ES2254712T3 - PROCEDURE FOR CONTROLLING A ROLLER TANK AND ROLLER TANK FOR STORAGE OF SHEET SHAPED OBJECTS. - Google Patents

Abstract

Procedure for controlling a roller tank for storing sheet-shaped objects, especially banknotes (34), between the winding layers of a sheet (22) in the form of a band that is wound in a reciprocating manner between a sheet drum ( 12), driven by a first motor (46) and comprising a sheet reserve coil (24), and a coil drum (14), driven by a second motor (56) and which stores the objects (34) with sheet shape and the sheet tension (F) of the sheet (22) is regulated to a predetermined nominal value, characterized in that the actual value of the sheet tension (F) of the sheet (22) is calculated from the established absorbed power of the first motor (46) and the current radius and moment of inertia of the reed drum (12).

Description

Procedure to control a deposit of rollers and roller container for storing objects shaped sheet.

The invention relates to a method for control a roller tank to store shaped objects sheet, especially banknotes, between the winding layers of a strip in the form of a band that is wound in reciprocating between a reed drum, driven by a first motor and comprising a sheet reserve coil, and a coil drum, driven by a second motor and that stores the leaf-shaped objects.

Roller tanks are used with ATM frequency, as they make possible Simple storage and delivery of the same banknotes Bank. In the case of filling or storage, the incoming banknotes consecutively on the drum of coil between the winding layers. The number of revolutions of the coil drum can be adapted with it for example regardless of banknotes counted. In the case of evacuation or delivery of banknotes, these are again unwound according to the "Last in, First out" principle by coil drum, running the sheet with it on the drum of sheet.

So that the reciprocating winding of the sheet does not lead the sheet out of an available side guide, it is it is necessary that the sheet is always kept under traction to prevent bonds from forming.

WO 94/03384 describes a roller tank of this type, in which to avoid the formation of loops the torque of the motor winding the blade it is always greater than the torque of the motor that unwinds the sheet.

Tensile tension as uniform as possible on the sheet it can also be achieved, for example, by a friction brake that acts both ways. The brakes of friction have however the drawback of presenting large changes in friction torque, especially after long running breaks or also because of temperature variations in the case of operation dragged on. To compensate for this, that is, to always guarantee a safe operating state, it is necessary to apply a few twist pairs relatively high, which in turn lead to wear corresponding in all mechanics, so that they are necessary frequent maintenance and readjustment of the friction torque. Apart from this there is a loss of energy correspondingly high.

The invention has set itself the task of indicating a class procedure cited at the beginning where you can avoid reliably, avoiding the aforementioned inconveniences, the formation of a loop in the sheet and ensure a operation of the roller tank that saves energy.

This task is solved according to the invention. by means of which to regulate the sheet tension to a value preset nominal, the actual required value of the sheet tension it is calculated indirectly from the absorbed power established of the first engine and radius and moment of inertia Current reed drum.

By adjusting the sheet tension or sheet tensile force even a predetermined low value, for example 10 Newton, a longer life of the sheet can be guaranteed. The stretching processes often observed, which occur especially on the edges of the sheets of synthetic material and that lead to cracks at the edges of the sheet or, because of the irregular elongation of the sheet, to leave the sheet of its hint, they can be removed with this completely. By means of which a lower value for the sheet tension can be preset and maintained, drive motors with lower powers can be used, thereby reducing the energy consumption of the roller tank. The smaller effort to which the sheet is subjected makes possible a reduction in the thickness of the sheet, so that with the same construction space for the roller tank it has a greater capacity for
Deposit.

Alternatively, the actual value of the voltage of sheet can also be detected by direct measurement of the sheet tension, for example by using strips of dilation measurement

Roller tanks are normally used, as explained above, in priority devices, by example money handling mechanisms, such as in ATMs or money recycling systems. This means that the roller tank has to store and deliver banknotes with a speed corresponding to the speed of processing banknotes in the priority device. For this it is convenient that the peripheral speed of the drum of coil can be set to a preset nominal value. By means of the peripheral speed regulation can adapt the speed of storage and delivery of the roller tank, flexibly, to variations in the priority system. Apart from this, by such regulation can be reduced to a minimum distances between sheets or banknotes to be stored. This in turn leads to greater storage capacity of the roller tank

In the case of simultaneous regulation of the peripheral speed of the coil drum and the tension of sheet, by activating the motors for the drum sheet and coil drum, you get a system with a multivariate regulation. The turning torques of both motors act both on the speed of the coil drum and on the tension of sheet or tensile force of the sheet, and must be achieved on the one hand a preset minimum speed, and on the other hand by a corresponding activation of the two motors the drum that delivery the sheet is braked slightly in each case in relation to the drum that receives the sheet, to tension the sheet between the drums This means that the torque of the reed drum motor it also acts, through the true sheet tension on the that you want to influence, on the peripheral speed of the drum of coil. Conversely, although by the torque of the motor coil drum mainly wants to regulate only the speed peripheral of the latter, also here a reaction occurs over the sheet tension. To be able to manipulate practically a multivariate regulation of this type are analytically decoupled regulator circuits physically coupled to the voltage of sheet and the peripheral speed of the coil drum by means of a analytical filtering network, which, based on the values actual set for sheet tension and speed peripheral of the coil drum, reed drum and preset system parameters the signals of activation for the first and second motor.

The invention also relates to a deposit of rollers to carry out the procedure described above according to claims 5 to 7.

Other particularities and advantages of the invention of the following description, which in conjunction with the attached drawings explain the invention based on an example of execution. Here they show:

Figures 1-3, in each case a schematic representation of a roller tank to explain how it works,

Figure 4 a schematic representation of the essential elements of the roller tank according to the invention and its binding to a control mechanism,

Figure 5 a block connection scheme Simplified physical of the roller tank regulator section represented in figure 4, without the motors,

Figure 6 a block connection scheme analytical roller tank and

Figure 7 a diagram of analytical block connections of the roller tank with decoupling filter
I lie.

The roller reservoir schematically shown in Figure 1 comprises a housing 10, in which a reel drum designated in conjunction with 12 and a reel drum designated with 14 rotatably around shafts 16 or 18 parallel to each other are mounted. The sheet drum 12 has a drum core 20 on which a strip-shaped sheet 22, composed of synthetic material, can be wound to form a coil, with the minimum and maximum diameter of the coil being indicated in Figure 1. sheet 24. the sheet 22 runs from the sheet drum 12, through stationary inverter rollers 26 and a mobile inverter roller 28, to the coil drum 14, where it contacts a drum core 30 of the coil drum 14 and forms a storage coil 32. The mobile inverter roller 28 is thereby secured by means not shown, in each case, on the perimeter of the coil drum 14. The positions of the mobile inverter roller 28, in the case of a minimum radius and a maximum radius of the coil drum 14, are also indicated in the fi
Figure 1.

For the implantation of leaf-shaped objects, for example banknotes 34, in the slit between the surface peripheral of the coil drum 14 and the mobile inverter roller 28, and thus between two winding positions of the sheet 22 which makes contact on coil drum 14, a colisa of transport 36 that can be graduated just like the inverter roller mobile 28.

If the sheet drum 12 and the drum are rotated coil 14 counterclockwise according to figure 2, of such so that the sheet 22 makes contact with the coil drum 14 in the direction indicated by the arrows in figure 2, are rolled banknotes 34 in coil 32, that is, they are stored in the roller tank If on the contrary they are operated in the direction schedule drums 12 and 14 in the mode represented in figure 3, the sheet 22 goes from making contact with the coil drum 14 to reed drum 12, withdrawing, that is, evacuating the note notes 34 out of the slit between the surface of the coil drum 14 and the mobile inverter roller 28. The mode of operation described so far of a roller tank is known in themselves.

Figure 14 shows the essential elements of the roller tank and its connection to a control tank and regulation. With it the elements that coincide with the representation in figures 1 to 3 are also equipped with Same reference symbols.

The drum core 20 of the sheet drum 12 it is attached to a shaft 38, which supports a belt sprocket 40. This is coupled through a toothed belt 42 to the pinion of drive 44 of an electric motor 46.

Similarly the drum core 30 of the drum of coil 14 is attached to a shaft 48, which supports a cogwheel of belt 50. This is connected through a toothed belt 52 to drive pinion 54 of a second electric motor 56.

Each of the electric motors 46 and 56 is coupled to an encoder 58 or 60, for example to an encoder incremental, whose output signal is fed in each case to a control mechanism 62. Control mechanism 62 obtains a additional input signal of a dilation measuring strip 64, which is used to measure the actual value of the sheet tension, in where the current sheet tension can also be set from another way, as illustrated above.

On the basis of the information of the number of revolutions established by the encoders 58 and 60 and of the real value of the sheet tension, of the predetermined nominal values for the sheet tension and the peripheral speed of the coil drum 14 as well as of the preset system parameters, the control mechanism 62 then sets activation signals for the motors 46 and 56, to drive them in such a way that the preset nominal values for the sheet tension and the peripheral speed of the booster drum are maintained.
bina 14.

The block connection scheme according to the Figure 5 the coupling shows between the adjustment quantities and the magnitudes of system regulation. With it the symbols of formula designate in figure 5 the following magnitudes:

M_ {G}, M_ {F}

= Motor torques 56, 46

V_ {g}, V_ {f}

= Peripheral speeds of the drums 14, 12

F

= Sheet tension

D, c

= Damping and elastic constant of the sheet

J_ {G}, J_ {F}

= Moments of inertia of the drums 14, 12

r_ {G}, r_ {F}

= Current radii of drums 14, 12

The regulation quantities are the voltage of sheet F and the peripheral velocity V g of the drum drum 14. The adjustment quantities are the motor torque M_ {F} and M_ {G}. The torque M_ {F} of the reel drum motor 12 it also acts, through the tension of sheet F in which it must really influence, on the speed V_ {G} of the drum of coil. By the torque M_ {G} of the drum motor coil 56 you want to regulate in principle only the speed peripheral V_ {G} of coil drum 14. However, also here a reaction occurs on the sheet tension, since this if it should be generated by a difference in speeds peripherals of the sheet drum 12 and the coil drum 14.

The coupling between the adjustment quantities and regulation is reproduced by the connection scheme in analytical blocks according to figure 6. With this G_ {i} (s) designates the transmission functions, which describe the dynamic system behavior. The arrows show the tracks of coupling between the adjustment quantities M_ {F}, M_ {G} and the regulation quantities F, V_ {g}.

In order to handle this regulation in practice multivariate and determine the necessary regulators, it is necessary remove the coupling between M_ {G} and F or M_ {F} and V_ {g}. This can be done analytically via a filtering network according to figure 7. This filtering network comprises functions of transmission V_ {i} (s), which are determined in such a way that It meets the following system of equations:

V_ {1} (s) \ cdot G_ {3} (s) = V_ {3} (s) \ cdot G_ {4} (s)

V_ {2} (s) \ cdot G_ {1} (s) = V_ {4} (s) \ cdot G_ {2} (s)

If the above equations are fulfilled, eliminate unwanted coupling paths in the system through the preconnected filtering network, so that only the motor torque M_ {G} is coupled to the speed peripheral V_ {g} and the motor torque M_ {F} at the voltage of sheet F. By means of this two regulating circuits are produced which can be designed independently of each other.

To project the regulation must be taken into account, apart from the coupling described above of the magnitudes of the system, which by winding and unwinding the sheet the radii of the drums are also modified and together with them moments of inertia of them. Radios and moments of inertia which vary over time produce a nonlinear behavior of system. The variation of the spokes can be described approximately by means of a spiral of Archimedes:

r_ {Folientrommel} = r_ {Trommelkern} + a / 2 \ pi (\ varphi 0 + \ varphi )

       \ newpage
    

Explanation of formula symbols

r_ {Folientrommel}

= current drum radius with blade

r_ {Trommelkern}

= drum radius without blade, that is, radius of the drum core

to

= sheet thickness

\ varphi_ {0}

= initial angle of the drum

\ varphi

= current angular position of the drum

The angular position \ varphi of the drums can be established by measuring and integrating the angular speed of motors 46 and 56.

With the help of established radios above and of the material characteristic values of the sheet 22 determines the moment of inertia of the sheet:

J_ {Folie} = ½ \ rho_ {Folie} b_ {Folie} \ pi (r ^ {_} Folientrommel} - r 4 Trommelkern)

Explanation of formula symbols

b_ {Folie}

= Sheet width

\ rho_ {Folie}

= Sheet thickness

The respective sheet coil 24, 32 is contemplates with it like hollow cylinder, that plugs on the respective drum core 20 or 30. The moments of inertia of the drum cores 20, 30 are constant and are established from Construction data.

To take into account the influence of Banknotes to store on the radio and the moment of inertia of coil drum 14, a simple model has been developed that describe banknotes as a "paper layer" between the layers of foil. In the case of the paper layer, a density that takes into account the distance between the bills of Bank adjusted by regulation.

Because the speed of variation of radios and with it the moments of inertia, in the case of a Maximum reel drum speed Vg of 1.2 m / s, is relatively small, the temporary variation of section parameters through simple transmission functions linear with coefficients that vary.

For the regulation of sheet tension and the peripheral velocity V g of the drum drum 14 can used regulatory concepts known from the literature, such as cascade regulations or even regulations of Been with observers. Regardless of the respective sense of turn, the motor 56 adjusts on the drum drum 14 only the speed desired angle V_ {g}. The reed drum motor 56, by the On the contrary, it is only responsible for maintaining the tension of desired F sheet.

Instead of an incremental encoder 58 in the reed drum motor 46 can also be used an emitter or simple pulse counter, which increases or decreases with each complete rotation of the sheet drum 12, since the moment of inertia of the sheet drum 12 only varies relatively little with each rotation and since for the regulation of the joint system it is not It is essential to determine the speed of the reed drum.

To measure the sheet tension, an expansion measuring strip 64 is used in the exemplary embodiment. The actual value of the sheet tension can also be determined indirectly, however, by measuring the current in the motor 46 and by the calculation of the radius and moment of inertia of the drum drum
mine 12.

Claims (7)

1. Procedure for controlling a roller container for storing sheet-shaped objects, especially banknotes (34), between the winding layers of a sheet-shaped sheet (22) that is wound in a reciprocating manner between a drum sheet (12), driven by a first motor (46) and comprising a sheet reserve coil (24), and a coil drum (14), driven by a second motor (56) and which stores the objects (34 ) with a sheet shape and the sheet tension (F) of the sheet (22) is regulated to a predetermined nominal value, characterized in that the actual value of the sheet tension (F) of the sheet (22) is calculated from of the established absorbed power of the first motor (46) and of the current radius and moment of inertia of the reed drum (12). 2. Method according to claim 1, characterized in that the number of revolutions of the second motor (56) is measured by means of an encoder (60) and from here the actual value of the peripheral speed (V g) of the drum is calculated. coil (14) and its angular position. Method according to claim 1 or 2, characterized in that the number of revolutions of the sheet drum (12) is calculated. Method according to one of the claims 1 to 3, characterized in that the physically coupled regulating circuits for the sheet tension (F) and the peripheral speed (V g) of the coil drum (14) are analytically decoupled by means of a network of analytical filtering and because, on the basis of the actual values established for the sheet tension (F) and the peripheral speed (V g) of the coil drum (14), the number of revolutions of the sheet drum (12 ) and of the predetermined system parameters the activation signals for the first and second motor can be calculated (46, 56). 5. Roller tank for storing sheet-shaped objects, especially banknotes (34), which comprises a reed drum (12) that can be operated by a first motor (46) with a reel of one sheet ( 22) in the form of a band, a coil drum (14) that can be driven by a second motor (56), the sheet (22) being able to be wound in a reciprocating manner between the sheet drum (12) and the coil drum (14) , means (36) for feeding sheet-shaped objects (34) between the winding layers of the sheet (22) by winding it on the reel drum (14) or for evacuating the sheet-shaped objects (3) by unwinding the sheet (22) from the coil drum (14) and a control mechanism (62) to activate the first and second motor (46, 56), the control mechanism (62) being configured for a regulation of the sheet tension (F) of the sheet (22) between the two drums (12, 14) at a predetermined nominal value, characterized by means p To detect the absorbed power of the first motor (46) and means (62) to calculate the actual value of the sheet tension (F) from the detected data and the current radius and the moment of inertia of the sheet drum (12 ). 6. Roller tank according to claim 5, characterized in that an encoder (58) and a second encoder (60) have been associated with the first motor (46). 7. Roller tank according to claim 5 or 6, characterized in that the control mechanism (62) contains a program-controlled computer, which is programmed such that it calculates the operating values of the resulting transmission functions, which correspond to the regulatory circuits decoupled by means of an analytical filtering network, based on the established and preset current data and, from them, establishes the activation signals for the first and second motor (46, 56).