JP2005132573A - Spinning speed control method for winding bobbin and inverter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To stabilize frequency when a speed control for a winding ribbon is switched. <P>SOLUTION: In this spinning speed control method for the winding ribbon, when yarns S1 to S5 supplied in order are wound up by the rotation of the winding bobbin 2 at a winding position while switching the winding bobbin 2 and a replacement bobbin 4 between the winding position and a waiting position, the rotating speed value of the winding bobbin at the winding position is controlled by feedback based on a speed value given for feedback according to the line speed of the yarns S1 to S5. Irrespective of the deviation of the instruction value of the rotating speed of the winding bobbin 2 disposed at the winding position before the yarns S1 to S5 are wound and the speed value given for the feedback, the deviation is set to 0, and the rotating speed value of the winding bobbin 2 is forcibly set to the instruction value. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a method for controlling the rotational speed of a winding bobbin when winding a linear member in a winding device or the like used in a spinning manufacturing industry or the like, and an inverter for controlling the rotational speed of the winding bobbin.

  In a winding device used in a spinning manufacturing industry or the like, a linear member (in this specification, not only a literal linear member but also a concept including a threaded member such as a thread) is wound, for example. When winding with the take-up bobbin, the yarn is hooked on the take-up bobbin, and the take-up bobbin is rotated while traversing the yarn along the axial direction of the take-up bobbin. Winding up against the bobbin.

  At this time, when the rotation speed control of the winding bobbin is not performed, the winding bobbin swells with the elapsed winding time, and the winding speed of the yarn wound on the winding bobbin (speed of the wound yarn; line Speed) increased, and the amount of winding increased with the increase in the linear speed of the yarn, making it difficult to perform uniform winding.

  Therefore, conventionally, the frequency command can be changed manually according to the winding elapsed time, or the linear velocity of the yarn is detected and fed back from the rotational speed detector attached to a part of the yarn, and the linear velocity constant control is performed. Winding was performed (for example, refer to Patent Document 1).

In addition, when the yarn winding for one winding bobbin is nearing the end, that is, when the winding bobbin is almost full, the winding device is temporarily stopped and replaced manually. In addition, a method of automatically replacing a fully wound winding bobbin with another winding winding bobbin and winding continuously is also known (see, for example, Patent Document 2).
Japanese Patent Laid-Open No. 2002-12368 Japanese Patent Laid-Open No. 2003-171065

  In conventional feedback control, when performing linear speed constant control, a control command value is calculated by PI control or PID control in accordance with the deviation between the detected yarn speed and the target speed, and the control command value is followed. Thus, the rotation speed of the winding bobbin, that is, the rotation frequency is controlled.

  However, in the feedback control using the simple PI control (PID control) described above, the rotational frequency of the winding bobbin is always corrected and controlled, so that a large burden is placed on the PI control (PID control) portion, and the speed is controlled. Ripple and hunting could occur.

  In particular, it is difficult to realize high-speed rotation (about 300 Hz) winding because there is a risk of remarkably promoting the generation of the above-described speed ripple and hunting. I could not expect improvement in productivity.

  In this regard, the above-mentioned Patent Document 1 discloses a combination of acceleration control and feedback control {PI control (PID control)} of the winding bobbin.

  However, no specific method for switching from the acceleration control to the feedback control is disclosed, and there is a possibility that winding may become unstable due to a sudden change in frequency caused by the switching.

  Further, even when switching the bobbin at the end of winding, when the winding bobbin that is approaching the full winding state is decelerated and the winding bobbin in the empty winding state is started and winding is continued, Due to the change in frequency when switching from feedback control to deceleration control, it has been difficult to uniformly wind the yarn to the end by the winding bobbin.

  For this reason, winding unevenness, winding distortion, winding slack, etc. occurred in the winding state of the product, and the necessity of repairing in a later process has arisen.

  The present invention has been made in view of the above-described circumstances, and by stabilizing the frequency when switching the speed control of the winding bobbin, it is possible to stably wind the linear member by the winding bobbin. It is an object of the present invention to provide a method for controlling the rotational speed of a wound bobbin and an inverter.

  In order to solve the above-mentioned problem, the invention according to claim 1 rotates the winding bobbin at the winding position while switching the plurality of winding bobbins between the winding position and the standby position for the linear members that are sequentially supplied. A winding bobbin rotational speed control method that feedback-controls the rotational speed value of the winding bobbin at the winding position based on a speed value that is fed back corresponding to the linear speed of the linear member. Regardless of the deviation between the rotational speed command value of the winding bobbin disposed at the winding position and the fed back speed value before winding the linear member, the deviation is set to 0, The gist is to forcibly set the rotation speed value of the winding bobbin to the command value.

  In order to solve the above problem, the rotation speed command value, the speed value to be fed back, and the rotation speed value of the winding bobbin are frequencies corresponding to the rotation speed, respectively. In a state where the frequency corresponding to the rotation speed of the take-up bobbin is forcibly set to the command frequency corresponding to the rotation speed command value, the rotation speed of the winding bobbin is set based on a predetermined acceleration time constant. The gist is to perform acceleration control by increasing the frequency.

  According to a third aspect of the present invention, in order to solve the above-described problem, the acceleration control of the winding bobbin is terminated based on the acceleration time constant, and the command frequency of the rotational speed of the winding bobbin is determined according to the termination timing. The proportional integral control is performed to make the deviation zero using a deviation between the feedback frequency and a predetermined feedback gain, a predetermined proportional gain and a predetermined integral gain, and the proportional gain and the integral gain when the proportional integral control is executed are The gist is to change it according to the polarity of the deviation.

  According to a fourth aspect of the present invention, in order to solve the above-mentioned problem, frequency fluctuation data representing a fluctuation with respect to time of a frequency corresponding to a rotation speed of the winding bobbin is prepared, and the winding bobbin is based on the acceleration time constant. In accordance with the end timing, the frequency corresponding to the rotation speed of the winding bobbin is set by the frequency variation data, the deviation between the set frequency and the fed back frequency, a predetermined proportional gain The gist of the invention is to execute proportional-integral control that makes the deviation zero by using a predetermined integral gain.

  In order to solve the above-mentioned problem, the invention according to claim 5 rotates the winding bobbin at the winding position while switching the plurality of winding bobbins between the winding position and the standby position for the linear members that are sequentially supplied. In the winding bobbin rotational speed control method, the rotational speed of the winding bobbin at the winding position is feedback-controlled based on the speed value fed back corresponding to the linear speed of the linear member. Thus, it is detected that the winding bobbin at the winding position is fully wound, and depending on the detection timing, the difference between the command value of the rotation speed of the winding bobbin and the fed back speed value is involved. The gist is to set the deviation to 0 and forcibly lock the rotational speed value of the winding bobbin to the rotational speed value at the detection timing.

  In order to solve the above-described problem, the rotational speed command value, the speed value to be fed back, and the rotational speed value of the winding bobbin are frequencies corresponding to the rotational speed, respectively. In a state where the frequency corresponding to the rotation speed of the take-up bobbin is forcibly locked to the frequency corresponding to the rotation speed value at the detection timing, the rotation speed of the take-up bobbin is set based on a predetermined deceleration time constant. The gist is that deceleration control is performed by lowering the command frequency corresponding to the command value of the rotational speed.

  In order to solve the above-mentioned problem, the invention according to claim 7 rotates the winding bobbin at the winding position while switching the plurality of winding bobbins between the winding position and the standby position for the linear members that are sequentially supplied. An inverter that feedback-controls the rotational speed value of the winding bobbin at the winding position based on a speed value that is fed back in accordance with the linear speed of the linear member. Regardless of the deviation between the command value of the rotational speed of the winding bobbin arranged at the winding position and the speed value fed back before winding the member, the deviation is set to 0 and the rotational speed of the winding bobbin The gist is that a means for forcibly setting a value to the command value is provided.

  In order to solve the above problems, the invention according to claim 8 rotates the winding bobbin at the winding position while switching the plurality of winding bobbins between the winding position and the standby position for the linear members that are sequentially supplied. An inverter that feedback-controls the rotational speed of the winding bobbin at the winding position based on a speed value that is fed back in accordance with the linear speed of the linear member when the winding position is wound by the winding position. When the take-up bobbin of the take-up bobbin is fully wound, the deviation is reduced to 0 regardless of the deviation between the command value of the rotation speed of the take-up bobbin and the fed back speed value in accordance with the full-winding timing. And a means for forcibly locking the rotation speed value of the winding bobbin to the rotation speed value at the detection timing.

  According to the invention of claim 1 and claim 7, for example, after the winding bobbin is switched from the standby position to the winding position, the rotational speed value of the winding bobbin in the state before winding the linear member. Is forcibly set according to the command value, so that switching to the next feedback control can be performed stably with reference to the command value.

  For this reason, the above-described winding bobbin can be replaced while suppressing fluctuations in the frequency of the winding bobbin at the time of replacement, and productivity can be improved by a continuous and stable winding bobbin changing operation. become.

  According to the second aspect of the present invention, the acceleration control of the winding bobbin before winding can be stably performed based on the increase in the command frequency.

  According to a third aspect of the present invention, the proportional gain and the integral gain at the time of executing the proportional integral control are set such that, for example, the gain for one polarity side is made larger than the gain for the other polarity side according to the polarity of the deviation. Can be changed.

  For this reason, when controlling the rotational speed of the winding bobbin, that is, when controlling the rotational speed based on the suppression of thickening of the winding bobbin, the deviation is expected to be negative. By making the proportional gain and the integral gain larger than the proportional gain and the integral gain on the positive polarity side, the fluctuation amount on the positive side in the rotation frequency of the winding bobbin can be suppressed more than on the negative side. As a result, it is possible to improve the stability of the rotation frequency of the winding bobbin by avoiding the occurrence of a hunting operation due to proportional integral control.

  According to the fourth aspect of the present invention, the control amount of the proportional integral control can be minimized, and the occurrence of the hunting operation due to the proportional integral control can be avoided to improve the stability of the rotation frequency of the winding bobbin. Can be improved.

  According to the fifth and eighth aspects of the present invention, when the winding bobbin at the winding position is fully wound, the rotational speed value for the winding bobbin is forced to the rotational speed value at the time of detecting the full winding state. Therefore, the next switching to deceleration control, for example, can be stably performed based on the rotational speed value at the time of detecting the full winding state.

  For this reason, the fully wound winding bobbin can be replaced while suppressing the frequency fluctuation of the winding bobbin at the time of replacement, and the productivity can be improved by the continuous and stable winding bobbin changing operation. Is possible.

  According to the sixth aspect of the present invention, the deceleration control of the fully wound winding bobbin can be stably performed based on the decrease in the command frequency.

  FIG. 1 shows an example of a winding device according to an embodiment of the present invention. For example, the winding device is wound around a plurality of bobbins B1 to Bn (shown as five cylindrical bobbins B1 to B5 in FIG. 1). A high-speed spinning winding device (hereinafter simply referred to as a winding device) for winding up the source yarns (hereinafter also referred to as yarns) S1 to Sn (Sn = S5 in FIG. 1), which are linear members, at high speed. ) Is a block diagram showing a schematic configuration of 1. FIG.

  As shown in FIG. 1, the winding device 1 is disposed at a predetermined position (hereinafter referred to as a winding position) where the yarns S1 to S5 sequentially supplied from the bobbins B1 to B5 can be simultaneously wound. A cylindrical winding bobbin 2 composed of a plurality of bobbins (the number corresponding to the above-described yarns to be wound, and five in this embodiment), and a winding bobbin disposed at this winding position 2 and a guide bobbin 3 supported so as to be freely contacted and separated.

  The guide bobbin 3 is supplied from the bobbins B1 to B5 and is wound by the take-up bobbin 2 of the yarns S1 to S5 which are sent while traversing along the axial direction of the take-up bobbin 2 via a traverser (not shown). , The yarns S1 to S5 are guided while rotating integrally with the take-up bobbin 2 with a predetermined contact pressure.

  Further, the winding device 1 includes a replacement bobbin 4 that is disposed at a standby position corresponding to the winding position for replacing the winding bobbin 2 and is composed of the same number of bobbins as the winding bobbin 2.

  The winding device 1 includes a support mechanism 5 that supports the winding bobbin 2 and the exchange bobbin 4 so that the winding bobbin 2 is detachable and pivotable. By the pivoting operation of the supporting mechanism, the winding bobbin 2 is brought into a standby position. The replacement bobbin 4 can be moved to the winding position.

  The winding device 1 is directly or indirectly attached to the rotation shaft of the induction bobbin 3, and a pulse generator (PG) 10 that is a rotation speed detector that detects the rotation speed of the induction bobbin 3 as a pulse output, for example. And a motor M11 for rotationally driving the take-up bobbin 2, and a motor M12 for rotationally driving the replacement bobbin 4.

  The winding device 1 is electrically connected to the PG 10 and the motor M11, respectively, and controls the rotation speed of the motor M11 by variably controlling the voltage (V) and the frequency (Fout) supplied to the corresponding motor M11. Inverter (INV) 21 is electrically connected to PG10 and motor M12, and the voltage (V) and frequency (Fout) supplied to the corresponding motor M12 are variably controlled to control the rotational speed of motor M12. And an inverter (INV) 22 for controlling.

  The winding device 1 includes a resistor R31 for consuming the regenerative energy of the motor M11 based on the inertial energy of the winding bobbin 2 at full winding (electrical energy generated by the generator operation of the motor M11) as thermal energy, and the full winding. And a resistor R32 for consuming the regenerative energy of the motor M12 based on the inertial energy of the exchange bobbin 4 at the time as heat energy.

  Further, the winding device 1 is installed in the vicinity of the winding position of the winding bobbin 2 and is in a winding state including when the bobbin (the winding bobbin 2 or the exchange bobbin 4) rotating at the winding position is fully wound. For detecting, for example, at least a state where a predetermined ratio (for example, 70%) with respect to the full winding state is reached and a state where the full winding state is reached (at the time of full winding), and outputting them as a pre-full pulse and a full pulse. A full winding sensor 35 is provided.

  Winding device 1 is electrically connected to INV21, INV22 and full winding sensor 35, respectively, and INV21 and INV22 according to the pre-full winding pulse and full winding pulse output from full winding sensor 35, respectively. On the other hand, a controller 42 for outputting a drive control signal including a command frequency is provided.

  The INV 21 includes a rectifying element such as a diode (not shown), a smoothing element such as a capacitor, a plurality of switching elements such as transistors, a microprocessor with a built-in memory, and the like as its hardware configuration. Further, the operation command input terminal IT1, the control switching signal input terminal IT2, the frequency lock signal input terminal IT3 and the microprocessor memory (flash memory etc.) clear command input terminal IT4 which are external input / output terminals of the INV 21 are respectively connected to the controller 42. Connected to the control terminal.

  FIG. 2 is a diagram showing a functional block configuration of the INV 21 shown in FIG. 1 having the hardware configuration described above and a feedback control configuration of the motor M11 via the PG 10. As shown in FIG.

  Here, as described above, the guide bobbin 3 has a function of rotating the winding bobbin 2 according to the rotation of the winding bobbin 2 to guide the yarns S1 to S5 when winding the yarn S1 to S5 of the winding bobbin 2. Since it does not perform the operation of winding the yarns S1 to S5 by itself, the linear velocity increase due to the expansion (winding thickening) due to the winding of the yarn does not occur despite the rotation. Therefore, in the present embodiment, the rotation speed of the guide bobbin 3 is detected by the PG 10, and the rotation speed of the winding bobbin 2 is controlled by the INV 21 so as to keep the rotation speed constant. The linear speed of the yarn taken is kept constant.

  That is, as shown in FIG. 2, the INV 21 includes an acceleration / deceleration unit 50 that sets an acceleration / deceleration time constant of the command frequency FR supplied from the controller 42.

  The acceleration time constant means the time until the stopped motor M11 reaches the maximum frequency (300 Hz in this embodiment) set based on V / Fout constant control described later. The deceleration time constant means the time until the motor M11 becomes “0” (operation stop) from the maximum frequency of 300 Hz.

  The INV 21 is a rotational speed of the induction bobbin 3 based on the rotational speed (for example, 18000 rpm) of the motor M11 corresponding to the winding bobbin 2 (for example, the diameter ratio between the bobbins 2 and 3 with respect to the rotational speed of the motor M11). The value obtained by multiplying the mechanical gain (Gain) G generated between the bobbins 2 and 3 including the like is detected by the PG 10, for example, at a predetermined pulse rate {eg, 32 pulses per rotation (32 p / r)}. Is provided with a frequency conversion unit 51 that multiplies the rotation speed of the induction bobbin 3 by a gain and converts the rotation speed (rpm) multiplied by the gain into a frequency {Fb (Hz); for example, 1800 rpm → 300 Hz}. ing.

  The frequency converter 51 is configured such that the rotational speed can be multiplied by a gain when the output pulse rate of the PG 10 described above or the mechanical gain generated between the bobbins 2 and 3 is changed due to a change in equipment or members. However, by changing the gain according to the change, it is possible to easily detect the accurate rotational speed.

  Further, the INV 21 obtains a deviation ΔF between the command frequency Fin for which the acceleration / deceleration time constant is set by the acceleration / deceleration unit 50 and the rotation frequency Fb of the induction bobbin 3 fed back via the frequency conversion unit 51. The frequency Fout supplied to the motor M11 (that is, the drive signal of the frequency Fout (for example, a PWM (Pulse Width Modulation) signal))} is controlled so as to always become 0, and the rotational speed of the motor M11 (the rotation of the winding bobbin 2) A speed control unit 52 for controlling the speed).

  In the present embodiment, the speed control unit 52 performs PI control as feedback control for setting the deviation ΔF to zero.

  That is, as shown in FIG. 2, the speed control unit 52 subtracts the feedback frequency Fb from the command frequency Fin to obtain the deviation ΔF, and a predetermined proportionality to the deviation ΔF obtained by the subtraction unit 52a1. A function of making the value P * ΔF multiplied by the gain P a proportional output Pout, and a value I * ΔF obtained by multiplying the deviation ΔF by a predetermined integral gain I, for example, are stored in the memory of the INV21 and integrated over time, and this integration is performed. A PI control unit (PI) 52a2 having a function of setting the value as an integral output Iout and adding the proportional output Pout and the integral output Iout to a control output (frequency output Fout) is provided.

  Here, FIG. 3 is a diagram showing a gain setting table T that holds the set values of the proportional gain P and the integral gain I of the PI control unit 52a2 stored in advance in, for example, the memory of the INV 21 in a rewritable manner.

  As shown in FIG. 3, in the gain setting table T, the values of the proportional gain P and the integral gain I are previously set according to the polarity of the frequency deviation ΔF (ΔF → positive “+” or ΔF → negative “−”). Is set.

  For example, as gain setting example 1, when the polarity of the frequency deviation ΔF is positive “+”, the proportional gain P and the integral gain I are each “0”, and when the polarity of the frequency deviation ΔF is negative “−”, the proportional gain P and integral gain I are each “1”.

  As another gain setting example 2, when the polarity of the frequency deviation ΔF is negative “−”, the proportional gain P and the integral gain I are each “1”, and when the polarity of the frequency deviation ΔF is positive “+”, The proportional gain P and the integral gain I are set to “1/2”, for example, which is a value smaller than the gain “1”.

  Note that the hardware configuration and functional block configuration of the other INV 22 are also equivalent to those of the INV 21, and thus description thereof is omitted.

  Next, the overall operation in the rotational speed (frequency) control of the winding bobbin 2 and the exchange bobbin 4 by the winding device 1 according to this embodiment will be described.

  FIG. 4 is a diagram showing a time characteristic (C1 in the figure) of the frequency supplied to the motor M11 of the INV 21 corresponding to the winding bobbin 2 and a time chart of control signals from the controller 42 in association with each other.

  Further, FIG. 4 is a diagram showing the time characteristics (C2 in the figure) of the frequency supplied to the motor M12 of the INV 22 corresponding to the exchange bobbin 4 and the time chart of the control signal from the controller 42 in association with each other.

  4, the upper part shows a time chart of the control signal from the controller 42 for the frequency-time characteristics C1 and INV21 of the INV21, and the lower part shows the control signal from the controller 42 for the frequency-time characteristics C2 and INV22 of the INV22. The time chart is shown.

  First, a state where the winding bobbin 2 before threading is arranged at the winding position to wind the yarns S1 to S5 (at the initial time or at the time of replacement, the guide bobbin 3 is separated from the winding bobbin 2). At time t = t0), the controller 42 transmits an operation command (command frequency) FR to the INV 21 via the control terminal and the input terminal IT1. Then, the controller 42 transmits a control switching signal (ON pulse) VFPID to the INV 21 via the control terminal and the input terminal IT2 (FIG. 5; step S1). The signals for the input terminal IT3 and the input terminal IT4 are in the OFF state.

  At this time, the INV 21 controls the open loop V / Fout constant control, that is, the voltage V and the frequency Fout supplied to the motor M11 in accordance with the command frequency Fin and the control switching signal VFPID corresponding to the transmitted operation command FR. Control to make the ratio V / Fout constant is forcibly performed ignoring the rotational speed of the guide bobbin 3 detected by the PG 10 (step S2).

  That is, when the control switching signal VFPID is ON, the INV 21 forcibly sets the frequency deviation ΔF by ignoring the rotational frequency Fb corresponding to the fed back rotational speed of the guide bobbin 3, as shown in FIGS. Is set to 0 (ΔF = 0) (step S2a1), and the integral output Iout is forcibly set to the command frequency Fin (Iout = Fin) ignoring the feedback rotation frequency Fb (step S2a2).

  Since the deviation ΔF between the command frequency Fin and the feedback frequency Fb is always 0 regardless of the value of the feedback frequency Fb, the proportional output Pout (P * ΔF) is also 0 as shown in FIGS.

  As a result, in the period (t0 to t4) when the control switching signal VFPID is ON (t0 to t4), the speed detection of the induction bobbin 3 is ignored, and the acceleration time constant (t0 to t2) following the command frequency Fin based on the integral output Iout. V / Fout constant acceleration control based on the above is executed, and the winding bobbin 2 is accelerated to 300 Hz which is the maximum frequency of the V / Fout pattern by the constant V / Fout control by INV21.

  On the other hand, during constant acceleration control of V / Fout of the take-up bobbin 2, the controller 42 transmits a memory clear signal MCL to the INV 22 corresponding to the exchange bobbin 4 via the control terminal and the input terminal IT4. (See FIG. 4: t1 to t2).

  When the take-up bobbin 2 reaches 300 Hz in the high speed region during the acceleration control of the take-up bobbin 2 by the V / Fout constant control, the take-up bobbin 2 is rotated at a high speed by the yarn hooking portion of the support mechanism (not shown). The yarns S1 to S5 are automatically threaded with respect to the corresponding bobbins of the winding bobbin 2, and the guide bobbin 3 moves and abuts against the winding bobbin 2 at the end of threading. Winding of the yarns S1 to S5 is started.

  At the end of yarn hooking (time t = t3), the controller 42 prepares for constant control of the linear speed of winding, and slightly outputs the output frequency Fout from the INV 21 (about 30 Hz) during the time t = t3 to t4. The voltage is lowered and set to about 270 Hz (step S3). This is to prevent uneven winding by winding the yarn at a slightly faster rotational speed at the first winding after the winding bobbin is attached (exchanged).

  Next, the controller 42 switches the control switching signal VFPID from ON to OFF at time t = t4 (step S4).

  At this time, the INV 21 cancels the above-described frequency deviation forced control and integral output Iout forced control according to the switching of the control switching signal VFPID from ON to OFF, respectively, and performs normal PI control, that is, constant linear velocity. Control is performed (step S5).

  That is, the INV 21 subtracts the feedback frequency Fb corresponding to the current rotational speed of the induction bobbin 3 from the command frequency Fin by the subtraction unit 52a1 to obtain the deviation ΔF, and the PI control unit 52a2 adds the predetermined deviation ΔF to the predetermined deviation ΔF. A value P * ΔF multiplied by the proportional gain P is added to the command frequency Fin to obtain a proportional output Pout.

  Then, the INV 21 obtains an integral output Iout by integrating the value I * ΔF obtained by multiplying the deviation ΔF by a predetermined integral gain I with the accumulated value accumulated in the memory by the PI control unit 52a2 (see FIG. 7, see FIG. 7). In FIG. 7, Δ deviation F is illustrated as a case where the polarity is a constant negative value).

  At this time, in this embodiment, since the command frequency Fin is stored in the memory as an integral value by the integral output Iout forcible control, it continues from the current integral value (command frequency Fin) when the PI control is started. Integration is then performed.

  In this manner, the yarns S1 to S5 are wound up by the winding bobbin 2 in a state where the rotation speed of the guide bobbin 3, that is, the linear velocity of the yarns S1 to S5 is maintained substantially constant by PI control.

  Here, as shown in FIG. 4, when the winding of the yarn S <b> 1 to S <b> 5 with respect to the winding bobbin 2 proceeds, the outer diameter of the winding bobbin 2 swells, so that the outer diameter of the winding bobbin 2 increases. It is expected that the frequency Fb fed back by the feedback control due to the increase in the linear velocity due to is larger than the command frequency Fin, that is, the polarity of the frequency deviation ΔF becomes negative (−).

  In this respect, in the present embodiment, in consideration of the fact that the polarity of the frequency deviation ΔF is negative (−), the gain is set in advance according to the polarity (ΔF → + or ΔF → −) of the frequency deviation ΔF, for example. As setting example 1, when the polarity of the frequency deviation ΔF is “+”, the proportional gain P and the integral gain I are set to “0”. When the polarity of the frequency deviation ΔF is “−”, the proportional gain P and the integral gain I are set. Is set to “1”.

  Therefore, the correction amount for PI control is that the polarity of the frequency deviation ΔF is only on the negative “−” side, and the output frequency Fout that is the output result of PI control is only on the negative side (in the direction of decreasing the command frequency value Fout). It has become a fluctuation.

  As a gain setting example 2, when the polarity of the frequency deviation ΔF is negative “−”, the proportional gain P and the integral gain I are each “1”, and when the polarity of the frequency deviation ΔF is positive “+”, the proportional gain Even when P and the integral gain I are set to “½”, which is a value smaller than the gain “1”, the fluctuation of the output frequency Fout, which is the output result of the PI control, to the positive side is as follows. This is about ½ of the fluctuation with respect to the negative side, and is greatly suppressed.

  By the PI control using the large proportional gain P and integral gain I when the polarity of the frequency deviation ΔF is negative “−”, the output frequency Fout from the INV 21, that is, the rotational speed of the motor M11 is reduced as the winding proceeds. It is controlled (see FIG. 4; time t = t4 to t5).

  Here, when the amount of the yarns S1 to S5 wound by the winding bobbin 2 reaches a predetermined ratio (for example, 70%) with respect to the full winding state of the bobbin 2 (for example, time t = t5). The full winding sensor 35 transmits a pre-full pulse P1 to the controller 42, and the controller 42 receives the pre-full pulse P1 that has been transmitted.

  The controller 42 transmits the command frequency FR as the operation command FR and turns on the control switching signal VFPID in accordance with the received pre-full pulse P1 as in the above-described step S1 (step S6).

  At this time, the INV 22 performs the same processing as the step S2 of the INV 21, thereby making the open loop V / Fout constant control, that is, the ratio V / Fout of the voltage V and the frequency Fout supplied to the motor M12 constant. The control is forcibly performed ignoring the rotational speed of the guide bobbin 3 detected by the PG 10 (step S7).

  Thereafter, the winding of the yarns S1 to S5 of the winding bobbin 2 proceeds at time t = t5 to t6, and when the winding bobbin 2 reaches the full winding state (time t = t6, the output from the INV 21 at this time) The output frequency Fout of the INV 22 has reached a steady state (300 Hz).

  At this time, in response to the full winding pulse P2 from the full winding sensor 35 that detects the full winding state of the take-up bobbin 2, the controller 42 determines the winding bobbin 2 winding at the time of exchange in preparation for the bobbin exchange operation. In order to prevent this, during the time t = t6 to t7, the output frequency Fout from the INV 21 is slightly increased (about 5 Hz) and set to about 35 Hz (step S8).

  On the other hand, during the time t = t6 to t7, by the operation of the support mechanism 5, the winding bobbin 2 moves from the winding position to the standby position, the replacement bobbin 4 moves from the standby position to the winding position, and the yarn Multiplication processing is performed.

  After the bobbin replacement is completed (time t = t7), the controller 42 gives a control switching signal PIDLCK (ON signal) for switching the control from the PI control in order to end the speed feedback control for the winding bobbin 2 after the replacement. Transmission is made to the INV 21 via the control terminal and the input terminal IT3 (step S9).

  At this time, the INV 21 forcibly locks the output frequency Fout to the motor M11 according to the transmitted control switching signal PIDLCK, and makes the ratio V / Fout of the voltage V and the frequency Fout supplied to the motor M11 constant. This control is forcibly performed ignoring the rotational speed of the guide bobbin 3 detected by the PG 10 (step S10).

  That is, when the control switching signal PIDLCK is in the ON state, the INV 21 forcibly sets the frequency deviation ΔF by ignoring the rotational frequency Fb corresponding to the rotational speed of the induced bobbin 3 fed back as shown in FIGS. Is set to 0 (ΔF = 0) (step S10a1), and the integral output Iout is forcibly set to α times the command frequency Fin (Iout = αFin) ignoring the feedback rotational frequency Fb (step S10a2). ).

  Hereinafter, the setting of the integral output Iout in step S10a2 will be described.

  The coefficient α is defined as the ratio (α = Ia / Fin) between the integrated value (integrated value) Ia and the command frequency Fin when the control switching signal PIDLCK is ON (time t = t7).

  That is, the coefficient α is a ratio between the integrated value (integrated value) Ia at the time when the control switching signal PIDLCK is switched from OFF to ON and the command frequency Fin at the switching time.

  Normally, in the state where the control switching signal PIDLCK is switched from OFF to ON, the speed control is stably performed by the PI control, so the frequency deviation ΔF is almost zero.

  Therefore, the command frequency Fin is constant as a high-speed frequency (270 Hz) at the start of winding, and a frequency for correction (increase in outer diameter) of the rotational frequency (30 Hz) of the winding bobbin 2 in the fully wound state (increase in outer diameter) 270 Hz-30 Hz = 240 Hz) is the integrated value Ia and is stably controlled.

  In this respect, as described in step S2a2, in order to lock the output frequency Fout and perform a stop operation with a decrease in the command frequency Fin in the above-described stable state (a state in which the stable control is performed with the integrated value Ia = 240 Hz). It is also conceivable to forcibly set the integral output Iout to the command frequency Fin (Iout = Fin).

  However, in a state where the winding time has almost reached the end, if the integral value Iout is set to the high-speed command frequency Fin at a stretch, the frequency rises at a stretch, and the frequency output becomes unstable.

  Therefore, the ratio α (= Ia) of the command frequency Fin at the time (t = t7) when the control signal PIDLCK rises to ON (t = t7) and the integrated value Ia (= 240 Hz) integrated by correcting the winding thickness of the winding bobbin 2 so far. / Fin) is multiplied by the command frequency Fin, so that the integrated output Iout is (α × Fin = Ia), that is, the integrated value Ia (= 240 Hz) at the time when the control switching signal PIDLCK rises to ON (t = t7). And the output frequency Fout is locked by the integrated output Iout.

  Note that the coefficient α is calculated only at the first ON edge of the control switching signal PIDLCK signal. When Fin changes in the locked state, the integrated value is changed in conjunction with the state and finally stopped. Because. If α is calculated every time, even if the command frequency Fin decreases, the integrated value does not change and cannot be stopped.

  That is, the output frequency Fout from the INV 21 is set to an integral output Iout (α × Fin) that is a function of the command frequency Fin.

  Thus, when the speed control of the winding bobbin 2 is switched from the PI control to the deceleration control with a constant V / Fout by the switching control by the INV 21 (time t = t7), the controller 42 Similarly to the case, during the time t = t7 to t8, the output frequency Fout from the INV 22 is slightly lowered (about 30 Hz) and set to about 270 Hz (step S11), and then at time t = t8, the control switching signal VFPID Is switched from ON to OFF (step S12).

  As a result, the INV 22 stops the frequency deviation forced control and the integral output Iout forced control described above in response to switching of the control switching signal VFPID to ON, and performs normal PI control, that is, constant linear velocity control. (Step S13 (see Step S5)).

  As a result, similar to the winding bobbin 2, the yarns S1 to S5 are wound around the replacement bobbin 4 at a constant linear velocity.

  On the other hand, at time t = t9, when the operation command FR is turned OFF, the INV 21 executes deceleration control with constant V / Fout based on the deceleration time constant (t9 to t10) of the corresponding command frequency Fin (step As a result, the take-up bobbin 2 is decelerated by the V / Fout constant control by the INV 21 and stops (0 Hz) at a time corresponding to the set decelerating time constant.

  Thereafter, the take-up bobbin 2 is replaced with an empty bobbin, and is prepared for the next take-up as an exchange bobbin at the standby position (exchange bobbin 4 in FIG. 1).

  Hereinafter, the time chart shown in FIG. 4 and the processing from step S1 to step S13 are repeatedly executed with the winding bobbin 2 as the exchange bobbin 4, INV21 as INV22, the exchange bobbin 4 as the winding bobbin 2 and INV22 as INV21. Thus, the bobbin replacement can be executed repeatedly and automatically at high speed.

  As described above, according to the present embodiment, the rotation frequency Fb corresponding to the rotation speed of the guide bobbin 3 is ignored during open loop V / Fout constant control, for example, before threading of the winding bobbin 2. Thus, the frequency deviation ΔF is forcibly set to 0 (ΔF = 0), and the integral output Iout is forcibly set to the command frequency Fin (Iout = Fin) ignoring the feedback rotation frequency Fb.

  For this reason, when switching from the above V / Fout constant control to normal PI control by a feedback loop, that is, linear speed constant control, at the stage where PI control is started, the current integrated value (command frequency Fin) is continued. Can be integrated.

  At the time of the control switching, since the command frequency Fin and the feedback frequency Fb are substantially equal, there is no abrupt frequency deviation ΔF.

  Therefore, even when the V / Fout constant control is switched to the PI control (linear velocity constant control), the output frequency Fout can be stabilized.

  Further, in this embodiment, after the replacement of the bobbin, when the speed control for the wound bobbin 2 after the replacement is switched from PI control to V / Fout constant control, the feedback rotation frequency Fb of the induction bobbin 3 is ignored. Then, the frequency deviation ΔF is forcibly set to 0 (ΔF = 0), and the integral output Iout is forcibly ignored by ignoring the feedback rotation frequency Fb (α: the control switching signal PIDLCK is The ratio is set to the integral value (integrated value) Ia at the time of switching from OFF to ON and the command frequency Fin at the time of switching.

  That is, the frequency output Fout at the time when the control switching signal PIDLCK rises to ON can be locked to the integrated value Ia (= 240 Hz) corresponding to the winding thickness correction amount at that time.

  For this reason, the frequency output Fout can be stabilized without causing a frequency change even when the PI control is switched to the speed deceleration control with a constant V / Fout.

  Furthermore, according to the present embodiment, at the time of PI control, the fluctuation of the output frequency Fout, which is the output result of the PI control, is suppressed to only one of the negative side (in the direction of decreasing the command frequency value Fout), or the positive side The amount of fluctuation can be significantly suppressed from the negative side.

  In other words, the PID control is a control that always sets the deviation ΔF to 0 so that the feedback value (frequency Fb) follows the command value (frequency Fin). (Output frequency Fout) is an operation in which the output frequency Fout always decreases in a small range and fluctuates gradually (positive side and negative side), and there is a possibility of causing a minute hunting operation.

  However, according to the present embodiment, as described above, in the PI control, the fluctuation of the output frequency Fout is suppressed to only one side (the direction in which the command frequency value Fout is lowered), or the fluctuation amount on the positive side is reduced. Since it can be significantly suppressed from the negative side, the occurrence of a hunting operation due to PI control can be avoided, and the stability of the output frequency Fout can be further improved.

  In the present embodiment, the linear velocity constant control is realized by executing the PI control as a function of the velocity control unit 52, but the present invention is not limited to this configuration.

  That is, a decrease curve on the time axis of the frequency F corresponding to the rotation speed of the winding bobbin 2 in the present embodiment (a decrease amount (gradient) for each time is set to Δft) basic frequency variation data (calculation formula / table) The FD is stored in advance in the memory of the INV 21A.

  Then, as the PI control unit 52a2a in FIG. 8, a value obtained by subtracting the amount of decrease Δft corresponding to the predetermined time from the output frequency Fout at the predetermined time is set as the output frequency Fout, and the deviation between the output frequency Fout and the actual frequency Fb. Compensation by PI control by ΔF can reduce the PI control deviation control amount and avoid the occurrence of hunting or the like due to the above-described vertical fluctuation of the output frequency Fout.

  This PI correction is merely a correction of a frequency (linear velocity) feedback value, and is different from tension feedback by dancer position feedback of a wire drawing machine or the like.

  As shown in FIG. 9, by preparing a decrease curve of the command frequency Fin that exactly matches the frequency decrease curve corresponding to the rotation speed of the winding bobbin 2, output frequency control can be performed without using PI control. In addition, it is possible to completely prevent the occurrence of hunting due to the frequency fluctuation due to the PI control and to perform the linear velocity constant control more stably.

  In the above-described embodiments and modifications, the frequency command to the INVs 21, 22, and 21A may be performed by communication from the host computer or by switching the multi-speed commands of the INVs 21, 22, and 21A with a switch or the like.

  In the above-described embodiments and modifications, the bobbin switching is not limited to two bobbins, and can be realized by the same control when simultaneously switching a plurality of bobbins.

  Furthermore, the yarn speed detection is not limited to the PG sensor, and an analog amount output sensor such as a TG (tacho generator) may be used.

  In the above-described embodiment and modification, each INV 21, 22 and 21A performs PI control as feedback control by the PI control units 52a2 and 52a2a, but the present invention is not limited to this configuration, and differential You may make it perform PID control which added (Differential) control. In the case of performing this PID control, the differential gain D in the differential control is set to “0” when the polarity of the frequency deviation ΔF is positive “+”, as in the case of P in the proportional control. When the polarity is negative “−”, the differential gain D is set to “1”, or as another gain setting example 2, when the polarity of the frequency deviation ΔF is negative “−”, the differential gain D is set to “1”. When the polarity of the frequency deviation ΔF is positive “+”, the differential gain D is set to, for example, “1/2”, which is a value smaller than the gain “1”.

  Even when this PID control is performed, the correction amount of the PID control is set so that the polarity of the frequency deviation ΔF is only on the negative “−” side, that is, the output frequency Fout, which is the output result of the PID control, is changed only on the negative side. Thus, the occurrence of a hunting operation due to PID control can be avoided and the stability of the output frequency Fout can be further improved.

  And in embodiment and the modification which were mentioned above, although the winding apparatus 1 was used for winding of the source yarn (yarn) in the spinning industry, it is not restricted to the said spinning industry, The necessity to wind up a linear member As long as there is a certain field, it can be applied to any field.

  The present invention is not limited to the above-described embodiments and modifications, and various modifications can be made to the above-described embodiments and modifications within the scope belonging to the present invention.

The block diagram which shows schematic structure of the winding apparatus high-speed spinning winding apparatus which concerns on embodiment of this invention. The figure which shows the functional block structure of the inverter (INV) shown in FIG. 1, and the feedback control structure of the motor M via PG. The figure which shows the gain setting table which hold | maintains the setting value of the proportional gain P of the PI control part previously stored in the memory of the inverter (INV) shown in FIG. The time characteristic of the frequency supplied to the INV motor corresponding to the winding bobbin shown in FIG. 1 and the time chart of the control signal from the controller are shown in association with each other, and the frequency supplied to the INV motor corresponding to the replacement bobbin is shown. The figure which shows a time characteristic and the time chart of the control signal from a controller corresponding with each other. The schematic flowchart which shows an example of a process of the controller and inverter shown in FIG. The functional block diagram for demonstrating the process of the inverter corresponding to the winding bobbin shown in FIG. In addition to the time characteristics of the frequency supplied to the motor of the INV corresponding to the winding bobbin shown in FIG. 1 and the time chart of the control signal from the controller, the proportional output Pout and the integral output Iout output from the PI controller of the INV The figure which shows a time characteristic. The functional block diagram for demonstrating the process of the inverter corresponding to the winding bobbin shown in FIG. 1 which concerns on the modification of this embodiment. The functional block diagram for demonstrating the process of the inverter corresponding to the winding bobbin shown in FIG. 1 which concerns on the other modification of this embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Winding device 2 ... Winding bobbin 3 ... Guidance bobbin 4 ... Replacement bobbin 5 ... Support mechanism 10 ... PG
21, 21A ... Inverter (INV)
22 ... Inverter (INV)
35 ... Full winding sensor 42 ... Controller 50 ... Acceleration / deceleration unit 51 ... Frequency conversion unit 52 ... Speed control unit 52a1 ... Subtraction unit 52a2, 52a2a ... PI control unit

Claims (8)

When the linear members that are sequentially supplied are wound by rotating the winding bobbin at the winding position while switching the plurality of winding bobbins between the winding position and the standby position, the winding bobbin at the winding position is A winding bobbin rotational speed control method that feedback-controls a rotational speed value based on a speed value fed back corresponding to the linear speed of the linear member,
Regardless of the deviation between the rotational speed command value of the winding bobbin disposed at the winding position and the fed back speed value before winding the linear member, the deviation is set to 0, and the winding bobbin The rotational speed value of the winding bobbin is forcibly set to the command value. The rotational speed command value, the speed value to be fed back, and the rotational speed value of the winding bobbin are frequencies corresponding to the rotational speed, respectively.
In a state where the frequency corresponding to the rotational speed of the winding bobbin is forcibly set to the command frequency corresponding to the rotational speed command value, the rotational speed of the winding bobbin is determined based on a predetermined acceleration time constant. 2. The method of controlling a rotation speed of a winding bobbin according to claim 1, wherein acceleration control is performed by increasing the command frequency.   The acceleration control of the winding bobbin is terminated based on the acceleration time constant, and a deviation between the command frequency of the rotation speed of the winding bobbin and the fed back frequency, a predetermined proportional gain, and a predetermined The proportional integral control for making the deviation zero is executed using the integral gain, and the proportional gain and the integral gain when the proportional integral control is executed are changed according to the polarity of the deviation. 3. A method for controlling the rotational speed of the winding bobbin according to 2. Prepare frequency variation data representing the variation with respect to time of the frequency corresponding to the rotation speed of the winding bobbin,
The acceleration control of the winding bobbin is terminated based on the acceleration time constant, and the frequency corresponding to the rotation speed of the winding bobbin is set by the frequency variation data according to the termination timing, and the set frequency and feedback 3. The method for controlling the rotational speed of a winding bobbin according to claim 2, wherein proportional-integral control is performed to make the deviation zero by using a deviation from the measured frequency, a predetermined proportional gain, and a predetermined integral gain. When the linear members that are sequentially supplied are wound by rotating the winding bobbin at the winding position while switching the plurality of winding bobbins between the winding position and the standby position, the winding bobbin at the winding position is A winding bobbin rotational speed control method for feedback control of a rotational speed based on a speed value fed back corresponding to the linear speed of the linear member,
Detecting that the winding bobbin at the winding position is fully wound, and depending on the detection timing, regardless of the deviation between the command value of the rotational speed of the winding bobbin and the speed value fed back, The winding bobbin rotational speed control method, wherein the deviation is set to 0, and the rotational speed value of the winding bobbin is forcibly locked to the rotational speed value at the detection timing. The rotational speed command value, the speed value to be fed back, and the rotational speed value of the winding bobbin are frequencies corresponding to the rotational speed, respectively.
In a state where the frequency corresponding to the rotation speed of the winding bobbin is forcibly locked to the frequency corresponding to the rotation speed value at the detection timing, the rotation speed of the winding bobbin is based on a predetermined deceleration time constant. 6. A method for controlling the rotational speed of a take-up bobbin according to claim 5, wherein deceleration control is performed by lowering a command frequency corresponding to the rotational speed command value. When the linear members that are sequentially supplied are wound by rotating the winding bobbin at the winding position while switching the plurality of winding bobbins between the winding position and the standby position, the winding bobbin at the winding position is An inverter that feedback-controls a rotational speed value based on a speed value fed back in accordance with the linear speed of the linear member;
Regardless of the deviation between the rotational speed command value of the winding bobbin disposed at the winding position and the fed back speed value before winding the linear member, the deviation is set to 0, and the winding bobbin An inverter comprising means for forcibly setting the rotation speed value to the command value. When the linear members that are sequentially supplied are wound by rotating the winding bobbin at the winding position while switching the plurality of winding bobbins between the winding position and the standby position, the winding bobbin at the winding position is An inverter that feedback-controls the rotational speed based on a speed value fed back in accordance with the linear speed of the linear member,
When the winding bobbin at the winding position is fully wound, depending on the timing of the full winding, regardless of the deviation between the command value of the rotational speed of the winding bobbin and the fed back speed value, An inverter comprising: means for setting the deviation to 0 and forcibly locking the rotational speed value of the winding bobbin to the rotational speed value at the detection timing.

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