JP2001334491A - Flying control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the cutting length precision of a material to be cut when cutting at a predetermined length the material travelling at an adjustable speed with vibration. SOLUTION: This travel control system comprises a material feeding mechanism driving motor encoder and a measurement length pulse compensator 15 for outputting a pulse with less vibration so that a material feeding length is detected using the pulse of the encoder and the pulse of a measurement length encoder 6 with precision corresponding to the pulse of the measurement encoder 6. Travel control is applied to a rotary cutter driving servo motor 11 by the output pulse to improve the cutting length precision of the material to be cut.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a running cutting control system for cutting a material to a predetermined length following a running material.

[0002]

2. Description of the Related Art FIG. 1 is a block diagram of a conventional travel control system, taking a rotary cutter system as an example in a travel cutting control system. 1 is a material feeding mechanism, 2 is a transmission mechanism, 3 is a material feeding mechanism driving motor, 4 is a motor driving device, 5a and 5b are length measuring rollers, 6 is a length measuring encoder, 7
Is a material traveling direction, 8 is a material, 9a and 9b are rotary cutters, 10 is a transmission mechanism, 11 is a rotary cutter drive servomotor, 12 is a rotary cutter drive servomotor encoder, and 13 is a running distance control device.

In the rotary cutter system, a material driving mechanism driving motor 3 is rotated by a motor driving device 4 so that a material 8 travels in a material traveling direction 7 via a transmission mechanism 2 and a material feeding mechanism 1. The running distance control device 13 measures the feed length and running speed of the running material 8 by the length measuring encoder 5, rotates the rotary cutter drive servomotor 11 based on the measurement, and drives the rotary cutter 9 via the transmission mechanism 10. The material 8 is cut at a predetermined cutting length following the traveling speed.

[0004] The material 8 of such a rotary cutter system travels by moving a gear,
Since the light passes through a transmission mechanism 2 such as a belt, a pulley, and a chain, and a material feeding mechanism 3, vibrations are generated by those mechanisms. This vibration is caused by the length measuring roller 5, the length measuring encoder 6, the running distance control device 13, the rotary cutter driving servo motor 1
1. The operation is transmitted to the operation of the rotary cutter 9 via the transmission mechanism 10. Rotary cutter 9 from traveling of material 8
The phase difference occurs in the material traveling speed following operation of the rotary cutter 9 due to the control delay of the travel control device 13, the delay of the transmission mechanism 10, and the following delay due to the inertia force of the rotary cutter 9, and is amplified. Vibration. There was a problem that the cutting accuracy of the material cutting length was deteriorated by this vibration.

As a remedy, there is a method of reducing the following performance of the rotary cutter driving servomotor 11 so that the rotary cutter 9 does not follow the vibration of the material 8 from running. However, the rotary cutter drive servomotor 11
When the following performance of the material 8 is reduced and
There is a disadvantage that the follow-up of the rotary cutter drive servomotor 11 is deteriorated and the cutting accuracy of the material cutting length is deteriorated.

[0006]

The problem to be solved is that, when the material 8 traveling with acceleration and deceleration accompanied by vibration is cut to a predetermined length, the cutting accuracy of the material cutting length is deteriorated. is there.

[0007]

According to the present invention, in order to improve the cutting accuracy of the material cutting length of a material traveling with acceleration and deceleration with vibration, a material feed mechanism driving motor encoder without vibration is added, The most important feature is to predict the feed speed of the material and control the rotation of the rotary cutter.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention has been realized by adding a motor encoder for driving a material feeding mechanism and a length measuring pulse compensator.

[0009]

FIG. 2 is a block diagram of a running control to which the present invention is applied, taking a rotary cutter system as an example.
Reference numeral 3 is a motor encoder for driving the material feed mechanism, and 15 is a length measuring pulse compensator, as in FIG. 16 to 17 are control elements in the length measuring pulse compensator 15, 16 is feedforward control, and 17 is position loop proportional integral control. 18 to 24 are elements in the feedforward control 16 and the position loop proportional integral control 17 of the length measuring pulse compensator, 18 is a subtraction element, 19 is an integration element, 20
Is a proportional element, 21 and 22 are addition elements, 23 is an integral element with T as a time constant, and 24 is a proportional element.

The length measuring pulse compensator 15 is a feedforward control 16 using a pulse of a material feed mechanism driving motor encoder 14, and the output pulse of the length measuring pulse compensator 15 is fed back using a pulse of the length measuring encoder 5 as a command value. It is composed of a position loop proportional integral control 17. The proportional element 24 of the feedforward control 16 of the length measurement pulse compensator 15 is
This is a proportional coefficient for making the pulse the same material feed length as one pulse of the length measuring encoder 6.

The feedforward control 16 of the length measuring pulse compensator 15 is adapted to output the pulse of the length measuring encoder 6 generated when the material feeding mechanism driving motor 3 rotates to feed the material by the pulse of the material feeding mechanism driving motor encoder 14. As a result, a pulse having no vibration due to the influence of the transmission mechanism 2 and the material feeding mechanism 3 is generated as a material feeding pulse.

The position loop proportional integral control 17 of the length measuring pulse compensator 15 controls the smoothing filter for the speed fluctuation of the pulse of the length measuring encoder 6 and feedforward control 1 by the slip of the material feeding generated by the material feeding mechanism 3.
The control for eliminating the error of the material feed length included in the pulse No. 6 is performed.

The feedforward control 16 and the position loop proportional integral control 17 use the length measuring pulse compensator 15.
Is a pulse whose material feed length is less vibrated with detection accuracy by the pulse of the length measuring encoder 6. By inputting this output pulse to the running control device 13, the operation of the rotary cutter 9 with less vibration can be performed while the follow-up performance of the rotary cutter drive servomotor 11 is improved, and the material in the material feeding during acceleration / deceleration can be performed. The cutting accuracy of the cutting length is improved.

Although the length measuring pulse compensator 15 has a different configuration from the running distance control device 13, the length measuring pulse compensator 15 can be included in the running distance control device 13 and implemented.

[0015]

As described above, the running control system according to the present invention improves the cutting accuracy of the material cutting length when cutting the material traveling with acceleration and deceleration with vibrations to a predetermined length. There are advantages. In addition, when cutting a material that travels with vibration in a short or long length, the higher the speed of the material, the higher the cutting accuracy of the material cutting length. The present invention can be applied to such cases.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a conventional travel control system using a rotary cutter system as an example.

FIG. 2 is a configuration diagram of a running control system to which the present invention is applied, taking a rotary cutter system as an example. (Example)

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Material feed mechanism 2 Transmission mechanism 3 Material feed mechanism drive motor 4 Motor drive device 5 Length measuring roller 6 Length measuring encoder 7 Material running direction 8 Material 9 Rotary cutter 10 Transmission mechanism 11 Rotary cutter drive servomotor 12 Rotary cutter drive servomotor encoder 13 Running distance control device 14 Material feed mechanism drive motor encoder 15 Length measuring pulse compensator 16 Feed forward control 17 Position loop proportional integral control 18 Subtraction element 19 Integral element 20 Proportional element 21 Additive element 22 Additive element 23 Integral element 24 Proportional element

Claims (1)

[Claims] 1. A motor encoder for driving a material feed mechanism, and a length measuring pulse compensator comprising a feedforward control using pulses of the motor encoder for driving the material feed mechanism and a position loop proportional integral control using pulses from a length measuring encoder are provided. Characteristic running control system.