JP2001300792A - Synchronous drive control method for press, and the press used therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize the synchronous control with high accuracy in which the load fluctuation generated in one press is not allowed to influence on other presses as the disturbance during the synchronous operation of a plurality of presses. SOLUTION: In this control method, the presses 100A, 100B each comprising a motor, a flywheel, a clutch, a drive shaft, and a slide driven by the drive shaft are synchronized with the phase difference of zero at the rotational position of each drive shaft. A synchronous drive control method after coupling the clutches of the plurality of presses comprises a step of detecting the actual speed of the motor, a step of detecting the actual rotational position of the drive shaft, a step of comparing the actual rotational position with the reference rotational position from reference rotational position generation units 220A, 220B, a step of correcting the reference speed from reference speed information generation units 210A, 210B to the reference speed specific to each press, and a step of controlling the drive of the motor 102 based on the specific reference speed and the actual speed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a synchronous drive control method for a press, which controls a plurality of presses so that the rotational positions of drive shafts of the respective presses are synchronized, and a press used therefor.

[0002]

2. Description of the Related Art Conventionally, attempts have been made to synchronously operate a plurality of press machines with, for example, a phase difference of zero. This type of press machine transmits a motor output to a flywheel, and transmits its rotational power to a drive shaft such as a crankshaft for driving a slide (ram) via a clutch to drive a mold. .

[0003] In the conventional phase synchronization method, one of a plurality of units is set as a master unit, and the remaining units are set as slave units, and are controlled by a master / slave method.

At this time, in the prior art, the master machine compares the encoded output of the motor with the reference speed information, and controls the speed of the motor based on the difference so that the motor rotates at the reference speed. That is, the control based on the crankshaft position information was not performed in the master machine.

On the other hand, in the remaining slave units, position correction control is performed on the basis of the position information of the crankshaft of the master unit so as to be in phase with the master unit. Specifically, the rotational position information of each crankshaft of the master machine and the slave machine is
It is obtained from an encoder provided on each crankshaft. Then, a difference between the position of the crankshaft of the master machine and the position of the crankshaft of each slave machine is obtained, and the motor of each slave machine is controlled so as to cancel the difference.

[0006]

In the above-described synchronous control method, the adverse effects of disturbances such as load fluctuations inherent in the master machine due to flywheel energy release during press working which occur in the master machine cause the motor of each slave machine to suffer. The control also has a problem that it is difficult to obtain high synchronization accuracy in a press machine having a large load inertia.

As described above, conventionally, the phase of the slave unit is forcibly adjusted to the phase of the master unit while the master unit has its own operating condition. Even if the synchronization control is performed between the master and the slave by this method, controlling the slave device in consideration of the disturbance in the master device also causes an excessive load on the slave device, and causes unnecessary speed fluctuation and synchronization accuracy. Deterioration had occurred.

In order to operate the master unit and the slave unit synchronously, it is preferable that the phases of both crankshafts are synchronized immediately after the clutch is connected.

Conventionally, therefore, it has been necessary to stop the crankshafts of all the presses in a certain narrow angle range before connecting the clutches. However, this operation is complicated.

[0010] Accordingly, an object of the present invention is to provide a high synchronization accuracy in which, when a plurality of press machines are operated synchronously, a load fluctuation generated in one press machine does not affect other press machines as a disturbance. It is an object of the present invention to provide a synchronous drive control method for a press machine for realizing the above and a press machine used therefor.

Another object of the present invention is to reduce the amount of position control between the presses immediately after the clutch connection, reduce the load on the motor, perform efficient operation, and increase the transient control amount. An object of the present invention is to provide a synchronous drive control method for a press machine capable of preventing overload and a press machine used therefor.

[0012]

SUMMARY OF THE INVENTION One aspect of the present invention is a motor, a drive shaft through which a rotational force of a flywheel driven by the motor is transmitted via a clutch, and a slide driven by the drive shaft. A plurality of presses each having a, in a synchronous drive control method of a press that drives and controls the rotational position of each of the drive shafts in synchronization, for each of the plurality of presses, A first step of setting reference speed information on a motor; a second step of generating reference rotation position information of each of the drive shafts based on the reference speed information; and a clutch of each of the plurality of presses. And a fourth step of driving and controlling the motor in each of the plurality of presses, and the fourth step performed in each of the plurality of presses includes: ,Previous A step of detecting the actual speed information of the motor, a step of detecting the actual rotational position information of the drive shaft,
Comparing the actual rotational position information of the drive shaft with the reference rotational position information, and correcting the reference speed information into reference speed information specific to each of the presses based on the comparison result; Controlling the drive of the motor based on the unique reference speed information and the actual speed information.

According to one aspect of the present invention, reference speed information is set for each motor of a plurality of presses, and a reference position of a drive shaft in each press is set based on the reference speed information. Generating information. This reference position information is
It is used as a virtual master signal which is not affected by the load fluctuation of any press machine. Then, based on the difference (error) between the actual rotational position information of the crankshaft and the reference position information, the preset reference speed information is corrected, and reference speed information unique to each press is obtained. By controlling the driving of the motor based on the reference speed information and the actual speed information unique to the press machine, highly accurate synchronous control can be realized.

The reference speed information can be commonly set for each motor of a plurality of presses.

It is preferable that the method further includes a step of correcting the speed change rate when the reference speed information includes a speed change. For example, even if an attempt is made to change the speed in a stepwise manner, the motor cannot follow and change, and it also causes an overload of the motor, and also applies mechanical stress to the mechanical drive mechanism. By alleviating the speed change, the motor can be driven within the rated range, and smooth acceleration / deceleration can be performed.

In the fourth step, the reference rotational position is determined based on the connection characteristics of the clutches unique to each of the plurality of presses within a predetermined period immediately after the connection of each clutch of the plurality of presses. Preferably, the method includes a step of correcting information. Thereby, the position control of the drive shaft immediately after the clutch is turned on can be smoothly performed.

Further, the third step includes the step of detecting stop angle information of each drive shaft of the plurality of press machines before each clutch of the plurality of press machines is connected; Determining the connection order of each clutch of the plurality of presses based on the stop angle information of each drive shaft of the presses, wherein the connection order is the drive shaft of each of the plurality of presses. It is preferable that the stop angle is determined such that the longer the stop angle is, the earlier the stop angle is with respect to the rotation direction of the drive shaft.

In this manner, synchronous drive control can be realized without stopping the drive shafts of the plurality of presses at a fixed angle.

At this time, in the above-described third step, the other press machine which is clutch-connected with a delay with respect to the one press machine which is previously connected with the clutch has the connection characteristics of the clutch of the other press machine, and It is preferable that the clutch connection timing is determined based on the actual speed of the drive shaft of one press machine. Based on the connection characteristics of the clutch of the other press and the actual speed of the drive shaft of the one press, when the drive shaft of one press previously This is because it is possible to detect whether synchronous driving is possible by connecting the machine to the clutch.

As one method, the actual speed of the drive shaft of one press is obtained by the other press in accordance with the connection characteristics of the clutch after the clutch is connected by another press. The clutch connection timing in another press can be determined based on the information obtained by integration.

According to another aspect of the present invention, there is provided a motor, a clutch for intermittently transmitting the rotational force of a flywheel driven by the motor, and a drive shaft for driving a slide by the power transmitted via the clutch. First detecting means for detecting actual speed information of the motor, second detecting means for detecting actual rotational position information of the drive shaft, and first generating means for generating reference speed information of the motor. A second generating unit that generates reference rotational position information of the drive shaft based on the reference speed information; and
Correction means for correcting the reference speed information based on a difference between the actual rotation position information and the reference rotation position information of the drive shaft; and, when the clutch is disengaged, the actual speed information and the reference speed information of the motor. A motor drive control for controlling the drive of the motor based on the actual speed information of the motor and the reference speed information corrected by the correction means when the clutch is connected. And a circuit.

By using the press according to another aspect of the present invention, the above-described synchronous drive control method for a press according to one aspect of the present invention can be suitably implemented.

Here, it is preferable that the first generation means has a first correction block for correcting the speed change rate to be reduced when the reference speed information includes a speed change. As described above, this is because the motor is driven within the rated range and the motor is not overloaded.

Further, the second generating means, based on the connection characteristics of the clutch, within a predetermined period immediately after the connection of the clutch,
It is preferable to have a second correction block for correcting the reference rotation position information.

This is for the purpose of smoothly controlling the drive immediately after the clutch is connected.

The second generating means includes a first generating block for generating unit rotational position information of the drive shaft for each predetermined unit time based on the reference speed information from the first generating means, A second generation block that accumulates the rotation position information every predetermined period to generate reference rotation position information.

[0027]

Embodiments of the present invention will be described below with reference to the drawings.

(Structure of Press Machine Body) FIG. 1 shows first and second press machines 100A and 100B that are synchronously controlled.
And a peripheral device 200 for synchronous drive control that controls the synchronous drive control. In the present embodiment, a description will be given of synchronous drive control of two presses 100A and 100B, but the present invention can also be applied to synchronous control of three or more presses. Further, the synchronization control in the peripheral device 200 shown in FIG. 1 is implemented by software, but may be implemented by hardware.

Also, the first press 100A and the peripheral device 200 can be a set of presses. In this case, the set of presses 100A and 200 functions as a master machine, and the second press 100B functions as a slave machine, and synchronization control is realized by a master / slave method.

The first and second presses 100 shown in FIG.
A and 100B have a common configuration. This first,
Each of the second presses 100A and 100B has a motor, for example, a DC motor 102, and a flywheel 104 to which the driving force is transmitted. Each of the first and second presses 100A and 100B has a slide 106.
And a crankshaft 108 which is a drive shaft for driving the motor. The rotational force of the flywheel 104 is turned on (connected) and turned off (disconnected) by the solenoid valve 110.
2 to the crankshaft 108. Therefore, even if the motor 102 is driven to rotate, the slide 106 is not driven to move up and down unless the clutch 112 is turned on. The first and second drive sources are not limited to DC motors, but may be other types of motors such as inverter motors and servomotors.

Further, the first and second presses 100
Each of A and 100B has a first encoder 120 for detecting the actual rotation angle of the motor 102 and a second encoder 122 for detecting the actual rotation angle of the crankshaft 108. In each of the first and second presses 100A and 100B, the output of the first encoder 120 is differentiated with respect to time,
A differentiator 124 for calculating the actual rotational angular velocity of the motor 102 is provided. The actual rotational angular velocity, which is the output from the differentiator 124, is calculated by using a velocity feedback signal (SPDF /
Functions as B). The speed reference signal (SPD REF.) To be compared with the feedback signal is supplied from the peripheral device 200.

First and second presses 100A, 100B
Is provided with a motor drive control circuit 130 that controls the current drive of the motor 102 based on the speed feedback signal and the speed reference signal.

The motor drive control circuit 130 includes a speed regulator 132 for regulating the difference between the speed feedback signal and the speed reference signal, and a speed regulator 1
32, a current regulator 134 for regulating the output of the current regulator 32 to a current value, a current rate setting unit 136 for setting a predetermined rate to the output of the current regulator 134, and the current rate is supplied to the drive circuit 140 of the motor 102 based on the rate. A gate pulse generator 138 for generating a gate pulse.

(Regarding the operation mode of the press machine) As an operation mode which can be executed by the press system shown in FIG.
There are a synchronous operation mode shown in FIGS. 2 and 3, and a single operation mode shown in FIG. The synchronous operation mode and the single mode are implemented by software in the peripheral device 200 shown in FIG.

In the synchronous operation mode shown in FIGS. 2 and 3,
While the rotational position feedback control of the crankshaft 108 is performed in addition to the speed feedback control of the motor 102, only the speed feedback control of the motor 102 is performed in the single operation mode shown in FIG.

As shown in FIG. 2, a synchronous SPM (STROKE PER MINUTE) data setting unit 300 is provided for synchronously driving the crankshafts 108 of the first and second presses 100A and 100B. I have. This synchronous SPM data setting unit 300 is not the peripheral device 200 but, for example, the first
Of the press 100A. This synchronous SPM
Based on the output of the data setting unit 300, each motor 102
Reference speed information generating section 210 for generating reference speed information of
Is provided commonly to the first and second presses 100A and 110B. Further, the reference speed information generation unit 21
A reference rotation position information generation unit 220 that generates reference rotation position information of the crankshaft 108 based on the output of 0 is provided commonly to the first and second presses 100A and 110B.

In the synchronous operation mode shown in FIG. 2, the crankshaft rotation position information from the second encoder 122 of each of the first and second presses 100A and 100B and the reference rotation position information from the reference rotation position information generation unit 220 Differences (errors) from the rotational position information are obtained by the difference units 214A and 214B. The difference between the rotational positions is calculated by differentiators 216A and 216B,
, And corrects the reference speed information from the reference speed information generation unit 210. Thus, the first press 100
The reference speed information corrected by the difference between the rotational positions generated on the A side is input to the first press 100A via the digital-analog converter 230. Similarly, the reference speed information corrected by the rotational position difference generated on the second press 100B side is output from the digital-analog converter 23.
2 to the second press 100B.

First and second presses 100A, 100B
Then, based on the difference between the reference speed information corrected by the correction value specific to each press machine and the actual speed information of each motor, each motor drive control circuit 130 controls the drive of each motor 102. ing.

Here, the reference rotational position information is not affected by any load fluctuation of the first and second presses 100A and 100B. Therefore, this reference rotational position information is used as an ideal virtual master signal for the first and second presses 100A and 100B, and the first and second presses are used.
The presses 100A and 100B perform position control of the crankshaft 108 independently and individually. Therefore, high-response and high-accuracy synchronous control can be performed by the first and second presses 100A and 100B.

In such synchronous control, as shown in FIG. 3, a dedicated reference speed information generation unit 210A and a reference rotation position information generation unit 220A are provided for the press machine 100A, and the exclusive control is performed for the press machine 100B. The same can be implemented by providing the reference speed information generation unit 210B and the reference rotation position information generation unit 220B.

If the peripheral device 200 having the structure shown in FIG. 3 is used, as shown in FIG.
It is also possible to drive 0A and 100B independently without synchronizing.

When the single operation mode is performed, control according to the rotational position information on the software is not performed. That is, as shown in FIG. 4, the speed of the motor 102 of the first press 100A is controlled by the reference speed generated by the reference speed information generation unit 210A based on the data from the first SPM data setting unit 302. The information is analog-converted by the digital-analog converter 230.
The drive control of the motor 102 is performed based on the analog-converted reference speed information and the speed feedback signal obtained via the first encoder 120 and the differentiation circuit 124. The speed control in the second press 100B is also
The second SPM data setting unit 304, the reference speed information generation unit 210B, and the digital-analog converter 232 are used in the same manner as the first press machine 100A.

(Specific Configuration of Peripheral Device) FIG. 5 shows a more specific configuration of the peripheral device 200 that controls the execution of the synchronous operation mode shown in FIG. 3 and the single operation mode shown in FIG. In FIG. 5, the members shown in FIGS. 3 and 4 are denoted by the same reference numerals as those in FIGS. 3 and 4, and detailed description thereof will be omitted.

In FIG. 5, the configuration of the peripheral device 200 is as follows.
Only the blocks for the first press 100A are shown,
Blocks for the second press 100B having the same configuration as those described above are omitted.

FIG. 5 shows details of the reference speed information generation unit 210A and the reference rotation position information generation unit 220A as a configuration for the first press 100A.

In the synchronous operation mode (DUAL), the reference speed information generation section 210A uses the signal from the synchronization SPM data setting section 300 to operate in the single operation mode (SINGL).
In the case of E), the signal from the first SPM data setting unit 302 is used. Signals according to these modes are supplied while the motor 102 is driven.

Signals according to these modes are input to the S-form setting unit 212A. For example, when changing the SPM during the operation of the first press 100A,
Since the press machine 100A has a large inertial load such as a flywheel, a drive shaft, and a slide, when the reference speed information changes in a stepwise manner, the actual speed can follow the step change of the reference speed information. Absent. Further, if the stepwise change of the reference speed information is applied to the speed regulator as it is, it may cause an overload of the motor and mechanical stress is also applied to the mechanical drive mechanism, which is not preferable.

Therefore, the S-form setting unit 212A
The reference speed information changes suddenly (including acceleration and deceleration)
In the case of including the motor, reduce the speed change rate, operate efficiently without generating overload within the motor rating,
It is corrected so that smooth acceleration and deceleration can be performed.

As an example of the correction in the S-form setting unit 212A, for example, a primary order taking into account the acceleration / deceleration characteristics determined by the motor rated output and mechanical load conditions (load torque and inertia) in the first press 100A. The function and the correction curve function of the corner part are used. A signal having a sharp rise as shown in FIG. 6A is processed by a linear function and corrected to a signal shown in FIG. This figure 6
As shown in FIG. 6A, the signal shown in FIG. 6B does not abruptly change in speed but accelerates gently. It should be noted that the S-form setting unit 212A can also gradually reduce the rapid deceleration. For example, it is applied to a case where the speed is reduced during the machining operation.

Note that such an S-form setting unit 21
2A can be incorporated in the reference speed information generation unit 210 shown in FIG. At this time, the reference speed information generation unit 210 shown in FIG.
, The S-form may be set in consideration of the acceleration / deceleration characteristics of a press having a longer acceleration / deceleration characteristic.

Next, in the reference rotational position information generating section 220A shown in FIG. 5, the speed information from the S form setting section 212A is input to the Δθ generating section 222A. In the Δθ generation unit 222A, the speed information from the S-form setting unit 212A is converted by the deceleration ratio between the mechanical drive mechanism unit and the motor, and per cycle time (unit time) of data processing in the peripheral device 200 is performed. By calculating the amount of change in the rotational position of the drive shaft, angle change information Δθ progressing per unit time is obtained.

The angle transition information Δθ is input to the master phase generator 224A. Master phase generator 224
A is obtained by integrating the angle transition information Δθ for each unit time, and for each one rotation of the drive shaft 108 (same as the actual rotation position information maximum value).
, The time shown schematically in FIG.
The reference rotation position information of the angle is obtained.

The reference rotational position information is based on the clutch on / off state.
This is input to the off-rate setting unit 226A. This clutch on / off rate setting unit 226A is a clutch on / off rate setting unit.
Only when the clutch is off, the clutch 11 of the first press 100A
2, the reference rotational position information is corrected according to the actual clutch connection / disconnection characteristics. FIG. 8 schematically shows a situation where the reference rotational position information shown in FIG. 7 is corrected according to the clutch connection characteristics at the time of clutch on. According to FIG. 8, the rotation position change immediately after the clutch is turned on is gentle.

It should be noted that such a clutch on / off rate setting section 226A can be incorporated in the reference rotational position information generating section 220 shown in FIG. At this time, FIG.
Since there is only one reference rotational position information generating unit 220 for the plurality of presses 100A and 100B, the rate may be set in consideration of the clutch connection characteristic of one of the presses as the master.

The clutch on / off rate setting section 22
After the difference unit 214A detects how much the output of the second encoder 122 of the first press 100A (the actual rotation position information of the crankshaft 108) is different from the output of the 6A, the difference information is detected. Is the phase regulator 22
8A.

The phase regulator 228A regulates the difference information with a correction amount and a gain amount in consideration of inertia, electric characteristics, and the like in the first press 100A. Based on the regulated difference information, the reference speed information is corrected by a differentiator 216A, and the first press machine 100 via a digital-analog converter 230.
A is supplied as speed reference information (SPD REF.) For A.

As described above, according to the synchronous drive control by the peripheral device 200 shown in FIG. 5, since the correction according to the clutch connection characteristic or the correction to mitigate the sudden acceleration / deceleration is performed,
From the start of the synchronous control operation immediately after the clutch is turned on to the speed change acceleration / deceleration during the operation, the first and second presses 10
It is possible to minimize the deviation of the position control amount occurring at 0A and 100B. Accordingly, it is possible to realize smooth start / end of the position control without overloading each motor 102 and without transiently increasing the control amount.

Further, if the press system of the present embodiment is used, a function equivalent to that of a large-sized press having a large number of steps can be achieved only by disposing a plurality of relatively small presses and one peripheral device 200. Can be demonstrated. Therefore, the capital investment cost can be reduced, and a plurality of small press machines can be operated in whole or in part synchronously or asynchronously, and the flexibility of the production form is secured.

(Regarding clutch on / off timing control) In order to synchronously drive the first and second presses 100A and 100B, the first and second presses 100A and 100B
Particularly, the clutch-on timing of the 100B is an important issue. This is because the first and second presses 100A, 10A
This is because at 0B, each crankshaft 108 does not necessarily stop at a phase difference of 0.

The clutch connection instruction command is issued by operating the press operation button on the operation unit 310 shown in FIG.
Is input to The clutch on / off timing controller 320 includes first and second presses 100A,
100B output θ1, θ2 of each second encoder 122
(The actual rotational position information of the crankshaft 108) is stored.
One memory 322 and θ2 memory 324 are connected.
Data θ1, θ2 from these memories 322, 324
Is input to the clutch on / off timing controller 320 when the clutch 112 of the first and second presses 100A and 100B is off.

Here, when the operation button on the operation section 310 is operated and a clutch connection command is input to the controller 320, the controller 320 controls the clutch-on operation based on the comparison result of the angles θ1 and θ2. For example, when the angle θ is a reference value, when θ1−θ2> + θ, the clutch 112 of the second press 100B is connected first, and then the clutch 112 of the first press 100A is connected. When θ1−θ2 <−θ,
The clutch 112 of the first press 100A is connected first, and then the clutch 112 of the second press 100B is connected.
Is connected. If θ1 = θ2 or | θ1-θ2
If | ≦ + θ, the first and second presses 100A, 1
00B are simultaneously connected.

The clutch 112 of the first press 100A
Is connected, clutch-on relay 240A in FIG. 5 is turned on by a command from controller 320. As a result, the solenoid valve 110 shown in FIG.
2 are connected. Although omitted in FIG. 5, a clutch-on relay for connecting the clutch 112 of the second press 100B is arranged in the peripheral device 200.
Here, for example, the clutch 11 of the first press 100A
With reference to FIG. 9, the timing at which the clutch 112 of the second press 100B is connected when the clutch 2 is connected first will be described. In FIG. 9, the crankshaft 10 of the first press 100 </ b> A previously clutch-connected.
8 shows the actual angular velocity Δθ, and it is assumed that the actual angular velocity changes at a constant angular velocity. A linear function is used to simplify the description of the speed rise characteristic of the press machine when the clutch is engaged. In practice, the reference rotational position information is corrected using a function of the speed rise characteristic of the actual machine press when the clutch is engaged or an approximate function.

Here, the crankshaft 108 of the first press 100A sets the initial position of the rotation angle at time t0 to θ01.
Then, the angle θ1 at which the crankshaft 108 changes from the time t0 to the time t2 is as follows: θ1 = Δθ (t2−t0) + θ01 (1) The transition angle represented by the equation (1) corresponds to the area of the square region hatched in FIG.

On the other hand, in the second press 100B, a clutch-on command is issued at time t0 when the crankshaft 108 is at the initial position θ02 of the rotation angle, and at time t0.
The angle θ2 at which the clutch 112 is connected at 1 and the crankshaft 108 shifts until time t2 is as follows: θ2 = Δθ (t2−t1) · 1/2 + θ02 (2) The transition angle represented by the equation (2) corresponds to the area of the triangular region cross-hatched in FIG.

At time t2, the first and second presses 100
In order to synchronize the crankshafts 108 of A and 100B, θ1 = θ2 holds. Therefore, from Equation (1) = Equation (2), Δθ (t2−t0) + θ01 = Δθ (t2−t1) · 1/2 + θ02 (3)

By transforming equation (3), the second press 10
The angle θ01 of the crankshaft 108 of the first press 100A when starting the clutch-on control at 0B is as follows: θ01 = −Δθ (2t0 + t1 + t2) / 2 + θ02 (4)

Here, if t0 = 0 and θ02 = 0, then θ01 = −Δθ (t1 + t2) / 2 (5) The angle represented by the equation (5) corresponds to the area of the trapezoidal region which is the sum of the two hatched triangular regions in FIG.

The expression (5) means that the crankshaft 108 of the first press 100B is expressed by the expression (5) with respect to the stop angle of the crankshaft 108 of the second press 100B. If the clutch-on control is started by the second press 100B when the absolute value of the angle θ01 has reached the angle in front of it, the first and second presses are started at time t2.
Press machines 100A and 100B can be synchronized.

As described above, it is possible to start the synchronous control at a phase difference of 0 in consideration of the actual clutch connection characteristics of the press to be connected later.

Also, when the clutch is off, each press 1
Considering the clutch disengagement characteristics at 00A and 100B,
The clutch off timing of each press may be controlled.

[Brief description of the drawings]

FIG. 1 is a schematic explanatory diagram of a press system according to an embodiment of the present invention.

FIG. 2 is a functional block diagram showing an example of a peripheral device when each press is operated synchronously in the system shown in FIG. 1;

FIG. 3 is a functional block diagram showing another example of the peripheral device when each press is operated synchronously in the system shown in FIG. 1;

FIG. 4 is a functional block diagram of a peripheral device when each press is operated asynchronously in the system shown in FIG. 1;

5 is a functional block diagram of a peripheral device that can execute the synchronous operation shown in FIG. 3 and the asynchronous operation shown in FIG. 4;

FIGS. 6A and 6B are characteristic diagrams showing reference speed information having a speed change and reference speed information in which the speed change is reduced.

FIG. 7 is a characteristic diagram showing reference rotational position information generated by a master phase generator of FIG. 5;

8 is a characteristic diagram showing corrected reference rotation position information obtained by correcting the reference rotation position information shown in FIG. 7 when a clutch is engaged.

FIG. 9 is a characteristic diagram for explaining clutch-on timing.

FIG. 10 is a characteristic diagram for explaining a start angle of clutch-on control.

[Explanation of symbols]

100A first press machine 100B second press machine 102 motor 104 flywheel 106 slide 108 crankshaft (drive shaft) 110 solenoid valve 112 clutch 120,124 first encoder, differentiator (first detecting means) 122 2 encoder (second detection means) 130 motor drive control circuit 132 speed regulator 134 current regulator 136 current rate setting unit 138 gate pulse generator 140 drive circuit 200 peripheral device 210, 210A, 210B reference speed information generation unit (first 212A S-form generation unit (first correction block) 214A, 214B, 216A, 216B Difference unit (correction unit) 222A Δθ generation unit (first generation block) 224A master phase generation unit (second generation block) Generation block) 22 A Clutch on / off rate setting unit (second correction block) 228A Phase regulator 220, 220A, 220B Reference rotation position information generation unit (second generation unit) 230, 232 Digital-analog converter 240A Clutch-on switch 300 Synchronization SPM data setting unit for use 302 First SPM data setting unit 304 Second SPM data setting unit 310 Operation unit 320 Clutch on / off timing controller 322, 324 Memory

Continued on the front page F term (reference) 4E089 EA01 EA04 EB01 EB02 EB05 EC05 ED02 EE01 FA03 FB05 FC01 4E090 AA01 AB01 BA02 BB01 BB03 CC01 EA01 EB01 GA02 GA06 HA01 5H572 AA14 BB10 DD01 EE01 GG01 GG01 GG01 GG01 GG01 GG01 GG02 PP01

Claims (11)

[Claims] 1. A plurality of presses each having a motor, a drive shaft through which a rotational force of a flywheel driven by the motor is transmitted via a clutch, and a slide driven by the drive shaft. A synchronous drive control method for a press machine that drives and controls the rotational positions of the drive shafts in synchronization with each other, wherein a first step of setting reference speed information to each of the motors for each of the plurality of press machines. A second step of generating reference rotation position information of each of the drive shafts based on the reference speed information; a third step of connecting the clutches of each of the plurality of presses; And a fourth step of driving and controlling the motor in each of the press machines, wherein the fourth step performed in each of the plurality of press machines detects actual speed information of the motor. A step of detecting actual rotational position information of the drive shaft; a step of comparing the actual rotational position information of the drive shaft with the reference rotational position information; and A press machine comprising: a step of correcting each press machine-specific reference speed information; and a step of controlling drive of the motor based on the unique reference speed information and the actual speed information. Synchronous drive control method. 2. The synchronous drive control method for a press according to claim 1, wherein the reference speed information is common to the motors of the plurality of presses. 3. The synchronous drive control method for a press according to claim 1, further comprising a step of correcting the speed change rate to be reduced when the reference speed information includes a speed change. . 4. The plurality of press machines according to claim 1, wherein the fourth step is performed within a predetermined period immediately after connection of the clutch of each of the plurality of press machines. And correcting the reference rotational position information based on the unique connection characteristics of the clutch. 5. The driving device according to claim 1, wherein the driving of each of the plurality of presses is performed before the clutch of each of the plurality of presses is connected. Detecting the stop angle information of the shaft, and determining the connection order of the clutches of each of the plurality of presses based on the stop angle information of the drive shaft of each of the plurality of presses, Wherein the connection order is determined such that the stop angle of the drive shaft of each of the plurality of presses is more advanced as the drive shaft is delayed with respect to the rotation direction of the drive shaft. Drive control method for press machine. 6. The press machine according to claim 5, wherein, in the third step, another press machine that is clutch-connected to one press machine that has previously been clutch-connected is the clutch of the other press machine. Wherein the clutch connection timing is determined based on the connection characteristics of (i) and the actual speed of the drive shaft of the one press. 7. The press machine according to claim 6, wherein, in the third step, the actual speed of the drive shaft of the one press machine is changed to the other press machine in accordance with the connection characteristics of the clutch after the other press machine engages a clutch. Wherein the clutch connection timing in the other press is determined based on information obtained by time-integrating the actual speed over the time obtained in (1). . 8. A motor, a clutch for intermittently transmitting a rotational force of a flywheel driven by the motor, a drive shaft for driving a slide by power transmitted via the clutch, and an actual speed of the motor. First detecting means for detecting information; second detecting means for detecting actual rotational position information of the drive shaft; first generating means for generating reference speed information of the motor; A second generating unit that generates reference rotation position information of the drive shaft based on a difference between the actual rotation position information of the drive shaft and the reference rotation position information when the clutch is connected. Correction means for correcting reference speed information, and when the clutch is disengaged, drives and controls the motor based on the actual speed information of the motor and the reference speed information to connect the clutch. The press machine and having an actual velocity information of the motor, and a motor drive control circuit for driving and controlling said motor based on said reference speed information corrected by said correcting means. 9. The method according to claim 8, wherein the first generation unit includes a first correction block for correcting the speed change rate to be reduced when the reference speed information includes a speed change. And press machine. 10. The second generating means according to claim 8, wherein the second generating means corrects the reference rotational position information based on the connection characteristics of the clutch within a predetermined period immediately after the connection of the clutch. A press machine characterized by having a correction block. 11. The unit according to claim 8, wherein the second generation unit performs a unit rotation of the drive shaft every predetermined unit time based on the reference speed information from the first generation unit. A press, comprising: a first generation block that generates position information; and a second generation block that integrates the unit rotation position information every predetermined period to generate the reference rotation position information. Machine.