementeller Geber ist.
- Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Anordnung zur Vektorsteuerung der Ströme mindestens einen bidirektionalen Zähler (21) zum Zählen und Speichern der Impulse (110b) des Winkelgebers (110) aufweist.
- Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Anordnung zur Vektorsteuerung der Ströme mindestens einen Vektorumwandlungsschaltkreis aufweist, der aus einem Umwandlungsblock (122) und mindestens einem Paar Multiplizierer (123), die ein Eingangssignal von einem Drehzahlregelungsschaltkreis (135) empfangen, besteht.
- Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Anordnung zur Vektorsteuerung der Ströme Mittel (124) zum Umschalten von einem normalen Betriebszustand (A) zu einem Anfangsphasensynchronisationszustand (B) aufweist.
- Vorrichtung nach den Ansprüchen 1 und 6, dadurch gekennzeichnet, dass bei vorliegender Phasensynchronisation der Zähler (121) auf einen Wert gesetzt wird, der einer Phasenverschiebung von 90° zwischen dem Vektor, der die Vektorsumme der Magnetfelder des Ständers verkörpert, und dem Vektor des Magnetfelds des Läufers (4a) entspricht.
- Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass der Drehzahlregelungsschaltkreis (130) mindestens einen bidirektionalen Zähler (131) zum Zählen und Speichern der Impulse (110b) des Winkelgebers (110) aufweist.
- Vorrichtung nach Anspruch 8, dadurch gekennzeichnet, dass der Drehzahlregelungsschaltkreis einen Bewegungsrichtungsdetektor (134) und einen Lagekomparator (132) aufweist, der ein Richtungssignal (132b) für das auszugebende Drehmoment erzeugen kann, das an den Eingang des Vektorsteuerungs-Umwandlungsblocks (122) gesendet wird.
- Vorrichtung nach Anspruch 8, dadurch gekennzeichnet, dass sie einen Drehzahlregler (135) aufweist, der so ausgelegt ist, dass er das Signal (132b) ausgibt, das den Modul des dem Motor (4) zugeführten Stroms regelt.
- Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass sie einen Schaltkreis (140) zum Feststellen und Kompensieren des Fehlers am rechten Umkehrpunkt (X0) und am linken Umkehrpunkt (X3) aufweist.
- Vorrichtung nach Anspruch 11, dadurch gekennzeichnet, dass der Fehlerkompensationsschaltkreis mindestens ein Paar Rechenwerke (141, 142) aufweist, die so ausgelegt sind, dass sie die nachfolgenden Drehmoment-Umkehrpunkte (X2, X5) berechnen und entsprechende Signale (141b, 142b) ausgeben, die an den Komparator (132) gesendet werden sollen.
- Vorrichtung nach Anspruch 12, dadurch gekennzeichnet, dass sie eine Anordnung zum Messen des rechten und linken Fehlers (145) und mindestens eine Einheit zum Speichern dieses Fehlers (143) aufweist.
- Vorrichtung nach Anspruch 13, dadurch gekennzeichnet, dass die Anzahl der Speicheranordnungen zwei ist (143, 144).
- Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass sie einen Lageregelkreis (150) aufweist, der die Bedingungen für die Annäherung an den Umkehrpunkt modifizieren kann.
- Vorrichtung nach Anspruch 15, dadurch gekennzeichnet, dass der Lageregelkreis Mittel (151) zum Aktivieren der Lageregelung und zum Deaktivieren der Drehzahlregelung und umgekehrt und einen Drehmomentregler (152) aufweist.
- Vorrichtung nach Anspruch 16, dadurch gekennzeichnet, dass der Drehmomentregler (152) an seinem Eingang das Signal (131b) des Lagezählers (131), ein Bezugssignal (133f), das dem programmierten Umkehrpunkt (X0, X3) entspricht, und ein Signal (135f), das die aktuelle Drehzahl des Fadenführers angibt, empfängt und ein den Modul des Drehmoments angebendes Signal (152b) ausgibt, das an den Vektorsteuerkreis gesendet werden soll.
- Vorrichtung nach Anspruch 17, dadurch gekennzeichnet, dass das Signal (152b), das von dem Regler (152) ausgegeben wird, eine Funktion der Differenz (D) zwischen dem programmierten Umkehrpunkt und der aktuellen Position ist.
- Vorrichtung nach Anspruch 17, dadurch gekennzeichnet, dass das Signal (152b), das von dem Regler (152) ausgegeben wird, eine Funktion der Drehzahldifferenz (δV) zwischen der programmierten Drehzahl und der an der aktuellen Position festgestellten Drehzahl ist.
- Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass sie einen zweiten Winkelgeber (120) aufweist, der zwischen der Haspel (1) und dem Rechenwerk (133) angeordnet ist.
- Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass der Motor (4) ein mehrpoliger Motor ist.
- Vorrichtung nach Anspruch 21, dadurch gekennzeichnet, dass der Motor ein Schrittmotor ist.
- Verfahren zum Steuern der alternierenden Bewegung eines Fadenführers (6a), der mit einem Elektromotor (4) über den Fadenführer abstützende Mittel (5a, 5b, 6) betätigt wird und einen Faden (7) auf umlaufende Träger (1) aufwickeln soll,
dadurch gekennzeichnet, dass es die SchritteFeststellen der Winkellage des Läufers (4a) des Motors (4) über zugehörige Mittel (110);Senden entsprechender Signale an einen Schaltkreis (120), der die dem Motor (4) zugeführten Ströme regelt, und an einen Schaltkreis (130), der die Drehzahl des Fadenführers regelt;Vektorsteuerung der dem Motor zugeführten Ströme undRegelung der Drehzahl des Fadenführers (6a) - Verfahren nach Anspruch 23, dadurch gekennzeichnet, dass das Feststellen der Winkellage des Läufers (4a) des Motors (4) mit einem Winkelgeber (110) durchgeführt wird.
- Verfahren nach Anspruch 24, dadurch gekennzeichnet, dass der Geber (110) ein inkrementeller Geber ist.
- Verfahren nach Anspruch 23, dadurch gekennzeichnet, dass es die SchritteZählen und Speichern der die Winkellage des Läufers betreffenden Signale;Erzeugen entsprechender Zählsignale;Vektorumwandlung der Zählsignale;Multiplizieren der umgewandelten Signale mit einem von dem Drehmomentwertregler bestimmten Wert;Leistungsverstärkung der durch die Multiplikation erhaltenen Stromwerte undSenden der verstärkten Signale an den Motor
- Verfahren nach Anspruch 23, dadurch gekennzeichnet, dass es einen Anfangsphasensynchronisationsschritt zur relativen Orientierung des Vektors, der die Vektorsumme der Magnetfelder des Ständers verkörpert, und des Vektors des Magnetfelds des Motorläufers aufweist.
- Verfahren nach Anspruch 27, dadurch gekennzeichnet, dass die relative Orientierung eine 90°-Phasenverschiebung der Vektoren vorsieht.
- Verfahren nach Anspruch 28, dadurch gekennzeichnet, dass die Phasenverschiebung für jeden Punkt entlang der Winkeltrajektorie des Läufers aufrechterhalten wird.
- Verfahren nach Anspruch 27, dadurch gekennzeichnet, dass die Anfangsphasensynchronisation die SchritteZuführen von Strömen zu den Ständerphasen, sodass ein Ständerfeld entsteht, das in einem vorgegebenen Winkel orientiert ist;eine bestimmte Zeit lang Warten;Setzen des Zählers auf eine Zahl, die einem vorgegebenen Winkel des Ständerfelds entspricht; undErhöhen dieser Zahl um einen Wert, der einer Phasenverschiebung von 90° entspricht, vorsieht.
- Verfahren nach Anspruch 23, dadurch gekennzeichnet, dass das Regeln der Drehzahl des Fadenführers die SchritteZählen und Speichern der Impulse, die die Lage des Fadenführers verkörpern;Bestimmen der Bewegungsrichtung des Fadenführers;Vergleichen des Zählwerts der aktuellen Position des Fadenführers mit dem programmierten Wert;Senden von Drehmomentrichtungssignalen an die Anordnung zur Vektorsteuerung der Ströme;Erzeugen eines Signals, das den Modul des Drehmoments angibt, das für den aktuellen Trajektorie-Abschnitt erforderlich ist; undSenden des den Modul des Drehmoments angebenden Signals an den Schaltkreis zur Vektorsteuerung der Ströme
- Verfahren nach Anspruch 31, dadurch gekennzeichnet, dass die Drehzahlregelung einen Anfangsnullsuchschritt vorsieht.
- Verfahren nach Anspruch 32, dadurch gekennzeichnet, dass die Nullsuche die SchritteReduzieren des Drehmoments und der Drehzahl des Motors auf einen vorgegebenen Wert;Verschieben des Fadenführers zu einer Position, die dem absoluten Nullpunkt der Maschine entspricht;Rücksetzen des Fadenführerpositionszählers;Verschieben des Fadenführers zu einer Taktausgangsposition undRücksetzen des Motorstroms und -drehmoments
- Verfahren nach Anspruch 23, dadurch gekennzeichnet, dass es eine Fehlerkorrektur des Umkehrpunkts der Fadenführerbewegung aufweist.
- Verfahren nach Anspruch 34, dadurch gekennzeichnet, dass die Fehlerkorrektur die SchritteFeststellen und Messen des Fehlers am aktuellen rechten und linken Drehzahl-Umkehrpunkt;getrenntes Speichern des rechten und linken Fehlers;Berechnen des jeweiligen nachfolgenden Drehmoment-Umkehrpunkts undSenden des berechneten Umkehrpunkts an das System zum Vergleichen des aktuellen Werts mit dem programmierten Wert
- Verfahren nach Anspruch 35, dadurch gekennzeichnet, dass das Berechnen des neuen Drehmoment-Umkehrpunkts aufgrund des programmierten Werts und des Fehlers erfolgt, der bei der vorangehenden Bewegung festgestellt und gespeichert worden ist.
- Verfahren nach Anspruch 23, dadurch gekennzeichnet, dass es eine Lageregelung entlang dem Abschnitt aufweist, der zwischen dem Drehmoment-Umkehrpunkt und dem Bewegungs-Umkehrpunkt liegt.
- Verfahren nach Anspruch 37, dadurch gekennzeichnet, dass die Lageregelung die SchritteFeststellen des Drehmoment-Umkehrpunkts;Deaktivieren der Drehzahlregelung;Aktivieren der Lageregelung;Feststellen der programmierten Position für den Drehzahl-Umkehrpunkt;Feststellen der aktuellen Position;Berechnen der Differenz zwischen den beiden Positionen, d. h. der programmierten Position und der aktuellen Position; undBestimmen des auszugebenden Drehmomentwerts
- Verfahren nach Anspruch 38, dadurch gekennzeichnet, dass das Bestimmen des auszugebenden Drehmomentwerts eine Funktion der Differenz zwischen den beiden Positionen ist.
- Verfahren nach Anspruch 38, dadurch gekennzeichnet, dass das Bestimmen des auszugebenden Drehmomentwerts eine Funktion der berechneten Differenz zwischen der programmierten Drehzahl und der aktuellen Drehzahl an der Position der Differenz zwischen den beiden Positionen ist.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IT1999MI001213A IT1312588B1 (it) | 1999-05-31 | 1999-05-31 | Procedimento e apparecchiatura per il controllo dell'avvolgimento difili e simili su supporti rotanti quali rocche di filati e simili. |
ITMI991213 | 1999-05-31 |
Publications (3)
Publication Number | Publication Date |
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EP1057765A2 EP1057765A2 (de) | 2000-12-06 |
EP1057765A3 EP1057765A3 (de) | 2001-05-30 |
EP1057765B1 true EP1057765B1 (de) | 2003-07-30 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP00201890A Expired - Lifetime EP1057765B1 (de) | 1999-05-31 | 2000-05-29 | Verfahren und Vorrichtung zum Steuern des Aufwickeln von Faden und dergleichen auf rotierenden Trägern wie Garnspulen |
Country Status (4)
Country | Link |
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EP (1) | EP1057765B1 (de) |
AT (1) | ATE246140T1 (de) |
DE (1) | DE60004134T2 (de) |
IT (1) | IT1312588B1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7111804B2 (en) | 2001-09-03 | 2006-09-26 | Sp. El. S.R.L. | Device and apparatus with magnetic thread-guide for winding a thread onto cylindrical supports |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
JP5297291B2 (ja) * | 2009-07-24 | 2013-09-25 | Tmtマシナリー株式会社 | ベルト式トラバース装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
EP0453622B1 (de) * | 1990-04-23 | 1995-02-15 | Ssm Schärer Schweiter Mettler Ag | Verfahren und Vorrichtung zum Aufwickeln eines Fadens auf eine Spule |
JP3430769B2 (ja) * | 1996-01-31 | 2003-07-28 | 松下電器産業株式会社 | 電流指令型pwmインバータ |
TW492944B (en) * | 1997-03-20 | 2002-07-01 | Barmag Barmer Maschf | Traversing device and method for controlling a traversing device |
DE59810677D1 (de) * | 1997-07-26 | 2004-03-04 | Barmag Barmer Maschf | Verfahren und changiereinrichtung zum verlegen eines fadens |
-
1999
- 1999-05-31 IT IT1999MI001213A patent/IT1312588B1/it active
-
2000
- 2000-05-29 EP EP00201890A patent/EP1057765B1/de not_active Expired - Lifetime
- 2000-05-29 DE DE60004134T patent/DE60004134T2/de not_active Expired - Lifetime
- 2000-05-29 AT AT00201890T patent/ATE246140T1/de not_active IP Right Cessation
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7111804B2 (en) | 2001-09-03 | 2006-09-26 | Sp. El. S.R.L. | Device and apparatus with magnetic thread-guide for winding a thread onto cylindrical supports |
Also Published As
Publication number | Publication date |
---|---|
ITMI991213A0 (it) | 1999-05-31 |
DE60004134T2 (de) | 2004-04-15 |
DE60004134D1 (de) | 2003-09-04 |
ITMI991213A1 (it) | 2000-12-01 |
ATE246140T1 (de) | 2003-08-15 |
EP1057765A2 (de) | 2000-12-06 |
IT1312588B1 (it) | 2002-04-22 |
EP1057765A3 (de) | 2001-05-30 |
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