JP2004026328A - Thread winder - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a thread winder which can reduce a burden on calculation of rotation speed. <P>SOLUTION: The number of rotations N1 of a motor is calculated per edge of a drum pulse. Also, by dividing frequency of the drum pulse, the number of rotations N2 of the motor is calculated per edge of the frequency-divided pulse. When the number of rotations N2 is a threshold value Th or less (zone TA, TC), the number of rotations N1 without frequency division is made as a monitor rotational number. When the number of rotations N2 is a threshold value Th1 or more (zone TB), the number of rotations N2 with frequency division is determined as the monitor rotational number. In the zone TB, the number of rotations N1 is not made as the monitor rotational number, and since the number of rotations N1 is not compared with the threshold value Th, calculation operation of the number of rotations N1 is stopped. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a yarn winding machine such as an automatic winder provided with a motor for rotating a winding drum and the like.
[0002]
[Prior art]
In recent years, in a yarn winding machine such as an automatic winder, a DC brushless motor (brushless DC motor) has been used as a driving source of a drum such as a winding drum for rotationally driving a winding package from the viewpoint of improving efficiency and miniaturization. It is used. In a yarn winding machine equipped with a brushless DC motor, a drum pulse having a pulse number proportional to the number of rotations is detected, and the CPU (Central Processing Unit) of the yarn winding machine detects the drum pulse edge (rising edge). For each falling edge), the rotation speed of the rotor (rotor) of the brushless DC motor is calculated based on the detected pulse cycle (time interval between pulses). The CPU controls the rotation speed of the rotor of the brushless DC motor by performing PI control or PID control based on the target speed and the calculated rotation speed.
[0003]
[Problems to be solved by the invention]
However, as the rotation speed of the rotor of the brushless DC motor increases, the number of pulses generated per unit time increases. For this reason, if the rotation speed is calculated for each pulse edge, the number of times the CPU calculates the rotation speed increases, causing a problem that a considerable load is applied to the CPU.
[0004]
The present invention has been made in view of the above problems, and has as its object to provide a yarn winding machine capable of reducing a load relating to calculation of a rotation speed.
[0005]
[Means for Solving the Problems]
The yarn winding machine according to claim 1, wherein the winding drum, a motor for driving the rotation of the winding drum, and a drum pulse having a frequency corresponding to a rotation speed of the winding drum are detected. A motor control device for controlling rotation, the motor control device comprising: frequency dividing means for dividing a pulse signal from the motor; and a first rotation of the motor in response to the pulse signal from the motor. A first rotation speed calculation unit for calculating a speed, a second rotation speed calculation unit for calculating a second rotation speed of the motor in accordance with the pulse signal divided by the frequency division unit, and a rotation speed of the motor. When the rotation speed is equal to or less than a predetermined threshold, an output amount for the motor is calculated based on the first rotation speed. When the rotation speed of the motor exceeds the threshold, the output amount is calculated based on the second rotation speed. Calculate output amount Characterized in that an output quantity calculating means for.
[0006]
According to the first aspect, when the rotation speed increases, the output amount to the motor is calculated based on the rotation speed (second rotation speed) calculated according to the divided pulse signal. Therefore, it is possible to reduce the number of times of calculation as compared with the calculation of the rotation speed (first rotation speed) in accordance with the pulse signal from the motor, and to reduce the load related to the calculation of the rotation speed.
[0007]
A yarn winding machine according to claim 2, wherein the winding drum, a motor that drives the rotation of the winding drum, and a drum pulse having a frequency corresponding to a rotation speed of the winding drum are detected. A motor control device for controlling rotation, the motor control device comprising: frequency dividing means for dividing the frequency of a pulse signal from the motor; First rotation speed calculation means for detecting a rotation time and calculating a first rotation speed of the motor; and a second rotation speed calculation means for calculating a second rotation speed of the motor in accordance with a pulse signal divided by the frequency dividing means. Two rotation speed calculation means; rotation speed correction means for calculating a corrected rotation speed of the motor based on a difference between the first rotation speed and the second rotation speed; If below the threshold Calculating an output amount for the motor based on the first rotation speed; and when the rotation speed of the motor is greater than the first threshold and less than or equal to a predetermined second threshold, the output amount is determined based on the corrected rotation speed. An output amount calculating means for calculating an amount of power and calculating an output amount based on the second rotation speed when the rotation speed of the motor is higher than the second threshold value.
[0008]
According to the second aspect, when the rotation speed increases, the output amount to the motor is calculated based on the rotation speed (second rotation speed) calculated according to the divided pulse signal. Therefore, it is possible to reduce the number of times of calculation as compared with the calculation of the rotation speed (first rotation speed) in accordance with the pulse signal from the motor, and to reduce the load related to the calculation of the rotation speed. Further, the first rotation speed is calculated by detecting a time during which the motor rotates 1 / n times. As a result, the rotation speed can be calculated without requiring an expensive memory. Further, the rotation speed used for obtaining the output amount to the motor is not directly switched from the first rotation speed to the second rotation speed, and from the second rotation speed to the first rotation speed. For this reason, it is possible to prevent the difference between the front and rear rotation speeds in the portion where the rotation speed used for calculating the output amount to the motor is discontinuous from increasing.
[0009]
4. The yarn winding machine according to claim 3, wherein a portion between the first threshold value and the second threshold value is divided into a plurality of sections, and the rotation speed correction unit determines that the second rotation speed is equal to the first rotation speed. When the difference is within a section close to a threshold, by subtracting a value obtained by performing a predetermined calculation process on a difference between the first rotation speed and the second rotation speed from the first rotation speed. The rotation speed is corrected, and when the second rotation speed is within a section close to the second threshold, the difference between the first rotation speed and the second rotation speed is set in advance to the second rotation speed. The rotation speed is corrected by adding a value obtained by performing a predetermined operation process.
[0010]
According to the third aspect, when the second rotation speed is in a section close to the first threshold value, a value obtained from the first rotation speed is subtracted, and when the second rotation speed is in a section close to the second threshold value, Since the value obtained from the second rotation speed is added, the change in the value before and after the subtraction / addition is small, and the error can be reduced.
[0011]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a yarn winding machine according to the present embodiment will be described with reference to the drawings. FIG. 1 is a unit of an automatic winder 1 showing an example of a yarn winding machine. In the winding direction of the yarn Y wound on a yarn supplying bobbin (yarn supplying winding body) B such as a spinning bobbin, the unwinding assisting device 2, the tension applying device 3, the multiple disk type fluff control device 4, the slab catcher 5, A yarn splicing device 6, a winding drum 7 for traversing the yarn Y, and a cradle K for gripping the winding package P are arranged in this order, and a control unit 50 for controlling these devices is further provided. The unit of the automatic winder 1 is configured to unwind the yarn Y from the bobbin B by the rotation of the winding drum 7 and wind the yarn Y into a winding package P which rotates in contact with the winding drum 7. A plurality of such units of the automatic winder 1 are arranged side by side to constitute one automatic winder 1.
[0012]
The tension applying device 3 also serving as a twist preventing device is disposed between the yarn supplying package B and the fluff control device 4 via the unwinding assisting device 2, and alternately moves the movable comb teeth 12 with respect to the fixed comb teeth 11. The gate type is arranged at The tension applying device 3 applies a tension according to the urging force applied to the movable comb teeth 12 to the yarn Y that is passed between the fixed comb teeth 11 and the movable comb teeth 12 and bent in a zigzag shape. Work. The applied tension is changed according to an electric signal from the control unit 50 (see FIG. 1) to the tension applying device 3. The tension applying device 3 also functions as a twist stopping device that controls the propagation of twist toward the yarn supply package B due to the false twist action of the fluff control device 4.
[0013]
The fluff controller 4 is for suppressing the fluff of the yarn Y unwound from the yarn supplying bobbin B and formed as a winding package P. By performing the twisting, the fluff is woven into the fiber group constituting the yarn Y. Further, the fluff control device 4 simultaneously applies a sending-out force toward the downstream side to the yarn Y.
[0014]
In FIG. 1, a slab catcher 5 is, for example, a capacitance-type or optical-type yarn thickness detection device, and detects a yarn defect such as a slab by processing a signal from the slab catcher 5 with an analyzer 40. If a yarn defect is detected, the yarn Y being wound up is cut by the attached cutter 5a.
[0015]
The yarn splicing device 6 performs a yarn splicing process of splicing the spun yarn on the yarn supplying bobbin B side and the spun yarn on the winding package P side. The yarn splicing device 6 includes a yarn splicing device main body 35, a lower yarn suction guide member 36 for guiding the spun yarn on the yarn supplying package B side to the yarn splicing device main body 35, and a yarn splicing device on the yarn supplying package P side. An upper thread suction guide member 37 for guiding to the main body 35 is provided.
[0016]
The lower thread suction guide member 36 has a freely openable and closable suction port 36a, and is rotatable about a shaft 36b. When the yarn Y is forcibly cut, the suction port 36a is opened, the fluff control device 4 and the tension applying device 3 serving also as a twist prevention device are opened, and the yarn end on the yarn supply side is sucked into the suction port 36a. When the yarn end is held by the suction port 36a and turned from the lower yarn end capturing position to the upper yarn end guiding position, the lower yarn is guided into the yarn joining device main body 35, the tension applying device 3 and the fluff control device 4. Is done. The lower thread suction guide member 36 has substantially the same posture as that at the time of thread capture. Since the state in which the suction port 36a is located between the yarn supplying package B and the tension applying device 3 is the standby position, the yarn end on the yarn supplying side can be quickly captured after the lower yarn suction guide member 36 is operated. It is possible to prevent the yarn end of the cut yarn Y from winding around the fluff binding drum 15.
[0017]
The upper thread guide suction member 37 has a suction port 37a and is rotatable about a shaft 37b. When the yarn Y is forcibly cut, it turns to the upper yarn end capturing position, and sucks the yarn end wound on the winding package P by the suction port 37a. Furthermore, the upper thread is guided to the yarn joining device main body 35 by the upper thread suction guide member 37 rotating downward while the upper thread is captured. Then, the yarn splicing device main body 35 splics the upper yarn and the lower yarn.
[0018]
The take-up drum 7 is configured as a traverse drum having a traverse groove, contacts the take-up package P, rotates the take-up package P, and traverses the yarn Y to be taken up by the take-up package P. . The winding drum 7 is driven by a DC brushless motor 41 whose rotation speed is controlled by an inverter 42. The control signal output from the control unit 50 controls the rotation speed of the DC brushless motor 41 via the inverter 42.
[0019]
The cradle K pivots toward the winding drum 7 and vice versa, whereby the winding package P comes into contact with and separates from the winding drum 7.
[0020]
First embodiment
Hereinafter, a control mechanism of the DC brushless motor (brushless DC motor) according to the first embodiment in the automatic winder 1 having the above-described configuration will be described with reference to the drawings. The control mechanism of the brushless DC motor constitutes a part of the control unit 50 (see FIG. 1).
[0021]
First, the configuration of a control mechanism (motor control device) for a brushless DC motor will be described with reference to FIGS. FIG. 2 is a block diagram illustrating a configuration of a control mechanism of the brushless DC motor. FIG. 3 is a functional diagram for explaining the function of the speed control unit in FIG.
[0022]
The motor control device 60 is connected to a rotation detector 61, a magnetic pole position detection sensor (Hall sensor) 62, and the brushless DC motor 41, as shown in FIG. The brushless DC motor 41 is connected to a power circuit (switching circuit) 69 of the motor control device 60, which will be described later.
[0023]
As shown in FIG. 4, the brushless DC motor 41 includes a rotor (rotor) 41a composed of a permanent magnet and a stator coil (stator) 41b composed of an armature winding. The brushless DC motor 41 has a magnetic pole position detection sensor (Hall sensor) 62 for detecting the position of the rotor 41a. Further, the torque of the brushless DC motor 41 is substantially proportional to the motor current.
[0024]
The magnetic pole position detection sensor (Hall sensor) 62 detects the timing of the waveform switching. During the rotation of the brushless DC motor 41, the magnetic pole position detection sensor 62 responds to the magnetic pole of the rotor 41a and has a frequency corresponding to the rotation speed of the rotor 41a. It outputs rotor position detection signals (Hu, Hv, Hw). In the case of the four-pole brushless DC motor 41, two pulses are output in one rotation. The rotor position detection signal output from the magnetic pole position detection sensor 29 is input to an output unit (drive circuit) 68 and a speed control unit 67 of the motor control device 60, which will be described later.
[0025]
The rotation detector (drum rotation sensor) 61 is a magnetic or optical rotary encoder provided on the rotation shaft of the winding drum 7 or the rotor 41a of the brushless DC motor 41, and the rotation of the rotation shaft causes the winding drum to rotate. 7, a drum pulse having a frequency corresponding to the rotation speed is output. The drum pulse output from the rotation detector 61 is input to a speed control unit 67 of the motor control device 60 described later and detected.
[0026]
The motor control device 60 includes an operation control unit 66, a speed control unit 67, an output unit (drive circuit) 68, and a power circuit (switching circuit) 69. The functions of the operation control unit 66 and the speed control unit 67 included in the motor control device 60 described below are mainly realized by a central processing unit such as a CPU.
[0027]
The motor control device 60 drives the brushless DC motor 41 by applying a voltage synchronized with the position of the rotor 41a to the stator coil 41b as described below. That is, based on the rotor position detection signals (Hu, Hv, Hw) from the magnetic pole position detection sensor 62, the motor control device 60 outputs a drive signal output from the output unit (drive circuit) 68 to the power circuit (switching circuit) 69. , The phase switching control (waveform switching) of the armature winding of the stator coil 41b is performed. The motor control device 60 switches the energization of the armature winding based on the rotor position detection signals (Hu, Hv, Hw) output from the magnetic pole position detection sensor 62, generates a PWM signal, and ) 68 to output a drive signal to a power circuit (switching circuit) 69. In this way, the driving of the brushless DC motor 41 is controlled by performing PWM control on the switching elements constituting the power circuit (switching circuit) 69.
[0028]
The operation control unit 66 inputs the target rotation speed of the rotor 41a of the brushless DC motor 41 to the speed control unit 67.
[0029]
As shown in FIG. 3, the speed control unit 67 includes a pulse cycle detection unit 71, a rotation speed calculation unit 72, a frequency division unit 73, a pulse cycle detection unit 74, a rotation speed calculation unit 75, and a rotation speed determination unit. A unit 76, a rotation speed monitor output unit 77, and a duty ratio calculation unit 78 are provided.
[0030]
The pulse period detection unit 71 detects, for example, the time during which the winding drum 7 connected to the brushless DC motor 41 makes a 1/4 rotation from the drum pulse input from the rotation detector 61. It should be noted that the detection of the す る rotation time is based on the capacity of a memory (not shown) provided in the control unit 50, and the rotation can be detected without using an expensive memory. The rotation speed calculation unit 72 obtains the current rotation speed N1 of the winding drum 7 based on the detection result of the pulse cycle detection unit 71 for each edge of the drum pulse (both the rising edge and the falling edge). Since the rotation speed N1 corresponds to the rotation speed of the rotor 41a of the brushless DC motor 41, the pulse period detection unit 71 and the rotation speed calculation unit 72 function as first rotation speed calculation means.
[0031]
The frequency divider 73 divides the frequency of the drum pulse input from the rotation detector 61. The pulse cycle detection unit 74 detects the time during which the winding drum 7 makes one rotation, for example, from the pulse divided by the frequency division unit 73. The number-of-rotations calculating unit 75 determines the current position of the winding drum 7 based on the detection result of the pulse period detecting unit 74 for each edge (both the rising edge and the falling edge) of the pulse divided by the dividing unit 73. Is obtained. That is, the pulse cycle detection unit 74 and the rotation speed calculation unit 75 function as a second rotation speed calculation unit.
[0032]
The rotation speed determination unit 76 determines whether or not the rotation speed N2 obtained by the rotation speed calculation unit 75 is greater than a predetermined threshold value Th (in the present embodiment, 1000 rpm). When the rotation speed determination unit 76 determines that the rotation speed N2 is greater than the threshold Th, the pulse cycle detection unit 71 and the rotation speed calculation unit 72 that constitute the first rotation speed calculation unit stop their operations. Therefore, in order to always compare the threshold value Th with the current rotational speed of the winding drum 7, it is preferable to use the rotational speed N2 which is constantly obtained.
[0033]
When the rotation speed determination unit 76 determines that the rotation speed N2 is equal to or smaller than the threshold Th (1000 rpm), the rotation speed monitor output unit 77 outputs the rotation speed N1 to the duty ratio calculation unit 78 as the monitor rotation speed. . When the rotation speed determination unit 76 determines that the rotation speed N2 is greater than the threshold Th (1000 rpm), the rotation speed monitor output unit 77 outputs the rotation speed N2 to the duty ratio calculation unit 78 as the monitor rotation speed. I do.
[0034]
The duty ratio calculator (output amount calculator) 77 calculates a duty based on a deviation between the rotation speed corresponding to the monitor rotation speed input from the rotation speed monitor output unit 77 and the target rotation speed input from the operation control unit 66. A ratio (output amount) is calculated, and a duty command indicating the calculated duty ratio is output to the output unit (drive circuit) 68.
[0035]
The output unit (drive circuit) 68 generates a drive signal for energizing the armature winding based on the rotor position detection signal and the duty ratio indicated by the duty command input from the speed control unit 67. The generated drive signal is input from an output unit (drive circuit) 68 to a power unit (switching circuit) 69.
[0036]
As shown in FIG. 4, the power unit (switching circuit) 69 includes a plurality (six) of three-phase bridge-connected transistors T1, T2, T3, T4, T5, and T6 (switching elements). Note that reflux diodes D1, D2, D3, D4, D5, and D6 are connected in anti-parallel to these transistors T1, T2, T3, T4, T5, and T6 (switching elements), respectively. The transistors T <b> 1 to T <b> 6 (switching elements) are PWM-controlled by the drive signal input from the output unit (drive circuit) 68, and the brushless DC motor 41 is driven.
[0037]
Next, a method of determining the current rotational speed used for calculating the duty ratio in the rotation control of the motor control device having the above-described configuration will be described with reference to FIG. FIG. 5 is a flowchart illustrating a processing procedure of a method of determining a rotation speed used for calculating a duty ratio in rotation control of the motor control device.
[0038]
In step S <b> 101, the pulse cycle detection unit 71 detects the time during which the winding drum 7 rotates 回 転 from the drum pulse input from the rotation detector 61. Then, the rotation speed calculation unit 72 obtains the current rotation speed N1 of the winding drum 7 based on the detection result of the pulse cycle detection unit 71 for each edge of the drum pulse (both the rising edge and the falling edge). .
[0039]
In step S102, the frequency divider 73 divides the frequency of the drum pulse input from the rotation detector 61. The pulse cycle detection unit 74 detects the time during which the winding drum 7 makes one rotation from the pulse divided by the frequency division unit 73. The rotation speed calculation unit 75 determines the current position of the winding drum 7 based on the detection result of the pulse period detection unit 74 for each edge (both the rising edge and the falling edge) of the pulse divided by the frequency division unit 73. Is obtained.
[0040]
In step S103, the rotation speed determination unit 76 determines whether the rotation speed N2 obtained in step S102 is greater than a threshold Th (1000 rpm). When it is determined that the rotation speed N2 is equal to or less than the threshold Th (S103: NO), the process proceeds to step S104. On the other hand, when it is determined that the rotation speed N2 is greater than the threshold Th (S103: YES), the process proceeds to step S105. Then, while the rotation speed N2 is determined to be larger than the threshold Th, the pulse cycle detection unit 71 and the rotation speed calculation unit 72 stop their operations.
[0041]
In step S104, the rotation speed monitor output unit 77 determines the rotation speed N1 obtained in step S101 as the monitor rotation speed, and outputs the determined monitor rotation speed to the duty ratio calculation unit 78.
[0042]
In step S105, the rotation speed monitor output unit 77 determines the rotation speed N2 obtained in step S102 as the monitor rotation speed, and outputs the determined monitor rotation speed to the duty ratio calculation unit 78.
[0043]
The duty ratio calculation unit 78 calculates a duty ratio (output amount to the motor) based on the rotation speed and the target rotation speed input from the rotation speed monitor output unit 77, and outputs a duty command indicating the calculated duty ratio. (Drive circuit) 68 is output. In other words, when the rotation speed N2 is equal to or less than the threshold Th, the duty ratio is calculated using the rotation speed N1 (without frequency division) obtained by the first rotation speed calculation means, and when the rotation speed N2 is larger than the threshold Th, Calculates the duty ratio using the rotation speed N2 obtained by the second rotation speed calculation means.
[0044]
With reference to FIG. 6, a description will be given, with reference to FIG. FIG. 6 is an explanatory diagram for explaining the monitor rotation speed used for calculating the duty ratio. In the figure, the solid line is the monitor rotation speed. The dashed line is the rotation speed N1 obtained when there is no frequency division. The two-dot chain line is the rotation speed N2 obtained when there is frequency division.
[0045]
In the section TA in FIG. 9, since the rotation speed N2 is equal to or less than the threshold Th, the rotation speed N1 without frequency division is determined as the monitor rotation speed. In the section TB, the rotation speed N2 is larger than the threshold Th1, so that the rotation speed N2 with frequency division is determined as the monitor rotation speed. In the section TC, the rotation speed N2 is equal to or smaller than the threshold Th1, so that the rotation speed N1 without frequency division is determined as the monitor rotation speed.
[0046]
Here, in the section TB, the rotation speed N1 is not compared with the threshold value Th, and the rotation speed N1 is not set as the monitor rotation speed. Therefore, it is not necessary to calculate the rotation speed N1 for each edge of the drum pulse. Stop the operation of calculating.
[0047]
According to the automatic winder 1 of the first embodiment described above, when the number of rotations of the winding drum 7 per unit time increases and the number of drum pulses generated per unit time increases, the divided pulse Is used, and during that time, the operation of calculating the number of revolutions for each edge (no frequency division) of the drum pulse of the number of revolutions N1 (no frequency division) is stopped. As a result, even if the number of drum pulses generated per unit time increases, the number of times of calculating the number of rotations of the brushless DC motor 41 does not increase, and the load related to calculating the number of rotations can be reduced.
[0048]
However, as described above, the rotation speed N1 (without frequency division) is obtained from rotation of 1/4 cycle, and the rotation speed N2 (with frequency division) is obtained from rotation of one cycle. Means that older data is used. Therefore, for example, when the rotation speed increases, the older the data, the lower the rotation speed, and thus the rotation speed N2 (with frequency division) becomes smaller than the rotation speed N1 (with frequency division). Conversely, when the rotation speed decreases, the older the data is, the higher the rotation speed is. Therefore, the rotation speed N2 (with frequency division) becomes larger than the rotation speed N1 (with frequency division). Thus, there is a difference in rotation speed between the rotation speed N1 (without frequency division) and the rotation speed N2 (with frequency division). Therefore, when switching from the rotation speed N1 to the rotation speed N2 or vice versa, it is conceivable that if the difference is large, the control of the rotation speed will be hindered. An improved embodiment is the second embodiment.
[0049]
Second embodiment
Hereinafter, a control mechanism of a DC brushless motor (brushless DC motor) according to the second embodiment in the automatic winder 1 having the above-described configuration will be described with reference to the drawings.
[0050]
First, the configuration of the control mechanism (motor control device) of the brushless DC motor will be described with reference to FIG. FIG. 7 is a functional diagram for explaining the function of the speed control unit 67a constituting the control mechanism of the brushless DC motor. Note that components that are substantially the same as those in the first embodiment are given the same reference numerals, and descriptions thereof are omitted.
[0051]
The speed control unit 67a includes a pulse cycle detection unit 71, a rotation speed calculation unit 72, a frequency division unit 73, a pulse cycle detection unit 74, a rotation speed calculation unit 75, a first rotation speed determination unit 81, A number correction unit 82, a second rotation speed determination unit 84, a rotation speed monitor output unit 77, and a duty ratio calculation unit 78 are provided.
[0052]
The first rotation speed determination unit 81 determines that the rotation speed N2 obtained by the rotation speed calculation unit 75 is greater than the threshold value Th1 (500 rpm in the present embodiment) and equal to or less than the threshold value Th2 (1500 rpm in the present embodiment). It is determined whether or not. This determination is performed to determine whether to correct the rotation speed N1 determined by the rotation speed calculation unit 72 and the rotation speed N2 determined by the rotation speed calculation unit 75.
[0053]
When the rotation speed N2 is larger than the threshold Th1 (500 rpm) and equal to or smaller than the threshold ThB (1000 rpm in the present embodiment), the rotation speed correction unit 82 calculates the rotation speed N1 and the rotation speed calculated by the rotation speed calculation unit 72. The rotation speed N1 is corrected using the rotation speed N2 obtained by the unit 75 (N1 ← the corrected rotation speed). The details will be described later with reference to the flowchart (S210, S211) of FIG.
[0054]
When the rotation speed N2 is larger than the threshold ThB (1000 rpm) and equal to or smaller than the threshold Th2 (1500 rpm), the rotation speed correction unit 82 obtains the rotation speed N1 and the rotation speed calculation unit 75 obtained by the rotation speed calculation unit 72. The rotation speed N2 is corrected using the obtained rotation speed N2 (N2 ← the corrected rotation speed). The details will be described later with reference to the flowchart (S205, S207) in FIG.
[0055]
The second rotation speed determination unit 84 determines whether or not the rotation speed N2 is greater than a predetermined threshold ThB (1000 rpm in the present embodiment). This determination is performed to determine which of the rotation speed N1 and the rotation speed N2 is output as the monitor rotation speed by the rotation speed monitor output unit 77.
[0056]
Next, a method of determining the current rotational speed (monitor rotational speed) used for calculating the duty ratio in the rotation control of the motor control device having the above-described configuration will be described with reference to FIG. FIG. 8 is a flowchart illustrating a processing procedure of a method of determining a rotation speed used for calculating a duty ratio in rotation control of the motor control device. In the present embodiment, the threshold Th1 is set to 500 rpm, the threshold Th2 is set to 1500 rpm, the threshold ThA is set to 1250 rpm, and the threshold ThC is set to 750 rpm. This is due to consideration of dividing into four parts.
[0057]
In step S <b> 201, the pulse cycle detection unit 71 detects a time during which the winding drum 7 rotates 回 転 from the drum pulse input from the rotation detector 61. Then, the rotation speed calculation unit 72 obtains the current rotation speed N1 of the winding drum 7 based on the detection result of the pulse cycle detection unit 71 for each edge of the drum pulse (both the rising edge and the falling edge). .
[0058]
In step S202, the frequency divider 73 divides the drum pulse input from the rotation detector 61. The pulse cycle detection unit 74 detects the time during which the winding drum 7 makes one rotation from the pulse divided by the frequency division unit 73. The number-of-rotations calculating unit 75 determines the current position of the winding drum 7 based on the detection result of the pulse period detecting unit 74 for each edge (both the rising edge and the falling edge) of the pulse divided by the dividing unit 73. Is obtained.
[0059]
In step S203, the first rotation speed determination unit 81 determines whether or not the rotation speed N2 obtained in step S202 is in a range greater than the threshold Th1 (500 rpm) and smaller than the threshold Th2 (1500 rpm). If it is determined that the rotation speed N2 is not in the above range (S203: NO), the process of step S212 is performed without performing the process of correcting the rotation speed N1 obtained in step S201 and the rotation speed N2 obtained in step S202. Move on to processing. Then, while the second rotation speed determining unit 84 determines in step S212 that the rotation speed N2 is greater than the threshold ThB (1000 rpm), and while the rotation speed N2 is determined to be equal to or greater than the threshold Th2, the pulse is output. The period detecting section 71 and the rotation speed calculating section 72 stop their operations. On the other hand, when it is determined that the rotation speed N2 is within the above range (S203: YES), the process proceeds to step S204.
[0060]
In step S204, the rotation speed difference ΔN is calculated by the rotation speed correction unit 82 by subtracting the rotation speed N2 obtained in step S202 from the rotation speed N1 obtained in step S201 (ΔN = N1−N2). ).
[0061]
In step S205, it is determined whether or not the rotation speed N2 obtained in step S202 is greater than a threshold value ThA (1250 rpm in the present embodiment). When it is determined that the rotation speed N2 is greater than the threshold ThA (1250 rpm) (S205: YES), the process proceeds to step S206. On the other hand, when it is determined that the rotation speed N2 is equal to or less than the threshold ThA (1250 rpm) (S205: NO), the process proceeds to step S207.
[0062]
In step S206, since the rotation speed N2 is between the threshold value ThC and the threshold value Th2 (an interval close to the threshold value Th2), the rotation speed correction unit 82 uses the rotation speed difference ΔN obtained in step S205 to obtain N2 + ΔN × 1. / N (a predetermined arithmetic expression, where n is the number of divisions, and 1 / n indicates a predetermined ratio, where n is 4 in the present embodiment), and is calculated in step S202. The obtained rotation speed N2 is corrected (N2 ← N2 + ΔN × １ ／).
[0063]
In step S207, it is determined whether or not the rotation speed N2 obtained in step S202 is greater than a threshold ThB (in the present embodiment, 1000 rpm). When it is determined that the rotation speed N2 is greater than the threshold ThB (1000 rpm) (S207: YES), the process proceeds to step S208. On the other hand, when it is determined that the rotation speed N2 is equal to or less than the threshold ThB (1000 rpm) (S207: NO), the process proceeds to step S209.
[0064]
In step S208, since the rotation speed N2 is between the threshold value ThB and the threshold value ThC (an interval close to the threshold value Th2), the rotation speed correction unit 82 uses the rotation speed difference ΔN obtained in step S205 to obtain N2 + ΔN × 2. / N (a predetermined arithmetic expression. N is the number of divisions and 2 / n represents a predetermined ratio. N is 4 in the present embodiment) and is calculated in step S202. The corrected rotation speed N2 is corrected (N2 ← N2 + ΔN × 2/4).
[0065]
In step S209, it is determined whether or not the rotation speed N2 obtained in step S202 is larger than a threshold ThC (750 rpm in the present embodiment). When it is determined that the rotation speed N2 is larger than the threshold ThC (750 rpm) (S209: YES), the process proceeds to step S210. On the other hand, when it is determined that the rotation speed N2 is equal to or less than the threshold ThC (750 rpm) (S209: NO), the process proceeds to step S211.
[0066]
In step S210, since the rotation speed N2 is between the threshold value ThA and the threshold value ThB (an interval close to the threshold value Th1), the rotation speed correction unit 82 uses the rotation speed difference ΔN obtained in step S205 to obtain N1−ΔN. X2 / n (this is a predetermined arithmetic expression; n is the number of divisions, and 2 / n represents a predetermined ratio; n is 4 in the present embodiment), and step S201 is performed. Is corrected (N1 ← N1-ΔN × 2/4).
[0067]
In step S211, since the rotation speed N2 is between the threshold value Th1 and the threshold value ThA (an interval close to the threshold value Th1), the rotation speed correction unit 82 uses the rotation speed difference ΔN obtained in step S205 to calculate N1−ΔN. X1 / n (this is a predetermined arithmetic expression. N is the number of divisions, and 1 / n represents a predetermined ratio. N is 4 in the present embodiment), and step S201 is performed. Is corrected (N1 ← N1−ΔN × ４).
[0068]
In step S212, the second rotation speed determination unit 84 determines whether the rotation speed N2 is greater than a threshold Th (1000 rpm). When it is determined that the rotation speed N2 is equal to or less than the threshold Th (1000 rpm) (S212: NO), the process proceeds to step S213. On the other hand, when it is determined that the rotation speed N2 is greater than the threshold value Th (1000 rpm) (S212: YES), the process proceeds to step S214.
[0069]
In step S213, the rotation speed monitor output unit 77 determines the rotation speed N1 as the monitor rotation speed, and outputs the determined monitor rotation speed to the duty ratio calculation unit 78.
[0070]
In step S214, the rotation speed monitor output unit 77 determines the rotation speed N2 as the monitor rotation speed, and outputs the determined monitor rotation speed to the duty ratio calculation unit 78.
[0071]
The duty ratio calculation unit 78 calculates a duty ratio based on the rotation speed and the target rotation speed input from the rotation speed monitor output unit 77, and sends a duty command indicating the calculated duty ratio to the output unit (drive circuit) 68. Output. That is, when the rotation speed N2 is equal to or smaller than the threshold Th1, the duty ratio is calculated using the rotation speed N1 (an uncorrected value). When the rotation speed N2 is larger than the threshold Th1 and equal to or smaller than the threshold ThC, the duty ratio is calculated using the rotation speed N1 (the value corrected in step S211). When the rotation speed N2 is larger than the threshold ThC and equal to or smaller than the threshold ThB, the duty ratio is calculated using the rotation speed N1 (the value corrected in step S210).
When the rotation speed N2 is larger than the threshold ThB and equal to or smaller than the threshold ThA, the duty ratio is calculated using the rotation speed N2 (the value corrected in step S208). When the rotation speed N2 is larger than the threshold ThA and equal to or smaller than the threshold Th2, the duty ratio is calculated using the rotation speed N2 (the value corrected in step S206). When the rotation speed N2 is larger than the threshold value Th2, the duty ratio is calculated using the rotation speed N2 (an uncorrected value).
[0072]
With the above processing, the monitor rotation speed input to the duty ratio calculation unit 78 will be described with reference to FIG. FIG. 9 is an explanatory diagram for explaining the monitor rotation speed used for calculating the duty ratio. In the figure, the solid line is the monitor rotation speed. The dashed line indicates the number of revolutions N1 when there is no frequency division. The two-dot chain line indicates the rotation speed N2 when there is frequency division.
[0073]
In the section ta in FIG. 9, since the rotation speed N2 is equal to or less than the threshold Th1, the rotation speed N1 without frequency division obtained in step S201 is determined as the monitor rotation speed.
[0074]
In the section tb, since the rotation speed N2 is between the threshold value Th1 and the threshold value ThC, the rotation speed N1 obtained in step S211 and the corrected rotation speed N1 is determined as the monitor rotation speed. In the section tc, since the rotation speed N2 is between the threshold value ThC and the threshold value ThB, the rotation speed N1 obtained and corrected in step S210 is determined as the monitor rotation speed. In the section td, since the rotation speed N2 is between the threshold value ThB and the threshold value ThA, the rotation speed N2 obtained in step S208 and corrected is determined as the monitor rotation speed. In the section te, since the rotation speed N2 is between the threshold value ThA and the threshold value Th2, the rotation speed N2 obtained in step S206 and the corrected rotation speed N2 is determined as the monitor rotation speed.
[0075]
In the section tf, since the rotation speed N2 is larger than the threshold Th2, the rotation speed N2 with frequency division obtained in step S202 is determined as the monitor rotation speed by the determination of NO in step S203.
[0076]
In the section tg, since the rotation speed N2 is between the threshold value ThA and the threshold value Th2, it is equal to or less than the threshold value Th2 (1500 rpm). Therefore, the rotation speed difference ΔN is obtained by restarting the calculation of the stopped rotation speed N1, and the corrected rotation speed N2 obtained in step S206 is determined as the monitor rotation speed. In the section th, since the rotation speed N2 is between the threshold value ThA and the threshold value ThB, the rotation speed N2 obtained in step S208 and corrected is determined as the monitor rotation speed. In the section ti, since the rotation speed N2 is between the threshold value ThC and the threshold value ThB, the rotation speed N1 obtained and corrected in step S210 is determined as the monitor rotation speed. In the section tj, since the rotation speed N2 is between the threshold value Th1 and the threshold value ThC, the rotation speed N1 obtained in step S211 and the corrected rotation speed N1 is determined as the monitor rotation speed. In the sections tg to tj, the sign of the difference Δ is negative, and the signs of steps S206, S208, S210, and S211 are reversed.
[0077]
In the section tk, since the rotation speed N2 is equal to or smaller than the threshold Th1, the rotation speed N1 without frequency division is determined as the monitor rotation speed by the determination of NO in step S203.
[0078]
Here, in the section tf, the rotation speed N1 is not set to the monitor rotation speed, the rotation speeds N1 and N2 are not corrected, and the rotation speed N1 is not compared with the threshold values Th1, ThA, ThB, ThC, and Th2. In addition, there is no need to calculate the rotation speed N1 for each edge of the drum pulse, and the operation of calculating the rotation speed N1 is stopped.
[0079]
According to the automatic winder 1 of the second embodiment described above, as in the case of the first embodiment, the number of rotations of the winding drum 7 per unit time increases, and the number of rotations per unit time increases. When the number of drum pulses increases, the number of revolutions calculated using the divided pulses is used, and during that time, the number of revolutions is changed for each edge (no division) of the drum pulse of revolution number N1 (no division). Is stopped. As a result, even if the number of drum pulses generated per unit time increases, the number of times of calculating the number of rotations of the brushless DC motor 41 does not increase, and the load related to calculating the number of rotations can be reduced.
[0080]
Also, without directly switching the monitor rotation speed from the rotation speed N1 obtained in step S201 to the rotation speed N2 obtained in step S202, or vice versa, the monitor rotation speed is changed to the rotation speed N1 obtained in step S201. , The rotation speed corrected using the rotation speed N1 obtained in step S201 and the rotation speed N2 obtained in step S202, the rotation speed N2 obtained in step S202, or vice versa. For this reason, the monitor value of the rotation speed used for the duty ratio calculation can be switched in a stepwise manner, and it is possible to prevent a large fluctuation. As a result, the tension of the wound yarn does not largely change, and the quality of the package can be kept good.
[0081]
In particular, in the present embodiment, the calculation amount is subtracted from the rotation speed N1 in a section near the threshold value Th1, and the calculation amount is added to the rotation speed N2 in a section near the threshold value Th2. For this reason, in a section close to the threshold Th1, it is sufficient to subtract a value smaller than the value to be added to the rotation speed N2 from the rotation speed N1, and it is possible to reduce the difference before and after the subtraction, thereby reducing the error. Can be. Similarly, in a section close to the threshold Th2, it is sufficient to add a value smaller than a value to be subtracted from the rotation speed N1 to the rotation speed N2, and it is possible to reduce a difference before and after the addition, thereby reducing an error. Can be.
[0082]
The preferred embodiment of the present invention has been described above. However, the present invention is not limited to the above-described embodiment, and various design changes can be made within the scope of the appended claims. For example, it is needless to say that the values of the respective threshold values and the number of divisions n are merely examples, and other values may be used.
[0083]
Further, the present invention is not limited to the method of correcting the rotational speed as described in the second embodiment (S206, S208, S210, S211 in FIG. 11), and the rotational speed difference before and after the portion where the monitor rotational speed becomes discontinuous. Any method can be used as long as it is a method of correcting the number of revolutions that reduces the rotation speed.
[0084]
Further, in the above embodiment, the automatic winder 1 is described as an example, but it is needless to say that the present invention can be applied to other yarn winding machines.
[0085]
【The invention's effect】
As described above, according to the first aspect, when the rotation speed increases, the output amount to the motor is calculated based on the rotation speed (second rotation speed) calculated according to the frequency-divided pulse signal. Therefore, it is possible to reduce the number of times of calculation as compared with the calculation of the rotation speed (first rotation speed) in accordance with the pulse signal from the motor, and to reduce the load related to the calculation of the rotation speed.
[0086]
According to the second aspect, when the rotation speed increases, the output amount to the motor is calculated based on the rotation speed (second rotation speed) calculated according to the divided pulse signal. Therefore, it is possible to reduce the number of times of calculation as compared with the calculation of the rotation speed (first rotation speed) in accordance with the pulse signal from the motor, and to reduce the load related to the calculation of the rotation speed. Further, the first rotation speed is calculated by detecting a time during which the motor rotates 1 / n times. As a result, the rotation speed can be calculated without requiring an expensive memory. Further, the rotation speed used for obtaining the output amount to the motor is not directly switched from the first rotation speed to the second rotation speed, and from the second rotation speed to the first rotation speed. For this reason, it is possible to prevent the difference between the front and rear rotation speeds in the portion where the rotation speed used for calculating the output amount to the motor is discontinuous from increasing.
[0087]
According to the third aspect, when the second rotation speed is in a section close to the first threshold value, a value obtained from the first rotation speed is subtracted, and when the second rotation speed is in a section close to the second threshold value, Since the value obtained from the second rotation speed is added, the change in the value before and after the subtraction / addition is small, and the error can be reduced.
[Brief description of the drawings]
FIG. 1 is a front view showing a device configuration of a unit of an automatic winder according to the present invention.
FIG. 2 is a configuration diagram of a motor control device according to the first embodiment.
FIG. 3 is a functional diagram of a speed control unit included in the motor control device of FIG. 2;
FIG. 4 is a diagram showing a power circuit constituting the DC brushless motor of FIG. 2 and a motor control device.
FIG. 5 is a flowchart illustrating a method of determining a rotation speed used for calculating a duty ratio in the first embodiment.
FIG. 6 is an explanatory diagram for explaining a monitor rotation speed used for calculating a duty ratio.
FIG. 7 is a functional diagram of a speed control unit according to the second embodiment.
FIG. 8 is a flowchart illustrating a method of determining a rotational speed used for calculating a duty ratio.
FIG. 9 is an explanatory diagram for explaining a monitor rotation speed used for calculating a duty ratio.
[Explanation of symbols]
1 automatic winder (thread winding machine)
41 DC brushless motor
60 Motor control device
61 Rotation detector
62 Magnetic pole position detection sensor
66 Operation control unit
67 Speed control unit
68 Output section (drive circuit)
69 Power circuit (switching circuit)
71 Pulse period detector
72 RPM calculator
73 divider
74 pulse cycle detector
75 RPM calculator
76 Rotation speed judgment unit
77 Speed monitor output section
78 Duty ratio calculator
N1 speed (without frequency division)
N2 rotation speed (with frequency division)
Th threshold

Claims (3)

A take-up drum, a motor that drives the take-up drum to rotate, and a motor control device that detects a drum pulse having a frequency corresponding to the rotation speed of the take-up drum and controls the rotation of the motor. ,
The motor control device,
Frequency dividing means for dividing the pulse signal from the motor,
First rotation speed calculation means for calculating a first rotation speed of the motor according to a pulse signal from the motor;
Second rotation speed calculation means for calculating a second rotation speed of the motor according to the pulse signal divided by the frequency division means;
When the rotation speed of the motor is equal to or less than a predetermined threshold value, an output amount for the motor is calculated based on the first rotation speed. When the rotation speed of the motor exceeds the threshold value, the output amount of the second motor is calculated. An output amount calculating means for calculating the output amount based on a rotation speed. A take-up drum, a motor that drives the take-up drum to rotate, and a motor control device that detects a drum pulse having a frequency corresponding to the rotation speed of the take-up drum and controls the rotation of the motor. ,
The motor control device,
Frequency dividing means for dividing the pulse signal from the motor,
First rotation speed calculation means for detecting a time during which the motor rotates 1 / n times in response to a pulse signal from the motor and calculating a first rotation speed of the motor;
Second rotation speed calculation means for calculating a second rotation speed of the motor according to the pulse signal divided by the frequency division means;
Rotation speed correction means for calculating a correction rotation speed of the motor based on a difference between the first rotation speed and the second rotation speed;
When the rotation speed of the motor is equal to or less than a predetermined first threshold value, an output amount for the motor is calculated based on the first rotation speed, and the rotation speed of the motor is determined to be larger than the first threshold value. If the rotation speed is equal to or less than the second threshold value, the output amount is calculated based on the corrected rotation speed. If the rotation speed of the motor is higher than the second threshold value, the output amount is calculated based on the second rotation speed. A yarn winding machine comprising: The interval between the first threshold and the second threshold is divided into a plurality of sections,
When the second rotation speed is within an interval close to the first threshold value, the rotation speed correction unit calculates a difference between the first rotation speed and the second rotation speed from the first rotation speed in advance. The rotational speed is corrected by subtracting a value obtained by performing a predetermined arithmetic processing, and when the second rotational speed is within an interval close to the second threshold, the second rotational speed is set to: The yarn according to claim 2, wherein the rotational speed is corrected by adding a value obtained by performing a predetermined calculation process to a difference between the first rotational speed and the second rotational speed. Strip winder.

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