JP2002020934A - Motor control system for single spindle driving type textile machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate the necessity for memory backup functions of each set point for controlling a motor in plural motor controllers for individually controlling the driving motor for each spindle. SOLUTION: Each driving motor 2 is individually controlled with each motor controller 30 which is commonly controlled with a master controller 40. A microcomputer 41 of the master controller 40 is provided with a memory 43 always holding the set point and the master controller 40 transmits the set point in the memory 43 to each motor controller 30 and stores the set point in a memory 33 of a microcompter 31 during the starting of the master controller 40 and when the master controller 40 receives a reset occurrence signal of a CPU 32 from each motor controller 30.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control system for a single-spindle-drive textile machine, which is provided with a drive motor for each weight and a plurality of motor controllers for individually controlling the respective drive motors.

[0002]

2. Description of the Related Art Conventionally, there has been known a single-spindle drive type textile machine provided with a dedicated drive motor for each of a plurality of weights, for example, a single-spindle drive type multiple twisting machine. In the twisting machine having such a configuration, since the rotation speed (number of rotations) of each drive motor affects the quality of the twisted yarn, a motor control device is provided for each weight or for each of a plurality of weights. Each of these motor control devices accurately monitors the rotational speed of each drive motor, and based on set values such as the target rotational speed and the control gain specified by the central control device, each motor control device The drive motor is controlled optimally.

[0003]

The motor control setting values used by each motor control device as described above are stored in the memory of each motor control device. In addition, since the set value is changed by a command from the central control device according to the type of yarn to be manufactured, it is necessary to rewrite the memory contents. Therefore, an expensive EEPROM, for example, is required for each motor control device as a rewritable memory having a backup function in the event of a power failure or a power failure. In particular, in a textile machine such as a single-spindle drive type multiple twisting machine having a large number of weights, a large number of motor controllers are provided according to a large number of drive motors, so that the equipment cost of the entire machine becomes considerable. .

Accordingly, the present invention eliminates the need for a memory backup function of motor control set values in a plurality of motor control devices, and further simplifies the overall system configuration to improve reliability. An object of the present invention is to provide a motor control system for a weight-driven textile machine.

[0005]

According to a first aspect of the present invention, there is provided a motor control system comprising a drive motor for each weight, and a plurality of motor control devices for individually controlling the drive motors. A motor control system for a single-spindle-driven textile machine, further comprising a master controller that controls and manages the plurality of motor controllers in common, wherein the master controller includes a motor control setting used by each of the motor controllers. Setting value holding means for holding a value at all times; when the master control device is activated and when the master control device receives a predetermined signal from each of the motor control devices, the master control device Is transmitted to each of the motor control devices. According to the first aspect of the present invention, the master control device common to each motor control device always holds a set value for motor control, and the master control device transmits the set value to each motor control device. There is no need to provide a memory backup function for setting values.

Further, in the motor control system according to a second aspect of the present invention, prior to the transmission of the set value, a coincidence of the parameter version between the master controller and each of the motor controllers is confirmed. After the confirmation, the setting value is transmitted. According to the second aspect, since the set value is transmitted after confirming the coincidence of the parameter versions, the malfunction of the motor control due to the incompatibility of the parameters is prevented.

According to a third aspect of the present invention, there is provided a motor control system according to the first or second aspect, wherein the master control device receives abnormality information received from each of the motor control devices when an abnormality occurs in each of the motor control devices. Is provided with abnormality information holding means for always holding the information. This claim 3
In the above, since the master controller common to each motor controller always holds the abnormality information of each motor controller, the abnormality of each motor controller can be performed without providing a memory backup function for the abnormality information in each motor controller. History is grasped.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a motor control system of a single-spindle drive type multiple twisting machine will be described below with reference to the drawings. 1 is a schematic front view of the twisting machine, FIG. 2 is a schematic sectional view taken along line II-II of FIG.
FIG. 3 is a block diagram of the motor control system, FIG. 4 is a flowchart of a set value transmission process when the master control device is started, FIG. 5 is a flowchart of a set value transmission process when the motor control device is reset by the CPU, and FIG. FIG. 8 is a flowchart of abnormal information processing and setting value change processing.

First, a schematic configuration of the twisting machine according to the present embodiment will be described. In FIGS. 1 and 2, reference numeral 1 denotes a machine of a twisting machine, 2 denotes a plurality of variable speed drive motors arranged in parallel to the machine 1, and 3 denotes a spindle which is coaxially driven by each drive motor 2. Reference numeral 4 denotes a yarn supply package which is detachably mounted coaxially with each of the spindles 3, and is kept stationary by an appropriate braking means regardless of the rotation of the spindle 3. 5 is a yarn guide for guiding the yarn Y unwound from the yarn supply package 4 to the winding device, 6 is a feed roller for feeding the yarn Y to the winding device while adjusting the tension of the yarn Y,
7 is a traverse guide for shifting the yarn Y inclining,
Reference numeral 8 denotes a winding drum for rotating the winding package 9 by surface contact. The traverse guide 7 is installed on the traverse shaft 10 for each weight.
Is reciprocated in the axial direction by a drive mechanism on the control box 15 side indicated by a virtual line on the left side of the machine base 1. The winding drum 8 is rotationally driven by a drum shaft 11 all at once, and the drum shaft 11 is driven by a drive source on the control box 15 side. The winding package 9 is configured to be wound on a paper tube 13 held by a cradle 12.

In the configuration of the above-described twisting machine, the twisting operation of each weight is performed as follows. The yarn Y unwound from the yarn supply package 4 is guided downward from the tip of the spindle 3 through the inside of the spindle, and is rotated at a high speed.
Radially from below. This released yarn Y
Is unwound while turning when unwound from the yarn supply package 4, so that a single twist is applied at this stage. Further, the yarn Y discharged from below the spindle 3 is guided to the feed roller 6 through the yarn guide 5 while rotating around the outer periphery of the yarn supply package 4 by the rotation of the spindle 3. That is, at this stage, the yarn Y released by the spindle 3 is swung around the yarn supply package 4, so that another twist is given, and as a result, the twisted yarn Y given double twist is fed to the feed roller. 6 to the traverse guide 7. The twisted yarn Y adjusted to a predetermined tension by the feed roller 6 is wound on a winding package 9 driven to rotate by a winding drum 8 while being traversed by a traverse guide 7.

In the present embodiment, as shown in FIG. 1, eight twisted weights from the drive motor 2 to the winding drum 8 are juxtaposed in the lateral direction of the machine base 1 as shown in FIG. , These weights are also provided in pairs at the rear, forming 8 weight pairs, and 16 weights constitute 1 weight.
The span is configured. In addition, these weights are
The same number is also installed in the upper part of. That is, a total of 32
The weights are set on the frame 1 of one frame, and they are all controlled by one host computer 50 arranged in the control box 15.
In an actual twisting machine, many of these frames are arranged side by side and operated.

The twisted yarn Y wound up by each of these weights
Since the quality of the yarn varies with the rotation speed of each spindle 3, in order to keep the quality of the twisted yarn Y of each winding package 9 uniform, the rotation speed (rotation speed) of the drive motor 2 of each weight is controlled by the host computer 50. It is necessary to accurately control the rotation speed of the drive motor 2 of each weight while accurately controlling the rotation speed to a predetermined value based on the command signal. Further, when a trouble such as thread breakage occurs in any of the weights, the load of the drive motor 2 fluctuates. Therefore, it is necessary to immediately transmit this to the host computer 50.

The control of each drive motor 2 is performed by a plurality of motor control devices 30. The motor control devices 30 for one span are controlled and managed by the master control device 40, and the master control devices 40 for each span are integrally managed by the host computer 50. In the twisting machine of the present embodiment, as shown in FIGS. 1 and 2, a common duct 20 for one span is provided at an intermediate portion of each of the front and rear spindle rows arranged side by side in the machine direction 1. The duct 20 extends along the longitudinal direction of the machine base 1, and eight motor control devices 30 and one master control device 40 are arranged in the duct 20.
The upper and lower spans have the same configuration.

Next, the configuration of the motor control system according to the present embodiment will be described. 3, the master control device 40 controls each motor control device 30 based on an instruction from the host computer 50.
A microcomputer (microcomputer) 41 including a memory 42 and a memory 43; a communication interface (I / F) 44;
And 45, multiplexer (MPX) 46, input / output I /
F47 and the like. The microcomputer 41 is connected to the host computer 50 via a serial communication line La via a communication I / F 44, and is connected to each motor control device 30 via a serial communication line Lb via a communication I / F 45 and MPX46. Also, switches (not shown) such as start, emergency stop, and instantaneous stop provided on the control box 15 side are connected to an input / output I / F.
It is connected to the microcomputer 41 via 47.

Each of the motor control devices 30 is an inverter module for controlling each drive motor 2,
2, a microcomputer 31 including a memory 33, etc., a communication I / F
34, an inverter circuit 35 and the like.
The microcomputer 31 is connected to the master control device 40 via a serial communication line Lb via a communication I / F 34. Then, the microcomputer 31 controls the rotation of the drive motor 2 by controlling the inverter circuit 35 and monitors the rotation speed of the drive motor 2 based on detection data of a rotation sensor (not shown). In the present embodiment, one motor control device 30 individually controls each of the front and rear two spindles of the drive motor 2. May be provided.

In this motor control system, all the set values such as the target rotation speed (rotation speed) for controlling each drive motor 2 and the control gain are set in the master controller 40.
It is always held in the memory 43 of the microcomputer 41 on the side.
When the master controller 40 is started and when a predetermined signal is received from each motor controller 30, the set value is transmitted from the master controller 40 to each motor controller 30 and stored in the memory 33 of the microcomputer 31. It is configured to be. Further, when an abnormality occurs in each of the motor control devices 30, the abnormality information is received by the master control device 40 and stored in the memory 43 of the microcomputer 41. Therefore, the memory 4 on the master control device 40 side
Reference numeral 3 includes, in addition to a normal RAM and ROM, etc., an EEPROM as a setting value holding unit and an abnormality information holding unit, and has a memory backup function for setting values and abnormality information at the time of a power failure or a power failure. ing. On the other hand, the memory 33 of each motor control device 30 stores a normal RAM or RO.
M and the like, and a memory backup function is not required, thereby simplifying the operation.

Note that polling communication is performed between the host computer 50 and the master control device 40 and between the master control device 40 and each of the motor control devices 30 via serial communication lines La and Lb, respectively, so that various data are transmitted. Is sending and receiving. For example, the master control device 40 polls each subordinate motor control device 30 at predetermined intervals, and when each motor control device 30 receives a normal polling message, the master control device 40
A polling response message including the status such as reset occurrence or abnormality occurrence is returned.

Next, processing such as transmission of set values in the motor control system will be described with reference to FIGS. 4 to 7 in addition to FIG. 4 to 7 are flowcharts along the processing of the CPU 42 of the microcomputer 41 in the master control device 40. First, when the master control device 40 is started,
That is, when the operation of all the spindles is started by the breaker ON, the master controller 40 transmits a request for the parameter version to each motor controller 30 in S1, as shown in FIG. In response, each motor control device 30 returns its own parameter version added to the polling response message. When the master controller 40 receives the parameter version in S2, the master controller 40 checks whether the parameter version of the master controller 40 matches the parameter version of each motor controller 30 in S3. If these match, and the validity of the set value transmission can be confirmed, the master control device 40 adds the set value held in the memory 43 of the microcomputer 41 to the polling message and transmits the polled message to each motor control device 30 in S4. When the transmission of all the set values is completed in S5, an operation permission is transmitted to each motor control device 30 in S6, and after that, the normal polling is started. The set value transmitted to each motor control device 30 is stored in the memory 33 of the microcomputer 31, and each drive motor 2 is controlled based on this set value. On the other hand, if the parameter versions do not match in S3, an abnormal process is performed in S7. This abnormal processing is processing such as transmitting a parameter version error at the time of polling with the host computer 50, forcibly turning off the operation switch, and forcibly turning on the package brake.

Next, the resetting of the CPU 32 of the microcomputer 31 in the motor control device 30 will be described. For example, the CPU 32 is reset after the motor control device 30 recovers from power failure or when the program runaway monitoring timer overflows. The program runaway monitoring timer is called a watchdog timer, and is programmed so as to be reset at regular intervals. When the program goes out of control, the reset processing of the timer is not performed, and the CPU 32 is reset by overflow. When the master control device 40 receives the polling response message from the motor control device 30 and detects the occurrence of the reset of the CPU 32 based on the status data of the polling response message, as shown in S8 of FIG. The device 40 transmits a request for a parameter version to the motor control device 30 in which the reset has occurred. Hereinafter, in S2 'to S7', the master control device 40 and the motor control device 30 which has generated the reset
The same processing as in S2 to S7 described above is performed.

As described above, the memory 43 of the master control device 40 always holds the set value, transmits the set value to each motor control device 30 and stores it in the memory 33. The setting value memory backup function can be eliminated. Further, the function of confirming the parameter version in the master control device 40 and each motor control device 30 can prevent the motor control from malfunctioning due to incompatibility with the parameters.

Next, the processing of the abnormality information will be described.
This processing is performed, for example, when a trip or thread break occurs in each weight, or when a control target cannot be achieved. The master control device 40 is the motor control device 30
When a polling response message is received from, as shown in S9 of FIG. 6, when the occurrence of an abnormality is detected based on the status, the master controller 40 transmits a request for abnormality information to the motor controller 30 in S10. .
On the other hand, the motor control device 30 returns the abnormal information added to the polling response message. When the master control device 40 receives the abnormality information in S11,
In, the master control device 40 stores the received abnormality information in the memory 43 and keeps it constantly.

As described above, since the abnormality information of the motor control devices 30 is always held by the master control device 40, each motor control device 30 does not have a memory backup function for the abnormality information.
Can be collectively managed by the master controller 40.

Next, the process of changing the set value will be described. As shown in FIG. 7, when the master control device 40 receives a set value change command from the host computer 50 in S13, the master control device 40 writes the changed content as a write message during a polling cycle in S14 as a motor control device. 30. And S1
In 5, the master control device 40 writes the changed set value in its own memory 43 and keeps it constantly. Therefore, the drive motor 2 is controlled based on the changed set value. Further, when it becomes necessary to transmit the setting value as described above, the changed setting value is transmitted.

Although the embodiment of the present invention has been described above, the setting value holding means and the abnormality information holding means according to the present invention are not limited to the EEPROM shown in the present embodiment, but may be set value data and abnormality information data. Any effective means can be adopted as long as it can always hold. Also,
In this embodiment, a multi-twisting machine has been exemplified, but the present invention is applicable to a motor control system of a false twisting machine and other various types of single-spindle-driven textile machines.

[0025]

As described above, according to the first aspect of the present invention, the master control device common to each motor control device always holds the motor control set value, and the master control device sets the motor control set value. By transmitting the value to each motor control device, the memory backup function of the set value in each motor control device can be eliminated, and the equipment cost of the entire machine can be reduced. Further, since the set values can always be collectively managed by the common master control device, it is possible to easily cope with the change of the set values and to simplify the configuration of the entire system. .

According to the present invention as set forth in claim 2,
By transmitting the set value after confirming the matching of the parameter version between the master control device and each motor control device, it is possible to prevent the malfunction of the motor control due to the incompatibility of the parameters, and to ensure the safety and reliability of the motor control system. Can be improved. Further, by confirming the parameter version, safety can be ensured even when the master control device or the motor control device of another machine is diverted, so that compatibility between machines can be improved.

According to the third aspect of the present invention,
The master controller common to each motor controller always holds the abnormality information of each motor controller, so that each motor controller does not have a memory backup function of the abnormality information, and each motor controller uses the common master controller. Since the abnormality history of the control device can always be managed collectively, reliability can be improved while simplifying the configuration of the entire system.

[Brief description of the drawings]

FIG. 1 is a schematic front view of a twisting machine according to an embodiment in which the present invention is applied to a motor control system of a single-spindle drive type multiple twisting machine.

FIG. 2 is a schematic sectional view of the twisting machine taken along line II-II in FIG.

FIG. 3 is a block configuration diagram of a motor control system in the twisting machine.

FIG. 4 is a flowchart of a setting value transmission process when the master control device of the system is activated.

FIG. 5 is a flowchart of a set value transmission process at the time of CPU reset of the motor control device of the system.

FIG. 6 is a flowchart of abnormal information processing of the system.

FIG. 7 is a flowchart of a setting value changing process of the system.

[Explanation of symbols]

 2 Drive motor 30 Motor controller 31 Microcomputer 32 CPU 33 Memory 34 Communication interface 35 Inverter circuit 40 Master controller 41 Microcomputer 42 CPU 43 Memory 44, 45 Communication interface 46 Multiplexer 47 Input / output interface 50 Host computer La, Lb Serial communication line

Claims (3)

[Claims] 1. A motor control system for a single spindle drive type textile machine, comprising: a drive motor for each weight; and a plurality of motor controllers for individually controlling the respective drive motors. A master control device for performing common control and management; the master control device includes a set value holding unit that always holds a set value for motor control used by each of the motor control devices; And when the master control device receives a predetermined signal from each of the motor control devices, the master control device transmits the set value held in the set value holding means to each of the motor control devices. Control system for single-spindle driven textile machinery. 2. The method according to claim 1, wherein, prior to the transmission of the set value, a match between the parameter versions of the master controller and each of the motor controllers is confirmed, and after the confirmation, the set value is transmitted. Item 2. A motor control system for a single spindle drive type textile machine according to item 1. 3. The apparatus according to claim 1, wherein said master control device further comprises abnormality information holding means for always holding abnormality information received from each of said motor control devices when an abnormality occurs in each of said motor control devices. 3. The motor control system for a single spindle drive type textile machine according to 1 or 2.