EP1958905B1 - Procédé et dispositif destinés à la compensation de friction - Google Patents

Procédé et dispositif destinés à la compensation de friction Download PDF

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Publication number
EP1958905B1
EP1958905B1 EP08001878A EP08001878A EP1958905B1 EP 1958905 B1 EP1958905 B1 EP 1958905B1 EP 08001878 A EP08001878 A EP 08001878A EP 08001878 A EP08001878 A EP 08001878A EP 1958905 B1 EP1958905 B1 EP 1958905B1
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EP
European Patent Office
Prior art keywords
winding
compensation
friction
control
regulating device
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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.)
Not-in-force
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EP08001878A
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German (de)
English (en)
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EP1958905A2 (fr
EP1958905A3 (fr
Inventor
Christoph Müller
Hans-Jürgen DÖRES
Stephan Schultze
Reiner Klüspies
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Robert Bosch GmbH
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Robert Bosch GmbH
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Publication of EP1958905A3 publication Critical patent/EP1958905A3/fr
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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
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/195—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations

Definitions

  • the invention relates to a method for friction compensation in a winding machine, with which a material is wound onto a winding drum, wherein the winding drum is driven by a winding drive, which is driven by a control / regulating device, wherein in the control / regulating a drive torque of Winding drive is specified, wherein in a Reibkompensationshim as an input-side process parameters, an angular velocity of the winding drum is taken into account.
  • the invention further relates to a device for friction compensation in a winding machine, with which a material is wound on a winding drum, wherein the winding drum is driven by a winding drive, which is controllable with a control / regulating device, wherein in the control / regulating device a tension regulator and a diameter-calculating unit and / or a Reibkompensationshim for linearization of the tension controller are arranged, wherein in the friction compensation unit as an input-side process parameter, an angular velocity of the winding drum is switched on.
  • Winding machines for winding sheet-like materials such as fibers, paper, films, fabrics, thin sheets, etc., or wire-like or yarn-like materials are well known in the literature. Characteristic of such machines is an exact control of the tension during the winding process to avoid uneven or faulty winding results. A number of documents are therefore concerned with the engine control for the drives in such machines.
  • a control device for a winding machine with which the tension is regulated at a running from a feed roller to a take-up spindle product.
  • the controller includes a high speed response speed ratio controller for accurately controlling the respective rotational speeds of a feed motor for driving the feed roller and a winding motor for driving the takeup spindle during deceleration of the winding machine. This can be achieved that the product is kept under tension, which is substantially equal to a predetermined tension for the steady operation. With the control device required for stopping the winding machine time is reduced to the minimum.
  • the winding machine has friction compensation means configured to compensate for first friction components by means of an adjustable value and to compensate second friction components in proportion to an angular velocity of the mandrel.
  • Winding machines are usually realized with torque or current-limited speed control.
  • the value for the limitation of the torque or the current is composed of several components. These are the moment component for the tensile stress, the moment component for the acceleration and the friction torque.
  • control / regulating devices of the winding machines which are also referred to as winding computer, therefore, also consist of several functional elements that calculate the various instantaneous portions of the drive and drive according to the winding drive.
  • today's winding calculator usually still have a diameter computing unit, possibly an acceleration compensation unit and a Reibkompensationshow, which serve to linearize the controlled system for the actual tension controller of the winding computer to a to carry out as far as possible interference-independent control.
  • the individual components in the winding computer are loaded on the input side with different process parameters, which are partially detected by corresponding sensors in the winding machine or calculated by means of models.
  • the object relating to the method is achieved by using a winding mass and / or a temperature and / or a roller contact pressure and / or a motor or winding angle actual value as additional input-side process parameters to compensate for the friction torque.
  • both winding mass-dependent friction, contact-pressure-dependent friction, position-dependent friction and temperature-dependent friction effects can be taken into account.
  • a different drive torque may be required by the contact pressure of an optional pressure roller.
  • Position-dependent friction can occur, for example, due to intermeshing gears, in which the friction over the circumference is not constant. This is particularly the case with a coarse pinion pitch (i.e., low number of gear teeth).
  • This friction can occur on the motor side, on the load side (winding) or else somewhere within a gearbox between the motor and the load. Temperature-dependent friction can occur, for example when using timing belt as a translation link between the engine and the winding. At higher load, in particular, the friction of this belt is temperature-dependent, since this is heated, which in turn can result in a change in friction. Warming usually causes elongation of the toothed belt, which can then result in less friction, as the toothed belt tension decreases during elongation.
  • the drive torque of the winding drive is specified.
  • a more accurate specification of the drive torque can be calculated.
  • a further preferred variant of the method provides that the drive torque of the winding drive is predetermined in the control / regulating device with an acceleration compensation unit. This allows additional dynamic effects to be taken into account when specifying the drive torque.
  • a variant of the method according to the invention provides that the individual process parameters used to compensate for the frictional torque are evaluated independently of one another and additively linked to a total friction compensation. This has the advantage that in addition to today's speed-dependent Reibkompensationswert additional Reibkompensationshong, such as a winding mass-dependent Friction compensation value are added and these can be treated independently of each other, which offers advantages in terms of a simplified algorithm advantages.
  • a variant of the method also provides that at least two of the individual process parameters used to compensate for the frictional torque are linked to one another and from this a compensation value is determined. This is particularly advantageous in terms of complex, interdependent relationships for determining the friction compensation.
  • the compensation parameters for the individual process parameters for the determination of the compensation value in the form of one or more characteristic fields or maps are processed and the compensation value for the friction torque is determined directly or by interpolation between nodes from the maps. This makes it possible to consider particularly complicated relationships that can not easily be represented by means of functions.
  • a further variant of the method according to the invention provides that the compensation parameters for the individual process parameters are determined and stored with defined conditions before or during a winding-up operation in a plurality of measuring runs. This allows automated as well as manual detection of the inputs required to determine the friction compensation values. This eliminates the need for complicated input, which minimizes programming effort and helps to reduce possible incorrect entries.
  • the system can be adapted very quickly to different web materials on different winding rollers.
  • a likewise preferred variant of the method provides that the compensation parameters for the individual process parameters are used for maintenance purposes and / or messages are generated in the event of deviations and / or temporal changes compared to standard values. Thus, any defects can be reliably detected and displayed, which supports preventive maintenance or only possible.
  • the process parameter winding mass is determined as a function of a winding diameter or radius, a winding width and a density of the material or diameter-dependent variable density of the winding from a diameter-dependent web tension or a winding hardness characteristic. This allows an independent determination of the winding mass-dependent compensation, even without consideration of the acceleration compensation, in which the mass of the coil is known and carried in the process.
  • the process parameter temperature is determined by measuring the temperature at the winding drive or by calculation by means of a thermal model. Temperature-dependent friction components can thus be accurately determined and compensated accordingly.
  • a variant of the method provides that the process parameter Walzenanpresstik is measured or calculated from other process parameters. This is particularly advantageous when using a pressure roller.
  • the compensation parameters which depend on the process parameter motor or winding angle actual value are in the form of a database within the friction compensation unit or the control device, e.g. as a table.
  • the object relating to the device is achieved in that the friction compensation unit has a winding mass and / or a temperature and / or a roll contact pressure and / or a motor or winding angle actual value, as a result of which winding mass-dependent, temperature-dependent, optionally pressure-roller-dependent and / or winding layer-dependent Shares in the specification of the drive torque can be considered.
  • This makes it possible, in particular, to use the method variants described above with regard to improved consideration of a wide variety of friction compensation components.
  • an acceleration compensation unit is arranged in the control / regulating device, which allows an improved control, especially at constantly changing web speeds.
  • the friction compensation unit can have at least one map unit for linking at least two process parameters.
  • compensation parameters for individual friction components can be determined in the friction compensation unit and / or in the control / regulating device and can be stored for further evaluations. On the one hand, this allows flexible adaptation to different operating conditions and, on the other hand, preventive maintenance and inspection of the mechanism.
  • FIG. 1 shows by way of example in schematic representation a winding machine 1, which contains as essential components a winding drum 30 which is driven by means of a winding drive 20.
  • a material 70 for example, a web-shaped product to be wound, is formed in the example shown first via a first deflection 61, here as a fixed roller, and then via a second deflecting 62, which is formed as a loose roll, and then over a led third deflection device 63 in the form of another fixed roller and finally reaches the winding drum 30, wherein in the example shown, a pressure roller 40, the material 70 presses on the already formed winding on the winding drum 30, for example, to avoid trapped air.
  • a first deflection 61 here as a fixed roller
  • a second deflecting 62 which is formed as a loose roll
  • a led third deflection device 63 in the form of another fixed roller and finally reaches the winding drum 30, wherein in the example shown, a pressure roller 40, the material 70 presses on the already
  • the deflection device 62 is in mechanical operative connection with a force measuring device 50.
  • the force measuring device 50 which is connected on one side fixed to the structure of the winding machine 1, for example, be designed as a load cell, with which the tension of the material 70 can be determined during the winding.
  • the measured values are fed to a control / regulating device 10 (winding computer) (not shown here) and serve in particular as an input variable for a tension regulator 11 integrated in the control / regulating device 10, which controls the winding drive 20.
  • a control / regulating device 10 winding computer
  • the control / regulating device 10 also contains further functional elements, such as a diameter calculating unit 12, an acceleration compensation unit 13 and a friction compensation unit 14, which serve to linearize the controlled system for the tension controller 11, as far as possible independent of disturbance regulation to carry out.
  • a second link 16 is supplied to the control signal for the winding drive 20 yet another correction manipulated variable as an output signal of the friction compensation unit 14.
  • the friction and the acceleration compensation are switched on as a feedforward control of the drive torque.
  • the algorithms of the individual components in the control / regulating device 10 are fed by different process variables and control the winding drive 20.
  • FIG. 2 shows a schematic representation of a winding machine 1 in an inventive embodiment, in contrast to the in FIG. 1 illustrated embodiment, a control / regulating device 10, in which the friction compensation unit 14 on the input side has additional process parameters 80.
  • the friction compensation unit 14 in the example shown as an additional input value for a winding mass 82, a value for a temperature 83 of the winding drive 20, a value for a roll contact pressure 84 and a value for a motor or Winding angle actual value 85 supplied. Like in the FIG. 2 indicated, yet other input variables of the friction compensation unit 14 can be switched.
  • the compensation values for the individual friction components are activated additively independently of one another.
  • a path with a winding mass-dependent Reibkompensationswert is added up.
  • the two paths are independent of each other, ie the speed-dependent friction compensation is winding mass independently switched on and the winding mass-dependent friction compensation is switched independent of speed.
  • the total friction compensation is formed additively from mutually dependent compensation components. At least two of the dependent variables are linked with each other and the compensation value is determined therefrom.
  • the compensation values for the friction can be determined from a characteristic field which is spanned from the winding mass 82 and the angular speed 81 of the winding drum 30.
  • the temperature 83, the Walzenabpress horr 84 and the motor or Wickelwinkelistwert 85 can be used.
  • the characteristic curves do not have to be completely known.
  • the compensation values can be determined, for example, by appropriate interpolations (for example, linear interpolation) from the characteristic field, even if only a few interpolation points are known.
  • the device in FIG. 2 Therefore, in the friction compensation unit 14 or the control / regulating device 10 according to the invention has at least one map unit 14.1, which is stored for example in software in the control program.
  • the various friction components can be determined from several characteristic fields and then additively linked. A combination of the previously described evaluation methods is also possible.
  • the process parameter winding mass 82 is determined as a function of a winding diameter or radius, a winding width and a density of the material or diameter-dependent variable density of the winding from a diameter-dependent web tension or a winding hardness characteristic. Since the winding width and the material density in the process are normally constant, the winding mass 82 results only as a function of the diameter or the radius. But it can also be the material density in the Process vary because due to a given diameter-dependent web tension (winding hardness characteristic), the average density of the coil can change. This too can be determined since the web tension or the winding hardness characteristic is usually known.
  • the process parameter temperature 83 is determined by measuring the temperature at the winding drive or by calculation by means of a thermal model. Temperature-dependent friction components can thus be accurately determined and compensated accordingly.
  • a variant of the method provides that the process parameter roller contact pressure 84 is measured or calculated from further process parameters. This is particularly advantageous when using a pressure roller.
  • the corresponding compensation component can be calculated as a function of the contact pressure and possibly other process variables (for example, winding diameter), this being proportional to the product of contact pressure and winding diameter to a first approximation.
  • the compensation parameters which are dependent on the process parameter motor or winding angle actual value 85, are stored in the form of a database within the friction compensation unit or the control device, e.g. as a table.
  • the compensation parameters are stored in the form of a database within the friction compensation unit or the control device, e.g. as a table.
  • one or more gear stages between the motor and winding drum 30 can be considered.
  • the characteristic field can be determined and stored in the control, wherein, for example, the winding mass-dependent friction compensation by means of several test drives, eg with an empty winding, are carried out at full winding and half full winding.
  • Each test run can include several speed measuring points, where the compensation torque is determined, eg by means of the in Winding drive 20 existing drive torque, wherein the traction-forming drive torque must be subtracted from the total drive torque to determine the friction compensation.
  • measuring runs can be carried out to determine the parameters of the temperature-dependent compensation, the compensation of the contact roller pressure and the position-dependent compensation.
  • test drives can also be used for preventative maintenance.
  • measuring runs with an empty roll are advantageous, since here the properties of the winding material can be neglected.
  • Anfahrreibmoment breakaway torque
  • maximum occurring friction torque which usually occurs at high speeds are given, from which a message is generated. This could e.g. used to service or replace bearings.
  • test drives can also be used as a reference measurement for checking the mechanics. After replacement of mechanical components, e.g. after a timing belt change, these can also be checked for correct adjustment (such as timing belt tension) or correct function by means of these measuring runs. For example, if the timing belt tension is very high, the drive torque will also increase sharply.
  • the illustrated variants of the method and the device variants described make it possible to take better account of the various friction compensation components in the control of the winding drive 20, resulting in a significantly improved control. Furthermore, the various compensation parameters can largely be determined and monitored automatically. The latter can be used advantageously with regard to the maintenance and monitoring of winding machines 1.

Landscapes

  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
  • Braking Arrangements (AREA)
  • Winding Of Webs (AREA)

Claims (18)

  1. Procédé de compensation de la friction dans une bobineuse (1) avec laquelle un matériau (70) est enroulé sur un tambour de bobinage (30), le tambour de bobinage (30) étant entraîné par un entraînement de bobinage (20) qui est commandé par un dispositif de commande/régulation (10), un couple d'entraînement de l'entraînement de bobinage (20) étant prédéfini dans le dispositif de commande/régulation (10), et dans une unité de compensation de la friction (14), une vitesse angulaire (81) du tambour de bobinage (30) étant prise en compte en tant que paramètre de processus (80) du côté de l'entrée, au moins un paramètre de processus supplémentaire (80) étant pris en compte pour la compensation du couple de friction, caractérisé en ce que pour la compensation du couple de friction, une masse de bobinage (82) et/ou une température (83) et/ou une pression d'application de rouleau (84) et/ou une valeur angulaire réelle de moteur ou de bobinage (85) sont utilisées comme paramètres de processus supplémentaires (80) du côté de l'entrée.
  2. Procédé selon la revendication 1, caractérisé en ce qu'une force de traction de consigne est comparée à une force de traction réelle mesurée, au moyen d'un régulateur de la tension de traction (11).
  3. Procédé selon la revendication 1, caractérisé en ce qu'un réglage de la force de traction a lieu au moyen d'une pièce de commande.
  4. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce que le couple d'entraînement de l'entraînement de bobinage (20) est prédéfini dans le dispositif de commande/régulation (10) par une unité de calcul de diamètre (12) et/ou par l'unité de compensation de la friction (14).
  5. Procédé selon l'une quelconque des revendications 1 à 4, caractérisé en ce que le couple d'entraînement de l'entraînement de bobinage (20) est prédéfini dans le dispositif de commande/régulation (10) par une unité de compensation de l'accélération (13).
  6. Procédé selon la revendication 1, caractérisé en ce que les paramètres de processus individuels (80, 81, 82, 83, 84, 85) utilisés pour la compensation du couple de friction sont analysés indépendamment les uns des autres et sont réunis par addition en vue d'une compensation de la friction totale.
  7. Procédé selon l'une quelconque des revendications 1 à 5, caractérisé en ce que parmi les paramètres de processus individuels (80, 81, 82, 83, 84, 85) utilisés pour la compensation du couple de friction, au moins deux sont réunis l'un à l'autre et l'on déduit à partir de ceux-ci une valeur de compensation.
  8. Procédé selon la revendication 7, caractérisé en ce que des paramètres de compensation pour les paramètres de processus individuels (80, 81, 82, 83, 84, 85) pour la détermination de la valeur de compensation sont présentés sous la forme d'un ou de plusieurs champs de courbes caractéristiques ou champs caractéristiques, et la valeur de compensation pour le couple de friction est déterminée directement ou par interpolation entre les interfaces à partir des champs caractéristiques.
  9. Procédé selon l'une quelconque des revendications 1 à 8, caractérisé en ce que les paramètres de compensation pour les paramètres de processus individuels (80, 81, 82, 83, 84, 85) sont déterminés avant ou pendant une opération de bobinage dans plusieurs trajets de mesure avec des conditions définies, et sont mémorisés.
  10. Procédé selon l'une quelconque des revendications 1 à 9, caractérisé en ce que les paramètres de compensation pour les paramètres de processus individuels (80, 81, 82, 83, 84, 85) sont utilisés à des fins d'entretien, et/ou en cas d'écart et/ou de variations temporelles par rapport à des valeurs prédéfinies, des signaux sont générés.
  11. Procédé selon l'une quelconque des revendications 1 à 10, caractérisé en ce que le paramètre de processus constitué par la masse de bobinage (82) est déterminé comme une fonction d'un diamètre de bobinage ou d'un rayon de bobinage, d'une largeur de bobinage et d'une densité du matériau (70), ou, en cas de densité variable de la bobine en fonction du diamètre, à partir d'une tension de la bande ou d'une courbe caractéristique de dureté de bobinage dépendant du diamètre.
  12. Procédé selon l'une quelconque des revendications 1 à 10, caractérisé en ce que le paramètre de processus constitué par la température (83) est déterminé par mesure de la température au niveau de l'entraînement de bobinage (20) ou par calcul au moyen d'un modèle thermique.
  13. Procédé selon l'une quelconque des revendications 1 à 10, caractérisé en ce que le paramètre de processus constitué par la pression d'application de rouleau (84) est mesuré ou est calculé à partir d'autres paramètres de processus (80).
  14. Procédé selon l'une quelconque des revendications 1 à 10, caractérisé en ce que les paramètres de compensation, qui dépendent du paramètre de processus constitué par la valeur angulaire réelle de bobinage ou du moteur (85), sont déposés sous la forme d'une banque de données à l'intérieur de l'unité de compensation de la friction (14) ou du dispositif de commande/régulation (10).
  15. Dispositif de compensation de la friction dans une bobineuse (1) avec laquelle un matériau (70) peut être enroulé sur un tambour de bobinage (30), dans lequel le tambour de bobinage (30) est entraîné par un entraînement de bobinage (20) qui peut être commandé par un dispositif de commande/régulation (10), un régulateur de tension de traction (11) ainsi qu'une unité de calcul de diamètre (12) et/ou une unité de compensation de la friction (14) pour linéariser le régulateur de tension de traction (11) étant disposés dans le dispositif de commande/régulation (10), une vitesse angulaire (81) du tambour de bobinage (30) étant introduite dans l'unité de compensation de la friction (14) en tant que paramètre de processus (80) du côté de l'entrée, et pour la compensation du couple de friction dans l'unité de compensation de la friction (14), au moins un paramètre de processus supplémentaire (80) étant introduit du côté de l'entrée, caractérisé en ce que l'unité de compensation de la friction (14) présente, en tant que grandeurs d'entrée supplémentaires, une masse de bobinage (82) et/ou une température (83) et/ou une pression d'application de rouleau (84) et/ou une valeur angulaire réelle de moteur ou de bobinage (85).
  16. Dispositif selon la revendication 15, caractérisé en ce que dans le dispositif de commande/régulation (10) est disposée une unité de compensation d'accélération (13).
  17. Dispositif selon l'une quelconque des revendications 15 à 16, caractérisé en ce que l'unité de compensation de la friction (14) présente au moins une unité de champ caractéristique (14.1) pour combiner au moins deux paramètres de processus (80).
  18. Dispositif selon l'une quelconque des revendications 15 à 17, caractérisé en ce que dans l'unité de compensation de la friction (14) et/ou dans le dispositif de commande/régulation (10) peuvent être déterminés des paramètres de compensation pour des proportions individuelles de friction, qui peuvent être mémorisés pour d'autres analyses.
EP08001878A 2007-02-17 2008-02-01 Procédé et dispositif destinés à la compensation de friction Not-in-force EP1958905B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102007007988A DE102007007988A1 (de) 2007-02-17 2007-02-17 Verfahren und Vorrichtung zur Reibkompensation

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EP1958905A2 EP1958905A2 (fr) 2008-08-20
EP1958905A3 EP1958905A3 (fr) 2009-09-09
EP1958905B1 true EP1958905B1 (fr) 2012-04-11

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US (1) US20080197228A1 (fr)
EP (1) EP1958905B1 (fr)
CN (1) CN101289146B (fr)
AT (1) ATE553052T1 (fr)
DE (1) DE102007007988A1 (fr)

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US3910521A (en) * 1972-12-21 1975-10-07 Eaton Corp Winder control
JP2598968B2 (ja) * 1988-06-13 1997-04-09 津田駒工業株式会社 巻取機械の制御装置
DE9216261U1 (de) * 1992-10-19 1994-02-24 Windmöller & Hölscher, 49525 Lengerich Vorrichtung zum Aufwickeln einer Bahn
CH686885A5 (de) * 1993-11-26 1996-07-31 Anton Ruegg Verfahren und Vorrichtung zum Aufwickeln von bahnfoermigem Material.
FI103661B (fi) * 1998-01-22 1999-08-13 Valmet Corp Menetelmä ja laitteisto rullauksen ohjaamiseksi
GB0020160D0 (en) * 2000-08-17 2000-10-04 Vai Ind Uk Ltd Steckel furnace coiler and apparatus therefor
BE1014308A5 (nl) * 2001-07-20 2003-08-05 Wiele Michel Van De Nv Werkwijze en inrichting voor het sturen van een opwikkelinrichting.
DE10342020A1 (de) 2003-09-12 2005-04-07 Voith Paper Patent Gmbh Wickelmaschine zum Wickeln einer Materialbahn
DE102005044339B4 (de) * 2005-09-16 2016-01-14 Siemens Aktiengesellschaft Verfahren zum Betrieb einer Wicklermaschine

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Publication number Publication date
EP1958905A2 (fr) 2008-08-20
EP1958905A3 (fr) 2009-09-09
US20080197228A1 (en) 2008-08-21
CN101289146A (zh) 2008-10-22
DE102007007988A1 (de) 2008-08-28
ATE553052T1 (de) 2012-04-15
CN101289146B (zh) 2011-07-06

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