EP3374304B1 - Method for controlling an impeller-type thread laying device, impeller-type thread laying device, and winding machine - Google Patents

Description

The invention relates to a method for controlling an impeller thread laying device, an impeller thread laying device and a winder.

In the textile industry, thread-laying devices are used in thread winding processes, by means of which a thread to be wound up on a rotating bobbin is moved back and forth in the direction of the longitudinal axis of the bobbin by means of a high-frequency traversing movement. In practice, different types of such thread-laying devices have been established. These can be functionally differentiated into those with a variable stroke width and those with a fixed stroke width of the traversing movement.

Yarn laying devices with variable stroke allow for the winding of yarn packages all freedoms for the winding structure, such as Chamfering of the coil flanks, rounding of the edges or the free positioning of a Abschlusswickels at a desired longitudinal position of the coil. Due to the high-frequency traversing movement of the yarn and the braking in the reversal points on the sides of the yarn package these designs are subject to heavy wear, lead to undesirable yarn accumulation in the reversal points and a higher energy consumption at high speeds.

Examples of thread-laying devices with a fixed stroke width are those with counter-threaded shafts or so-called impeller thread laying devices. These are mechanically bound to a fixed stroke width, but can be operated with a high double stroke rate per minute (over 1'000 double strokes / min). The high Doppelhubzahlen are achieved in that the drive motor of the yarn laying device is always operated in one direction with a substantially constant engine speed.

The above-mentioned impeller thread laying devices have two impellers, which are driven in opposite directions about their respective axis of rotation. The impellers are usually each provided with two or three wings, which extend away from the axis of rotation of the respective impeller in the radial direction. The aufzuspulende on the bobbin thread is performed during the winding process in constant change to the wings of the one and the other impeller and is thus reciprocated in the sense of a traversing movement relative to the coil in the direction of the coil longitudinal axis in rapid succession. During the working stroke of one of the two impellers, in which this leads the thread, the other impeller is moved in each case in a so-called idle stroke. This impeller can also be referred to as Leerhub impeller.

The thread is usually on a bow disc or plate, ie, guided on a so-called thread guide ruler, emerge from the thread guide contour, the wings of the vanes in operation and in which they dive again in the range of immersion points. A thread transfer between the Vane wheels and a consequent stroke reversal of the traversing movement of the thread takes place in each case in the region of the immersion points of the wings of the vanes, which thus coincide in the axial direction of the coil with the reversal points of the traversing movement of the thread. When winding the thread on the spool, a so-called filament winding is produced whose quality is decisively determined by an exact axial position of the reversal points relative to the longitudinal axis of the spool.

In the aforementioned impeller thread laying devices, the aufzuspulende thread but only with said fixed stroke width, ie with a fixed Grundhubbreite, relative to the spool are reciprocated. From the WO 2015 007 339 A1 is a thread laying device with impellers known, in which the stroke width of the traversing movement can be achieved by the adjustment of separate to the impellers and quite complex thread guide elements.

From the EP 0 997 422 A1 An impeller thread laying apparatus has become known in which the two impellers have separate drives. The drives are controlled by a control device such that the locations of the yarn transfer points are adjustable in dependence on a desired traverse stroke.

It is therefore an object of the invention to provide a method for controlling a yarn laying device with impellers and such a yarn laying device and a winder in which a aufwickelnder on a spool with little design effort and in a reliable manner with a variable stroke relative to the coil back and can be moved to open wider application possibilities.

The task relating to the thread-laying device is achieved by a thread-laying device having the features specified in patent claim 1. The thread laying device according to the invention has the in Claim 10 specified and the winding machine according to the invention specified in claim 15 features. Further advantages and advantageous embodiments of the subject of the invention will become apparent from the description, the dependent claims and the drawings.

The inventive method for controlling a yarn laying device with two counter-driven impellers around one on a rotating Coil winding yarn by means of a traversing movement with a deviating from a Grundhubbreite H _{N of} the yarn laying device desired stroke width H _S between two reversal points (U ₁ , U ₂ ) along the coil longitudinal axis back and forth, comprising the following steps:

In a first step, a respective axial position of the Hubendlagen, ie the reversal points U ₁ , U ₂ , the traversing movement of the thread relative to the coil longitudinal axis defined or predetermined. The reversal points U ₁ , U _{2 of} the traversing movement of the thread define the desired desired stroke width Hs of the traversing movement of the thread relative to the spool. The axes of rotation of the impellers and an aforementioned thread guide ruler of the yarn laying device are preferably positioned relative to each other depending on the respective predetermined for the traversing movement of the thread target stroke width of the thread such that the respective immersion points of the vanes with the associated reversal points orthogonal to the coil longitudinal axis Direction aligned with each other.

In a further step, a theoretical constant compensation angular velocity V _C during a time Leerhubintervall T _{L of} the respective idle stroke moving impeller (= Leerhub-impeller) is calculated with the takeover of the thread by the Leerhub-impeller of the respective thread-guiding other impeller in the next predetermined (temporally immediately following) reversal point U ₁ , U _{2 of} the traversing movement is made possible. The theoretical compensation angular velocity V _C is thus the purely computational angular velocity with which the respective idle stroke impeller from the last reversal point U ₁ , U ₂ to the next reversal point U ₁ , U _{2 of} the traversing movement of the thread should be moved to the thread in following reversal point U ₁ , U ₂ from the other (during the Leerhubintervalls T _L thread leading) impeller to take over.

In the case of a, compared to the Grundhubbreite H _N , smaller target stroke width H _S of traversing movement, the reversal points U ₁ , U _{2 of} the traversing movement in the axial direction are spaced less far from each other, as this at a determined by the constructive features of the yarn laying device Grundhubbreite H _{N of} the yarn laying device, in which the two impellers are moved counter to each other without further control interventions with a constant and matching basic angular velocity. In this case, the theoretical compensation angular velocity V _{C is} therefore greater than the basic angular velocity of the two impellers corresponding to the basic stroke width H _N of the yarn laying device.

In the other case, that the predetermined target stroke width H _{S is} greater than the Grundhubbreite HN, the compensation angular velocity V _C of the idle stroke moving impeller is correspondingly smaller than the basic angular velocity of the two impellers.

According to the invention, in a further step, an over-compensation angular velocity V _OC for the idling impeller during a first sub-interval T _{L1 of} the no-lift interval T _{L is} calculated on the basis of the theoretical compensating angular velocity V _{C of} the idling impeller.

Subsequently, the idle impeller is moved during the first temporal sub-interval T _{L1 of} the Leerhubintervalls with the overcompensation angular velocity V _OC . Thereby, the time Leerhubintervall T _L available for the control or regulation of the rotational speed of the Leerhub-impeller is divided into two time intervals TL ₁ , T _L2 : A time overcompensation interval of the speed control and a fine control / fine control of the rotational movement of the Leerhub-impeller to a predetermined working angular velocity control-technically advantageous sedative interval.

The rotational movement of the idle stroke impeller or the idle stroke impeller in which at the first time subinterval T _L1 subsequent second time subinterval T _L2 of Leerhubintervalls T _L to a predetermined working angle velocity V _W of the lost-impeller at the next reversal point U ₁ . U _{2 of} the traversing movement regulated so that the aufzuspulende on the bobbin thread through the idle impeller from the thread leading other impeller in the next turning point U ₁ , U ₂ of traversing movement with the predetermined working angular velocity V _W and taken in the direction of the subsequent reversal point U _first , U _{2 of} the traversing movement can be moved. As a result, transient unavoidable transient phenomena, such as those caused by a change in the angular velocity of the vanes, at the time of yarn transfer from the thread-guiding impeller to the Leerhub exporting Leerhub impeller, ie in the respective next reversal point U ₁ , U ₂ of traversing movement of the thread, completed. If the thread is moved by the impeller leading the thread at a constant speed along the spool, the result is a filament winding or a thread bobbin with a constant hardness. By a corresponding variation of this speed, the coil hardness along the coil beyond can be set freely. As a result, for example, soft edges of the yarn package produced on the bobbin can be realized as needed.

For reciprocating the yarn relative to the spool with the predetermined desired stroke width H _S , ie for winding the yarn on the spool, the aforementioned steps are required with or without the former step (defining the axial position of the reversal points of the traversing motion of the yarn relative to the coil longitudinal axis) is repeated accordingly. By repeatedly (re) defining the respective axial position of the reversal points of the traversing movement, for example, an oblique or rounded side edge of the thread winding to be produced on the package can be realized during the respective winding process.

With the method according to the invention, the stroke width and thus the reversal points U ₁ , U _{2 of} the traversing movement of the thread during a winding process or for different winding processes can be varied variably. Thus, a stroke width between 1 mm and 290 mm, in particular between 5 mm and 290 mm, can be specified for the traversing movement of the thread. As a result, coils of different lengths can be wound on the one hand become. On the other hand thread windings can be generated with oblique to the longitudinal axis side edges. Overall, the inventive method allows unprecedented versatility of impeller thread laying devices. It should be noted that the inventive method can be used in existing retrofit even with existing impeller thread laying devices.

According to a preferred embodiment of the invention, the overcompensation angular velocity V _{OC is} preferably selected such that it deviates from the calculated theoretical constant compensation angular velocity V _C by a maximum of 20%, preferably by a maximum of 15%, particularly preferably by a maximum of 12%. As a result, control or regulating interventions with respect to the respective rotational speed of the impellers can be minimized and a particularly precise traversing movement of the thread can be realized. This is for the quality of forming on the bobbin thread winding advantage. This also benefits the life of the electric motors serving as the drive of the impellers, because they do not have to be supplied with excess power for the required accelerations. At the same time, the electric motors - depending on the moving through these masses (impeller / gear) - are made compact. Overall, a particularly energy-efficient operation of the yarn laying device can be realized thereby, which is relevant in today's winding machines with usually several dozen such yarn laying devices.

According to the invention, a time start, ie a starting time T _S , of the second sub-interval T _{L2 of} the no-lift interval T _{L is} preferably determined by a continuous integration of the at the overcompensation angular velocity V _OC from the start time of the idle stroke movement of the respective idle stroke impeller, ie from a takeover time T ₁ , T _{2 of} the thread at the reversal point U ₁ , U ₂ , by the respective working stroke executing other impeller to a control side continuously redetermined, ie temporally migrating test time T _P in Leerhubintervall of Leerhub impeller and the achievable at the predetermined working angular velocity V _W Angle distance of Leerhub-impeller from the test time T _P to the acquisition time of the thread through the respective Leerhub impeller in each subsequent (next) reversal point U ₁ , U ₂ calculated the traversing movement. Once the reversal point U _1, U ₂ of the Leerhubintervalls with the predetermined working angle speed Vw can be achieved during the early during testing time T _P second sub-interval T _L2, the inspection time T _P is determined by the control means as the starting time of the second sub-interval T _L2. The idle stroke impeller is adjusted from this start time of the controller to the predetermined working angular velocity to take over the thread in the subsequent reversal point U ₁ , U ₂ exactly at the time of acquisition T ₁ , T ₂ from the other and coming from the impeller impeller , As a result, the speed of the Leerhub impeller for the adoption of the thread in (temporally and spatially) next reversal point U ₁ , U _{2 of} the traversing movement can be controlled accurately and easily.

The thread laying device particularly preferably has an aforementioned thread guiding device, on which the thread aufzuspulende on the spool is guided along. The thread guide device preferably has a thread guide ruler with a straight or even a curved thread guide contour. Malfunction can be counteracted.

To control the speed of the two impellers, the two electric motors are particularly preferably driven by means of a common digital signal processor. As a result, the method can be carried out in a simple and reliable manner and with little technical effort. A particularly reliable and sensitive control of the electric motors can be achieved according to the invention by a so-called vector control of the electric motors. The signal processor of the control device is preferably connected in each case via a vector controller with the electric motors.

A detection of the respective rotational position of the impellers about their axes of rotation is preferably carried out in each case with an angular resolution of 0.25 ° or less. As a result, the respective position and speed of the impellers can be determined particularly precisely. This is for the quality of the coil to be produced on the thread winding advantage. For this purpose, the control device preferably has encoders for the electric motors of the impellers, by means of which the position of the impeller (or its vanes) and its respective angular velocity are detected. The encoders can be designed, for example, as so-called 2-channel encoders with 720 pulses. By evaluating all flanks, in this case 2880 measured position results over a 360 ° rotation of the respective electric motor / impeller. Thus, a sufficiently high accuracy of the position detection and positioning accuracy of the vanes can be achieved. It is understood that the accuracy of the position detection and the positioning accuracy can be further increased if necessary.

According to the invention, before the start of a winding process, a so-called zero-compensation of the rotational position of the impellers relative to each other is made. This can be done, for example, that the two impellers are moved with one of their wings against a defined stop. The stop can be moved, for example, in the swept by the two impellers rotation range. This can be done by a translational relative movement of the axes of rotation of the impellers and the stopper in a direction orthogonal to the longitudinal axis of the coil. Thereby, the absolute rotational position of the two impellers is known before the start of a winding process with respect to the respective encoder position and can be used for control purposes. In addition, the electric motors can be controlled by the control device with an optimal load angle.

The thread laying device according to the invention has two impellers, which are each driven in opposite directions about their axes of rotation by means of an electric motor. The thread laying device has a control device for the Execution of the above-explained control method is programmed. The control device can also be designed or programmed according to the invention for controlling a coil drive, with which the coil can be driven in rotation.

The electric motors are advantageously designed brushless, so that they have a long service life. The electric motors can be designed in particular as three-phase hybrid stepper motors. Such electric motors provide a high torque in relation to the size and inertia of the rotor. Due to the large number of poles of such motors, they can be operated particularly efficiently in the lower speed range at speeds of up to approximately 1500 revolutions / minute. In addition, only 3 half-bridges are needed to control such electric motors. In closed-loop operation with vector control, these motors achieve good overall efficiency. The vector control also enables exact torque control of the electric motors. Together with the well-known mechanical data of the impellers, the control can be optimally adapted to the application, which enables short transient processes and high engine efficiencies.

The phase currents of the motor are preferably detected at the base of a control-side half-bridge circuit of the motors. By synchronizing the sampling point of the current with a PWM of the half bridges, the current can thereby be realized with a low hardware outlay of sufficient quality for the application. The measurement information of the phase currents are needed in the vector control of the electric motors. Furthermore, this measurement information can be used to calculate a protection function of the electric motor (motor temperature calculation, monitoring of malfunctions or detection of mechanical obstacles).

Although a measurement of the phase currents in the supply path of the motor is possible in principle. But this results in higher hardware costs and brings no additional advantages for the thread-laying device or its control.

The control device preferably has a digital signal processor, which serves for joint control or regulation of both electric motors of the impellers. As a result, the impellers can be optimally synchronized with each other. It is understood that the power of the signal processor is dimensioned so that the signal processor within 50μs (control cycle) can do a complete vector control, the calculation of target values of the impeller position and the position control. According to the invention, an embodiment is conceivable in which the control device has two signal processors for driving / regulating the electric motors of the impellers. However, this also requires an extremely fast data exchange between the processors and carries an increased risk of malfunction. According to a preferred embodiment of the invention, the control device for controlling / regulating a coil drive of a coil holder of the yarn laying device is formed, by means of which the coil is driven circumferentially. Thereby, a rotational speed of the spool during the winding or winding process can be changed dynamically in order to wind the thread with different winding patterns (for example step precision winding / cross winding) on the spool.

The invention relates to a summary, a method for controlling a cross-winding device with two counter driven impellers to a aufzuspulenden on a rotating bobbin thread by means of a traversing movement to one of a Grundhubbreite H _N of the thread laying device different target stroke width H _S between two reversal points U _1, U ₂ move back and forth along the coil longitudinal axis. According to the invention, the respective idle impeller, ie the respective idling impeller, is first accelerated or decelerated in its idle stroke interval T _L to an overcompensation angular velocity V _OC , which is determined on the basis of a thread reversal at the next reversal point U ₁ . U _{2 of} the traversing movement of the yarn required theoretical constant compensation angular velocity V _{C is} determined. The idle stroke impeller is subsequently moved during the Leerhub interval with its predetermined working angular velocity Vw to the yarn at the next turning point U ₁ , U _{2 of} the traversing movement of the yarn from the other leading impeller leading to the working angular velocity V _W take over. The invention further relates to a yarn laying device with a control device programmed for carrying out the method according to the invention and to a winding machine with such a yarn laying device.

The invention will be explained in more detail with reference to an embodiment shown in the drawing.

Fig. 1

eine Spulmaschine mit einer Fadenverlegevorrichtung mit zwei elektromotorisch antreibbaren Flügelrädern zum Hin- und Her-Bewegen eines auf einer Spule aufzuspulenden Fadens relativ zur Spulenlängsachse;

Fig. 2

die Fadenverlegevorrichtung aus Fig. 1 in einer freigestellten Draufsicht;

Fig. 3

ein Blockschaltbild mit den einzelnen Verfahrensschritten eines erfindungsgemäßen Verfahrens zum Steuern der Fadenverlegevorrichtung aus Fig. 1;

Fig. 4

ein Schaubild, bei dem eine prozentuale Differenz zwischen einer bei dem Verfahren gemäß Fig. 3 für das jeweilig im Leerhub bewegte Flügelrad (=Leerhub-Flügelrad) vorgegebenen Überkompensations-Winkelgeschwindigkeit und einer rechnerischen Kompensations-Winkelgeschwindigkeit des Flügelrads für eine Übernahme des Fadens im zeitlich nachfolgenden Umkehrpunkt der Changierbewegung des Fadens in Abhängigkeit von der vorgegebenen Soll-Hubbreite für die Changierbewegung aufgezeigt ist; und

Fig. 5

eine grafische Darstellung des Winkelverlaufs beider Flügelräder während eines Spulprozesses der Fadenverlegevorrichtung gemäß Fig. 1, wobei eine vorgegebene Soll-Hubbreite der Changierbewegung auf der Spule aufzuspulenden Fadens kleiner ist, als eine Normalhubbreite der Fadenverlegevorrichtung.

In the drawing show:

Fig. 1

a winding machine with a thread laying device with two electric motor driven impellers for reciprocating a aufzuzuspulenden on a spool yarn relative to the coil longitudinal axis;

Fig. 2

the thread laying device Fig. 1 in an exposed plan view;

Fig. 3

a block diagram with the individual steps of a method according to the invention for controlling the yarn laying device Fig. 1 ;

Fig. 4

a graph in which a percentage difference between a in the method according to Fig. 3 for the respectively in the idle stroke moving impeller (= idle impeller) predetermined overcompensation angular velocity and a computed compensation angular velocity of the impeller for a takeover of the Thread is shown in the temporal subsequent reversal point of the traversing movement of the yarn as a function of the predetermined desired stroke width for the traversing movement; and

Fig. 5

a graphical representation of the angular course of both impellers during a winding process of the yarn laying device according to Fig. 1 , Wherein a predetermined desired stroke width of the traversing movement on the bobbin thread to be wound is smaller than a normal stroke width of the thread laying device.

Fig. 1 shows a winding unit of a winder 10 with a thread laying device 12 for winding a thread 14 on a spool 16. The aufzuspulende on the spool 16 thread 14 can for example on a in Fig. 1 be provided not shown reproduced supply coil. The coil 16 is arranged on a coil holder 18 and by means of a coil drive 20 about its coil longitudinal axis 22 in the direction of arrow 24 driven in rotation.

The thread laying device 12 is designed as a so-called impeller thread laying and has two impellers 26, 28 in each case. The two impellers 26, 28 are independent of each other by means of an electric motor 30 about their respective axis of rotation 32, 34 driven in opposite directions. The electric motors 30 and the impellers 26, 28 are arranged on a support frame 36 . For controlling the electric motors 30 of the two impellers 26, 28 and the motor 20 of the coil holder 18 is a control device 38. The control device 38 has a signal processor 38a for jointly controlling the two electric motors 30 of the impellers (26, 28). The signal processor 38a is connected to the two electric motors 30 via a respective vector regulator 38b .

The impellers 26, 28 serve to aufzuspulenden the coil 16 thread 14 in the direction of the coil longitudinal axis 22 relative to the rotating coil 16 in to move quickly back and forth to form during the Aufspulprozesses designated 40 filament winding on the spool.

The support frame 36 in the present case comprises two mutually parallel extending longitudinal profiles 42, which are interconnected in a manner not shown in detail. At the two longitudinal profiles 42 of the support frame 36, a (bearing) carriage 44 is arranged, which is displaceably mounted relative to the support frame 36 by means of an adjusting drive 46 along an adjusting axis designated by 48 . The two impellers 26, 28 are rotatably mounted on the bearing carriage 44. The adjustment drive 46 can be designed as an electric motor, in particular as a stepping motor.

To guide the thread 14, a so-called thread guide ruler 50 is used . The thread guide ruler 50 may, in particular, have an arcuate (convex) thread guide contour 52 , against which the thread 14 to be wound is tensioned and guided during the winding process. It is understood that the thread guide ruler 50 can be made in several parts.

On the support frame 36, a stop means 54 is arranged for a zero balance of the rotational position of the two vanes. The stop means 54 is movable by moving the bearing carriage 44 in the direction of the stop means 54 in a swept by the two Fügelrädern 26, 28 rotation range and serves to calibrate the control device 38 to a defined by the stop means 54 rotational position of the vanes 26, 28. Thereby The impellers 26, 28 can be exactly synchronized in their respective rotational position about their axis of rotation 32, 34 in a simple manner before the beginning of the winding process. For detecting a respective rotational position (rotational position) of the impellers 26, 28 are encoder 56. The encoder 56 are connected for the purpose of data transmission in unspecified reproduced manner with the control device 38.

Fig. 2 shows the thread-laying device 12 Fig. 1 in a freestanding top view. The two impellers 26, 28 each have three wings 26a, 26b, 26c; 28a, 28b, 28c . It is understood that the impellers 26, 28 also two or have four or even five wings. The axes of rotation 32, 34 of the two impellers 26, 28 are in the direction of in Fig. 1 Coil longitudinal axis 22 shown arranged laterally offset from each other.

The aufzuspulende thread 14 is in the winding process in a conventional manner in quick change to the wings 26a, 26b, 26c; 28a, 28b, 28c of the counter-rotating impellers 26, 28 guided. The wings 26a, 26b, 26c; 28a, 28b, 28c of the impellers 26, 28 respectively emerge at respective points of emergence A ₁ , A ₂ from the thread guide contour 52 of the thread guide ruler 50 and enter the thread guide contour 52 of the thread guide ruler 50 in the region of immersion points E ₁ , E ₂ again. A thread transfer between the vane wheels 26, 28 takes place in each case in the area or at the immersion points E ₁ , E ₂ . The emergence points A ₁ , A ₂ and the immersion points E ₁ , E _{2 of} the two impellers 26, 28 do not coincide due to the mutually offset (in the direction of the coil longitudinal axis 22) axes of rotation 32, 34 of the impellers 26, 28. The above-described rotation range of the two impellers is in Fig. 2 designated R ₁ , R ₂ .

If the two impellers 26, 28 are constantly moved against each other at an identical angular velocity, as is the case with known yarn laying devices with mechanically coupled impellers, the traversing movement of the yarn in the direction of the longitudinal axis of the coil 22 (FIG. Fig. 1 ) or in the direction of the traversing axis 58 (FIG. Fig. 2 ) have only one fixed stroke width, ie a so-called normal stroke width H _N. Their measure results inter alia from the diameter of the impellers 26, 28, the number of wings 26a, 26b, 26c; 28a, 28b, 28c, the distance of the thread guide contour 52 to the axis of rotation 32, 34 of the impellers 26, 28 and the distance between the axes of rotation 32, 24 of the impellers 26, 28 itself.

In the thread laying device 12 according to the invention, the thread 14 can be displaced relative to the nominal stroke width H _S deviating from the normal stroke width H _N Coil longitudinal axis 22 ( Fig.1 ) or oscillating axis 58 are moved. In Fig. 2 is a target stroke width Hs with reversal points U ₁ , U _{2 of} the traversing movement of the thread 14 entered, which is selected, for example, smaller than the normal stroke width H _{N of} the thread-laying device 12. The lifting center of the respective traversing movement of the thread 14 is designated H _C.

The inventive method 100 for controlling the above in connection with the FIGS. 1 and 2 is explained below with additional reference to Figures 3 . 4 and 5 explained.

In Fig. 3 the individual steps of the method 100 according to the invention are reproduced as a block diagram. In a first step 102 , the respective axial position of the reversal points U ₁ , U ₂ of the traversing movement of the thread 14 relative to the coil longitudinal axis 22 (FIG. Fig. 1 ), Thus, the desired desired stroke width Hs of the thread in the direction of the traversing axis, defined or predetermined. The axes of rotation 32, 34 of the two impellers 26, 28 and the thread guide ruler 50 are preferably positioned relative to each other in dependence on the predetermined for the traversing movement desired stroke width H _{S of} the thread 14 such that the respective immersion points E ₁ , E _{2 of} the impellers 26th , 28 are aligned with the respective corresponding predetermined reversal point U ₁ , U ₂ in the direction of the traverse axis 58.

In a further step 104 , a theoretical constant compensating angular velocity V _c for the idle stroke during idle stroke interval T _{L is moved in} each case (ie, the thread respectively not leading during the idle stroke interval T _L ), thus the respective idle stroke impeller 26, 28, for a takeover of the thread 14 ( Fig. 1 ) by the idle stroke impeller 26, 28 of the respective thread-leading other impeller 26, 28 in the temporally following predetermined reversal point U ₁ , U _{2 of} the traversing movement of the thread 14 (FIG. FIGS. 1 ).

In a subsequent step 106 , an overcompensation angular velocity V _OC for the idle impeller 26, 28 during a first sub-interval T _L1 of the idle stroke interval is calculated based on the theoretical constant compensation angular velocity V _c .

In step 108 , the idle impeller 26, 28 is driven at the overcompensation angular velocity V _OC during the first temporal sub-interval T _L1 . This is done by appropriate control of the electric motor 30 of the idle stroke moving idle stroke impeller 26, 28 on the part of the control device 38th

In a further step 110 , the idle impeller 26, 28 during an on the first sub-interval T _L1 immediately following the second sub-interval T _{L2 of} the Leerhubintervall T _L of the overcompensation angular velocity V _OC to a predetermined operating angular velocity V _{W of} the Leerhub-impeller 26, 28 in the following reversal point U ₁ , U _{2 of} the traversing motion adjusted to the thread 14 with the idle impeller 26, 28 from the thread leading other impeller 26, 28 in the next reversal point U ₁ , U _{2 of} the traversing movement with the predetermined working angular velocity V _W. to take over.

The above-mentioned steps 102 to 110 or 104 to 110 are repeated for winding up the thread 14 on the spool 16 with the predetermined desired stroke width H _S , preferably continuously.

If the predetermined desired stroke width H _{S is} narrower than the normal stroke H _N , then that impeller 26, 28 which does not guide the thread 14 (= idle-stroke impeller) must compensate the angular difference by a higher rotational speed. In a complete revolution, the impeller 26, 28 is thus due to its dreiflügligen construction thus accelerated a total of three times to the overcompensation angular velocity V _OC and braked to the working angular velocity V _w , when the selected target stroke width Hs narrower than the above-described normal stroke H _N is selected. in the industrial use, this process can be done 500 times a minute or more frequently.

So that the idle stroke impeller 26, 28, ie that of the two impellers 26, 28, which does not lead the thread 14 during a Leerhubinterval T _L , the thread 14 at the predetermined working angular velocity V _W exactly at the respective following reversal point U ₁ , U ₂ of which the thread 14 leading impeller 26, 28 can take over, the second sub-interval T _{L2 of} the Leelaufintervall T _L serves as a control technology calming before the immediately following phase of the Leerhub impeller 26, 28. This allows the control device 38 (FIG. Fig. 1 ), the respective idle-stroke impeller 26, 28 ( Fig. 2 ) with the required accuracy to the working angular velocity V _W. The respective working stroke of the impellers 26, 28 upstream calming phase has the consequence that without a speed adjustment of the impellers 26, 28 at the desired time, the yarn transfer at the reversal point U ₁ , U _{2 is} possible.

The settling phase is therefore compensated according to the invention by overshooting the theoretical compensation angular velocity V _{C of} the impeller 26, 28 to an overcompensation angular velocity V _OC . Although a long calming phase favors a working angular velocity V _{W of} the impeller 26, 28 in a small tolerance range. The resulting high overcompensation angular velocity V _OC , however, requires a great dynamics of the system. It is therefore advantageous to keep the settling phase, ie the second sub-interval T _{L2 of} the idle stroke interval T _L , as small as necessary, since this permits an overcompensation angular velocity V _OC close to the theoretical constant compensation angular velocity V _C. The overcompensation angular velocity V _OC for the narrowest, usable nominal stroke width H _{S of} the yarn laying apparatus is in each case equal to or less than 120%, preferably equal to or less than 112%, of the theoretical constant compensating angular velocity V _C.

If the desired stroke width H _{S of} the traversing movement of the thread 14 is greater than the normal stroke width H _{N of} the thread laying device 12, the vanes 26, 28 are moved more slowly in the respective idle stroke interval T _L than in their respective working phase. Again, there results a theoretical compensation angular velocity V _{C of} the respective idle impeller 26, 28, which serves as the basis for the calculation of the overcompensation angular velocity V _OC .

Analogously to the narrowest predefinable setpoint stroke width H _Smin , for the widest or maximum predefinable setpoint stroke width H _Smax , the overcompensation angular velocity V _{OC is} not less than 88% of the theoretical compensation angular velocity V _C. Thus, the overcompensation angular velocity V _OC , starting from the normal stroke H _N , for example, is in a range of -12% to + 12% of the theoretical compensation angular velocity V _C. The ratio between the overshoot (= ΔV) of the overcompensation angular velocity V _OC versus the theoretical theoretical compensation angular velocity V _C and the selected target stroke width Hs can be determined according to FIG. 4 represent as a linear curve.

In FIG. 5 is the angular course of both impellers 26, 28 exemplary of a predetermined desired stroke width H _S , which is smaller than the normal stroke width H _N ( Fig. 2 ) of the yarn laying device 12, applied for two double strokes over time t. The slope of the curves corresponds to the respective angular velocity of the impellers 26, 28 (FIG. Fig. 2 ).

The starting point is, for example, at the first turning point U _{1 to the} left of the lifting center H _C ( Fig. 2 ) with the first wing 26a of the first impeller 26th

During the working stroke of the first vane moves 26a of the first impeller 26 the yarn with the required for the spooling or winding process working angular velocity V _W. At the transfer or reversal point U _{2 to the} right of Lifting center H _C , the thread 14 is taken over by the second impeller 28 with the first wing 28a and the working angular velocity V _W.

The first wing 26a of the first impeller 26 is now moved by driving the electric motor 30 of the first impeller 26 in the first sub-interval T _L1 of Leerhubintervall T _L with the overcompensation angular velocity V _OC . The temporal beginning of the second sub-interval T _{L2 of} the Leerhubintervalls T _L - in other words the control or control technical calming - is through the intersection of the overcompensation angular velocity V _OC and the predetermined working angular velocity V _{W of} the respective Leerhub impeller in the following reversal point U ₂ marked. Since the three vanes 26a, 26b, 26c of the first impeller 26 are rigidly connected to each other, the speed changes of the first impeller 26 affect all three vanes 26a, 26b, 26c of the first impeller 26 equally. The second wing 26b is therefore also like the first wing 26a in the first subinterval T _L1 of Leerhubintervall T _L with the overcompensation angular velocity V _OC and the second subinterval T _L2 of Leerhubintervall T _L , ie the subsequent calming phase T _L2 , with the working Angular velocity V _W moves to take over the thread 14 exactly at the transfer time T ₂ at the reversal point U ₁ left of the lifting center H _{C of} the second impeller 28.

The starting point T _{S of} the second sub-interval T _{L2 of} the Leerhubintervalls T _L , ie the control-technical calming phase, the control side in particular by means of continuous mathematical integration of the resulting angular distance with the overcompensation angular velocity V _{OC of} the respective Leerhub moved (idle stroke) impeller 26, 28 from respective takeover time T ₁ , T ₂ (= start time) of its idle stroke, ie from the time of thread transfer to the respective thread-leading other impeller 26, 28 in the corresponding reversal point U ₁ , U _{2 of} the traversing movement of the thread 14 (FIG. Fig. 1 ) to a continuously redetermined by the control device 38, ie a temporally migrating test time T _P1 , T _p2 , T _Pn Leerhubintervall T _L and the respective achievable angular distance with the working angular velocity V _W from the respective test time T _P1 , T _p2 , T _Pn up to the respective subsequent transfer time T ₂ in the following reversal point U ₁ , U _{2 are} calculated or specified. As soon as the next transfer point U ₁ , U _{2 can be reached} at the start of the second subinterval T _L2 at the test time T _P1 , T _P2 , T _Pn at the predetermined working angular speed V _W , this test time T _P1 , T _P2 , T _Pn predetermined by the control device as a start time T _{S of} the second Leerhubintervalls T _L2 . This can be done in real time. The electric motor 30 of the (idle stroke) impeller 26, 28 is controlled by the control device 38 from the start time T _S such that the idle stroke impeller 26, 28 is adjusted to the predetermined working angular velocity V _W during the second Leerhubintervall T _L2 , so that the idle-stroke impeller 26, 28, the thread 14 in the following reversal point U ₁ , U _{2 of} the desired stroke width H _S exactly in the respective acquisition time T ₁ , T ₂ of the respectively coming from the working stroke other impeller 26, 28 takes over. The thread 14 is subsequently from the impeller 26, 28, after this has taken over the thread 14, with the respective desired working angular velocity V _W on the desired stroke width H _S in the direction of the traverse axis 58 (FIGS. Fig. 2 ) or the coil longitudinal axis 22 (Fig.l) to the next reversal point U1, U2 moves. Upon reaching the next reversal point U ₁ , U ₂ again takes the impeller coming from the idle stroke 26, 28 at the working angular velocity V _W the thread 14 of the coming of the working impeller 26, 28, so that the thread 14 in rapid succession is reciprocated relative to the spool 16 via the predetermined desired stroke width Hs along the coil longitudinal axis 22.

Claims (15)

1. A method (100) for controlling a thread-laying device (12) having two impellers (26, 28) which can be driven in opposite directions, in order to move a thread (14) to be wound onto a rotating spool (16) back and forth between two reversal points (U₁, U₂) along the longitudinal axis (22) of the spool by means of a traversing movement having a nominal stroke width (H_S) which deviates from a basic stroke width (H_N) of the thread-laying device (12), comprising the following steps:

   a) defining (102) a respective axial position of the reversal points (U₁, U₂) of the nominal stroke width (H_S) of the traversing movement of the thread (14) relative to the longitudinal spool axis (22);

   b) calculating (104) a theoretical constant compensation angular velocity (V_C) at which the respective idle stroke executing impeller (26, 28), i.e. the idle stroke impeller (26, 28) would have to be moved during an idle stroke interval (T_L) in order to take over the thread (14) from the respective thread-guiding other impeller (26, 28) at the following reversal point (U₁, U₂) of the traversing movement;

   characterized in that the method (100) further comprises the following steps:

   c) calculating (106) an overcompensation angular velocity (V_OC) of the idle stroke impeller (26, 28) during a first sub-interval (T_L1) of the idle stroke interval (T_L) based on the theoretical compensation angular velocity (V_C);

   d) driving (108) the electric motor (30) of the idle stroke impeller (26, 28) such that it is driven at the overcompensation angular velocity (V_OC) during the first temporal subinterval (T_L1); subsequently

   e) adjusting (110) the idle stroke impeller (26, 28) from the over-compensation angular velocity (V_OC) to a predetermined working angular velocity (V_W) at the following reversal point (U₁, U₂) of the traversing movement during a second sub-interval (T_L2) of the idle stroke interval (T_L) following the first sub-interval (T_L1), in order to take over the thread (14) with the idle stroke impeller (26, 28) from the thread-guiding other impeller (26, 28) at the next reversal point (U₁, U₂) of the traversing movement at the predetermined working angular velocity (V_W); and

   f) repeating steps b) - e) for moving the thread (14) back and forth with the predetermined nominal stroke width (H_S) relative to the spool (22).
2. The method according to claim 1, characterized in that the overcompensation angular velocity (V_OC) is selected such that it deviates from the calculated theoretical constant nominal compensation angular velocity (V_C) by a maximum of 20%, preferably by a maximum of 15%, particularly preferably by a maximum of 12%.
3. The method according to claim 1 or 2, characterized in that a start time (T_S) of the second partial interval (T_L2) of the idle stroke interval (T_L) is determined or calculated by means of a continuous integration at the over-compensation angular velocity (V_OC) from the time (T1) of acceptance of the idle stroke movement of the respective idle stroke impeller (26, 28) up to a continuously newly determined test time (T_P1, T_P2, T_PN) in the idle stroke interval (T_L) of the idle stroke impeller (26, 28) as well as of the angular sector of the idle stroke impeller (26, 28) achievable at the predetermined working angle velocity (V_W) from the test time (T_P1, T_P2, T_PN) up to the time (T₂) of acceptance of the thread (14) by the respective idle stroke impeller (26, 28) at the respective next reversal point (U₁, U₂) of the traversing movement of the thread (14).
4. The method according to any of the preceding claims, characterized in that the thread-laying device (12) has a thread guide ruler (50), the thread guide ruler (50) and the axes of rotation (32, 34) of the two impellers (26, 28) being positioned relative to one another as a function of the nominal stroke width (H_S) predetermined in each case for the traversing movement of the thread (14).
5. The method according to any of the preceding claims, characterized in that a nominal stroke width (H_S) between 1 mm and 290 mm, in particular between 5 mm and 290 mm, is predetermined for the traversing movement of the thread (14).
6. The method according to any of the preceding claims, characterized in that the electric motors (30) are driven by means of a common digital signal processor (38a).
7. The method according to claim 6, characterized in that the electric motors (30) of the impellers (26, 28) are controlled by the control device (38) by way of vector control.
8. The method according to any of the preceding claims, characterized in that a metrological detection of a respective rotational position of the impellers (26, 28) about their axes of rotation (32, 34) is effected in each case by means of an encoder (56) with an angular resolution of preferably 0.25° or less.
9. The method according to any of the preceding claims, characterized in that the thread-guiding impeller (26, 28) is driven during its working stroke with a constant or with a variable working angular velocity (V_W).
10. A thread-laying device (12) for winding a thread (14) on a spool (22), comprising:

    two impellers (26, 28) which can each be driven in opposite directions about their axes of rotation (32, 34) by means of an electric motor (30);

    a control means (38) for controlling said electric motors (30) which is programmed to execute a control method (100) according to any of the preceding claims.
11. The thread-laying device according to claim 10, characterized in that the electric motors (30) are designed brushless, in particular as three-phase hybrid stepper motors.
12. The thread-laying device according to claim 10 or 11, characterized in that the control device (38) has a signal processor (38a), by means of which the two electric motors (30) of the impellers (26, 28) can be actuated in a synchronized manner.
13. The thread-laying device according to any of claims 10 to 12, characterized in that the control device (38) in each case has an encoder (56) for detecting a respective rotational position and velocity of the impellers (26, 28).
14. The thread-laying device according to any of claims 10 to 13, characterized in that the control device (38) is designed for controlling/regulating a spool drive (20) for the spool (16) to be wound with the thread (14).
15. A winding machine (10) having a spool holder (18) with a spool drive (20) for rotationally driving a spool (16) arranged on the spool holder (18) and having a thread-laying device (12) according to any of the preceding claims 10 to 14.

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