EP1446520A1 - Procede de pilotage d'un moteur electrique integre dans un dispositif de bobinage de fil - Google Patents
Procede de pilotage d'un moteur electrique integre dans un dispositif de bobinage de filInfo
- Publication number
- EP1446520A1 EP1446520A1 EP02801931A EP02801931A EP1446520A1 EP 1446520 A1 EP1446520 A1 EP 1446520A1 EP 02801931 A EP02801931 A EP 02801931A EP 02801931 A EP02801931 A EP 02801931A EP 1446520 A1 EP1446520 A1 EP 1446520A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- motor
- values
- voltage
- current system
- winding
- 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
-
- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01H—SPINNING OR TWISTING
- D01H1/00—Spinning or twisting machines in which the product is wound-up continuously
- D01H1/14—Details
- D01H1/20—Driving or stopping arrangements
- D01H1/24—Driving or stopping arrangements for twisting or spinning arrangements, e.g. spindles
- D01H1/244—Driving or stopping arrangements for twisting or spinning arrangements, e.g. spindles each spindle driven by an electric motor
-
- 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
- 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 the general field of controlling electric motors for obtaining cyclic and repetitive movements, and used under operating conditions (loads, inertias, resistant forces) reproducible from one cycle to the next.
- the invention relates more particularly to the field of the textile industry, and more precisely to the machines used in the context of the production or the transformation of textile threads.
- the invention therefore relates to the control of the electric motor which is associated with the guide member integrated in the winding device and more specifically relates to a method of driving this motor which ensures high regularity of the winding characteristics, using electronic simplified and reliable control system.
- the guide member or wire guide, is moved in a reciprocating movement opposite the coil on which the wire will be wound.
- the wire guide can be mounted directly on the movable part of the motor, either at the end of a rod acting like that of a jack, or even on the carriage also called “slider". It is also possible to design a wire guide which is directly integrated into the linear motor, and therefore actuated by the driving force of the motor.
- the movement used for depositing the wire on the spool is a reciprocating back and forth movement, comprising periods during which the speed of movement is constant. These periods at constant speed are separated by reversal periods, which must be as short as possible in order to avoid accumulating too much wire in the ends of the coil.
- the cusp point must however be extremely precise, so that the layers of wire are perfectly superimposed, and that the sides of the coil do not have irregularities in the form of stairs, or defects most generally called "dropped ends" .
- the movement of the thread guide simultaneously and jointly requires a control of the force of the motor, which determines the reversal speed and a control of the position of the mobile part of the motor.
- Stepper-type motors operate on the principle that each combination of coil supply corresponds to a stable position of the motor, and that a cyclic switching sequence makes it possible to move from stable position to stable position. From a known position of origin, and within the limit of the maximum torque and motive force admissible by the motor, it is then possible to impose the desired displacements simply by applying a predetermined switching sequence. This switching sequence, and therefore of steps, makes it possible to control the successive positions of the motor.
- the management of currents in a motor makes it possible to obtain the torque or motive force presupposed necessary for the execution of these sequences.
- the execution of the step is not necessarily subject to real-time control.
- a simple detector or possibly the signal from an encoder or a resolver is most often used to check that the motor has correctly carried out the steps which have been imposed on it.
- the process is therefore relatively simple, but of limited performance, because the currents supported by a motor are relatively low.
- the use of this type of motor necessarily limits the positioning accuracy to the pitch of the motor.
- motors made up of fixed or mobile coils, placed around the cores, are most often supplied by a supply device, generally three-phase, which makes it possible to create a continuously variable magnetic field in phase and intensity, by application of a voltage or current on the motor coils.
- These coils are generally three in number (or 6) when the supply device operates in three phase.
- the couple or the force driving force is determined by the phase shift between the position of the moving part and the magnetic field thus created.
- the movable part of the motor can be either the rotor when it is a rotary motor, or the slide carriage when it is a linear motor.
- These motors made up of a plurality of generally mobile coils, immersed in a constant magnetic field, are most often supplied by a supply device which makes it possible to create, in each coil, Laplace forces which can be controlled in orientation and in intensity. The total torque or force is then the result (addition) of the torques or forces received by each coil, which depend on the relative position of each with respect to the local magnetic field.
- control of these two types of motor is carried out by continuously analyzing the position of the movable part and applying to the winding the appropriate combination of feeds to create the driving force or the desired torque.
- This control requires the use of a means for precisely locating the position of the movable part, whether it is the rotor of a rotary motor, or the slider of a linear motor.
- a set of position or magnetic field sensors is used, which detect, for example, the passage of the poles magnetic parts, which trigger the switching of the power supply device accordingly.
- a microprocessor-based control circuit develops, as a function of the parameters specific to the winding, a setpoint of positions of the wire guide as a function of time.
- This type of detectors commonly called encoders or resolvers, are generally arranged on the movable part of the motor, the shaft of the rotary motor or the carriage of the linear motor, or even possibly on the mechanism driven by the motor.
- Signals from these sensors are taken into account by the closed-loop servo system, which provides the motor, in real time, with correction orders based on the errors observed between the setpoint received and the actual position.
- control of the motor then results from the combination on the one hand, of control means on the precise position sensors arranged on the controlled mechanism, and on the other hand, motor-specific switching means, themselves controlled by sensors internal to the motor.
- Another operating principle is also known, which uses more sophisticated control circuits, which uses a single high-precision sensor, directly placed on the moving part of the engine. These control circuits provide, overall, the position control from the setpoint developed elsewhere, as well as the switching sequences specific to the operation of the motor. Piloting then results from the combination of two distinct algorithms, a first servo algorithm, and a second switching algorithm. These two algorithms operate on the basis of signals from the same very high precision sensor.
- the problem which the invention proposes to solve is to obtain good stability in driving the engine, which makes it possible both to ensure excellent positioning accuracy of the moving part of the motor and varying the speed of the motor very quickly at the cusp points.
- This motor is controlled in order to impose a back-and-forth movement on a guide member itself integrated in a device for winding a wire.
- the voltage or current system is directly developed from information representative of the position of the movable part of the motor, according to a function or values predefined from the parameters of the winding device, and independently of the temporal variations of this position information.
- control in accordance with the invention is original in that it does not include a control loop in real time, but proceeds by developing and then cyclically executing a predetermined control sequence.
- a voltage and / or current law to be applied to the motor coils according to its position is established beforehand, as a function of the winding parameters, so that the latter provides, at each position, the torques or forces and therefore the accelerations which generate the desired movement.
- This predetermined law therefore gives the voltages and / or currents to be applied in each coil, and this at each position or angle of the motor.
- a sensor of the encoder or resolver type is used, sufficiently precise, to know the exact position of the mobile part with respect to the fixed part.
- the measurements of this sensor are directly interpreted by a computer to determine at this position, what voltage (and / or current) must be applied to the motor winding to provide the predetermined forces and accelerations.
- the torques or forces and accelerations thus created cause the movement of the motor, said movement then being detected by the sensors.
- the detection of the successive positions which are linked, thus creates the appropriate voltage and / or current control sequences to be applied in the motor windings.
- the voltage and / or current system adopts predetermined values for each value of the position of the mobile part.
- the predetermined values of the voltage or current system can be calculated from programmed parametric mathematical formulas giving the value to be applied as a function of the position of the moving part and of the winding parameters (stroke, crossing angle,. ..).
- These predetermined values can also be read in tables as illustrated in FIGS. 6 and 7 and in these particular cases, the values of the system of voltage or current can be interpolated between two values of successive positions.
- the predetermined values of the voltage or current system may be modified from one cycle to the next, depending on the evolution of the parameters of the winding device during operation.
- the position of the mobile part it is possible to record the successive values of the position of the mobile part, then to compare these with the theoretical values, by measuring a difference.
- the values of the voltage or current system can then be corrected to reduce this deviation from the theoretical cycle.
- the use of the measurements from the position sensor makes it possible to check whether there are differences between the cycle actually obtained and the desired cycle. It is then possible to make any corrections to the predetermined values, in order to bring the real trajectory closer to the optimal trajectory, with a view to the next cycle.
- control can be associated with means for monitoring the current flowing in the coils.
- the supply device can be inhibited in the case where the current values flowing through the windings are greater than a predetermined threshold. It is also possible to monitor the sequence times between successive stages, possibly in combination with monitoring of the current flowing in the coils.
- the detection of an anomaly can trigger the specific safety release sequences, or even a cut in the electrical supply to the coils.
- the voltage or current values applied to the coils can adopt two predetermined values, namely the nominal value of a DC power source, and a zero value.
- the coils therefore receive voltage slots during a fraction of the cycle.
- the voltage or current values can adopt values chosen continuously between a zero value and the nominal value of a DC power source, by applying a signal modulated in width d 'impulse. In this way, it is possible to apply to each coil a voltage value which ensures better control of the torque, and better efficiency of the motor.
- FIG. 1 is a general diagram illustrating the interactions between the different elements involved in the process according to the invention.
- FIG. 2 is a detailed diagram illustrating the various exchanges of information between the motor, the encoder and the control stage.
- - Figure 3 is a diagram illustrating the control stage of the various static switches used to power the motor windings.
- FIG. 4 is an electrical diagram of a circuit monitoring overcurrents of a motor winding.
- FIG. 5 is a flowchart illustrating the principle of the control method according to the invention.
- FIGS. 8 and 9 are diagrams illustrating the evolution with the positions of the engine of different signals used during the control process, and for both directions of rotation of the engine.
- the invention relates to a method for controlling an electric motor operating in a similar fashion to a brushless type motor which is incorporated in a winding device fitted to a textile machine.
- the piloting method according to the invention implements various elements as illustrated in FIG. 1, in which the motor (1), the electric power supply device (2) of the motor, a control unit can be identified / command (3) and a module (4) for monitoring overcurrents.
- the supply device (2) is connected to the three windings (6,7,8) of the motor, so as to deliver voltages or currents to each of the phases of the motor.
- the supply device delivers its voltages to the motor as a function of the control orders received from the control / command unit (4).
- the control unit (4) comprises a microprocessor in its widest expression, including digital signal processing (DSP) processors.
- DSP digital signal processing
- This control / command unit (4) receives information (10) from the motor, and more precisely from an encoder (11) making it possible to determine the position of the mobile part of the motor.
- the supply device (2) also generates information (12) relating to the intensity of the current flowing through each winding (6-8), intended for the current monitoring module (4).
- the information on the position of the rotor is given by the encoder (1 1) which comprises in the illustrated example 250 notches.
- the encoder (1 1) comprises two sensors (13,14) each offset by the space of a half-notch, so as to deliver two phase-shifted signals, the combination of which makes it possible to determine the direction of rotation of the encoder.
- the encoder (11) also includes another sensor (5) delivering a particular signal when it is located with regard to a specific notch, signifying that the encoder has completed one complete revolution.
- the motor (1) has three identical windings (6,7,8), connected to a common point.
- Each of the windings (6-8) has a terminal connected to the power supply device (2), itself controlled by six signals (Phi, Ph2, Ph3, NalPl, NalP2, NalP3) to which is associated a pulse width modulation (PWM) signal.
- PWM pulse width modulation
- the power supply device (2) comprises electronic power components (17), of the MOSFET or IGBT type, controlled by an appropriate module (18). Each of these modules receives different signals from the Phi control / command unit.
- the polarity setpoint (+ or -) ValPl is a logic validation signal authorizing the application of the PWM to the power stage.
- such a circuit (20) compares the signal (21) delivered by a current sensor not shown, with a predetermined threshold. When this measured value exceeds the threshold, a specific signal (22) is generated by a comparator (23) which is then processed by the supply device, for example to maintain the various static switches in a non-conductive position.
- the piloting method according to the invention is partly illustrated in FIG. 5, in which it can be observed that the encoder (11) delivers information (25) making it possible to determine the position of the movable part of the motor.
- This position developed by the control / command unit (4) is analyzed by including the determination of the direction of rotation.
- a computer included in the control / command unit, thus determines the different voltage values (26) which can be applied to the winding, when the mobile part is in a determined position.
- the values of these different voltages are then processed by the control / command unit of so as to generate the signals necessary for the supply device (2), so that the latter delivers the determined voltages.
- the voltages thus applied therefore generate the appropriate forces or torques so that the movable part of the motor moves by the distance or the angle provided.
- the new position of the mobile part is then again determined by the sensor, to allow the application of a new series of voltages.
- the resolution of the resolver must be determined according to the desired winding precision.
- a specific task (30) can be implemented to modify the voltage values to be assigned for each position of the mobile part.
- this function (30) can be intended to adapt to new winding parameters, for example to the evolution of these parameters during winding.
- winding of conical coils which requires the reduction of the travel of the wire.
- This correction can also be the subject of a self-adaptive treatment which makes it possible to compensate for certain drifts, for example wear of parts, temperature rises or other phenomena modifying the physical characteristics of the winding device.
- FIGS. 6 and 7 give an example of a table bringing together the different voltage values to be applied to the winding as a function of the position of the encoder.
- the position values P are given taking into account that the signal from the encoder has 1000 transitions / complete revolution, which means that, in the example presented, the reversal of direction, corresponding to step 40, occurs substantially after three full engine rotation turns.
- the unfilled boxes correspond to periods when the corresponding coil is not supplied (the corresponding NalPos signal is then set to zero to block the transmission of the PWM).
- this table includes lines identifying the positions located beyond the cusp, typically the steps referenced 39 and 390 in the forward direction of FIG. 6, and step -1 of the return sequence. The execution of these steps depends on the ability of the system to reverse the direction of operation, they are therefore typically linked to the mechanical inertia of the system.
- control algorithm monitors the reverse phase by detecting a return of the encoder to a previously detected position. He then proceeds to explore the table to sweep the instructions relating to the return movement.
- Figures 8 and 9 illustrate the variation of the different signals sent to the supply device, depending on the position of the movable part of the engine.
- the invention is also not limited to motors operating on a three-phase supply, but it can on the contrary be generalized to polyphase motors, although these are less frequent on the market.
- the driving principle according to the invention can also be applied to linear motors.
- the sensor used to determine the position of the movable part of the engine operates on a different mechanical profile, but functionally equivalent.
- the piloting method according to the invention has multiple advantages among which one can cite the concern of ensuring very great piloting stability, while remaining compatible with high precision in the engine speed. in phases at constant speed, and very high speed and position accuracy for the cusp phases.
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Linear Motors (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Electric Motors In General (AREA)
- Tension Adjustment In Filamentary Materials (AREA)
- Spinning Or Twisting Of Yarns (AREA)
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0114072A FR2831350B1 (fr) | 2001-10-24 | 2001-10-24 | Procede de pilotage d'un moteur electrique integre dans un dispositif de bobinage de fil |
FR0114072 | 2001-10-24 | ||
PCT/FR2002/003399 WO2003035950A1 (fr) | 2001-10-24 | 2002-10-07 | Procede de pilotage d'un moteur electrique integre dans un dispositif de bobinage de fil |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1446520A1 true EP1446520A1 (fr) | 2004-08-18 |
EP1446520B1 EP1446520B1 (fr) | 2006-11-29 |
Family
ID=8868911
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP02801931A Expired - Lifetime EP1446520B1 (fr) | 2001-10-24 | 2002-10-07 | Procede de pilotage d'un moteur electrique integre dans un dispositif de bobinage de fil |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP1446520B1 (fr) |
AT (1) | ATE346968T1 (fr) |
DE (1) | DE60216500D1 (fr) |
FR (1) | FR2831350B1 (fr) |
WO (1) | WO2003035950A1 (fr) |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
IL90789A0 (en) * | 1988-08-05 | 1990-01-18 | Rieter Ag Maschf | Textile machine with drawframes |
US5202610A (en) * | 1991-08-30 | 1993-04-13 | Platt Saco Lowell | Method and apparatus for yarn end-down detection in a textile yarn winding machine |
DE69917517T2 (de) * | 1998-03-13 | 2005-06-30 | Murata Kikai Kabushiki Kaisha | Textilmaschine mit Einzelspindelantrieb |
DE19914865A1 (de) * | 1999-04-01 | 2000-10-05 | Schlafhorst & Co W | Vorrichtung zum Überwachen des auf ein kurvenscheibengesteuertes Aggregat einer Maschine, insbesondere einer Textilmaschine übertragenen Drehmoments |
-
2001
- 2001-10-24 FR FR0114072A patent/FR2831350B1/fr not_active Expired - Fee Related
-
2002
- 2002-10-07 AT AT02801931T patent/ATE346968T1/de not_active IP Right Cessation
- 2002-10-07 WO PCT/FR2002/003399 patent/WO2003035950A1/fr active IP Right Grant
- 2002-10-07 EP EP02801931A patent/EP1446520B1/fr not_active Expired - Lifetime
- 2002-10-07 DE DE60216500T patent/DE60216500D1/de not_active Expired - Lifetime
Non-Patent Citations (1)
Title |
---|
See references of WO03035950A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2003035950A1 (fr) | 2003-05-01 |
DE60216500D1 (de) | 2007-01-11 |
ATE346968T1 (de) | 2006-12-15 |
EP1446520B1 (fr) | 2006-11-29 |
FR2831350A1 (fr) | 2003-04-25 |
FR2831350B1 (fr) | 2007-08-10 |
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