EP1057765B1 - Method and apparatus for controlling the winding of threads and the like onto rotating supports such as reels of yarn and the like - Google Patents

Method and apparatus for controlling the winding of threads and the like onto rotating supports such as reels of yarn and the like Download PDF

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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
Authority
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
Application number
EP00201890A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1057765A2 (en
EP1057765A3 (en
Inventor
Luciano Franzolini
Stefano D'amicis
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SP EL Srl
Original Assignee
SP EL Srl
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SP EL Srl filed Critical SP EL Srl
Publication of EP1057765A2 publication Critical patent/EP1057765A2/en
Publication of EP1057765A3 publication Critical patent/EP1057765A3/en
Application granted granted Critical
Publication of EP1057765B1 publication Critical patent/EP1057765B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • B65H54/2884—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
    • 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
    • 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
    • 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
    • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Winding Filamentary Materials (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Storage Of Web-Like Or Filamentary Materials (AREA)
  • Tension Adjustment In Filamentary Materials (AREA)
EP00201890A 1999-05-31 2000-05-29 Method and apparatus for controlling the winding of threads and the like onto rotating supports such as reels of yarn and the like Expired - Lifetime EP1057765B1 (en)

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
EP1057765A2 EP1057765A2 (en) 2000-12-06
EP1057765A3 EP1057765A3 (en) 2001-05-30
EP1057765B1 true EP1057765B1 (en) 2003-07-30

Family

ID=11383088

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00201890A Expired - Lifetime EP1057765B1 (en) 1999-05-31 2000-05-29 Method and apparatus for controlling the winding of threads and the like onto rotating supports such as reels of yarn and the like

Country Status (4)

Country Link
EP (1) EP1057765B1 (it)
AT (1) ATE246140T1 (it)
DE (1) DE60004134T2 (it)
IT (1) IT1312588B1 (it)

Cited By (1)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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
DE59008484D1 (de) * 1990-04-23 1995-03-23 Ssm 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
WO1999005055A1 (de) * 1997-07-26 1999-02-04 Barmag Ag Verfahren und changiereinrichtung zum verlegen eines fadens

Cited By (1)

* Cited by examiner, † Cited by third party
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
DE60004134D1 (de) 2003-09-04
DE60004134T2 (de) 2004-04-15
ITMI991213A1 (it) 2000-12-01
ATE246140T1 (de) 2003-08-15
EP1057765A2 (en) 2000-12-06
ITMI991213A0 (it) 1999-05-31
IT1312588B1 (it) 2002-04-22
EP1057765A3 (en) 2001-05-30

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