JP2004196475A - Winding device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a winding device capable of continuously adjusting applied voltage to a torque motor, suppressing occurrence of sharp torque change, and contributing to improvement of accuracy of winding tension. <P>SOLUTION: In an inverter control part 41, a basic pattern represented as a voltage command that continuously increases to target voltage inputted from an operating panel 19 is generated in a basic pattern computing part 51. When an operation command is inputted from the operating panel 16, the inverter control part 41 stores the basic pattern in a second operation command judgement part 55, and controls the applied voltage to the torque motor 8 to be directed to the target voltage on the basis of the voltage command sequentially read out from the basic pattern according to elapse of time. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a winding device, and more particularly, to a winding device for winding a linear or band-shaped elongated object such as a wire or a cable, and more particularly to a winding device using a torque motor on a winding side.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a winding device 100 as shown in FIG. 10 has been known as a winding device used for winding a linear or band-shaped elongated object such as a wire or a cable.
[0003]
In the winding device 100, a large number of electric wires 2 are wound around a feeder bobbin 1 that is a source of unwinding, and the feeder bobbin 1 is driven by a power supply device such as an inverter device 3 on the supply side. Feeding is performed by rotating the motor (IM) 4. In general, a commercial power supply is supplied to the inverter device 3 on the supply side.
[0004]
The supplied electric wire 2 is wound on a winding bobbin 9 driven by a torque motor 8 via intermediate rotary pulleys 5, 6, and 7.
[0005]
The output voltage of the SLIDAC 10 is applied to the torque motor 8, and in the conventional device, the output voltage of the SLIDAC 10 is manually adjusted to keep the tension during winding constant. It should be noted that commercial power is usually supplied to the SLIDAC 10.
[0006]
Unlike the general-purpose induction motor, the torque motor 8 does not control the frequency and voltage at a constant ratio (V / f constant) to change the speed, but the frequency is substantially fixed (for example, 50 Hz, 60 Hz), and the voltage is changed. This motor has the feature that the generated torque can be adjusted by changing it.
[0007]
In other words, in the era when inverters and the like are not widespread, a structurally simple device capable of controlling and adjusting the tension by manual operation by a human can be configured by using the torque motor 8.
[0008]
That is, in the case of the winding device 100, if no control is performed, the tension applied to the electric wire 2 decreases with the elapse of the winding elapsed time T as shown in the graph of "when not controlled" shown in FIG. This is because the amount of electric wire wound around the winding bobbin 9 increases, so that the rotational torque becomes insufficient.
[0009]
In such a state, since the tension is reduced and the line sags, conventionally, the sliderac 10 is adjusted to increase the voltage applied to the torque motor 8, thereby recovering the torque and keeping the tension constant.
[0010]
FIG. 11 shows a graph of a change in the tension applied to the electric wire 2 during the manual adjustment. As shown in FIG. 11, during "manual operation", the tension is basically kept close to a constant value, but slightly fluctuates depending on the timing and amount of manual adjustment as shown in the graph.
[0011]
As a winding device using the torque motor 8, a “tension adjusting device” described in Patent Document 1 and a “take-up winder” described in Patent Document 2 are reported.
[0012]
[Patent Document 1]
JP-A-2-188354
[0013]
[Patent Document 2]
JP 2001-226034A
[0014]
[Problems to be solved by the invention]
In this conventional apparatus, since the torque adjustment of the torque motor 8 is performed manually, there is a problem in that the work easily depends on the experience and intuition of the operator, and the manual operation is troublesome.
[0015]
In addition, since it is difficult to adjust the applied voltage continuously by always operating the apparatus, it is inevitably a stepwise adjustment operation, a steep torque change occurs at the time of adjustment, and it is not expected to improve the accuracy of the winding tension. There was a problem.
[0016]
Further, when the torque motor 8 is started, there has been a demand for realizing stable winding control even in a transient state at the time of a stop or an abnormal situation such as a sudden change in load.
[0017]
Further, in the transient state at the start of winding, or during a stop, restart, or stop, the load torque characteristic changes each time depending on the magnitude of the load, the amount of inertia of the winding bobbin 9, and the elapsed winding time. Therefore, there has been a demand to realize stable winding control even in such a transient state.
[0018]
Further, there has been a demand to prevent overexcitation and overcurrent when the torque motor 8 is started or stopped.
[0019]
The present invention has been made in view of the above, and its purpose is to be able to continuously adjust the voltage applied to the torque motor, to suppress the occurrence of a sharp torque change, and to further reduce the winding tension. An object of the present invention is to provide a winding device that can contribute to improvement in accuracy.
[0020]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, the invention according to claim 1 is a winding means for winding a long object, and a torque motor for applying a fixed applied frequency and changing an output torque according to an applied voltage to drive the winding means. And a inverter device that converts AC power supplied from a commercial power supply into three-phase AC power and applies the same to the torque motor, wherein the inverter device inputs a command corresponding to an operation. Operation input means, a basic pattern generation means for generating a basic pattern represented by a voltage command that continuously increases to a target voltage input from the operation input means, and when an operation command is input from the operation input means. Stores the basic pattern output from the basic pattern generating means and, based on the voltage command sequentially read from the basic pattern over time. , And summarized in that the voltage applied to the torque motor and control means for controlling so as to be directed to the target voltage.
[0021]
According to the second aspect of the present invention, when an operation command is input from the operation input means, the control means raises the voltage command from 0 V to a voltage indicated by a basic pattern over a predetermined time. The gist is to control so that
[0022]
According to the third aspect of the present invention, when a stop command is input from the operation input means, the control means decreases the voltage command from the voltage indicated by the basic pattern to 0 V over a predetermined time. The gist is to control so that
[0023]
According to the fourth aspect of the present invention, the control unit includes a voltage automatic adjustment unit that adds a difference obtained from a voltage of the commercial power supply and a predetermined reference voltage to the voltage command to correct the difference. Make a summary.
[0024]
According to the fifth aspect of the present invention, there is provided a current detecting means for detecting an alternating current applied from the inverter device to the torque motor, and the control means protects the detected value from the current detecting means to a predetermined value. The gist of the present invention is that an overcurrent protection means for controlling the voltage command to be reduced until the detected value becomes equal to or less than the predetermined protection reference value when the reference value is exceeded is provided.
[0025]
According to the present invention as set forth in claim 6, when the operation command is input from the operation input means, the control means switches the frequency command from 0 Hz to a predetermined frequency and fixes the frequency command. Is controlled to rise from 0 V to a voltage indicated by the basic pattern over a predetermined time, and when a stop command is input from the operation input means, the voltage command is changed from the voltage indicated by the basic pattern to 0 V. The gist of the present invention is to control the frequency command to return to 0 Hz after controlling to descend over a predetermined time.
[0026]
According to the present invention, when the control means is stopped in the middle of the operation, when the operation command is input from the operation input means, the control means performs the predetermined time from 0 V to the voltage command immediately before the previous stop. The point is to control so as to rise by multiplying by.
[0027]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0028]
FIG. 1 is a diagram illustrating a configuration of a winding device according to an embodiment of the present invention.
[0029]
As shown in FIG. 1, a large number of electric wires 2 are wound around a feeder bobbin 1 that is a source of unwinding, and the feeder bobbin 1 is driven by a power supply device such as an inverter device 3 on the supply side. Feeding is performed by being rotated by the induction motor (IM) 4. In general, a commercial power supply is supplied to the inverter device 3 on the supply side.
[0030]
The supplied electric wire 2 is wound on a winding bobbin 9 driven by a torque motor 8 via intermediate rotary pulleys 5, 6, and 7.
[0031]
The output voltage of the inverter device 11 is applied to the torque motor 8, the output voltage of the inverter device 11 is automatically adjusted, and the tension at the time of winding is kept constant. The inverter device 11 is usually supplied with commercial power. The torque motor 8 is characterized in that the frequency is substantially fixed (for example, 50 Hz, 60 Hz) and the generated torque can be adjusted by changing the voltage.
[0032]
An operation panel 16 is connected to the inverter device 11 for inputting various commands to be described later. The inverter device 11 supplies an output voltage to the torque motor 8 in accordance with the various commands input from the operation panel 16, Adjust the generated torque.
[0033]
FIG. 2 is a diagram illustrating a configuration of the operation panel 16.
[0034]
The operation panel 16 is provided on the front surface of the housing of the inverter device 11. The operation parts include a DRIVE key 21, a numeric keypad 22, a decimal point key 23, an ENTER (execute / fix) key 24, an ENTER key 24, a step key 25, a PROGRAM (program) key 26, and a display switching / A CLEAR key 27 and a STOP key 28 are provided.
[0035]
Further, the display portion includes a segment monitor 31 and eight lamps (a lamp provided with each display of Ctrl, MPa, V,%, rpm, A, and Hz, and an operation mode display lamp 32). Each of these is composed of an LED, and the segment monitor 31 displays an operation state, a parameter number, a set value thereof, a state of the inverter control unit 41, and the like.
[0036]
FIG. 3 is a diagram illustrating a configuration of the inverter device 11.
[0037]
An inverter control unit 41 is connected to the operation panel 16. The inverter control unit 41 generates an output frequency command and an output voltage command in accordance with various commands input from the operation panel 16, and generates a PWM control unit 43. Output to
[0038]
Here, the configuration of the inverter control unit 41 will be described.
[0039]
The frequency command output from the operation panel 16 in response to the operator's operation is temporarily input to the first operation command determination unit 53 and stored in a memory provided therein. When the DRIVE key provided on the operation panel 16 is pressed, an operation command is input to the first operation command determination unit 53, and the stored frequency command is output to the overcurrent protection unit 71. When the STOP key is pressed after the DRIVE key is pressed, the operation command is released, and the frequency command output from the first operation command determination unit 53 returns to 0.
[0040]
The target voltage output from the operation panel 16 is once input to the basic pattern calculation unit 51. The basic pattern calculation unit 51 calculates a basic pattern of a voltage to be supplied to the torque motor 8 according to the input target voltage, and writes the calculated basic pattern into a memory provided therein. FIG. 4 is a graph showing a basic pattern written in the memory of the basic pattern calculation unit 51. The basic pattern calculation unit 51 outputs the calculated basic pattern to the second operation command determination unit 55 and stores it.
[0041]
When the DRIVE key provided on the operation panel 16 is pressed, an operation command is input to the second operation command determination unit 55, and the stored basic patterns are sequentially read out according to the elapsed time to increase the voltage command. The output is output to the decreasing unit 57.
[0042]
The voltage command increasing / decreasing unit 57 rises to a target voltage on the basic pattern with a time gradient according to a voltage increasing gradient command set in advance by the operation panel 16. When a voltage decrease gradient command is set in advance by the operation panel 16, a stop operation is performed using the voltage decrease gradient. The voltage command added with the increasing / decreasing gradient by the voltage command increasing / decreasing unit 57 is further input to an AVR unit 59 (automatic output voltage adjusting means), and automatic voltage control AVR is performed.
[0043]
The AVR unit 59 inputs a reference voltage preset in the inverter control unit 41 and a voltage value of the commercial power supply to an adder 65 to obtain a deviation thereof, inputs the deviation to a gain 67, multiplies the gain, and multiplies the value by the obtained value. The current voltage command value is added by the adder 69 and output to the overcurrent protection unit 71. In the AVR unit 59, control is performed to correct the change in the commercial power with respect to the reference voltage. For example, when the input commercial power voltage is large, the voltage command is subtracted by the deviation at that time, and the output is reduced. This prevents the voltage from being affected by a change in the voltage of the commercial power supply to which the voltage is input.
[0044]
On the other hand, the effective value converter 63 inputs the U-phase and W-phase current amounts Iu and Iw flowing through the torque motor 8 detected by the current sensors CT1 and CT2, respectively, and converts these current amounts Iu and Iw into effective values. Further, it converts the effective value of each phase into an effective value of the current flowing to the torque motor 8 and outputs the effective value to the overcurrent protection unit 71.
[0045]
FIG. 5 is a graph showing the operation of the overcurrent protection unit 71.
[0046]
The overcurrent protection unit 71 determines whether the effective current value exceeds or falls below the protection reference value, gives a voltage decreasing gradient or a voltage increasing gradient to the output voltage command, and outputs the output frequency command and the output By outputting the voltage command, the output current output from the inverter 47 to the torque motor 8 is limited as shown in FIG.
[0047]
That is, in the overcurrent protection unit 71, the protection reference value of the output current is stored in an internally provided memory, and when the effective current value exceeds the protection reference value, the output voltage is reduced by the voltage decreasing gradient. When the effective current value falls below the protection reference value, the current effective value is increased in accordance with the voltage increasing gradient.
[0048]
An inverter 47 is connected to the PWM controller 43. Based on the output frequency command and the output voltage command generated by the inverter controller 41, the amplitude and the output frequency command represented by the output voltage command are used. Generating three-phase sine waveform data having a given period, comparing the internally generated triangular wave carrier with the sine waveform data of each phase to generate three sets of ON / OFF signals having mutually opposite levels, These three sets of ON / OFF signals are output to the inverter unit 47. In the drawings, these three sets of ON / OFF signals are represented as Up, Un, Vp, Vn, Wp, and Wn.
[0049]
On the other hand, three-phase alternating currents R, S, and T are input to the converter 45 as commercial power, and the diodes D1 and D2 provided in the converter 45 have an R phase, D3 and D4 have an S phase, and D5 and D6 have a T phase. The DC power is input, rectified and smoothed by each diode and the capacitor C1, and DC power is output to DC terminals P and N (P: positive terminal, N: negative terminal).
[0050]
An inverter 47 is connected to the DC terminals P and N. More specifically, a positive terminal P is connected to the switching elements Q1, Q3, Q5 and diodes D7, D9, D11 provided in the inverter 47. A negative terminal N is connected to the elements Q2, Q4, Q6 and the diodes D8, D10, D12. Furthermore, three sets of ON / OFF signals Up, Un, Vp, Vn, Wp, and Wn output from the PWM control unit 43 are input to the bases of the switch elements Q1, Q2, Q3, Q4, Q5, and Q6, respectively. ing.
[0051]
The inverter unit 47 switches the DC power input to the DC terminals P and N in accordance with three sets of ON / OFF signals Up, Un, Vp, Vn, Wp, and Wn output from the PWM control unit 43. By controlling ON / OFF of each of the elements Q1, Q2, Q3, Q4, Q5, and Q6, the U phase from the connection point of the switching elements Q1 and Q2, the V phase from the connection point of the switching elements Q3 and Q4, and the switching element The W phase is output to the input terminal of the torque motor 8 from the connection point between Q5 and Q6.
[0052]
Current sensors CT1 and CT2 are magnetically coupled to U-phase and W-phase power supply lines connected from the inverter unit 47 to the torque motor 8, and the current sensors CT1 and CT2 are connected to the torque motor 8 by the U-phase power supply lines. The respective current amounts Iu and Iw flowing through the power supply lines of the phase and the W phase are detected and output to an effective value converter 63 provided in the inverter controller 41.
[0053]
Next, the operation of the winding device according to the embodiment of the present invention will be described in detail.
[0054]
As shown in FIG. 1, a large number of electric wires 2 are wound around a feeder bobbin 1 that is a source of unwinding, and the electric wires 2 pass through intermediate rotating pulleys 5, 6, and 7 to a winding bobbin 9. Prepared to be wound up.
[0055]
Now, a frequency command, a target voltage, an operation command, a voltage increase gradient command, a voltage decrease gradient command, and the like are generated from the operation panel 16 in accordance with the operation of the operator, and are output to each unit provided in the inverter control unit 41. Specifically, in the inverter control unit 41, the frequency command output from the operation panel 16 is input to the first operation command determination unit 53, the target voltage is input to the basic pattern calculation unit 51, and the operation command is determined by the first operation command determination. The voltage increasing gradient command and the voltage decreasing gradient command are input to the voltage command increasing / decreasing unit 57.
[0056]
The first operation command determination unit 53 that has input the frequency command from the operation panel 16 once stores this information in the internal memory, and when the DRIVE key 21 provided on the operation panel 16 is pressed, the operation command The frequency command input to the first operation command determination unit 53 and stored in the internal memory is output to the overcurrent protection unit 61.
[0057]
The basic pattern calculation unit 51 which has received the target voltage from the operation panel 16 calculates a basic pattern of a voltage command to be supplied to the torque motor according to the target voltage, and writes the calculated basic pattern in a memory provided therein. Further, the basic pattern calculation unit 51 outputs the calculated basic pattern to the second operation command determination unit 55 and stores it. Here, when the DRIVE key provided on the operation panel 16 is pressed, an operation command is input to the second operation command determination unit 55, and the basic pattern of the voltage command stored in the internal memory is changed according to time. They are sequentially read out and output to the voltage command increase / decrease unit 57.
[0058]
The voltage command increasing / decreasing unit 57, which has input the voltage increasing gradient command from the operation panel 16, increases the voltage command so that the voltage command is raised to the target voltage on the basic pattern with a time gradient according to the voltage increasing gradient command. It is output to 59. Further, the voltage command increasing / decreasing section 57 which has input the voltage decreasing gradient command from the operation panel 16 is decreased so that the voltage command is lowered to the target voltage on the basic pattern with a time gradient according to the voltage decreasing gradient command. It is output to the AVR unit 59.
[0059]
The AVR unit 59, which has input the voltage command from the voltage command increasing / decreasing unit 57, receives the reference voltage set in the inverter control unit 41 in advance and the voltage value of the commercial power supply into the adder 65, and calculates the deviation between the reference voltage and the adder 65. The deviation is input to the gain 67, the deviation is multiplied by the gain, and a voltage command corrected by adding the multiplication result value and the current voltage command value by the adder 69 is output to the overcurrent protection unit 71. .
[0060]
As a result, the voltage command output from the AVR unit 59 is corrected according to the change of the commercial power supply with respect to the reference voltage, so that the voltage command is not affected by the voltage change of the commercial power supply.
[0061]
On the other hand, the effective value conversion unit 63, which has input the U-phase and W-phase current amounts Iu and Iw flowing through the torque motor 8 detected by the current sensors CT1 and CT2, converts these current amounts Iu and Iw into effective values, Further, it converts the effective value of each phase into an effective value of the current flowing through the torque motor 8 and outputs the effective value to the overcurrent protection unit 71.
[0062]
The overcurrent protection unit 71, which receives a frequency command from the first operation command determination unit 53, receives a voltage command from the AVR unit 59, and receives a current effective value from the effective value conversion unit 63, is stored in an internal memory. If the current effective value exceeds the protection reference value compared to the protection reference value of the output current, the output voltage command is decreased according to the voltage decreasing gradient, while the current effective value is reduced to the protection reference value. When the value falls below the threshold value, the operation of increasing the voltage in accordance with the voltage increase gradient is performed, and the output frequency command and the output voltage command are output to the PWM control unit 43.
[0063]
As a result, in an overcurrent state due to overtorque or the like, it is possible to avoid the overcurrent state by lowering the voltage command to lower the torque. In addition, in an abnormal state that greatly exceeds the normal overcurrent value, for example, when the inverter output is short-circuited, both the output frequency and the output voltage are instantaneously shut off, and the output of the inverter unit 47 is controlled to be OFF, An overcurrent condition can be avoided.
[0064]
Upon receiving the output frequency command and the output voltage command from the overcurrent protection unit 71, the PWM control unit 43 expresses the amplitude and the output frequency command based on the output frequency command and the output voltage command based on the output frequency command and the output voltage command. Three-phase sine waveform data having a certain period is generated, and the internally generated triangular wave carrier and the sine waveform data of each phase are compared to generate three sets of ON / OFF signals Up, Un, and Vp having mutually opposite levels. , Vn, Wp, and Wn, and outputs these three sets of ON / OFF signals to the inverter unit 47.
[0065]
On the other hand, in the converter 45 that inputs three-phase AC R, S, and T as commercial power, the three-phase AC R, S, and T are rectified and smoothed by each diode and the capacitor C1, and DC power is supplied to the DC terminals P and N. Is output.
[0066]
The inverter unit 47, which has input DC power through the DC terminals P and N, switches the switch elements in accordance with the three sets of ON / OFF signals Up, Un, Vp, Vn, Wp, and Wn output from the PWM control unit 43. By turning on / off each of Q1, Q2, Q3, Q4, Q5, and Q6, the U-phase, V-phase, and W-phase are output to the input terminals of the torque motor 8, respectively.
[0067]
The torque motor 8 to which the U-phase, V-phase, and W-phase AC power is input from the inverter unit 47 rotates according to the U-phase, V-phase, and W-phase AC power. As a result, the torque generated by the torque motor 8 can be adjusted.
[0068]
Next, the characteristic operation of the winding device will be described in detail with reference to the graphs shown in FIGS.
[0069]
In the winding device, as the winding time elapses, the winding bobbin 9 swells and the weight increases, so a rotating torque corresponding to the weight increase is required.
[0070]
In the winding device according to the present embodiment, when the torque is generated by the torque motor 8, the voltage command is controlled to gradually increase according to a basic pattern as shown in FIG.
[0071]
That is, a basic pattern represented by a voltage command that continuously increases to the input target voltage is generated in the basic pattern calculation unit 51, and when an operation command is input from the operation panel 16, the second operation command determination is performed. Since the basic pattern is stored in the unit 55 and the applied voltage to the torque motor 8 is controlled so as to be directed to the target voltage based on the voltage command sequentially read from the basic pattern as time elapses, the applied voltage to the torque motor 8 is controlled. The voltage can be continuously adjusted, the occurrence of a steep torque change can be suppressed, and further, the accuracy of the winding tension can be improved.
[0072]
The basic pattern calculation section 51 provided in the inverter control section 41 has a basic pattern calculated according to the target voltage written in the internal memory in advance, and automatically changes the inverter section as the winding time T elapses. 47 is controlled so as to change the output voltage. When the winding operation is stably performed according to the basic pattern, the torque generated in the torque motor 8 becomes constant as shown in FIG. 6, and the winding control with a constant tension becomes possible. At this time, the supply voltage to the torque motor 8 that changes as the winding time T elapses changes as shown in FIG.
[0073]
However, in the transitional state at the time of starting winding, stopping halfway, restarting, and stopping, the load torque characteristic changes according to the magnitude of the load, the inertial mass of the bobbin, and the elapse of the winding time. Therefore, a characteristic control method of the present invention for stably performing the winding operation even in such a transient state will be described below.
[0074]
Torque control in a steady state of the torque motor 8 can be realized by changing a voltage applied to the torque motor 8. At this time, the frequency may be fixed. That is, it is desirable to control the frequency and the voltage separately and independently.
[0075]
However, when a large voltage is applied in a state where the frequency is low, overcurrent and overtorque occur due to the characteristics of the motor. Therefore, control is performed so that the voltage applied to the torque motor 8 is gradually increased while the frequency command is sufficiently large. The amount of voltage change at this time can be arbitrarily changed by the operator operating the operation panel 16 and rewriting the internal parameters of the inverter control unit 41.
[0076]
(1) With reference to FIG. 8, the operations of starting, stopping, and restarting during winding will be described.
[0077]
At time t1 shown in FIG. 8, when the operator presses the DRIVE key 21 provided on the operation panel 16, an operation command is input to the first operation command determination unit 53 and the second operation command determination unit 55, and the start operation is started. I do.
[0078]
At the start time t1, the frequency command stored in advance in the first operation command determination unit 53 is output to the overcurrent protection unit 71, so that the frequency instantaneously changes to the base frequency (50 Hz or 60 Hz) independently of the voltage. To rise.
[0079]
On the other hand, during the period from time t1 to t2, the basic pattern of the voltage command stored in the second operation command determining unit 55 is sequentially read out as time elapses, and is output to the voltage command increasing / decreasing unit 57.
[0080]
The voltage command increasing / decreasing unit 57 increases the voltage command with a time gradient from 0 V to the voltage V1 on the basic pattern according to the voltage increasing gradient command, and outputs the voltage command to the AVR unit 59. As a result, the voltage command rises from 0V to voltage V1 at a constant gradient according to a preset rising gradient.
[0081]
As described above, when the operation command is input from the operation panel 16, the voltage command is controlled so as to increase from 0 V to the voltage V 1 indicated by the basic pattern over time, so that the over-excitation at the time of startup and the Overcurrent can be prevented.
[0082]
During the period from time t2 to time t3, the voltage is increased from the second operation instruction determining unit 55 to the voltage instruction increasing / decreasing unit 57, and as time elapses, the voltage instruction is increased to voltages V1 to V2 on the basic pattern and output to the AVR unit 59. Is done.
[0083]
At time t3, when the operator presses the STOP key 28 provided on the operation panel 16, a stop command is input to the first operation command determination unit 53 and the second operation command determination unit 55, and a stop operation is started. The voltage command increasing / decreasing unit 57 decreases the voltage command from the voltage V2 on the basic pattern to 0V with a time gradient according to the voltage decreasing gradient command, and outputs the voltage command to the AVR unit 59. As a result, when there is a halfway stop, the voltage command decreases toward 0 V at a constant gradient according to a preset decreasing gradient. At this time, at time t4 when the voltage command becomes 0 V, the frequency command output from the first operation command determination unit 53 becomes 0 Hz instantaneously.
[0084]
As described above, when a stop command is input from the operation panel 16, the voltage command is controlled to decrease from the voltage V <b> 2 indicated by the basic pattern over a period of time to 0 V, so that over-excitation during stop and Overcurrent can be prevented.
[0085]
At start-up time t5, the frequency is instantaneously raised to the above-described base frequency. Thereafter, from time t5 to time t6, the voltage command rises to the voltage V2 on the basic pattern at a constant gradient according to the preset rising gradient as described above.
[0086]
In this way, when the operation command is input from the operation panel 16 again when the operation is stopped during the operation, the control is performed such that the voltage increases from 0 V to the voltage command immediately before the previous stop over time, The operation can be started from the voltage command immediately before the previous stop, the torque before and after the stop can be made the same, and the winding tension can be stabilized.
[0087]
During the period from time t6 to t7, the voltage command increases from voltage V2 on the basic pattern to V3. At time t7, when the STOP key 28 is pressed, the voltage command is reduced from the voltage V2 on the basic pattern to 0V. At this time, at time t8 when the voltage command becomes 0 V, the frequency command instantly becomes 0 Hz.
[0088]
As described above, while the frequency and the voltage are controlled independently, the voltage command is subjected to an increasing / decreasing operation with a gradient, thereby preventing overexcitation and overcurrent at the time of starting / stopping.
[0089]
(2) Basic pattern and torque
The basic pattern calculation unit 51 uses the basic pattern shown in FIG. 4, but depending on the shape of the winding bobbin 9, there is a case where it is desired to change the tension according to the elapsed winding time (referred to as a taper tension). In this case, the basic pattern shown in FIG. 9 is used.
[0090]
The voltage command in the basic pattern is indicated by V0, and the torque (tension) at that time is T0, and constant tension control is always performed. On the other hand, for example, when it is desired to gradually increase the tension in accordance with the elapsed winding time, a basic pattern such as V1 is used as the voltage command. This is because the rate of voltage rise with time is larger than that of the normal basic pattern (V0). The tension at this time is T1. When the tension is gradually reduced, on the contrary, another basic pattern having a smaller voltage increase ratio than the basic pattern may be used.
[0091]
(Modification)
The present invention is not limited to the above-described embodiment, and for example, the following modifications are possible.
[0092]
(1) In the voltage command increase / decrease unit 57, the voltage increase gradient and the voltage decrease gradient with respect to the voltage command are not one kind, but one set is selected from a plurality of sets according to the situation by the switching signal from the operation panel 16 or the outside. May be switched.
[0093]
(2) When an overcurrent is detected by the overcurrent protection unit 71, the voltage command is decreased. However, if the current does not fall below the reference value even if the voltage is decreased to a certain minimum reference value, an emergency As a situation, the output of the inverter unit 47 may be shut off, and control may be performed to stop the alarm trip, thereby protecting the device.
[0094]
【The invention's effect】
According to the first aspect of the present invention, a basic pattern represented by a voltage command that continuously increases to an input target voltage is generated, and when an operation command is input, the basic pattern is stored. Since the voltage applied to the torque motor is controlled so as to be directed to the target voltage based on the voltage command sequentially read from the basic pattern over time, the voltage applied to the torque motor can be continuously adjusted, The occurrence of a steep torque change can be suppressed, and furthermore, it is possible to contribute to improving the accuracy of the winding tension.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of a winding device according to an embodiment of the present invention.
FIG. 2 is a diagram showing a configuration of an operation panel 16;
FIG. 3 is a block diagram illustrating a configuration of an inverter device.
FIG. 4 is a graph showing a basic pattern of a voltage command supplied to a torque motor.
FIG. 5 is a graph showing a protection operation characteristic of the overcurrent protection unit.
FIG. 6 is a graph showing a torque generated by a torque motor according to an elapsed winding time.
FIG. 7 is a graph showing a supply voltage to a torque motor.
FIG. 8 is a graph showing acceleration / deceleration (rise / fall) of a voltage command in a transient state.
FIG. 9 is a graph showing changes in output voltage and tension according to elapsed winding time.
FIG. 10 is a schematic view of a conventional torque motor winding device.
FIG. 11 is a graph showing a change in tension applied to the electric wire 2 during manual adjustment.
[Explanation of symbols]
C1 capacitor
CT1, CT2 Current sensor
D1, D2, D3, D4, D5, D6 Diode
D7, D9, D10, D11, D12 Diode
Q1, Q2, Q3, Q4, Q5, Q6 switch element
1 Feeding bobbin
2 Electric wires
3 Inverter device
5,6,7 Rotating pulley
8 Torque motor
9 Rewind bobbin
11 Inverter device
16 Operation panel
41 Inverter control unit
43 PWM control unit
45 Converter section
47 Inverter section
51 Basic pattern calculator
53 1st operation command judgment part
55 second operation command determination unit
57 Voltage command increase / decrease section
59 AVR section
63 RMS converter
65 adder
67 gain
69 adder
71 Overcurrent protection section

Claims (7)

Winding means for winding a long object;
A torque motor that changes the output torque according to the applied voltage and drives the winding means with a fixed applied frequency;
A winding device comprising: an inverter device that converts AC power supplied from a commercial power supply into three-phase AC power and applies the converted power to the torque motor,
The inverter device includes:
Operation input means for inputting a command according to the operation,
Basic pattern generation means for generating a basic pattern represented by a voltage command that continuously increases to a target voltage input from the operation input means;
When an operation command is input from the operation input means, the basic pattern output from the basic pattern generation means is stored, and the torque is determined based on a voltage command sequentially read from the basic pattern over time. And a control means for controlling a voltage applied to the motor toward the target voltage. The control means,
2. The winding according to claim 1, wherein when an operation command is input from the operation input unit, the voltage command is controlled to increase from 0 V to a voltage indicated by a basic pattern over a predetermined time. Taking device. The control means,
2. The winding according to claim 1, wherein when a stop command is input from the operation input means, the voltage command is controlled to fall from a voltage indicated by a basic pattern to 0 V over a predetermined time. Taking device. The control means,
2. The winding device according to claim 1, further comprising: a voltage automatic adjustment unit that adds a difference obtained from a voltage of the commercial power supply and a predetermined reference voltage to the voltage command to correct the difference. Current detection means for detecting an alternating current applied from the inverter device to the torque motor,
The control means,
When the detection value from the current detection means exceeds a predetermined protection reference value, the overcurrent protection means controls the voltage command to decrease until the detection value becomes equal to or less than the predetermined protection reference value. The winding device according to claim 1, wherein the winding device is provided. The control means,
When an operation command is input from the operation input means, the frequency command is switched from 0 Hz to a predetermined frequency and fixed, and the voltage command is increased from 0 V to a voltage indicated by a basic pattern by a predetermined time. If a stop command is input from the operation input means, the voltage command is controlled to drop from the voltage indicated by the basic pattern to 0 V over a predetermined time, and then the frequency command is 2. The winding device according to claim 1, wherein the winding device is controlled to return to 0 Hz. The control means,
When the operation command is input from the operation input means when the operation is stopped during the operation, control is performed such that the voltage increases from 0 V to a voltage command immediately before the previous stop over a predetermined time. 7. The winding device according to 6.

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