JP2001129790A - Control device for rotary cutter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device for rotary cutters capable of efficiently cutting according to a characteristic of each speed change curve by enabling easy generation of an arbitrary speed command not limited to a line graph-liked speed command by use of an arithmetic device of a computer. SOLUTION: An electric motor 5 for driving a pair of the rotary cutters 2 is connected to the rotary cutters 2. The motor 5 has a PG 6 for detecting a rotation angle of the cutter 2, while a length measurement roll 8 for detecting a movement amount of a traveling sheet 1 is provided. A shaft of the length measurement roll 8 is provided with a PG 9 for detecting the moving amount. The numerical control device 20 comprises an integrator 11, a position command generator 12, a differentiator 13, an integrator 14, a position controller 15, a speed controller 16, differentiators 17, 18, a machine constant multiplier 19 and adders 21-25.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to cutting a sheet such as a steel sheet, an aluminum sheet, a paper, a corrugated cardboard (hereinafter referred to as a sheet), which is continuously fed at a high speed, while a knife rotating by numerical control follows the sheet. In addition, the present invention relates to a rotary cutter control device that changes the rotation of a blade by numerical control to match a cutting length to a set length between cutting.

[0002]

2. Description of the Related Art FIG. 19 is a block diagram of a conventional rotary cutter for cutting a sheet such as a steel sheet, an aluminum plate, paper, cardboard or the like which is continuously fed at a high speed, and FIG. 18 is a conventional speed command characteristic diagram. .

As shown in FIG. 19, there is a pair of rotary cutters 2 having blades on the circumferential surface in the axial direction, and a reduction gear 4 is attached to a main shaft 3 of the rotary cutter 2 for driving the rotary cutter 2. The electric motor 5 is connected. The electric motor 5 is provided with a pulse generator (PG) 6 for detecting the rotation speed and the electric motor rotation angle of the electric motor, that is, the rotation angle of the main shaft 3 of the rotary cutter 2.

On the other hand, a length measuring wheel 8 for detecting the amount of movement of the traveling seat 1 is provided, and a pulse generator (PG) 9 for detecting the amount of movement is provided on the axis of the length measuring wheel 8. Have been. Further, a cutting completion position sensor 10 for detecting a cutting completion position every time the sheet 1 traveling by the rotary cutter 2 is cut is provided. The numerical controller 30 of the rotary cutter 2
As disclosed in Japanese Patent Publication No. 61-33679, it is roughly composed of a fixed-length cutting circuit section 40, a stop control circuit section 60, and a cutting circuit section.

[0005] The fixed-size cutting circuit section 40 is a circuit for accurately cutting the sheet 1 into a set predetermined length. Each time the traveling sheet 1 is cut by the rotary cutter 2,
The cutting completion position is detected by the cutting completion position sensor 10,
Every time a new cutting completion position is generated, the number of pulses corresponding to the difference L = L ₀ −B ₀ between the cutting length L ₀ and the circumference B ₀ of the rotary cutter 2 is read into the register of the fixed-length cutting circuit unit 40. .

[0006] This is due to the pulse
The number of pulses Φ generated by the Neerator 9 _a (That is, the sheet
The amount of movement) and the pulse
Φ generated by the generator 7_b (Rotary cutter 2
Rotation amount) and the difference Φ_a −Φ_b That is, R = L₀ -B₀ −
(Φ_a −Φ_b ), And corresponds to the difference R.
Compensation voltage V_c = F (R) and the pulse generator (P
G) The output of 9 is obtained by frequency-voltage (F / V) conversion.
, Ie, a voltage V representing the amount of movement of the sheet 1_aDifference with
V₀ -V_a -V_c To V₀ Only when> 0, control of motor 5
The speed command is given to the road.

Each time the blade of the rotary cutter 2 passes the cutting completion position sensor 10 and a cutting completion signal is generated, the stop control circuit 60 generates a pulse corresponding to a preset stopping distance of the blade of the rotary cutter 2. with reads the number [Phi _a, a D / a converter for converting the number of pulses [Phi _b representing the amount of rotation of the rotary cutter 2 reversible counter is subtracted, and the DC voltage V _b of the contents of the reversible counter is proportional thereto.

[0008] The switching circuit section 1 discriminates the polarity of the difference between V ₀ which the voltage V _a which represents the amount of movement of the seat 1, when V ₀ ≧ 0, the polarity determination comparator which generates a signal S _n which indicates that the when the V ₀ when the polarity discrimination comparator does not generate a signal S _n, also when the polarity discriminating comparator generates a signal S _n is the control circuit of the motor 5 a V _b as the final speed command voltage V _r And a switching circuit for applying the signal.

[0009] In such a fixed-length cutting control unit 30, by subtracting the compensating voltage V _c with respect to the speed voltage V _a of the sheet 1, as well as compensate for the speed of the sheet 1 as the difference R, difference in the time of cutting R becomes zero and V _c = 0, that is, V _c
= V _a , the speed of the rotary cutter 2 is synchronized with the speed of the sheet 1, and if any one of Φ _a and Φ _b leads or lags the other during this time, the difference is made zero. By performing digital servo control for controlling the acceleration and deceleration of the electric motor, the sheet 1 can be accurately cut to a predetermined length at a fixed length.

[0010]

[Problems that the Invention is to Solve In the conventional standard dimension cutting controller, cut length L ₀ is the acceleration rate during acceleration of the rotary cutter 2 is greater than the circumferential length B ₀ of the rotary cutter 2, and cut Length L ₀ is rotary cutter 2
Deceleration rate during deceleration of the rotary cutter 2 when the peripheral length B ₀ is smaller than the compensation for voltage is determined by the gain of the D / A converter to obtain a V _c, the value of the deceleration rate during deceleration of the rotary cutter 2 Is a fixed value, and the deceleration rate at the time of deceleration of the rotary cutter 2 when the cutting length L ₀ is larger than the circumference B ₀ of the rotary cutter 2 is determined by the gain of the D / A converter of the stop control circuit. Therefore, the deceleration rate at the time of deceleration of the rotary cutter 2 also becomes a fixed value.

As described above, acceleration and deceleration are always performed at a fixed acceleration and deceleration rate as shown in FIG. 18 regardless of the cutting length of the rotary cutter 2 or the traveling speed of the sheet 1. The fixed acceleration / deceleration rate is a value that satisfies the case where the traveling speed of the sheet 1 is the maximum and the cutting length requires the rotary cutter 2 to stop temporarily (in this case, the steepest acceleration / deceleration rate is required). Is set. Then, the motor 5 having a rated torque capable of achieving the acceleration / deceleration rate is selected and used.

As described above, in the conventional fixed-size cutting control device, in order to accelerate / decelerate the rotor at a rapid acceleration / deceleration rate,
Excessive load is applied to the gear 4 and unnecessary current flows to the motor, which shortens the life of the machine and the motor, and the acceleration / deceleration rate is constant irrespective of the cutting length and the running speed of the material. There was a problem that it was not possible to cut it.

Further, Japanese Patent Application Laid-Open No. 1-71614 discloses that
Using a computer (CPU), an optimal acceleration / deceleration rate suitable for the cutting length and the traveling speed of the material is calculated from data such as the sheet traveling speed, and the optimal acceleration / deceleration (linear curve) is performed. A method and an apparatus for optimally changing the acceleration and deceleration of a rotary cutter capable of performing a specific cutting are disclosed. However, the disclosed method has not been able to eliminate obstacles such as gear noise, wear, breakage, and the like due to a shocking force generated when the motor changes from deceleration to acceleration due to a broken line curve.

In any case, in the conventional fixed-length cutting control device, since the speed command is limited to a broken line, an impulsive force is generated in the machine or the motor when the motor moves from deceleration to acceleration. In order to do this, the machine (noise, wear,
Damage, etc.) and shorten the life of the motor.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-described problems, and an arbitrary speed which is not limited to a linear speed command by using an arithmetic unit (CPU) of a computer. An object of the present invention is to provide a rotary cutter control device capable of easily generating a command and thereby performing efficient cutting according to the characteristics of each shift curve.

[0016]

SUMMARY OF THE INVENTION According to the present invention, there is provided an apparatus for controlling a rotary cutter for cutting a material in synchronization with a running material, wherein the moving amount of the running material is detected, and the moving amount is integrated with time. Then, the moving distance of the material is obtained by multiplying the speed-position conversion constant, and the moving distance of the material and various conditions necessary for cutting the running material, such as a cutting length, a peripheral length of a cutting area, and a cutter. A position function having the shift curve is calculated based on the value of the circumference and the shift curve, and the output of the calculated position function is differentiated with respect to time to obtain a position-
A cutter speed signal having a shift curve is obtained by multiplying by a speed conversion constant, and the cutter speed signal, the speed signal of the traveling material, and the speed signal of the electric motor driving the rotary cutter are added to obtain a shift curve. By outputting a cutter speed command having the following and outputting an optimal acceleration / deceleration rate having a shift curve for cutting the running material, mechanical shock due to rapid acceleration / deceleration is reduced. is there.

Further, according to the present invention, a position deviation signal is obtained by time-integrating the cutter speed command having the shift curve and multiplying by a speed-position conversion constant, and is compensated by multiplying the position deviation signal. By obtaining a speed signal, adding the cutter speed command and the speed signal of the traveling material, adding the added signal to the compensation speed signal, and further adding the speed signal of the electric motor driving the rotary cutter. A speed deviation is corrected and output as a torque reference signal, and a material acceleration signal obtained by time-differentiating the speed signal of the running material and a cutter acceleration signal obtained by time-differentiating the cutter speed signal are added to the added signal. A corrected torque signal corresponding to the acceleration is obtained by multiplying a mechanical constant, and the corrected torque signal and the torque reference signal are added to generate a torque. By outputting a torque command, outputting an optimal acceleration / deceleration rate having a shift curve for cutting the running material, and controlling the motor, it is possible to mitigate a mechanical shock in the rapid acceleration / deceleration of the motor. .

[0018]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of the present invention. FIG. 1 is a block diagram showing a control configuration of a rotary cutter embodying the present invention. FIG. 2 is a conventional speed command characteristic diagram of a broken line curve, FIGS. 3 and 4 are speed command characteristic diagrams of a single chord curve of the present invention, and FIGS. 5 and 7 are position characteristic diagrams of a single chord curve. is there. FIG.
FIG. 4 is an explanatory diagram showing a relationship between movement of a cutter and a sheet.

As shown in FIG. 1, there is a pair of rotary cutters 2 (hereinafter referred to as cutters) each having a blade on the circumferential surface in the axial direction, and an electric motor 5 for driving the cutters 2 is connected thereto. The electric motor 5 includes a pulse generator (PG) 6 for detecting the rotation angle of the electric motor, that is, the rotation angle of the cutter 2.

On the other hand, a length measuring roll 8 for detecting the moving amount of the traveling sheet 1 is provided, and a pulse generator (PG) 9 for detecting the moving amount is provided on the axis of the length measuring roll 8. Have been.

In order to detect the amount of movement of the running sheet 1, both lengths of the running sheet 1 are adjusted up and down by two.
Pressing contact with the length measuring roll 8, that is, nipping, and rotation of the length measuring roll 8 generated as the sheet travels,
A pulse is generated from a pulse generator (PG) 9 for each unit rotation, and the pulse is counted to detect the moving amount of the continuously traveling sheet.

Next, the numerical controller 20 will be described. The numerical controller 20 includes an integrator 11, a position command generator 12, a differentiator 13, an integrator 14, a position controller 15,
Speed controller 16, differentiators 17, 18, mechanical constant multiplier 1
9. It comprises adders 21 to 25.

First, the seat on which the line is driven travels. The pulse generated by the pulse generator 9 as the seat 1 travels is transmitted to the integrator 1 of the numerical controller 20.
Enter 1 The input pulse is time-integrated by the integrator 11 to be output as the material moving distance X, and is input to the position command generator 12. The position command generator 12 gives a position command f (x) as a function of the material moving distance X according to an arbitrary speed command generated according to the cutting length L ₀ , as will be described later in detail.

On the other hand, the moving speed V _B of the rotary cutter 2 is obtained from the pulse generated by the pulse generator 6 with the rotation of the rotary cutter 2.

The output of the position command generator 12, that is, the cutter speed command df (x) / dt obtained by differentiating the position command f (x) with time by the differentiator 13 is added to the adder 2
The 1, the material velocity V _L and which is added to the cutter speed V _B is input to the integrator 14 the position deviation e is

[0026]

(Equation 1)

Can be obtained by This position deviation e
Is inputted to the position controller 15 is output as a compensation speed V _c.

The cutter speed command df (x) / dt is added with the material velocity V _L and the moving speed V _B described above by the adder 24 and 22, the speed deviation ΔV is

[0029]

(Equation 2)

Is obtained.

The output of the adder 22 is input to the speed controller 16 and output as a speed shift correction torque command τ _A for correcting a speed shift with respect to the speed reference.

Further, the cutter speed command df (x) / dt
Is differentiated with respect to time by the differentiator 18 and the cutter acceleration command d ² f
(X) / dt ² is obtained. On the other hand, the material speed V _L
7, and the output thereof is obtained as a line acceleration dV _L / dt. These cutter acceleration command and line acceleration are
The sum is added by the adder 25, input to the mechanical constant multiplier 19, and output as a correction torque command τ _B corresponding to the acceleration.

The correction torque command τ _B and the torque reference command τ _A are added by the adder 23, and the motor torque command τ _R ,

[0034]

(Equation 3)

Then, a command is given to the electric motor 3 through the drive control circuit 5.

The corrected torque command τ _B is calculated based on the cutter acceleration d ² f (x) / dt ² and the line acceleration dV _L / dt
Is calculated by multiplying a mechanical constant (J) based on the following equation. This is obtained by multiplying a changing speed command by an acceleration, which is a rate of change, by a mechanical inertia and performing feedforward correction as a motor torque command. The ability to follow the changing speed command of the cutter, which is the inertia load, is improved.

The speed control waveform in such a control configuration is conventionally basically a broken line curve shown in FIG. In FIG. 2, the horizontal axis is time, and the vertical axis is speed. The acceleration / deceleration of the rotary cutter 2 changes linearly as shown in FIG.
That is, when the rotary cutter 2 starts accelerating as soon as the rotary cutter 2 decelerates and the speed becomes zero, the condition for cutting the cutting length L ₀ with high accuracy is a product of time and speed in FIG. It is necessary that the part area be equal to the cutter circumference B ₀ .

When a broken line curve which is a speed command changing linearly in FIG. 2 is obtained, a cutter speed command df (x) / dt is obtained.
Is V _R -V _L , so that when 0 ≦ t / T ≦ T / 2,
− (2 / T) V _L t, and when 1/2 ≦ t / T ≦ 1,
_VL {1- (2 / T) (t- (T / 2))}. Here, since V _LT = 2 (L ₀ −B ₀ ), the position command f (x) is

[0039]

(Equation 4)

## EQU4 ## In addition, t = X / V _L , T = (L ₀
−B _w ) / V _L , the position command f (x) becomes

[0041]

(Equation 5)

Is as follows. However, B _w indicates the circumferential length of the cutting area of the cutter shown in FIG.

In the above equation, the difference L ₀ −B _w between the cutting length L ₀ and the peripheral length B _w of the cutting area indicates the shift range of the cutter with respect to the sheet moving amount X, and is calculated in advance according to the cutting length L _0. I have. Further, the cutting length L as send-off amount of cut length L ₀ and the difference L ₀ -B ₀ cutter circumferential length B ₀ also sheet movement amount
It is given by calculating according to ₀ .

The operation of the position command generator f (x) is performed at high speed in real time based on the above equation according to the amount of sheet movement, and is output as a position command.

In the above, for the purpose of comparison with the present invention, a linear curve which is a speed command changing linearly in FIG.

In this embodiment, the speed command is a sine wave, that is, a single chord curve shown in FIG.

When the speed command is obtained by a single-string curve, the following equation can be obtained.

[0048]

(Equation 6)

Therefore, the cutter speed command df (x) / dt
Is given by the following equation as a speed command in the speed change region as shown in FIG.

[0050]

(Equation 7)

The position command f (x) _{is, V L T = 2 (L} 0 -
B ₀ )

[0052]

(Equation 8)

Is as follows. In this equation, t = X / V _L and T = (L
₀ −B _w ) · _VL , the position command f (x) becomes

[0054]

(Equation 9)

Is as follows. However, B _w indicates the circumferential length of the cutting area of the cutter shown in FIG.

In the above equation, the difference L ₀ −B _w between the cutting length L ₀ and the perimeter B _w of the cutting area indicates the shift area of the cutter with respect to the sheet moving amount X, and is calculated in advance according to the cutting length L _0. I have. Further, the cutting length L as send-off amount of cut length L ₀ and the difference L ₀ -B ₀ cutter circumferential length B ₀ also sheet movement amount
It is given by calculating according to ₀ .

The position command f (x) is calculated at high speed in real time based on the above equation in accordance with the amount of sheet movement, and is output as a position command.

As described above, the acceleration of a single chord curve is

[0059]

(Equation 10)

Where the peak acceleration is

[0061]

[Equation 11]

The effective value (RMS) of the acceleration is

[0063]

(Equation 12)

The acceleration average value of the half cycle is

[0065]

(Equation 13)

Is represented by

For comparison, consider the broken line curve. The acceleration d ² f (x) / dt ^{2 in} the case of the broken line curve is as follows.

[0068]

[Equation 14]

The effective value (RMS) of the acceleration is

[0070]

(Equation 15)

The acceleration average value of the half cycle is

[0072]

(Equation 16)

Is represented by

[0074] From the above equations, the maximum jerk in the case of single-chord curves, from ^{0 (-π 2/4) (} V L / T), (π
_{^{2/4) (V L /}} T) from 0, therefore, ([pi ² /
4) (V _L / T).

In the case of a polygonal curve, (−2 / T) V
_L to (2 / T) V _L and therefore (4 / T) V _L
Becomes

Based on the above formulas, the peak acceleration ratio, the effective value of acceleration (RMS) ratio, the half-cycle acceleration average ratio, and the maximum acceleration change ratio of the electric motor in the broken line curve and the single chord curve are obtained as shown in Table 1. Become like

[0077]

[Table 1]

As shown in Table 1, the single-string curve has a peak acceleration ratio of the motor of 1: 1.23 times that of the polygonal curve, but has an effective acceleration (RMS) ratio of 1: 0.872.
The maximum acceleration ratio is 1: 0.617 times, and the average acceleration ratio in a half cycle is 1: 0.785 times.

Therefore, in the case of the polygonal curve, the shocking force generated when the motor changes from deceleration to acceleration depends on the acceleration change. In the case of the single-string curve, however, the acceleration change ratio is small, and the motor is decelerated. The shocking force generated when turning from acceleration to acceleration becomes almost zero. For this reason, it is possible to eliminate obstacles such as noise, abrasion, and breakage of the gears that occur when the motor changes from deceleration to acceleration due to the broken curve.

In the above embodiment, as an example of the shift curve,
A single chord curve was used. Other examples of the shift curve include a cubic curve, a quintic curve, a cycloid curve, a modified trapezoid, and a modified sine curve.

Next, the cubic curve, the quintic curve, and the cycle
Speed of each of Lloyd curve, deformed trapezoid and deformed sine curve
The curve and the position curve will be described. Position command f
The symbol of the calculation formula of the output of each position curve in (x) is B_w 
Indicates the perimeter of the cutting area of the cutter shown in FIG.
L₀ And the circumference B of the cutting area_w And the difference L₀ -B_w The sea
7 shows a shift range of the cutter with respect to the shift amount X. B_w Is
Pre-cut length L₀ Set as parameters according to
It is. Also, the cutting length L₀ And cutter circumference B₀ Difference L ₀ −
B₀ Also, the cut length L₀ In response
Are set as parameters. Also, the material speed V_L 
Time for

[0082]

[Equation 17]

The calculation process is omitted. (1) Cubic curve (see FIGS. 8 and 9) When the position curve f (x) of the cubic curve is obtained, the following equation is obtained.

[0084]

(Equation 18)

Table 2 shows the peak acceleration ratio, the effective value of acceleration (RMS) ratio, the half-cycle acceleration average ratio, and the maximum acceleration change ratio of the electric motor.

[0086]

[Table 2]

(2) Fifth-Order Curve (See FIGS. 10 and 11) When the position curve f (x) of the fifth-order curve is obtained, the following equation is obtained.

[0088]

[Equation 19]

Table 3 shows the peak acceleration ratio, the effective value (RMS) ratio of the acceleration, and the average acceleration ratio of the semi-integrated motor.

[0090]

[Table 3]

The calculation of the position command f (x) of the quintic curve is performed in real time at a high speed based on the above equation in accordance with the amount of sheet movement, and is output as a position command, as shown in FIGS. 10 and 11. As described above, when the motor starts to decelerate, when the motor shifts from deceleration to acceleration, and when the acceleration is terminated, the acceleration can be reduced to zero. However, as shown in Table 3, the effective value is larger than that of the single chord curve. Become. (3) Cycloid curve (see FIGS. 12 and 13) When the position curve of the cycloid curve is obtained, the following equation is obtained.

[0092]

(Equation 20)

Table 4 shows the peak acceleration ratio, the effective value of acceleration (RMS) ratio, and the half-cycle acceleration average ratio obtained from this calculation formula.

[0094]

[Table 4]

The position command f (x) of this cycloid curve
Is calculated at high speed in real time based on the above equation according to the amount of sheet movement and is output as a position command. As shown in FIGS. 12 and 13, when the motor starts to decelerate,
There is a feature that the acceleration at the time of shifting from deceleration to acceleration and at the end of acceleration can be made zero, but as shown in Table 4, the effective value becomes larger than that of the single-string curve. (4) Modified trapezoidal curve (see FIGS. 14 and 15) When the position curve f (x) of the modified trapezoidal curve is obtained, the following equation is obtained.

[0096]

(Equation 21)

It is assumed that

Table 5 shows the peak acceleration ratio, the effective value of acceleration (RMS) ratio, the half-cycle acceleration average ratio, and the maximum acceleration change ratio of the motor.

[0099]

[Table 5]

The calculation of the position command f (x) of the deformed trapezoidal curve is performed in real time at a high speed based on the above equation according to the amount of movement of the sheet and is output as a position command, as shown in FIGS. 14 and 15. As described above, when the motor starts to decelerate, when the motor shifts from deceleration to acceleration, and when the acceleration is completed, the acceleration can be reduced to zero. However, as shown in Table 5, the effective value is larger than the single chord curve. Become. (5) Modified sine curve (see FIGS. 16 and 17) When the position curve f (x) of the modified sine curve is obtained, the following equation is obtained.

[0101]

(Equation 22)

It is assumed that

Table 6 shows the peak acceleration ratio, the effective value (RMS) ratio of the acceleration, the half-cycle acceleration average ratio, and the maximum acceleration change ratio of the motor.

[0104]

[Table 6]

The calculation of the position command f (x) of the deformed sine curve is performed at high speed in real time based on the above equation in accordance with the amount of movement of the sheet and is output as a position command, as shown in FIGS. 16 and 17. As described above, when the motor starts to decelerate, when the transition from deceleration to acceleration is performed, and when the acceleration is completed, the acceleration can be reduced to zero. However, the effective value is larger than that of the single chord curve.

As described above, the cubic curve, which is a shift curve, is characterized in that the acceleration when the rotary cutter shifts from deceleration to acceleration can be made zero, and the effective value becomes the minimum value. The peak acceleration ratio becomes larger than the curve.

Similarly, the fifth-order curve, the cycloid curve, the deformed trapezoid, and the deformed sine curve, which are shift curves, indicate that the acceleration at the start of deceleration, the transition from deceleration to acceleration, and the end of acceleration can be made zero. There is a characteristic, but the effective value is larger than that of a single chord curve.

Therefore, a cubic curve, a quintic curve, a cycloid curve, a deformed trapezoidal curve, a deformed sine curve, and the like are satisfied, for example, the condition that the cutter speed and the line speed are synchronized in the cutting area is satisfied at the same time that the cutter movement amount is set to the circumferential length. Further, when the position command cannot be expressed by a mathematical expression, only the position function is realized by calculating the position command f (x) of the numerical control device 20 by a calculation device (CPU) of a computer, including a table reference method. By simply doing this, a rotary cutter control device that operates with an arbitrary shift curve can be obtained.

[0109]

According to the present invention, by using a shift curve, when the motor moves from deceleration to acceleration, no impulsive force is generated, so that noise, wear, breakage, etc. of the motor and gears can be prevented. Becomes possible.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a control configuration of a rotary cutter according to the present invention.

FIG. 2 is a diagram showing a speed command characteristic of a broken line curve.

FIG. 3 is a diagram showing a single string speed command characteristic.

FIG. 4 is a diagram showing a single string speed command characteristic.

FIG. 5 is a position characteristic diagram.

FIG. 6 is a diagram illustrating a relationship between movement of a cutter and a sheet.

FIG. 7 is a position characteristic diagram.

FIG. 8 is a velocity curve diagram of a cubic curve.

FIG. 9 is a position curve diagram of a cubic curve.

FIG. 10 is a velocity curve diagram of a quintic curve.

FIG. 11 is a position curve of a fifth-order curve diagram.

FIG. 12 is a velocity curve of a cycloid curve.

FIG. 13 is a position curve diagram of a cycloid curve.

FIG. 14 is a velocity curve of a deformed trapezoid curve.

FIG. 15 is a position curve diagram of a deformed trapezoid curve.

FIG. 16 is a velocity curve diagram of a modified sine curve.

FIG. 17 is a position curve diagram of a modified sine curve.

FIG. 18 is a conventional speed command characteristic diagram.

FIG. 19 is a control block diagram of a conventional rotary cutter.

[Explanation of symbols]

 Reference Signs List 1 sheet 2 rotary cutter 3 main shaft 4 reduction gear 5 motor 6 pulse generator 7 drive control circuit 8 length measuring roll 9 pulse generator 10 cutting completion sensor 11 integrator 12 position command generator 13 differentiator 14 integrator 15 position controller 16 speed Controllers 17, 18 Differentiators 19 Mechanical constant multipliers 20 Numerical control devices 21 to 25 Adders 30 Numerical control devices 40 Standard-size cutting circuit unit 41 Cutting size setting unit 42 First operation unit 43 Cutting completion sensor 44 Timing signal generation unit 45 circumference length setting section 46 seat travel distance detection circuit 47 motor rotation number detection circuit 48 second operation section 49, 63 D / A converter 50, 64 function generator 51 F / V converter 52 operational amplifier 53 second comparison section Reference Signs List 60 stop control circuit unit 61 stop distance setting unit 62 reversible counter 65 first comparison

Claims (6)

[Claims] An apparatus for controlling a rotary cutter that cuts a material in synchronization with a running material, detects a moving amount of the running material, integrates the moving amount with time, and obtains a speed-position conversion constant. By multiplying the values, the moving distance of the material is obtained, and the values of the moving distance of the material and various conditions necessary for cutting the running material, such as the cutting length, the circumference of the cutting area, and the cutter circumference, and the shift curve And by
A position function having the shift curve is calculated, and a time-differentiated output of the calculated position function is multiplied by a position-speed conversion constant to obtain a cutter speed signal having a shift curve. By adding the speed signal of the material to be cut and the speed signal of the electric motor for driving the rotary cutter, a cutter speed command having a shift curve is output, and the optimum speed having a shift curve for cutting the running material is output. By outputting the deceleration rate,
A rotary cutter control device for reducing mechanical shock caused by sudden acceleration / deceleration. 2. A device for controlling a rotary cutter for cutting a material in synchronization with a running material, wherein the position deviation is obtained by time-integrating a cutter speed command having the shift curve and multiplying by a speed-position conversion constant. A signal, a compensation speed signal is obtained by multiplying the position deviation signal, a cutter speed command and a speed signal of the traveling material are added, and the added signal is added to the compensation speed signal. A speed deviation correction is performed by adding a speed signal of an electric motor for driving a rotary cutter to output a torque reference signal, and a material acceleration signal obtained by time-differentiating the speed signal of the running material and a time-differentiated time signal of the cutter speed signal. And a cutter torque signal corresponding to the acceleration by multiplying the added signal by a mechanical constant. By adding the corrected torque signal and the torque reference signal to output a torque command, outputting an optimal acceleration / deceleration rate having a shift curve for cutting the running material, and controlling the motor, 2. The rotary cutter control device according to claim 1, wherein a mechanical shock in sudden acceleration / deceleration of the motor is reduced. 3. An apparatus for controlling a rotary cutter for cutting a material in synchronization with a running material, comprising: control circuit means for controlling a motor for driving the rotary cutter; and a speed signal corresponding to rotation of the motor. Means for detecting, means for detecting the amount of movement of the traveling material, means for integrating the detected amount of movement of the material over time and multiplying by a speed-position conversion constant, and outputting the result as the movement distance of the material, Calculating means for calculating a set value of the moving distance of the material and various conditions necessary for cutting, such as a cutting length, a circumference of a cutting area, and a cutter circumference, and a shift curve; Position command generating means for outputting a position function having a curve; and outputting a cutter speed signal having a shift curve by time-differentiating the position function and multiplying by a position-speed conversion constant. Means for adding the cutter speed signal, the speed signal of the running material, and the speed signal of the electric motor, output a cutter speed command having a speed change curve, and calculate a speed change curve for cutting the running material. Means for outputting an optimum acceleration / deceleration rate, and a mechanical impact caused by sudden acceleration / deceleration is reduced. 4. An apparatus for controlling a rotary cutter for cutting a material in synchronization with a running material, wherein a cutter speed command having the shift curve, a speed signal of the running material, and a speed signal of the electric motor are added. Means for time-integrating the added signal and multiplying by a speed-position conversion constant to output a position deviation signal; and position control means for multiplying the output of the position deviation signal to output the compensated speed signal. A speed control means for adding a signal obtained by adding the cutter speed command and the speed signal of the running material to the compensation speed signal and multiplying the compensated speed signal to output a torque reference signal; and a speed of the running material. Means for time-differentiating the signal and outputting it as a material acceleration signal; and time-differentiating the cutter speed signal and outputting it as a cutter acceleration signal. Means for adding the acceleration signal of the material and the cutter acceleration signal, and multiplying the added signal by a mechanical constant to output a correction torque signal corresponding to the acceleration; and the correction torque. A means for adding a signal and the torque reference signal to output a torque command, and a means for inputting the torque command to a drive control circuit and controlling the electric motor, and a shift for cutting the running material. 4. The rotary cutter control device according to claim 3, wherein an optimal acceleration / deceleration rate having a curve is output to control the electric motor, thereby reducing a mechanical shock in sudden acceleration / deceleration of the electric motor. 5. An apparatus for controlling a rotary cutter for cutting a material in synchronization with a running material, comprising: a drive control circuit for controlling a motor for driving the rotary cutter; and a speed signal corresponding to the rotation of the motor. A speed detector to be detected; a first integrator that outputs a material moving distance by time-integrating a movement amount of the material detected by the speed detector and multiplying by a speed-position conversion constant; and a movement of the material. Setting values of the cutting length, cutting area circumference, and cutter circumference, which are the conditions necessary for distance and cutting,
A position command generator that calculates a shift curve and outputs a position function having a shift curve; and outputs a cutter speed signal having a shift curve by time-differentiating the position function and multiplying by a position-speed conversion constant. A first differentiator, a first adder that adds the cutter speed signal, the speed signal of the traveling material, and the speed signal of the electric motor, and outputs the result as a cutter speed command having a shift curve; A cutter speed command having a shift curve, a speed signal of the running material, and a speed signal of the electric motor are added,
A second integrator for integrating the added signal with time and multiplying by a speed-position conversion constant to output a position deviation signal; and a position for inputting and multiplying the position deviation signal to output the compensated speed signal. A controller, a second adder for adding the cutter speed command and the speed signal of the running material, and adding and multiplying the signal added by the second adder to the compensation speed signal. A speed controller that outputs the torque signal as a torque reference signal, a second differentiator that time-differentiates the speed signal of the traveling material and outputs the acceleration signal of the material, and a cutter acceleration that time-differentiates the cutter speed signal. A third differentiator that outputs a signal, a third adder that adds the acceleration signal of the material and the cutter acceleration signal, and a signal that is added by the third adder Multiplied by a mechanical constant to output a corrected torque signal according to acceleration; a fourth adder that outputs a torque command by adding the corrected torque signal and the torque reference signal; Means for inputting a torque command output from a fourth adder to a drive control circuit and controlling the electric motor, and outputting an optimal acceleration / deceleration rate having a shift curve for cutting the traveling material; A rotary cutter control device having a feature of reducing a mechanical shock in sudden acceleration / deceleration of a motor by controlling the motor. 6. The shift curve according to claim 1, wherein the shift curve is a bent-line trapezoidal curve, a singular curve, a cubic curve, a quintic curve, a cycloid curve, a modified trapezoidal curve, or a modified sine curve. A rotary cutter control device according to any one of the above.