JP2003221161A - Traverse control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem in a conventional traverse control device for making magnetic flux control of a traverse device that a current cannot follow correctly at the time of high speed driving because of many reasons such as the rising delay of an electric current by the inductance of a coil. <P>SOLUTION: This traverse control device 5 controlling forward and backward driving of a traverse motor 11 to reciprocate a traverse guide 15 is provided with a speed position detector 53 detecting the current position of a rotor of the traverse motor 11, and a leading angle excitation position calculation part 55a providing electricity to a motor coil at timing advancing only by a prescribed leading angle amount to the current position of a rotor based on the current position detected by the speed position detector 53. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traverse control device for controlling the position and speed of a traverse guide which is reciprocally driven by a traverse motor.

[0002]

2. Description of the Related Art Conventionally, in some single-weight traverse devices, traverse guides for each weight are reciprocally driven by traverse motors. As such a single-weight traverse device, a voltage supplied to the stator of a traverse motor that drives a traverse guide is continuously generated by using a magnetic flux control device as in Japanese Patent Publication No. 2001-516319, whereby the traverse is performed. A configuration is known in which the rotational movement of the rotor of the motor is controlled by the stator magnetic flux determined by the stator voltage.

[0003]

However, in the above-mentioned traverse device, the current flowing through the stator coil cannot always be passed at a desired timing, and the maximum torque cannot always be applied to the rotor. . Therefore, it is not possible to maintain highly accurate position accuracy in the entire traverse stroke, and a winding shape defect of the winding package may occur. Further, the above-mentioned traverse device has a problem that a high-speed turn cannot be performed due to insufficient torque, and a large-capacity traverse motor is required to perform the high-speed turn. The reason why the coil current cannot be passed at the desired timing is that the current rise is delayed due to the influence of the inductance of the stator coil, and that the current command during acceleration / deceleration increases the required current amount (torque). The rate of change may be large.
Therefore, in the present invention, a high speed turn is enabled by using a minimum traverse motor, and highly accurate position control is realized in the entire traverse stroke, thereby speeding up the traverse and reducing the winding package. The purpose is to improve the winding shape.

[0004]

The present invention uses the following means in order to solve the above problems. That is, in the invention of claim 1, in the traverse control device for controlling the forward and reverse drive of the traverse motor for reciprocating the traverse guide, the position detecting means for detecting the current position of the rotor of the traverse motor and the position detecting means. Based on the current position detected by the means, there is provided advance angle control means for energizing the motor coil at a timing advanced by a predetermined advance angle amount with respect to the current position of the rotor. As a result, it is possible to eliminate the influence of the delay of the rising of the current and always pass the current such that the maximum torque acts on the rotor through the motor coil. Therefore, the actual motor current does not follow the target current even during high-speed operation. For example, the advance angle control means may advance the advance angle excitation position, which is a position advanced by a predetermined advance amount from the maximum torque excitation position (position orthogonal to the current position of the rotor) at which the torque acting on the rotor becomes maximum. And an energization control unit that controls energization to the motor coil so that the direction of the magnetic flux generated by energization to the motor coil is at the advancing excitation position.

Further, according to the invention of claim 2, there is provided speed detection means for detecting the current speed of the rotor, and the advance angle control means changes the advance angle amount according to the current speed of the rotor. For example, a predetermined reference speed can be set in advance, and if the current speed of the rotor is faster than the reference speed, the advance amount can be increased, and if it is slower than the reference speed, the advance amount can be decreased. Further, the amount of advance angle can be changed so as to be proportional to the current speed of the rotor. The relation between the current speed of the rotor and the advance amount may be set and stored in advance, and it is preferable that the relation can be changed as a parameter. This gives you, depending on the current speed of the rotor,
The amount of advance can be changed automatically.

Further, in the invention of claim 3, the advance angle control means changes the advance angle amount according to the current position of the traverse guide. For example, the advance amount can be increased when the traverse guide is at the center of the traverse stroke, and the advance angle tatami can be reduced when the traverse guide is at the traverse end (including the turn position). The relationship between the position of the traverse guide and the advance amount may be set and stored in advance, and it is preferable that the relationship can be set and changed as a parameter. As a result, the advance amount can be automatically changed according to the position of the traverse guide.

Further, in the invention of claim 4, the advance angle control means changes the advance angle amount based on the deviation between the target position and the current position of the rotor. For example, if the deviation between the target position of the rotor and the current position is large (when the delay with respect to the target position is large), the advance amount is increased, and if the deviation is small (when the delay with respect to the target position is small), the advance angle is increased. The amount can be reduced. The relationship between the deviation and the advance amount may be set and stored in advance, and it is preferable that the relationship can be set and changed as a parameter. As a result, the advance amount can be automatically changed according to the followability of the rotor to the target position.

Further, in the invention of claim 5, the advance angle control means has a limiter for limiting the advance angle amount within a preset upper limit value. As a result, it is possible to prevent a decrease in torque due to an excessive advance amount.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a diagram showing an overall configuration of a traverse device of the present invention, FIG. 2 is a diagram showing traverse speeds at traverse positions within a traverse stroke, and FIG. 3 is a motor driver for vector control and advance control of a traverse motor. FIG. 4 is a block diagram showing the configuration of FIG. 4, and FIG. 4 is a vector diagram for explaining advance angle control using motor rotation coordinates (dq coordinates).

The configuration of a traverse device equipped with the traverse control device of the present invention will be described. As shown in FIG. 1, a traverse device 1 equipped with a traverse control device according to the present invention rewinds a yarn Y unwound from a yarn supply package (not shown) onto a winding package 3 while traversing in the axial direction of a bobbin. It is used in the taker. The winding package 3 is formed by winding the yarn Y around the bobbin 31, and is rotatably supported by the cradle 32. In addition, in FIG. 1, as the winding package 3,
Although the taper end package is shown in which the traverse width (winding width) is gradually narrowed as the winding thickness increases, the package shape is not limited to such a taper end shape. A winding roller 2 which is rotationally driven by a winding motor is in contact with the outer peripheral surface of the winding package 3, and the winding package 3 is rotationally driven by the winding roller 2.

The traverse device 1 includes, for example, a traverse motor 11 which is a stepping motor, a drive pulley 12 which is rotatably driven by the traverse motor 11 so as to be switchable between forward and reverse rotation, and a driven device which is arranged on both sides of the traverse range. The pulley 13 is provided with a driving belt 14 wound around the driving pulley 12 and the driven pulleys 13 and 13, and a traverse guide 15 fixed to the driving belt 14 for guiding the yarn Y. As the drive belt 14, various types of belts such as a timing belt and metal wires, and other flexible endless bodies having the same function can be used. Traverse guide 15
Is reciprocally moved from one end side to the other end side in the axial direction of the bobbin 31 or from the other end side to the one end side in accordance with the forward and reverse rotations of the drive pulley 12, whereby the yarn wound around the winding package 3 is wound. It is configured to traverse Article Y. In addition, the traverse device 1 includes a traverse control device 5, which controls the drive of the traverse motor 11 to
The position and drive speed of the traverse guide 15 are controlled. In this way, by controlling the forward and reverse drive of the traverse motor 11, the traverse guide 15 with which the yarn Y is engaged can be reciprocated with a predetermined traverse width.

[0012] The traverse device 1 configured as described above
Provides a traverse motor 11 for each single winding package 3 and controls the position and speed of the traverse guide 15 by a traverse control device 5 having a microcomputer. Then, the traverse control device 5 is a motion controller 5 described later.
2 and a motor driver 51. The motion controller 52 outputs a motion pulse corresponding to a position command to the traverse motor 11, and the motor driver 51 controls the traverse motor 11 so that the amount of rotation corresponds to the number of motion pulses.

Next, the control of the traverse motor 11 by the traverse control device 5 will be described. The traverse control device 5 controls the position of the traverse guide 15 via the traverse motor 11, and as described above, generates a command signal (position command) for causing the traverse motor 11 to perform a predetermined driving operation. And a motor driver 51 that drives the traverse motor 11 in accordance with the generated command signal. The main functions of the motion controller 52 and the motor driver 51 are realized by a common microcomputer (not shown). This microcomputer has a single central processing unit (CPU), which is a main configuration of means for executing a motion control function and a motor driver function, a ROM that stores a traverse control program (motion program), and operation data. And a RAM for temporarily storing the data etc. The central processing unit executes the control program stored in the ROM to control the traverse motor 11 (traverse control) as described later. It should be noted that the motion controller 52 and the motor driver 51 may be individually provided with microcomputers (central processing units), and each function may be realized by a separate microcomputer. The traverse control device 5 includes a motor rotation detector (rotary encoder) 53 for detecting the rotation speed of the traverse motor 11, and the winding package 3.
Package rotation detector 54 for detecting the rotation speed of the
Are connected, and the respective detected values are input to the traverse control device 5.

A package diameter calculating means 52a is provided in the motion controller 52 of the traverse control device 5, and the package diameter is constantly calculated on the basis of the detection value of the package rotation detector 54 during winding. Further, the command signal generating means 52b provided in the motion controller 52 generates a command signal (motion pulse) for driving and controlling the traverse motor 11 based on the preset drive pattern and the calculated package diameter. . As the package diameter calculation method, another method such as detecting the relative position of the winding package 3 to the winding roller 2 (angle of the cradle 32) can be used.

The motor driver 51 includes a drive circuit (not shown) having a plurality of switching elements, and outputs a motor drive signal to the traverse motor 11 according to the motion pulse generated by the motion controller 52. The traverse motor 11 to which the motor drive signal is input has a speed according to the frequency of the motion pulse,
It is driven to rotate by an angle according to the number of motion pulses.
That is, the motor driver 51 detects the rotation position of the traverse motor 11 by the rotation detector 53 such as a rotary encoder, and obtains the deviation between the detected rotation position and the position command value (motion pulse number) by the microcomputer. The position control of the traverse motor 11 is performed so that this deviation becomes zero, that is, the detected position follows the position command. Specifically, as will be described later with reference to FIG. 3, the motor driver 51 includes current detection means (current detector 70) for detecting a motor current, and a position command and a rotation detector according to the number of motion pulses. A speed command value is calculated based on the current position detected by 53, a current command value is calculated based on the speed command value and the current speed detected by the rotation detector 53, and the current command value and the current detection value are calculated. The excitation of the traverse motor 11 is controlled based on

In the traverse control device 5 for controlling the drive of the traverse motor 11 as described above, when the reciprocating traverse guide 15 is located at the central portion in the traverse stroke from one end to the other end of the traverse range, When the traverse motor 11 is driven so that the traverse guide 15 moves at a constant high speed, and the traverse guides 15 are located at both ends in the traverse stroke, the speed is lower than the speed in the central portion. The traverse motor 11 is driven so as to move while changing.

Specifically, as shown in FIG. 2, the traverse stroke R of the traverse guide 15 is divided into a constant velocity region Rc at the center and end regions Re at both ends, and the constant velocity region is divided. In Rc, traverse guide 15
Moves at a substantially constant speed at a predetermined guide speed Sg.
In the end area Re, the traverse guide 15
The traverse speed becomes zero at the stroke end at which the turn turns, the traverse speed increases as it moves from the stroke end toward the center, and reaches the guide speed Sg at the boundary between the end region Re and the constant velocity region Rc.

Further, in the present invention, the advance angle control is performed in which the energization control of the motor coil is performed at the timing when the rotor position is advanced by a predetermined angle with respect to the actual rotor position (that is, the angle is advanced). It is possible to do. In this case, the speed and position of the rotor (or traverse guide 1
A traverse pattern defining the speed and position of 5) is stored in the ROM in advance, and the traverse motor 11 is controlled so as to follow the traverse pattern.

Next, a case in which the advance control is performed on the vector-controlled traverse motor 11 will be described with reference to FIGS. As described above, the command signal generating means 52
The motion pulse (command signal) generated in b is a signal indicating the target rotation angle (position command signal) of the stepping motor that constitutes the traverse motor 11. The position control unit 61 in the motor driver 51 calculates a position command signal (target position) calculated from the number of motion pulses.
And a speed command signal based on the position calculation result (current position) by the position calculation unit 67 calculated based on the detection pulse of the motor rotation detector 53 which is a rotary encoder. Specifically, a speed command signal is generated by PI control or PID control using the deviation between the position command signal calculated by the deviation calculator 60 and the position calculation result, and a preset gain.

The speed control unit 62 is based on the speed command signal (target speed) generated by the position control unit 61 and the speed calculation result (current speed) by the speed calculation unit 68 calculated based on the detection pulse of the encoder. Torque current command signal (I
qref: q-axis target current) is generated. Specifically, the torque current command signal is generated by PI control or PID control using the deviation between the speed command signal and the speed calculation result and the preset gain. The magnetic flux current command signal (Idref: d-axis target current) is input to the advance angle excitation position calculation unit 55a. In this example, since the rotor is formed of a permanent magnet and the rotor magnetic flux is established, the magnetic flux current command signal is set to zero and only the torque current command signal is changed to generate a torque proportional to the torque current. Control. The magnetic flux current command signal may take a negative value as a value other than zero.

The position calculation result is input to the advance angle excitation position calculation section 55a. Advance excitation position calculator 55
a calculates the advance excitation position having a predetermined advance amount with respect to the current position of the rotor based on the position calculation result. That is, as shown in FIG. 4, a predetermined advance angle is set from a maximum torque excitation position (position orthogonal to the current position of the rotor) q at which the torque acting on the rotor magnetic flux d indicating the current position of the rotor becomes maximum. The advance angle excitation position q ′, which is the position advanced by the amount θ, is calculated. It should be noted that d ′ in FIG. 4 indicates the magnetic flux in the direction orthogonal to the advance angle excitation position q ′, and indicates the virtual rotor position after the advance angle is given. Further, the advance amount θ is set and stored in advance.

Further, the advance angle excitation position calculation section 55a includes
The speed calculation result of the speed calculation unit 68 is input. The advance excitation position calculator 55a changes the advance amount θ based on the speed calculation result indicating the current speed of the rotor. Further, a torque current command signal (Iqref: q-axis target power) generated by the speed control unit 62 is input to the advance angle excitation position calculation unit 55a. Based on the torque current command signal, the advance angle excitation position calculation unit 55a calculates the torque current command signal (Iqr) after the advance angle is given.
ef ′: q-axis target current after advancing is determined). As a result, a stator magnetic flux (torque) having a magnitude corresponding to the speed deviation amount acts on the rotor.

Based on the above input, the advance angle excitation position calculation section 55a causes the post-advancement imparted magnetic flux current command signal (Idre).
f ': d-axis target current after advancing angle) and a torque current command signal after advancing angle (Iqref': q-axis target current after advancing angle) are generated. Next, the sin / cos calculator (trigonometric function generator) 77 generates trigonometric function signals (sin signal and cos signal) based on the electrical angle detection signal which is the position calculation result of the position calculator 67. Magnetic flux current control unit 64
Outputs a magnetic flux voltage command signal (d-axis voltage command signal) based on the magnetic flux current command signal (Idref ') after the advance angle is given and the actual magnetic flux current value (id: d-axis current detection value). Specifically, the magnetic flux current command signal (Idre
A magnetic flux voltage command signal is generated by PI control or PID control using the deviation between f ′) and the actual magnetic flux current value (id) and a preset gain.

The torque current control section 63 determines the torque voltage command signal (q-axis voltage command) based on the post-advanced torque current command signal (Iqref ') and the actual torque current value (iq: q-axis current detection value). Signal) is output. Specifically, a torque voltage command signal is generated by PI control or PID control using a deviation between a torque current command signal (Iqref ') after the advance angle is given and an actual torque current value (iq) and a preset gain. To generate. The coordinate conversion unit (dq / AB phase conversion unit) 65 converts the magnetic flux voltage command signal and the torque voltage command signal into a constant voltage command signal (A phase voltage command signal and B phase voltage command signal) based on the trigonometric function signal. ).

The A and B phase waveform output section (PWM inverter section) 66 supplies the A phase and B phase voltages to the stepping motor based on the stator voltage command signal. That is,
The A and B phase waveform output unit 66 is a power conversion unit, and the PWM
It includes a modulator (not shown) and a drive circuit (not shown), PWM-modulates the A-phase and B-phase voltage commands, and controls the switching of the drive circuit having a plurality of switching elements via the base drive circuit. In addition, the speed position detector 53
Detects the absolute position of the motor rotor as the traverse motor 11 rotates. For example, the speed position detector 53 may be an optical encoder that generates a detection pulse (absolute position pulse) according to the rotation angle of the output shaft of the stepping motor. Instead of the optical encoder, a resolver, a Hall element, or the like can be used, and a tachometer may be used to detect the rotational angular velocity, and the rotational angular velocity may be integrated and output.

The motor current detected by the current detectors 70, 70 is supplied to the A phase current value I _A by the current sampling unit 79 via the D / A converters 78, 78.
It is extracted as the B-phase current value I _B. The A-phase current value I _A and the B-phase current value I _B are based on the trigonometric function signal generated by the sin / cos calculation unit 77, and the coordinate conversion unit (AB /
The dq-phase conversion unit) 80 converts the d-phase current value id and the q-phase current value iq.

Further, the position calculating section 67 calculates the current position of the rotor via the signal processing section 69 based on the detection signal of the speed position detector 53. On the other hand, the speed calculation unit 68 calculates the current speed of the rotor via the signal processing unit 69 based on the detection signal of the speed position detector 53. In addition, the current detector 7
0 detects the motor current of the traverse motor 11, and the current detector 70 is provided in each of the A phase and the B phase. The torque current control unit 63, the magnetic flux current control unit 64, and the coordinate conversion unit (dq / AB phase conversion unit) 6 described above.
5, and A, B phase waveform output unit (PWM inverter unit) 6
6 and the like constitute energization control means for controlling energization of the motor coil so that the direction of the magnetic flux generated by energization of the motor coil is at the advance excitation position. The dq coordinates are motor coordinates that rotate with the rotation of the rotor, the d axis is a coordinate axis along the magnetic flux of the rotor, and the q axis is a coordinate axis orthogonal to the d axis.

As described above, by performing the vector control for controlling the torque current according to the rotor position, the speed and torque of the traverse motor 11 can be controlled with high performance. As a result, the position accuracy of the traverse guide can be made higher and the traverse end can be turned faster. Therefore, the winding shape of the winding package can be improved, and the unwinding property in the subsequent process can be improved. The vector control used to control the traverse motor 11 means that the detected motor current (A-phase and B-phase current) is converted into a rotary motor coordinate system (dq coordinate system) that rotates in synchronization with the rotor. After conversion, the motor current is divided into a d-axis component (current for generating magnetic flux) and a q-axis component (current that contributes to torque generation) for control so that the direction is always orthogonal to the rotor magnetic flux. This is a method of generating the stator magnetic flux.

Further, in this example, the speed position detector 53 for detecting the current speed of the rotor of the traverse motor 11 is provided, but the advance angle amount is changed according to the detected current speed of the rotor. be able to. That is, the advance angle exciting position calculating unit 55a sets the advance angle amount based on the current speed of the rotor detected by the speed position detector 53. In this way, by changing the advance amount according to the current speed of the rotor, for example, a predetermined reference speed is set in advance, and the advance amount is increased when the current speed of the rotor is faster than the reference speed. When the speed is slower than the reference speed, the advance amount can be reduced. Further, the amount of advance angle can be changed so as to be proportional to the current speed of the rotor. In either case, the relationship between the current speed of the rotor and the advance amount may be set and stored in advance, and it is preferable that the relationship can be changed as a parameter. As a result, the amount of advance can be automatically changed according to the current speed of the rotor. With this configuration, the amount of advance angle can always be set to the optimum value, and it becomes possible to always generate effective torque with good timing. Further, regardless of the traverse speed, the advance amount can always be maintained at the optimum value, highly accurate position control can be realized, and the unwinding property of the winding package in the subsequent process can be further improved.

Further, in the traverse control device of the present invention,
It is also possible to change the advance amount according to the current position of the traverse guide 15. For example, in FIG. 4, a "guide position detection means" is provided inside or outside the advance excitation position calculation unit 55a to detect the current position of the traverse guide 15, and the traverse guide 15 moves the center in the traverse stroke R described above. Constant speed area Rc
It is possible to change the advance amount depending on whether it is located at or at the end regions Re at both ends thereof. That is, the advance amount is controlled to increase in the range of the constant speed region Rc driven at high speed, and the advance amount is controlled to decrease in the range of the end region Re driven at low speed. You can In this case, the relationship between the position of the traverse guide and the advance amount may be set and stored in advance, and it is preferable that the relationship can be set and changed as a parameter. As a result, the advance amount can be automatically changed according to the position of the traverse guide.

For example, the current position of the traverse guide 15 is detected by measuring the number of pulses of the detection signal by the rotation detector 53 with a counter after the rotor of the traverse motor 11 is reversed (the traverse guide 15 is reversed). be able to. As a result, the advance amount is set to an optimum value in each of the constant speed region Rc and the end region Re, so that the maximum speed in the constant speed region Rc can be increased and the traverse The speed can be increased. Further, in the end region Re, it is possible to perform quick acceleration / deceleration, it is possible to prevent the occurrence of ear height at the end of the package 3, and the end region Re including the inverted position of the traverse guide 15 It is possible to perform high-precision position control in the above, and it is possible to prevent traverse drop and improve the winding shape of the winding package 3. Also, regardless of the traverse position, the advance amount is always maintained at the optimum value,
Highly accurate position control can be realized, and the unwinding property of the winding package in the subsequent process can be further improved.

As described above, the traverse motor 11 is position-controlled so as to follow the input position command, but the advance-angle control by the advance-angle excitation position calculator 55a is performed by the input target excitation. The advance amount may be changed based on the position and the current position of the rotor. For example, the amount of advance angle can be continuously changed so as to be proportional to the magnitude of the difference between the target excitation position and the current position of the rotor. This configuration is shown in FIG.
This can be realized by supplying the output (position deviation) of the deviation calculation unit 60 located before 1 to the advance excitation position calculation unit 55a. The target position of the rotor may be calculated by the position command (the number of motion pulses).

For example, when the deviation between the target position of the rotor and the current position is large (when the delay with respect to the target position is large), the advance amount is increased, and when the deviation is small (when the delay with respect to the target position is small). Can reduce the amount of advance angle. In this case, the relationship between the deviation and the advance amount may be set and stored in advance, and it is preferable that the relationship can be set and changed as a parameter. As a result, the advance amount can be automatically changed according to the followability of the rotor to the target position. In this way, by changing the amount of advance according to the degree of follow-up of the position command of the driven rotor, for example, even when the load condition changes, the amount of advance is always kept in an optimum state with high accuracy. Position control can be realized and unwindability in the subsequent process can be improved.

Further, the torque of the traverse motor 11 can be increased by performing the advance angle control as described above, but if the advance angle amount is made too large, the torque decreases conversely. The position calculation means 55a is provided with a limiter that regulates the upper limit of the advance angle amount. By thus providing the limiter, it is possible to prevent the advance amount from being controlled too much and the torque of the traverse motor 11 from decreasing. As a result, it is possible to prevent the occurrence of a defective shape of the winding package due to a decrease in positional accuracy.

According to this vector control, it is possible to improve the torque characteristics of the traverse motor 11 and obtain constant torque characteristics from the low speed region to the high speed region.

[0036]

Since the present invention is constructed as described above, it has the following effects. That is, as described in claim 1, in a traverse control device for controlling forward and reverse driving of a traverse motor for reciprocating a traverse guide, a position detecting means for detecting a current position of a rotor of the traverse motor, and the position detecting means. Based on the current position detected by, the advance angle control means for energizing the motor coil at a timing advanced by a predetermined advance angle with respect to the current position of the rotor is provided. In addition to being accurate, higher speed turns are possible at the traverse end. Therefore, the winding shape of the winding package can be improved, and the unwinding property in the subsequent process can be improved.

Further, according to a second aspect of the present invention, a speed detecting means for detecting the current speed of the rotor is provided, and the advance angle control means changes the advance angle amount according to the current speed of the rotor. Regardless, the amount of advance angle can always be maintained at the optimum value, highly accurate position control can be realized, and the unwinding property of the winding package in the subsequent process can be further improved.

Furthermore, since the advance angle control means changes the advance amount according to the current position of the traverse guide, the advance amount is always set to an optimum value regardless of the traverse position. Maintain and achieve highly accurate position control,
The unwinding property of the winding package in the subsequent step can be further improved.

Furthermore, since the advance angle control means changes the advance angle amount based on the deviation between the target position of the rotor and the current position, the advance angle amount is always kept in an optimum state. Thus, highly accurate position control can be realized, and unwindability in the post process can be improved.

Further, as described in claim 5, since the advance angle control means has a limiter for limiting the advance angle amount within a preset upper limit value, a defective shape of the winding package due to the deterioration of the positional accuracy occurs. Can be prevented.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of a traverse device of the present invention.

FIG. 2 is a diagram showing traverse speeds at traverse positions within a traverse stroke.

FIG. 3 is a block diagram showing a configuration of a motor driver for performing vector control and advance angle control of a traverse motor.

FIG. 4 is a vector diagram for explaining advance angle control using motor rotation coordinates (dq coordinates).

[Explanation of symbols]

1 Traverse device 3 winding package 5 Traverse control device 11 traverse motor 15 Traverse Guide 51 motor driver 53 Motor rotation detector (speed position detector) 55a Lead angle excitation position calculation unit

Claims (5)

[Claims] 1. A traverse control device for controlling forward / reverse driving of a traverse motor for reciprocating a traverse guide, a position detecting means for detecting a current position of a rotor of the traverse motor, and a current detected by the position detecting means. A traverse control device, comprising: a lead angle control means for energizing the motor coil at a timing advanced by a predetermined advance amount with respect to the current position of the rotor based on the position. 2. The traverse according to claim 1, further comprising speed detection means for detecting a current speed of the rotor, wherein the advance angle control means changes the advance angle according to the current speed of the rotor. Control device. 3. The traverse control device according to claim 1, wherein the advance angle control means changes the advance angle amount according to the current position of the traverse guide. 4. The traverse control device according to claim 1, wherein the advance angle control means changes the advance angle amount based on a deviation between a target position and a current position of the rotor. 5. The traverse control device according to claim 2, wherein the advance angle control means has a limiter for limiting the advance angle amount within a preset upper limit value.