JP2009081931A - Synchronous control system and synchronous starting method in synchronous control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a high precision synchronous control system used in a rotary press and a sheet-fed press by using a virtual rotation command generator of hybrid system and a rotary encoder of hybrid system. <P>SOLUTION: The virtual rotation command generator 0101 incorporated in a centralized control unit 01 independently computes a speed command and a phase command to output the results, and generates and outputs a frame signal as a time reference. The phase command and the speed command are output to synchronous drive units 06a to 06f via a virtual rotation command communication line 02c. The synchronous drive units 06a to 06f detect, in real time, a phase feedback and a speed feedback from the phase command, the speed command and hybrid encoders 09a to 09f based on the frame signal to perform a synchronous control of motors 07a to 07f based on the detection. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

INDUSTRIAL APPLICABILITY The present invention is used in newspapers and commercial shaftless rotary printing presses, sheet-fed printing presses, sheet-fed printing presses, stretchers for producing high-quality films, and precision transporting devices. The present invention relates to a synchronous control system capable of matching with high accuracy.
If the example of this synchronous control system is shown with a shaftless rotary printing press, it comprises a virtual rotation command generating device and each rotary printing press and a synchronous driving device of a folding machine. In the synchronous control system, the absolute command is used in addition to the incremental method for the phase command, the speed command, the phase feedback, and the speed feedback signal. To achieve a more accurate synchronous control system.

  Here, the virtual rotation command generation device and the synchronous drive device are not designed individually, but should be designed based on a common architecture. Therefore, the present invention intends to realize a highly accurate synchronous control system by configuring the virtual rotation command generating device and the synchronous drive device with a common architecture and design.

In recent years, a sectional drive has been devised in which a plurality of electric motors are electronically coupled with each other with a rotational phase and a rotational speed with high accuracy and synchronized with each other.
As an industrial application of this, for example, in a printing apparatus, a shaftless rotary printing machine in which a line shaft for connecting a printing machine, a folding machine, and various rolls is removed has been put into practical use in Japan since the 1990s.
In the present invention, the invention of the synchronous control is disclosed by taking a shaftless rotary printing machine as an example, and FIG. 22 shows a conventional example of a commercial shaftless rotary printing machine that prints pamphlets, advertisements, and booklets.

In FIG. 22, 03, 04, and 05 indicate a paper feed unit, continuous paper, and in-feed. The continuous paper 04 is supplied from the paper feed unit 03 and is sent to a printing press that will be described later by the in-feed 05. .
Reference numerals 10a, 10b, 10c, and 10d denote first to fourth printing machines, respectively, which perform, for example, yellow, cyan, magenta, and black color printing.
Reference numerals 11, 12, and 13 denote dryer, cooling, and drag, respectively. The continuous paper 04 is dried and cooled by heating in the dryer 11 and cooling 12, respectively. It is sent to the folding machine 15f. The folding machine 15f is a device that cuts and folds the printed continuous paper.

The first to fourth printing machines and the folding machine 15f are each operated by an electric motor that is installed individually with the rotational phase being accurately adjusted.
The motor group is driven by a central control device or a synchronous drive device. In FIG. 22, 01 and 02 indicate a central control device and a communication line, respectively, and 06a, 07a, and 08a indicate the first printer 10a with high accuracy. They are a synchronous drive device, an electric motor, and a rotary encoder, respectively, that are driven by synchronous control. Similarly, the second to fourth printing presses are individually provided with a synchronous drive device, an electric motor, and a rotary encoder as shown in FIG.
Next, 06f, 07f, and 08f are a synchronous drive device, an electric motor, and a rotary encoder, respectively, for driving the folding machine 15f by synchronous control.

Thus, in FIG. 22 of the conventional example, the central control device 01 sends a speed command and a phase command to the synchronous drive devices 06a to 06f via the communication line 02. If the first printing press is taken as an example of the synchronous driving device group, the synchronous driving device 06a receives a speed command and a phase command from the central control device 01, and receives a speed feedback and a phase from the rotary encoder 08a. Feedback is detected, and the electric motor 07a is driven by synchronous control with high accuracy.
In commercial shaftless rotary printing presses, synchronous control that matches the rotational phase and rotational speed of each of the electric motors that drive the printing machines and the folding machines of yellow, cyan, magenta, and black with high accuracy. To achieve high-speed color printing. And this shaftless rotary press is compared with the conventional press with shaft,
(1-1) Installation is easy.
(1-2) A free printing press can be operated.
(1-3) Workability is improved.
(1-4) Waste paper is reduced.
(1-5) Maintenance becomes easy.
It has advantageous features such as.
Here, the infeed 05, the cooling 12 and the drag 13 are individually driven by an electric motor in speed tuning, but these are outside the scope of the present invention, and the description of the drive system such as the electric motor is omitted in FIG. is doing.

Next, with respect to FIG. 22 of the conventional example described so far, if a specific example of the rotary encoder 08a is shown, an incremental encoder 081 shown in FIG. 23 is conventionally used.
As shown in FIG. 23- (a), the incremental encoder 081 is a plurality of rectangular waves generated in accordance with rotation, and the A-phase signal and B-phase signal having a phase difference of 90 degrees and one rectangular wave per rotation. Outputs a Z-phase signal. FIGS. 23- (b), (c), and (d) illustrate temporal transitions of the A-phase signal, the B-phase signal, and the Z-phase signal when the incremental encoder 081 rotates.

In the conventional example, the synchronous drive device 06a in FIG. 22 has a feedback up / down counter (not shown) that can be cleared. The feedback up / down counter counts and inputs the A phase signal and the B phase signal of the incremental encoder 081. The up-count or down-count is performed according to the rotation direction, and the count value is cleared by using the Z-phase signal as a clear input to detect the rotation phase of one rotation. As a specific example, when an incremental encoder 081 having 19200ppr (Pulse per Round) of the A-phase signal and the B-phase signal is used per rotation, the A-phase signal and the B-phase signal are subjected to double processing. If the counting is input to the feedback up / down counter, the feedback up / down counter detects and outputs the rotational phase P of the electric motor 07a with the resolution of the following equation (1).
P = 19,200 × 4 = 76,800 (1) And when the rotational speed per minute of the electric motor 07a in FIG. 22 is 1600 min ⁻¹ , the frequency of the count input of the feedback up / down counter F is represented by the following equation (2).
F = 19200ppr × 4 × 1600 min ⁻¹ ÷ 60 s = 2. 048 MHz (2)

When such an incremental encoder 081 is used, the central control device 01 of FIG. 22 incorporates a virtual rotation command generation device (not shown). As the virtual rotation command generator, for example, the invention of the speed and position signal generator disclosed in Patent Document 1 is disclosed.
The speed and position signal generator of Patent Document 1 generates the A phase signal, the B phase signal, and the Z phase signal by electronic emulation. The synchronous drive device 06a incorporates a commandable up / down counter (not shown) that performs the same operation as the feedback up / down counter, and the command up / down counter includes the speed and position signal generator. The output A phase signal, B phase signal, and Z phase signal are input to detect the rotational phase of the command.
Synchronous control using the A-phase, B-phase, and Z-phase incremental signals on both the command side and the feedback side should be called incremental-type synchronous control, and the invention is disclosed in Patent Document 2. Yes.

The features of the incremental synchronous control are as follows (2-1) to (2-5).
(2-1) By using only three rectangular wave signals, the structure of the incremental encoder 081 is relatively simple and has few failures.
(2-2) The command and feedback incremental signal interfaces that the synchronous drive device 06a should have can have a relatively simple hardware configuration.
(2-3) The command and feedback up / down counters incorporated in the synchronous drive device 06a can have similar hardware configurations to improve reliability.
(2-4) The command and feedback up / down counter built in the synchronous drive device 06a counts in real time, and therefore can detect the rotational phase without counting delay time.
(2-5) The command and feedback up / down counters incorporated in the synchronous drive device 06a can be easily latched simultaneously. That is, it is possible to reliably detect the command at the same time and the rotational phase of the feedback.
On the other hand, items to be overcome in the incremental method are as follows (2-6) to (2-8).
(2-6) There is a limit to increasing the resolution of the rotation phase of one rotation, and in the conventional example, it is often used at about 100,000 or less as shown in the above equation (1).
(2-7) Even when the frequency of the count input by the A phase signal and the B phase signal exceeds 2 MHz as exemplified in the above equation (2), it is very difficult to increase the resolution of the rotational phase beyond this. It is.
(2-8) After turning on the power, the rotation phase cannot be detected until the Z-phase signal of the incremental encoder 081 becomes active.

Next, it is possible to use the absolute encoder 082 shown in FIG. 24 in addition to the incremental encoder 081 shown in FIG. 23 as the rotary encoder 08a shown in FIG. The absolute encoder 082 generates and outputs an absolute rotation phase having a binary k-bit length as shown in FIG. 24A, and the rotation phase P of one rotation is, for example, the following equation (3) such as a 24-bit length. High-resolution ones are also available.
P = 2 ²⁴ = 16,777,216 (3) Equation The absolute encoder 082 of FIG. 24- (a) is connected to the synchronous drive device 06a of FIG. Since it is not practical to connect in parallel to the synchronous drive unit 06a, it is usually connected by serial bidirectional communication. In the transmission / reception of the absolute rotation phase signal by this communication, FIG. 24- (b) shows the operation in which the synchronous drive device 06a transmits the request for the rotation phase to the absolute encoder 082 at the request times T1, T4 and the sampling period ΔT. Represents. FIG. 24- (c) schematically shows an operation in which the absolute encoder 082 acquires the absolute rotation phase at the detection time T2 and transmits an answer at the time T3. The sampling period ΔT is, for example, 0.1 ms to 1 ms.

Here, since the absolute encoder 082 detects the absolute rotation phase immediately after the power is turned on, the absolute encoder 082 is widely used for position control with acceleration and deceleration and further with a stop operation. However, the shaftless rotary printing machine is continuously operated at the top speed as much as possible in order to improve the productivity of printed matter. Then, when there is an indefinite time difference between the request time T1 and the detection time T2 in FIG. 24 and the time difference is set to 40 μs, for example, when driving at 1600 min ⁻¹ with the resolution of the equation (3), The rotational phase ΔP that transitions between the request time T1 and the detection time T2 has a value of 25.2 as shown in the following equation (4).

ΔP = [2 ²⁴ / (1600 min ⁻¹ ÷ 60 s)] × 40 μs × 10 ⁻⁶ = 25.2
... (4) formula

  In other words, the rotational phase P of the absolute encoder 082 has a large resolution such as the equation (3), but the delay corresponding to the equation (4) is delayed until the synchronous drive device 06a requests the rotational phase P to obtain the value. Accordingly, real-time detection becomes difficult, and this is estimated to be extremely disadvantageous for synchronous control of a shaftless rotary press or the like. Similarly, when the absolute rotation phase acquisition fails and retry is performed, such as when noise enters the communication line, it is necessary to wait for 0.1 ms to 1 ms.

Here, the control using the absolute encoder 082 should be called an absolute system, and its features are as follows (3-1) to (3-2).
(3-1) One having a resolution of one or more rotation phases is available.
(3-2) The rotation phase can be detected immediately after the power is turned on.
Further, when the application is to continuously operate at or near the top speed, such as a shaftless rotary printing press, the items to be overcome by the absolute encoder 082 are as follows.
(3-3) Since the absolute rotation phase is obtained by communication, it is difficult to detect the rotation phase in real time.
(3-4) Since the absolute rotation phase is obtained by communication, when a communication error is detected on the synchronous drive device 06a side, it takes time, for example, 0.1 ms to 1 ms to obtain the absolute rotation phase again. .
(3-5) Since it is difficult to detect the rotational phase in real time, it is also difficult to detect the rotational phase of the command and feedback at the same time.

Next, as the rotary encoder 08a of FIG. 22, the hybrid encoder 09 shown in FIG. 25 can be used in addition to the incremental encoder 081 of FIG. 23 and the absolute encoder 082 of FIG.
The hybrid encoder 09 incorporates functions of both an absolute encoder having a coarse resolution and an incremental encoder using SIN and COS signals instead of a rectangular wave. Patent Document 3 discloses an invention related to a hybrid encoder. FIG. 25- (a) is a part of FIG. 1 of Patent Document 3, and FIG. 25- (b) is Patent Document 3. Fig. 3- (f) is cited.

First, in FIG. 25- (a), the absolute encoder unit detects a rotational phase with binary resolution of R2 bits to (Ri + 1) bits with an i-bit resolution, and the synchronous drive device via bidirectional communication 02e. Sent to 06a. In the figure, the incremental encoder unit outputs SIN and COS signals having the number of cycles of 2 i or less per revolution from terminals S and C, which are also output to the synchronous drive device 06a via the signal line 02f.
FIG. 25- (b) illustrates the rotational phase of one rotation detected by the hybrid encoder 09, and the relative upper phase value TH and the sine wave section are coarse rotational phases output from the absolute encoder unit, and are interpolated phase values. Is a rotational phase interpolated from the SIN and COS signals output from the incremental encoder section. The “i bit” and “m bit” in FIG. 25- (b) are exemplified in the case of 10 bits and 12 bits, respectively, in Patent Document 3, and at this time, from the hybrid encoder 09, the following equation (5) As a result, it is possible to obtain a rotational phase exceeding about 16 million.
P = 1024 × 4 × 4096 = 16,777,216 (5)

Such a hybrid system using the hybrid encoder 09 has the advantages of the incremental encoder 081 and the absolute encoder 082, and the features are as follows (4-1) to (4-3). It is.
(4-1) One having a rotation phase resolution of 1 million or more is available.
(4-2) The rotation phase can be detected immediately after the power is turned on.
(4-3) The rotational phase can be detected in real time without any delay time.
Such a feature of the hybrid encoder 09 is suitable for synchronous control of a shaftless rotary printing press, and the present invention uses the hybrid encoder 09.
However, when the high-performance hybrid encoder 09 is used as feedback of the electric motor 07a of FIG. 22, a virtual rotation command generator excellent in the central control device 01 of FIG. There is a need. Next, a conventional example of a virtual rotation command generator used with the hybrid encoder 09 will be described.

SERCOS standardized in Europe and other patent documents 4 have been published for absolute and hybrid virtual rotation command generators instead of the incremental virtual rotation command generators disclosed in Patent Document 1. ing. Here, the SERCOS is a communication standard that enables position control of a plurality of electric motors, and the virtual rotation command generation device and the synchronous drive device must be prepared separately.
Patent Document 4 discloses an invention that realizes synchronous control by independently driving each motor in a drive system of a plurality of motors, and FIG. 2 of Patent Document 4 is cited in FIG. In FIG. 26, the drive master 7 of the multiple motor drive system includes an acceleration ramp signal generator 10, which outputs the rotation speed target value nL ^* , that is, a rotation speed command. Then, the rotation speed target value nL ^* is input via the synchronization bus 4 to the angle target value generator 12 included in the plurality of drive mechanism adjustment devices 1, and the angle target value generator 12 W ^* , that is, a rotational phase command is output.

That is, the acceleration ramp signal generator 10 and the angle target value generator 12 are connected in series, and the angle target value generator 12 inputs the rotation speed target value nL ^* (rotational speed command) and receives the angle target value W ^*. (Rotation phase command) is output.
Further, in contrast to the incremental virtual rotation command generator according to Patent Document 1, since the rotation speed target value nL ^* is transmitted as numerical data to the synchronization bus 4 of Patent Document 4, the drive master 7 can be said to be an absolute virtual rotation command generator. In addition to this, when the rotational speed generator 20 uses the absolute encoder of FIG. 24, in the present invention, it is called absolute synchronous control.

Next, a conventional example by the present inventor is shown in Patent Document 5, which is an invention related to a communication device for synchronous control.
In this patent document 5, the master control command transmitter built in the master station sends the command data and the frame signal, which are a set of phase command data, phase change data, speed command data, and speed change data, to a plurality of slave stations. Each slave station incorporates a synchronous control command receiver and a timer to receive the command data and record the reception time of the frame signal. As a result, each slave station calculates the interpolation phase command data and the interpolation speed command data at an arbitrary time independently of the communication scan, and executes synchronous control.
In Patent Document 5, a command is sent from the master station as numerical data to a plurality of slave stations, and each slave station performs an interpolation calculation. That is, since the absolute data transmitted by the master station is corrected, it can be said to be a hybrid type virtual rotation command generator. In addition to this, when the hybrid encoder 09 shown in FIG. 22 is used as the rotary encoder of the electric motor, in the present invention, it is referred to as hybrid type synchronous control hereinafter.

Incidentally, although the means for generating the phase command data, phase change data, speed command data, and speed change data transmitted from the master station is not clearly specified in the above-mentioned Patent Document 5, the method shown in FIG. This conventional example will be described next.
For example, the master station of Patent Document 5 includes an acceleration / deceleration pattern generator and a phase generator (not shown), and the acceleration / deceleration pattern generator inputs a speed setting and outputs a slowly changing speed command, The phase generator inputs the speed command and outputs a phase command. FIG. 27 illustrates these.

First, FIGS. 27- (a) and (b) show temporal transitions of the speed setting Vs as an input and the speed command Vr as an output for the operation of the acceleration / deceleration pattern generator, respectively, and are not shown. The same applies to the case where is a deceleration.
As shown in FIG. 27- (a), even if the speed setting Vs changes in a positive direction from Vs1 to Vs2 in a stepwise manner at time T1, the acceleration / deceleration pattern generator is The speed command Vr for accelerating with a gentle inclination is output. Further, in the acceleration start section and the acceleration arrival section, the speed command Vr has a more gradual S-characteristic and is made shockless so as not to impair the quality of the product. The invention is disclosed in Patent Document 6 regarding the generator.

Next, FIG. 27- (c) shows an example in which the phase generator inputs the speed command Vr and generates the phase command Pr. That is, in the phase generator, a microprocessor (not shown) samples the speed command Vr at a period ΔT, and the speed command Vr (t [n−1]) is respectively obtained at times t [n−1] and t [n]. ), Vr (t [n]) is obtained. Then, at time t [n], the phase command Pr (t [n]) is calculated using the speed command as in the following equation (6). In the equation (6), Pr (t [n-1]) is a phase command obtained at time t [n-1].
Pr (t [n]) = Pr (t [n−1]) + Vr (t [n−1]) × ΔT (6)

  Here, the integral calculation according to the equation (6) is a calculation for obtaining a stepped area as shown in FIG. 27- (c), and an error occurs with respect to the true integral value. Here, when the absolute encoder 082 is used or the hybrid encoder 09 is used, a high-resolution rotational phase exemplified in the equations (3) and (5) can be obtained. Therefore, the virtual rotation command generation device used with these encoders must be a device that generates a high-resolution rotation phase equivalent to or exceeding the above equations (3) and (5).

  Further, Patent Document 6 discloses an invention of an S-shaped acceleration / deceleration pattern generation device, which enables a motor to be operated shocklessly with a speed command as an S-shape. However, due to the new customer needs accompanying the subsequent technological innovation, it is necessary to perform synchronous control that aligns the rotational phases of multiple motors with high accuracy. Therefore, a virtual rotation command generator that generates a shockless speed command according to Patent Document 6 and a high-accuracy phase command precisely corresponding to the speed command is required.

  Furthermore, when the absolute or hybrid virtual rotation command generator of high resolution and high performance and the hybrid encoder are prepared, a synchronous drive device that inputs the signals output from these and drives the motor with high accuracy is required. It is. That is, in order to realize a highly accurate synchronous control system, a real-time synchronization control system is constructed by unifying the virtual rotation command generation device, the hybrid encoder, and the synchronous drive device without individually designing them. Control needs to be implemented.

Japanese Patent No. 2938844 JP 2001-309681 A JP 2006-194766 A Special Table 2000-512480 JP 2005-245129 A JP 2001-166802 A

Although the background art of synchronous control has been described as described above, the problems to be solved by the present invention are as follows.
(5-1) A high-resolution and high-accuracy virtual rotation command generator corresponding to a hybrid-type and absolute-type high-resolution rotary encoder is required.
When there is no high-resolution, high-precision virtual rotation command generator, the performance of the synchronous control system is limited by the virtual rotation command generator, and the performance of the high-resolution rotary encoder cannot be utilized.
(5-2) In the absolute type virtual rotation command generator, conventionally, the speed command and the phase command are not physically accurate. This is an error in the speed command or phase command, which is an obstacle to accurate synchronous control.
(5-3) The speed command, the phase command, the speed feedback, and the phase feedback have excellent resolution and accuracy and need to be detected at an arbitrary time in real time.
(5-4) The performance of the synchronous control system is determined by the worst device. In order to construct an accurate synchronous control system, the virtual rotation command generator, the rotary encoder, and the synchronous drive device should be designed based on a unified concept.

  The present invention has been made in view of the above, and an object of the present invention is to make a hybrid virtual rotation command generator, a hybrid rotary encoder, and a synchronous drive device correspond to each other so that a high-resolution rotary encoder can be used. It is to realize an accurate synchronous control system that effectively utilizes the performance of the system.

In the present invention, the above problem is solved as follows.
(1) The synchronous control system is configured by a centralized control device incorporating a virtual rotation command generation device, a plurality of sets of synchronous drive devices, and an electric motor.
The virtual rotation command generator has a built-in phase speed command calculator, and the phase speed command calculator increases slowly during acceleration based on a speed setting signal and a preset acceleration / deceleration time characteristic. Acceleration start speed command pattern and corresponding phase command pattern, acceleration constant speed command pattern with constant acceleration and corresponding phase command pattern, acceleration arrival speed command pattern in which acceleration gradually decreases from a predetermined acceleration, and corresponding A phase command pattern is calculated and generated. During deceleration, the deceleration start speed command pattern that gradually increases deceleration, the corresponding phase command pattern, the constant deceleration command pattern with constant deceleration, and the corresponding phase command Deceleration arrival speed command pattern and phase corresponding to deceleration A command pattern is generated by calculation, and an S-shaped acceleration characteristic is obtained based on the phase command pattern corresponding to the acceleration start speed command pattern, the constant acceleration speed command pattern, and the acceleration arrival speed command pattern, and the deceleration start speed Based on the command pattern, the constant deceleration speed command pattern, and the phase command pattern corresponding to the deceleration arrival speed command pattern, the S-shaped deceleration characteristics are obtained, and the speed command and the phase are determined based on the S-shaped acceleration characteristics and deceleration characteristics. Generate directives.
The speed command and the phase command are sent as phase speed command communication signals to the plurality of sets of synchronous drive devices via a communication line.
Each of the plurality of electric motors is attached with a hybrid encoder, and the hybrid encoder outputs a rotational phase as an absolute signal and outputs a SIN signal and a COS signal as incremental signals.
Further, the synchronous drive device comprises a phase velocity command detection device that extracts a phase command and a velocity command from a phase velocity command communication signal sent via the communication line, and an absolute signal and an incremental signal output from the hybrid encoder. A phase speed FB detection device for detecting a phase feedback signal and a speed feedback signal, and the synchronous drive device determines the speed and phase of the electric motor based on the outputs of the phase speed command detection device and the phase speed FB detection device. Control is performed so as to follow the speed command and phase command output from the rotation command generator.
(2) The synchronous control system is configured by a centralized control device incorporating a virtual rotation command generation device, a plurality of sets of synchronous drive devices, and an electric motor.
The virtual rotation command generating device is inputted with a preset speed setting signal, and from this speed setting signal, a speed command having an S-shaped acceleration / deceleration characteristic in which the speed command changes into an S shape over time. And a phase speed command calculator for calculating and generating a corresponding phase command and outputting the generated speed command and phase command to the outside as a phase speed command communication signal.
The phase speed command computing unit includes a rated speed Vsm, a rated acceleration time Tα0, an acceleration start time Tα1, an acceleration arrival time Tα3 until the speed command becomes the rated speed Vsm at the time of acceleration, and a speed command at the time of deceleration. Acceleration / deceleration time characteristics consisting of a rated deceleration time Tβ0, a deceleration start time Tβ1, and a deceleration arrival time Tβ3 until the speed becomes zero from the rated speed Vsm is set. Based on the acceleration / deceleration time characteristics, The acceleration start speed command pattern in which the acceleration gradually increases during the acceleration start time Tα1 and the corresponding phase command pattern, and the acceleration between the above-mentioned [rated acceleration time Tα0−acceleration start time Tα1−acceleration arrival time Tα3] is constant. Between the acceleration constant speed command pattern and the corresponding phase command pattern and the acceleration arrival time Tα3. The acceleration command speed command pattern that decreases and the speed command reaches the rated speed Vsm and the corresponding phase command pattern are generated by calculation.
Further, at the time of deceleration, during the deceleration start time Tβ1, a deceleration start speed command pattern in which the speed command decreases from the rated speed Vsm and deceleration gradually increases, and a phase command pattern corresponding thereto, [rated acceleration Deceleration constant speed command pattern with constant deceleration between time Tβ0-acceleration start time Tβ1-acceleration arrival time Tβ3], phase command pattern corresponding thereto, and speed command drop to 0 between the deceleration arrival time Tβ3. The deceleration arrival speed command pattern in which the deceleration gradually decreases and the corresponding phase command pattern are generated by calculation.
The S-shaped acceleration characteristic is obtained based on the acceleration start speed command pattern, the constant acceleration speed command pattern, and the phase command pattern corresponding to the acceleration arrival speed command pattern, and the deceleration start speed command pattern, constant deceleration speed. Based on the command pattern and the phase command pattern corresponding to the deceleration arrival speed command pattern, the S-shaped deceleration characteristics are obtained, and the speed command and the phase command are generated based on the S-shaped acceleration characteristics and deceleration characteristics, The speed command and the phase command are sent as phase speed command communication signals to the plurality of sets of synchronous drive devices via a communication line.
Each of the plurality of electric motors is attached with a hybrid encoder, and the hybrid encoder outputs a rotation phase with a resolution of 2 to the power of 2 or more as an absolute signal, and a cycle number of 2 to the power of 2 or less per rotation as an incremental signal. SIN signal and COS signal are output.
The synchronous drive device extracts a phase command and a velocity command from a phase velocity command communication signal sent via the communication line, a phase velocity command detection device that extracts a phase command and a velocity command, and an absolute signal and an incremental signal output from the hybrid encoder, A phase velocity FB detection device for detecting a feedback signal and a velocity feedback signal, wherein the synchronous drive device determines the speed and phase of the motor based on the outputs of the phase velocity command detection device and the phase velocity FB detection device; Control to follow the command of the command generator.

(3) In the above (2), the phase speed command calculator built in the virtual rotation command generator is based on the speed command function Vα1 composed of (αa × t ² ) and the cube of time when accelerating ( (αa / 3 × t ³ ) is generated, and the coefficient αa is calculated in advance from the acceleration / deceleration time characteristics, and the acceleration start speed command pattern at the acceleration start time Tα1 is defined as the speed command function Vα1. And an acceleration start phase command pattern at the acceleration start time Tα1 is determined based on the phase command function Pα1, and a speed command function Vα2 composed of (αb × t) proportional to time for a certain period of acceleration and time of generating the phase command function Pα2 consisting by the square ^{(αb / 2 × t 2)} , the coefficient .alpha.b is determined by calculating in advance from the acceleration and deceleration time characteristic, acceleration one regular The acceleration constant speed instruction pattern with defined based on the speed command function Vα2 in, defining on the basis of the acceleration constant phase command pattern in the constant acceleration period to the phase command function Parufa2.
Further, for the acceleration arrival time Tα3, a speed command function Vα3 that is {−αd × (t−Tα3) ² + αf} by the square of time, and {−αd / 3 × (t−Tα3) ³ by the cube of time. }, The coefficient αd is calculated and determined in advance from the acceleration / deceleration time characteristics, an acceleration arrival speed command pattern at the acceleration arrival time Tα3 is determined based on the speed command function Vα3, and the acceleration An acceleration arrival phase command pattern at the arrival time Tα3 is determined based on the phase command function Pα3.
The synchronous control system according to claim 2.
(4) In the above (3), the phase speed command calculator included in the virtual rotation command generator constantly monitors the speed setting as an input and the speed command as an output, and the speed setting changes. Unlike the speed command, the speed setting change amount is positive, and the speed setting change amount adds an increase amount of the speed command during the acceleration start time Tα1 and an increase amount of the speed command at the acceleration arrival time Tα3. When the value exceeds the value, acceleration / deceleration mode 1 is set.
In the acceleration / deceleration mode 1, the acceleration start speed command pattern in which the acceleration gradually increases and the phase command pattern corresponding to the acceleration start speed command pattern, the acceleration constant speed command pattern in which the acceleration is constant and the phase command pattern corresponding thereto, and the acceleration from the predetermined acceleration An acceleration arrival speed command pattern that gradually decreases and a phase command pattern corresponding thereto are calculated and generated, and an S-shaped acceleration characteristic is obtained from these command patterns.
Further, when the speed setting change amount is positive and the speed setting change amount is equal to or less than the sum of the increase amount of the speed command during the acceleration start time Tα1 and the increase amount of the speed command during the acceleration arrival time Tα3. Set to deceleration mode 2.
In the acceleration / deceleration mode 2, the acceleration start speed command pattern in which the acceleration gradually increases and the phase command pattern corresponding to the acceleration start speed command pattern, and the phase command corresponding to the acceleration arrival speed command pattern in which the acceleration gradually decreases from the predetermined acceleration, respectively. A pattern is calculated and generated, and S-shaped acceleration characteristics are obtained from these command patterns.
(5) In (4), in the acceleration / deceleration mode 1, the acceleration start speed command pattern at the acceleration start time Tα1 is determined based on the speed command function Vα1, and the acceleration start phase command pattern at the acceleration start time Tα1 is determined. Based on the phase command function Pα1, a constant acceleration speed command pattern in a constant acceleration period is determined based on the speed command function Vα2, and a constant acceleration phase command pattern in the constant acceleration period is determined based on the phase command function Pα2. An acceleration arrival speed command pattern at the arrival time Tα3 is determined based on the speed command function Vα3, and an acceleration arrival phase command pattern at the acceleration arrival time Tα3 is determined based on the phase command function Pα3.
The synchronous control system according to claim 4.
(6) In the above (4), when the acceleration / deceleration mode 2 is selected, a reduced acceleration start time TαEL that is smaller than the acceleration start time Tα1 is calculated from the acceleration / deceleration time characteristics, and is generated. Is determined by the acceleration start time TαEL and the speed command function Vα4 derived from the speed command function Vα1, and the acceleration start phase command pattern at the acceleration start time TαEL is determined by the acceleration start time TαEL and the phase. It is determined based on the phase command function Pα4 derived from the command function Pα1, and is generated by calculating a shortened acceleration arrival time TαLK that is smaller than the acceleration arrival time Tα3 from the acceleration / deceleration time characteristics. Acceleration arrival speed command pattern is determined based on the acceleration arrival time TαLK and the speed command function Vα3. Together define the speed command function Vα5 derived, the acceleration reaches phase command pattern in the acceleration arrival time TiarufaLK and the acceleration arrival time TiarufaLK, determined on the basis of the phase instruction function Pα5 derived from the phase command function Parufa3.
The synchronous control system according to claim 4.
(7) In the above (1), (2), (3), (4), (5), and (6), the phase speed command calculator built in the virtual rotation command generation device uses the time signal as a reference for the acceleration / deceleration. The speed command and the phase command are calculated independently based on the time characteristics.
The synchronous control system according to claim 1, 2, 3, 4, 5 or 6. (8) In the above (1), (2), (3), (4), (5), and (6), the phase speed command calculator built in the virtual rotation command generator includes means for holding a preset phase input. When a preset phase input is given from the outside, the phase command is calculated independently of the speed command using the preset phase input as an initial value.
The synchronous control system according to claim 1, 2, 3, 4, 5 or 6.

(9) The synchronous control system is configured by a centralized control device incorporating a virtual rotation command generation device, a plurality of sets of synchronous drive devices, and an electric motor.
The virtual rotation command generator includes a frame signal generator and a phase speed command calculator, and the frame signal generator sends a calculation start signal to the phase speed command calculator at a predetermined time interval, A reference frame signal is generated and sent to the plurality of sets of synchronous drive devices.
The phase speed command calculator has an S-shape in which the speed command changes in an S-shape with the passage of time from a preset speed setting signal with the calculation start signal sent from the frame signal generator as a time reference. The speed command Vr having the acceleration / deceleration characteristics and the phase command Pr corresponding thereto are calculated and generated. The speed command and the phase command at the time when the frame signal is output are sent as phase speed command communication signals to the plurality of sets of synchronous drive devices via a communication line.
Each of the plurality of electric motors is attached with a hybrid encoder, and the hybrid encoder outputs a rotational phase as an absolute signal and outputs a SIN signal and a COS signal as incremental signals.
The synchronous drive device extracts a phase command and a velocity command from a phase velocity command communication signal sent via the communication line, a phase velocity command detection device that extracts a phase command and a velocity command, and an absolute signal and an incremental signal output from the hybrid encoder, A phase velocity FB detection device for detecting a feedback signal and a velocity feedback signal, wherein the synchronous drive device has a built-in control timer, and records a time output by the control timer when the frame signal is received;
The synchronous drive device outputs a latch signal when performing a synchronous control operation, obtains a synchronous control processing time from the control timer based on the latch signal, and receives a speed command, a phase received from the virtual rotation command generator. From the time when the command and the frame signal are received, the interpolation speed command and the interpolation phase command at the synchronous control processing time are obtained, and at the timing when the latch signal is output, the absolute signal and the incremental signal of the hybrid encoder are obtained. The phase feedback signal and the speed feedback signal are obtained from this, the interpolation speed command at the same time, the interpolation phase command and the phase feedback signal, and the speed feedback signal are compared, and the speed and phase of the electric motor are set to the virtual rotation command. Control to follow generator command
(10) The synchronous control system is composed of a centralized control device incorporating a virtual rotation command generating device, a plurality of sets of synchronous drive devices, and an electric motor.
The virtual rotation command generator includes a frame signal generator and a phase velocity command calculator, and the frame signal generator is counted up by a pulse signal having a constant frequency and cleared when a predetermined count value is reached. A frame timer is provided, and a calculation start signal is sent to the phase velocity command calculator at a predetermined time interval, and a frame signal serving as a time reference is generated and sent to the plurality of sets of synchronous drive devices.
The phase speed command computing unit is an S-shaped signal in which the speed command changes in an S shape over time from a preset speed setting signal with the computation start signal sent from the frame signal generator as a time reference. The speed command Vr having the acceleration / deceleration characteristics and the phase command Pr corresponding thereto are generated by calculation. Before the time t [n] at which the frame signal is transmitted, the speed command Vr (t [n]) and the phase command Pr (t [n]) at the time t [n], and the time t [n] A speed command deviation ΔVr (t [n + 1]) which is a speed command difference between times t [n + 1] and a phase command deviation ΔPr (t [n + 1]) which is a phase command difference are used as the phase speed command communication signal. By time t [n], the data is sent from the communication line to the plurality of sets of synchronous drive devices.
The frame signal generator sends a frame signal from the communication line to the synchronous drive device at time t [n] after the transmission time.
Each of the plurality of electric motors is attached with a hybrid encoder, and the hybrid encoder outputs a rotation phase with a resolution of 2 to the power of 2 or more as an absolute signal, and a cycle number of 2 to the power of 2 or less per rotation as an incremental signal. SIN signal and COS signal are output.
The synchronous drive device is sent from the phase speed command communication signal sent from the communication line, a phase speed command detection device that extracts a phase command and a speed command, and an absolute signal and an incremental signal output from the hybrid encoder, A phase velocity FB detection device for detecting a phase feedback signal and a velocity feedback signal is provided.
The synchronous drive device incorporates a control timer, and the phase velocity command detection device transmits a velocity command Vr (t [n]) and a phase command Pr (t [n]) and a time t by the phase velocity command communication. The control timer when receiving the frame signal and receiving the speed command deviation ΔVr (t [n + 1]) and the phase command deviation ΔPr (t [n + 1]) between [n] and time t [n + 1] The time t [n] to be output is recorded, and the synchronous drive device outputs a latch signal when performing a synchronous control operation, and the synchronous control processing time tf [n] when the latch signal is output from the control timer. And the interpolation speed command Vh (tf [n]) and the interpolation phase command Ph (tf [n] at the synchronized control processing time tf [n] based on the recorded time t [n] and the received signal. ]) The phase feedback signal and the speed feedback signal at the synchronization control processing time tf [n] are obtained in synchronization with the latch signal, the interpolation phase command, the interpolation speed command, the phase feedback signal, and the speed feedback signal are compared, and the electric motor Are controlled so as to follow the command of the virtual rotation command generator.

(11) In the above (10), the phase velocity FB detector initializes the upper i bits of the detected rotational phase with the absolute signal, and then converts the upper i bits into one cycle of the SIN signal or COS signal. Counting and updating each time, the lower (m + 2) bits of the rotation phase are interpolated with an electrical angle obtained by quantifying the SIN signal and the COS signal with an A / D converter.
The synchronous control system according to claim 10.
(12) A centralized control device having a built-in virtual rotation command generating device, a plurality of sets of synchronous drive devices, and an electric motor. The virtual rotation command generating device receives a speed setting signal set in advance, and this speed setting From the signal, a speed command having an S-shaped acceleration / deceleration characteristic in which the speed command changes into an S shape with the passage of time and a phase command corresponding thereto are generated, and the generated speed command and phase command Phase speed command calculator for outputting to the outside as a phase speed command communication signal, the speed command and the phase command are sent as phase speed command communication signals to the plurality of sets of synchronous drive devices via a communication line, Each of the plurality of electric motors is attached with a hybrid encoder, and the hybrid encoder outputs a rotational phase as an absolute signal with a resolution of 2 to the power of i or more. As the incremental signal, a SIN signal and a COS signal having a cycle number of 2 to the power of 1 or less per rotation are output, and the synchronous drive device receives the phase command and the speed from the phase speed command communication signal sent via the communication line. A phase speed command detection device that extracts a command, and a phase speed FB detection device that detects a phase feedback signal and a speed feedback signal from an absolute signal and an incremental signal output from the hybrid encoder, and the synchronous drive device includes: In the synchronous start-up method in the synchronous control system for controlling the speed and phase of the motor so as to follow the command of the virtual rotation command generator based on the outputs of the phase speed command detection device and the phase speed FB detection device, the shaftless The rotary printing machine is operated at a slow speed with a slow speed. After that, the centralized control device turns on phase control, and immediately initializes the phase feedback signal of the hybrid encoder of the folding machine by presetting the phase to the phase command generated by the phase speed command computing unit. Thus, the folding machine shifts to synchronous control without performing origin adjustment control, the plurality of printing presses perform origin adjustment and then shift to synchronous control, and the plurality of printing presses complete origin matching or The speed command is increased during the home position adjustment.

In the present invention, the following effects can be obtained.
(1) A high-resolution, high-accuracy virtual rotation command generator corresponding to the absolute method and the hybrid method is realized, and high-precision synchronous control can be realized using a high-resolution rotary encoder.
In addition, since the virtual rotation command generation device of the present invention calculates and generates the speed command and the phase command independently, for example, an error generated by the speed command does not affect the phase command and performs high-precision control. Can be realized.
(2) Since the virtual rotation command generator generates and outputs an S-shaped acceleration / deceleration speed command pattern in which acceleration changes gradually and a phase command pattern corresponding to the S-shaped acceleration / deceleration speed command pattern, the motor speed and phase can be changed shocklessly. And production such as printing can be performed with high quality.
Also, by setting parameters such as rated speed Vsm, rated acceleration time Tα0, acceleration start time Tα1, acceleration arrival time Tα3, rated deceleration time Tβ0, deceleration start time Tβ1, and deceleration arrival time Tβ3, S-shaped An acceleration / deceleration speed command pattern and a phase command pattern corresponding to the acceleration / deceleration speed command pattern can be generated, and an S-shaped acceleration / deceleration pattern can be easily set visually.
(3) The synchronous drive device can detect the speed and phase of the command and feedback in real time without being restricted by the communication cycle, and can detect the speed and phase of the command and feedback at the same time. Thus, the correct speed deviation and phase deviation can be obtained. For this reason, highly accurate synchronous control is possible without delay.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows the overall configuration of a synchronous control system using the present invention, FIGS. 2 to 16 show a first embodiment relating to a virtual rotation command generating device of the present invention, and FIGS. 17 to 20 show embodiments relating to a synchronous drive device 06a of the present invention. 2 and FIG. 21 are diagrams for explaining a third embodiment relating to a synchronous activation method in the synchronous control system of the present invention.

1. Overall Configuration In order to facilitate the description of the present invention, first, a synchronous control system is shown in FIG.
In FIG. 1, reference numerals 01 and 0101 denote a central control device and a virtual rotation command generator, respectively. The virtual rotation command generator 0101 is built in the central control device 01 and generates and outputs a phase command and a speed command.
Next, 02a and 02b are a phase speed command communication and a frame signal, respectively. The phase speed command communication 02a and the frame signal 02b constitute a virtual rotation command communication line 02c as a set, and the virtual rotation command generation device 0101 The phase command and speed command generated by are output to the synchronous drive devices 06a to 06f described later via the virtual rotation command communication line 02c.

  Reference numerals 06a, 07a, and 09a are a synchronous drive device, an electric motor, and a hybrid encoder, respectively, which constitute the drive unit of the first printing press 10a. The synchronous drive device 06a and the phase velocity command detection device 0601 are phase velocity components. An FB detection device 0602 is incorporated. The phase velocity command detection device 0601 is connected to the virtual rotation command communication 02c to detect a phase command and a velocity command, and the phase velocity FB detection device 0602 is connected to the hybrid encoder 09a through an encoder communication 02g to provide phase feedback. Detect speed feedback.

Similarly, 06b, 07b, and 09b are a synchronous drive device, an electric motor, and a hybrid encoder, respectively, and constitute a drive unit of the second printing press 10b, and 06f, 07f, and 09f are also a synchronous drive device, an electric motor, and An apparatus that is a hybrid encoder and constitutes the drive unit of the folding machine 15f and is assigned the same number as the first printing machine 10a has the same function.
Reference numeral 02d denotes a general-purpose communication line such as DEVICE-NET, PROFIBUS, or OPCN1, which is used for exchange of normal sequence signals, control, and monitoring data between the central control device 01 and the synchronous drive devices 06a to 06f. Here, referring to FIG. 1, the devices related to the present invention are the virtual rotation command generation device 0101, the phase velocity command detection device 0601, and the phase velocity FB detection device 0602.

2. Example 1 (Virtual rotation command generator)
Next, a configuration example of the first embodiment of the present invention is shown in FIG.
FIG. 2 is a block diagram for explaining the functions of the virtual rotation command generator 0101. The virtual rotation command generator 0101 is roughly composed of a frame signal generator 0102 and a phase speed command calculator 0112. In FIG. 2, thick signal lines indicate the flow of numerical data (integer data or real number data), and thin signal lines indicate the flow of bit data (on / off signal).

(A) Frame Signal Generator First, in the frame signal generator 0102, 0103, 0104, 0105, and 0106 are a transmitter, a frame timer, a comparator, and a frame timer maximum register, respectively. The transmitter 0103 is a high-precision crystal oscillator, and supplies a constant frequency signal such as 20 MHz or 40 MHz to the frame timer 0104. The frame timer 0104 counts the constant frequency signal and outputs the count value C. The comparator 0105 inputs the count value C and the frame timer maximum value Cmax set in the frame timer maximum register 0106 and compares them.
When the count value C becomes equal to or greater than the frame timer maximum value Cmax, the count value C of the frame timer 0104 is set to zero and a frame signal 02b described later is output.
Accordingly, the count value C changes like a sawtooth wave having a constant period, and the frame signal 02b is generated with an accurate period (for example, 0.2 ms). Reference numeral 0107 denotes a signal interface which electrically insulates the output of the comparator 0105, converts the level, and outputs a frame signal 02b.

  Further, in the frame signal generator 0102, 0108 and 0109 are a comparator and an operation start register, respectively, and the comparator 0108 inputs the count value C and the operation start value Ca built in the operation start register 0109 for comparison. . When the count value C becomes equal to the calculation start value Ca, a calculation start signal is sent to a phase speed command calculator 0112 described later. The calculation start signal serves as a trigger for the calculation of the phase command and the speed command in the current scan as will be described later.

(B) Phase speed command calculator Next, the configuration of the phase speed command calculator 0112 will be described. First, 0111 and 0114 respectively indicate a speed setter and a parameter input device. The speed setter 0111 gives a speed setting Vs to the phase speed command calculator 0112. The phase speed command calculator 0112 is a device for generating an S-shaped acceleration / deceleration pattern, and the parameter input device 0114 is an S-shaped acceleration / deceleration. This is a device for setting the acceleration / deceleration time characteristics of the pattern.
The phase speed command calculator 0112 obtains the acceleration / deceleration time characteristics and calculates acceleration / deceleration acceleration / deceleration parameters in advance, and the acceleration / deceleration parameters determine a speed command function and a phase command function corresponding to a mode to be described later. . Then, an acceleration / deceleration mode is determined according to the change of the speed setting Vs by the speed setting unit 0111, and an S-shaped acceleration / deceleration and phase command pattern are generated by the speed command function and the phase command function.

That is, at the time of acceleration, the acceleration start speed command pattern in which the acceleration gradually increases, the phase command pattern corresponding thereto, the constant acceleration command pattern with constant acceleration and the corresponding phase command pattern, and the acceleration from the predetermined acceleration gradually The acceleration arrival speed command pattern and the phase command pattern corresponding to the acceleration arrival speed command pattern are reduced and calculated, and based on the phase command pattern corresponding to the acceleration start speed command pattern, the constant acceleration speed command pattern and the acceleration arrival speed command pattern. S-shaped acceleration, phase command pattern is obtained.
In addition, during deceleration, the deceleration start speed command pattern that gradually increases deceleration and the corresponding phase command pattern, the constant deceleration command pattern with constant deceleration and the corresponding phase command pattern, and slow deceleration Based on the phase command pattern corresponding to the deceleration start speed command pattern, the deceleration constant speed command pattern, and the deceleration arrival speed command pattern, respectively, generated by calculating the decreasing deceleration arrival speed command pattern and the corresponding phase command pattern, The S-shaped deceleration and phase command pattern is obtained.

Further, a description will be given of the devices incorporated in the phase velocity command calculator 0112 of FIG. 0113 indicates a parameter calculator, 0115, 0116, and 0117 indicate AND gates. 0118, 0119, and 0120 indicate an acceleration / deceleration mode 0 generator, an acceleration / deceleration mode 1 generator, and an acceleration / deceleration mode 2 generator, respectively. Show.
The parameter calculator 0113 calculates acceleration / deceleration parameters in advance according to the setting of the parameter input device 0114. The parameter calculator 0113 inputs the speed setting Vs output from the speed setting unit 0111 from the terminal Vs, inputs a speed command Vr described later from the terminal Vr, and compares the speed setting Vs with the speed command Vr. When both are equal and at the same time the speed setting Vs is not changed, the acceleration / deceleration mode 0 is made active. Further, when the speed setting Vs changes and the speed setting Vs and the speed command Vr are not equal, the acceleration / deceleration mode 1 or the acceleration / deceleration mode 2 is made active according to the magnitude of the deviation between them and the acceleration / deceleration parameter.

  The parameter calculator 0113 outputs the acceleration / deceleration parameter, which is the numerical data thus obtained, from the terminal PARA. The states of the acceleration / deceleration mode 0, acceleration / deceleration mode 1, and acceleration / deceleration mode 2 are output from terminals m0, m1, and m2, respectively, and the acceleration / deceleration mode 0 generator 0118 and acceleration / deceleration mode 1 generator 0119, respectively. And a mode signal to the acceleration / deceleration mode 2 generator 0120. For example, when the acceleration / deceleration mode 0 is active, the terminal m0 outputs “1”, and the other terminals m1 and m2 output “0”.

Next, the AND gate 0115 in FIG. 2 inputs the calculation start signal and the state of the acceleration / deceleration mode 0. When the acceleration / deceleration mode 0 is active and the calculation start signal becomes active, the AND gate 0115 The calculation start command which is an output of 0115 is active (“1”).
When the calculation start command is input to the CK terminal of the acceleration / deceleration mode 0 generator 0118 and the calculation start command becomes active, the acceleration / deceleration mode 0 generator 0118 receives the speed command Vr0 ( t [n + 1]) and a phase command deviation ΔPr0 (t [n + 1]) between time t [n] and time t [n + 1] are predicted and output.

When the acceleration / deceleration mode 1 is active, the AND gate 0116 also sends a calculation start command to the acceleration / deceleration mode 1 generator 0119, and the acceleration / deceleration mode 1 generator 0119 sends a speed command Vr1 at time t [n + 1]. (T [n + 1]) and a phase command deviation ΔPr1 (t [n + 1]) between time t [n] and time t [n + 1] are predicted and output.
Similarly, when the acceleration / deceleration mode 2 is active, the AND gate 0117 also sends a calculation start command to the acceleration / deceleration mode 2 generator 0120, and the acceleration / deceleration mode 2 generator 0120 sends a speed command at time t [n + 1]. Vr2 (t [n + 1]) and a phase command deviation ΔPr2 (t [n + 1]) between time t [n] and time t [n + 1] are predicted and output.

Next, in the phase speed command calculator 0112 of FIG. 2, 0121, 0122, and 0123 are a selector, a speed command buffer, and a phase command buffer, respectively. The selector 0121 includes numerical data such as the speed command Vr0 (t [n + 1]) and phase command deviation ΔPr0 (t [n + 1]) in the acceleration / deceleration mode 0, and the speed command Vr1 (t [n + 1]) in the acceleration / deceleration mode 1. The phase command deviation ΔPr1 (t [n + 1]), the speed command Vr2 (t [n + 1]) of the acceleration / deceleration mode 2 and the phase command deviation ΔPr2 (t [n + 1]) are input. Further, the acceleration / deceleration mode 0, acceleration / deceleration mode 1, and acceleration / deceleration mode 2 signals are input from terminals m0, m1, and m2, respectively, as selection signals.
The selector 0121 selects one set of speed command and phase command deviation from the three types of acceleration / deceleration modes according to the state of the acceleration / deceleration mode 0 to acceleration / deceleration mode 2, and selects a speed command Vr (t [n + 1] ) And phase command deviation ΔPr (t [n + 1]).

Next, the speed command buffer 0122 receives the speed command Vr (t [n + 1]) output from the selector 0121. By the way, the speed command buffer 0122 holds the speed command Vr (t [n]) at the time t [n] input in the previous scan, and the speed command Vr (t [n]) in the current scan. And Vr (t [n + 1]) is calculated as a speed command deviation ΔVr (t [n + 1]). Then, the speed command buffer 0122 outputs the speed command Vr (t [n]) and the speed command deviation ΔVr (t [n + 1]) in the current scan as shown in the following equation (7).
Speed command Vr (t [n])
Speed command deviation ΔVr (t [n + 1]) (7)

Next, the phase command buffer 0123 receives the phase command deviation ΔPr (t [n + 1]) output from the selector 0121. Here, the phase command deviation ΔPr (t [n + 1]) is obtained by calculating the phase command deviation between the time t [n] and the time t [n + 1]. The phase command buffer 0123 is used in the previous scan. Similarly, the phase command deviation ΔPr (t [n]) is input. The phase command buffer 0123 calculates the phase command shown in the following equation (8) in the current scan.
Phase command Pr (t [n]) = Pr (t [n−1]) + ΔPr (t [n]) (8) where the maximum value of the rotational phase is Pmax, the above equation (8) When the phase command Pr (t [n]) is equal to or greater than the maximum value Pmax, the rotational phase is obtained by performing the correction calculation of the following equation (9).

If Pmax ≦ Pr (t [n]),
Then Pr (t [n]) = Pr (t [n]) − Pmax (9) Then, the phase command buffer 0123 has the phase command Pr () in the current scan as shown in the following equation (10). t [n]) and the phase command deviation ΔPr (t [n + 1]) are output.
Phase command Pr (t [n])
Phase command deviation ΔPr (t [n + 1]) (10)

  The phase command buffer 0123 receives a preset phase input 0124, a clear signal, and a preset signal from a pi terminal, a CLR terminal, and a PRE terminal, respectively. When the clear signal becomes active, the phase command Pr (t [n]) is forced to zero, and when the preset signal becomes active, the value of the preset phase input 0124 is set to the phase command Pr. Preset to (t [n]).

  Here, the phase command buffer 0123 exists independently of the speed command buffer 0122. It should be noted that the output of the speed command buffer 0122 is not affected at all when the phase command buffer 0123 is cleared or preset as described above.

  Next, 0125 and 02a indicate transmitter and phase speed command communication, respectively. The transmitter 0125 outputs the speed command Vr (t [n]) and the speed command shown in the equation (7) output from the speed command buffer 0122. The deviation ΔVr (t [n + 1]) is input, and the phase command Pr (t [n]) and the phase command deviation ΔPr (t [n + 1]) shown in the equation (10) output from the phase command buffer 0123 are input. . The transmitter 0125 transmits the command data from the synchronous drive devices 06a to 06f via the phase speed command communication 02a.

Here, the frame signal generator 0102 of FIG. 2 should be configured by hardware such as a gate array, while the phase speed command calculator 0112 is configured by a microprocessor or a digital signal processor (not shown). It is.
As described above, the configuration of the first embodiment has been described with reference to FIG. 2. Next, the operation of the first embodiment will be described in detail from FIG.

(C) Setting of Acceleration / Deceleration Pattern FIG. 3A illustrates the setting of the acceleration / deceleration pattern performed by the parameter input device 0114 of the first embodiment. FIG. 3- (a) shows a temporal transition of the speed command Vr, while FIG. 3- (b) shows a temporal transition of the phase command Pr corresponding to the FIG. 3- (a). ing.

First, FIG. 3A shows a temporal transition of the speed command Vr generated by the phase speed command calculator 0112, and Vsm shows a rated speed (top speed at which production operation is performed). Then, the seven items shown by the following equation (11) are set by the parameter input device 0114, and these set values are called acceleration / deceleration time characteristics in the present invention.
Rated speed Vsm
Acceleration time Tα0, acceleration start time Tα1, acceleration arrival time Tα3 for acceleration operation
Deceleration time Tβ0, deceleration start time Tβ1, deceleration arrival time Tβ3 (11) for deceleration operation

  Thereby, referring to FIG. 3- (a), for example, the speed command Vr starts accelerating slowly from point E to point G at the acceleration start time Tα1 (acceleration start speed command pattern). Up to H (this section is referred to as acceleration linear time Tα2), acceleration is performed with a linear inclination (acceleration constant speed command pattern), and gradually reaches the target rated speed Vsm from point H to point J at the acceleration arrival time Tα3. (Acceleration arrival speed command pattern) That is, the speed command Vr is a quadratic function of time at the acceleration start time Tα1 and the acceleration arrival time Tα3, and is a linear function of time at the acceleration linear time Tα2. In this way, acceleration is performed in a S shape from the point E to the point K at the acceleration time Tα0.

  Even during deceleration, deceleration starts slowly at the deceleration start time Tβ1 (deceleration start speed command pattern), and after decelerating at a constant slope (this section is referred to as the deceleration linear time Tβ2) (decelerated constant speed) Command pattern), the speed command Vr gradually becomes zero at the deceleration arrival time Tβ3, and deceleration is performed in an S shape at the deceleration time Tβ0 (deceleration arrival speed command pattern). That is, also in deceleration, the speed command Vr is a quadratic function of time in the deceleration start time Tβ1 and deceleration arrival time Tβ3, and is a linear function of time in the deceleration linear time Tβ2. Here, as described above, a change such as [acceleration (deceleration) increases → acceleration (deceleration) is constant → acceleration (deceleration) decreases] is referred to as an S-shape.

  Since the speed command Vr does not change at an acute angle by such an S-shaped acceleration / deceleration pattern, fluctuations in the torque of the motor can be suppressed and production such as printing can be performed with high quality. In FIG. 3A, point F and point J are points where the straight line GH is extended and the speed command Vr intersects zero and the rated speed Vsm, respectively.

  Next, FIG. 3B schematically shows a change in the phase command Pr corresponding to the temporal transition of the speed command Vr in FIG. As shown in FIG. 3B, the phase command Pr follows the speed command Vr while repeatedly being cleared to zero at the maximum rotational phase Pmax.

  As described above, the acceleration / deceleration time characteristics of the S-shaped acceleration / deceleration pattern set by the parameter input device 0114 are the rated speed Vsm, acceleration time Tα0, and acceleration start time Tα1 as shown in FIG. The acceleration arrival time Tα3, the deceleration time Tβ0, the deceleration start time Tβ1, and the deceleration arrival time Tβ3 are visible and extremely easy, which is one of the features of the present invention. Further, various operations of the first embodiment, which will be described in detail with reference to FIG.

(D) Processing Before Parameter Operation of Parameter Calculator The processing performed by the parameter calculator 0113 of FIG. 2 before the operation of the synchronous control system will be described with reference to FIG. In FIG. 4 and subsequent figures, the case of acceleration will be described as an example, but the same applies to the case of deceleration.
In FIG. 4, Vα1 is a speed function at the acceleration start time Tα1, Vα2 is a speed function at the acceleration linear time Tα2, and Vα3 is a speed function at the acceleration arrival time Tα3. Further, in order to obtain the time TαFG with the time between the point F and the point G as TαFG, the speed function Vα1 is assumed to be the following equation (12).
Vα1 = αa × t ² (12) Then, paying attention to the slope at the point G, the time TαFG is as shown in the following equation (13).
At point G,
dVα1 / dt = 2 × αa × Tα1 = αa × (Tα1) ² / TαFG
Therefore,
TαFG = Tα1 / 2 (13)

Next, the time from point E to point F in FIG. 4 is defined as TαEF, and the time TαEF can be obtained by the following equation (14).
TαEF = Tα1−TαFG = Tα1 / 2 (14) Similarly, the time TαJK can be obtained by the following equation (15) with the time between the point J and the point K being TαJK. If the time between them is TαFJ, the time TαFJ can be obtained from the following equation (16).
TαJK = Tα3 / 2 Equation (15) TαFJ = Tα0− (Tα1 + Tα3) / 2 Equation (16) As shown above, the above equations (14) to (16) are all acceleration / deceleration set by the equation (11). A value can be obtained from the time characteristic.

Further, the speed function Vα1, the speed function Vα2, and the speed function Vα3 shown in FIG. 4 are determined from the acceleration / deceleration time characteristics set by the equation (11).
First, it is assumed that the speed function Vα1 is the equation (12), and at the point G, the slope of the speed function Vα1 is equal to that of the speed function Vα2, and the slope of the speed function vα2 is the time TαFJ It is obtained by dividing by Then, using the time t1 when the point E is zero, the following equation (17) is obtained.
At point G,
dVα1 / dt1 = 2 × αa × Tα1 = Vsm / TαFJ
Therefore,
αa = Vsm / (2 × Tα1 × TαFJ)
Therefore,
Vα1 (t1) = αa × t1 ² = {Vsm / (2 × Tα1 × TαFJ)} × t1 ²
(17) The coefficient αa in the above equation (17) is all determined from the acceleration / deceleration time characteristics in the above equation (11).

  Next, the slope of the speed function Vα2 is obtained by dividing the rated speed Vsm by the time TαFJ, and the value of the Y axis at the point G is substituted with the acceleration start time Tα1 for the time t1 in the equation (17). Therefore, the speed function Vα2 is expressed by the following equation (18) using time t2 when the point G is set to time zero.

The coefficients αb and αc in the equation (18) are all determined from the acceleration / deceleration time characteristics of the equation (11).
Similarly, the velocity function Vα3 is expressed by the following equation (19) in the same manner as the equation (17) is obtained using the time t3 when the point H is time zero.
Vα3 (t3) = {− Vsm / (2 × Tα3 × TαFJ)} × (t3−Tα3) ²
+ Vsm
Here, αd is as follows.
αd = Vsm / (2 × Tα3 × TαFJ)
Therefore, Vα3 (t3) = − αd × (t3−Tα3) ² + Vsm (19) Equation The coefficient αd in the equation (19) is all determined from the acceleration / deceleration time characteristics of the equation (11).

Thus, the S-shaped acceleration / deceleration pattern of FIG. 4 is composed of the speed function Vα1 according to the equation (17), the speed function Vα2 according to the equation (18), and the speed function Vα3 according to the equation (19). Generate a speed command. Further, these are integrated to obtain a phase function, and the equations (20) to (22) are obtained.
That is, the phase function Pα1 corresponding to the velocity function Vα1 in the equation (17) becomes the following equation (20), and the phase function Pα2 corresponding to the velocity function Vα2 in the equation (18) is expressed by the following equation (21). Thus, the phase function Pα3 corresponding to the velocity function Vα1 in the equation (19) is expressed by the following equation (22).

Pα1 (t1) = ∫Vα1 (t1) · dt1 = P1 + (αa / 3) × t1 ³
(20) Formula Pα2 (t2) = ∫Vα2 (t2) · dt2 = P2 + (αb / 2) × t2 ²
(21) Formula Pα3 (t3) = ∫Vα3 (t3) · dt3 = P3− (αd / 3)
× (t3-Tα3) ³ (22) formula

The coefficients αa, αb, and αd in the velocity function and the phase function in the equations (17) to (22) are all determined by the acceleration / deceleration characteristics according to the equation (11) set in advance by the parameter input device 0114. Is.
Further, in FIG. 4, ΔVαEG is an acceleration start speed deviation, which is a speed command that increases with the lapse of the acceleration start time Tα1, and the acceleration start speed deviation ΔVαEG is obtained from the equation (17) and is expressed by the following (23 ) As shown below.
ΔVαEG = (Vsm × Tα1) / (2 × TαFJ) (23) Also, in FIG. 4, ΔVαHK is an acceleration arrival speed deviation, which is a speed command that increases as the acceleration arrival time Tα3 elapses. The acceleration arrival speed deviation ΔVαHK is obtained from the equation (19) and is as shown in the following equation (24).
ΔVαHK = (Vsm × Tα3) / (2 × TαFJ) (24)

As described above, the parameter calculator 0113 has the acceleration coefficients αa, αb, and αd in the equations (17) to (19), the acceleration start speed deviation ΔVαEG in the equation (23), and the acceleration arrival in the equation (24). There is a feature that the parameter of the speed deviation ΔVαHK is calculated in advance. Here, in the present invention, the parameters represented by these equations (25) are called acceleration / deceleration parameters.
Acceleration coefficient αa, acceleration coefficient αb, acceleration coefficient αd
Acceleration start speed deviation ΔVαEG, acceleration arrival speed deviation ΔVαHK (25)

(E) Description of Acceleration / Deceleration Modes 1 and 2 Next, the acceleration / deceleration mode 1 and the acceleration / deceleration mode 2 detected by the parameter calculator 0113 will be described with reference to FIGS. 5 and 6. In FIGS. 5 and 6, the case of acceleration will be described as an example, but the same applies to the case of deceleration.
First, FIG. 5 shows a temporal transition of the speed command Vr to be generated by the phase speed command calculator 0112 when the speed setting Vs by the speed setter 0111 changes from Vs10 to Vs11. The parameter calculator 0113 receives both the speed setting Vs and the speed command Vr to detect the acceleration / deceleration mode.

In FIG. 5, the speed setting Vs is Vs10 from before time zero and changes to Vs11 at point E, and the deviation between Vs11 and Vs10 is ΔVs10. Here, it is assumed that the deviation ΔVs10 is in the relationship of the following equation (26) with the acceleration start speed deviation ΔVαEG and the acceleration arrival speed deviation ΔVαHK.
(ΔVαEG + ΔVαHK) <Vs10 (26) In this case, the speed command Vr is composed of an acceleration start time Tα1, an acceleration linear time TαGH due to a linear inclination, and an acceleration arrival time Tα3. Call it. The acceleration linear time TαGH is expressed by the following equation (27).
TαGH = TαFJ × (ΔVs10 / Vsm) − {(Tα1 + Tα3) / 2}
... (27)

Then, if the time t1 starts with the point E as zero, as shown in the following equation (28), when the time t1 is less than the acceleration start time Tα1, it is an acceleration start section, and the time t1 As shown in the equation (29), when the acceleration start time Tα1 is equal to or longer than the time (Tα1 + TαGH), it is an acceleration straight section.
Furthermore, when the time t1 is not less than the time (Tα1 + TαGH + Tα3) as shown in the following equation (30) and is less than the time (Tα1 + TαGH + Tα3), it is determined that the vehicle is in the acceleration reaching section.
Acceleration start section 0 ≦ t1 <Tα1 (28) Acceleration straight section Tα1 ≦ t1 <Tα1 + TαGH (29) Acceleration arrival section Tα1 + TαGH ≦ t1 <Tα1 + TαGH + Tα3 (30)

Next, FIG. 6 shows the temporal transition of the speed command Vr according to the change of the speed setting Vs as in FIG. In FIG. 6, the speed command Vr changes from Vs40 to Vs41 at point E, and the deviation between VS41 and Vs40 is ΔVs40. The amount of the deviation ΔVs40 is the case of the following equation (31) as compared with the equation (26).
ΔVs40 ≦ (ΔVαEG + ΔVαHK) (31) In other words, there is no acceleration linear time TαGH in FIG. 5, and such a case is referred to as acceleration / deceleration mode 2.

Further, in FIG. 6, the time when the point E is zero is set to t4, and the acceleration start time TαEL is obtained by shortening the time between the point E and the point L, between the point L and the point K, and between the point E and the point K. , Shortened acceleration arrival time TαLK and shortened acceleration time TαEK. If the speed function between the points E and L is set to Vα4 (t4) using the time t4, the speed function Vα4 (t4) is derived from the equation (17) to obtain the following equation (32).
From the equation (17) Vα4 (t4) = αa × t4 ² ... Similar to the equation (32), if the time when the point L is zero is t5 and the speed function between the point L and the point K is Vα5 (t5), The velocity function Vα5 (t5) is derived from the equation (19) to obtain the following equation (33).
From the equation (19) Vα5 (t5) = − αd × (t5−TαLK) ² + Vs41
... (33) Formula

Thus, the S-shaped acceleration / deceleration pattern of FIG. 6 is composed of the speed function Vα4 (t4) according to the equation (32) and the speed function Vα5 (t5) according to the equation (33), and generates a speed command to be described later. . Then, these are integrated to obtain a phase function, and the equations (34) and (35) are obtained, respectively.
The phase function Pα4 corresponding to the velocity function Vα4 in the equation (32) becomes the following equation (34), and the phase function Pα5 corresponding to the velocity function Vα5 in the equation (33) becomes the following equation (35):
Further, when the relationship between the shortened acceleration start time TαEL and the shortened acceleration arrival time TαLK is obtained, the slopes of the functions of the equations (32) and (33) are equal at the point L, so that the following equation (36) is obtained. .

Pα4 (t4) = ∫Vα4 (t4) · dt4 = P4 + (αa / 3) × t4 ³
(34) Formula Pα5 (t5) = ∫Vα5 (t5) · dt5 = P5- (αd / 3)
× (t5-TαLK) ³ (35) Formula 2 × αa × TαEL = −2 × αd × (0−TαLK)
αa × TαEL = αd × TαLK
Therefore, TαEL: TαLK = αd: αa
= Vsm / (2 × Tα3 × TαFJ): Vsm / (2 × Tα1 × TαFJ) = Tα1: Tα3 (36)

  Further, if the speed commands that change in the shortened acceleration start time TαEL and the shortened acceleration arrival time TαLK in FIG. 6 are respectively shortened acceleration start speed deviation ΔVαEL and shortened acceleration arrival speed deviation ΔVαLK, then both (37) in the ratio relationship.

  Here, when the shortened acceleration start time TαEL and the shortened acceleration arrival time TαLK are obtained, the shortened acceleration start time TαEL is first calculated at the point L by the following (38) from the equations (17) and (37). Get the formula.

  Similarly, at the point L, the shortened acceleration arrival time TαLK is obtained by the following equation (39) from the equations (19) and (37).

  Thus, in the acceleration / deceleration mode 2 of FIG. 6, the parameter calculator 0113 obtains the equations (38) and (39) from the acceleration / deceleration time characteristics set in the equation (11).

Then, if the time t4 starts with the point E set to zero, when the time t4 is less than the TαEL as shown in the following equation (40), it is an acceleration start section, and the time t4 is expressed by the following equation (41). When it is equal to or greater than TαEL and less than the time (TαEL + TαLK) as shown in FIG.
Acceleration start section 0 ≦ t4 <TαEL (40) Expression Acceleration arrival section TαEL ≦ t4 <TαEL + TαLK (41)

(F) Operation of Acceleration / Deceleration Mode 1 Generator 0119 Next, FIGS. 7, 8 and 9 explain the operation of the acceleration / deceleration mode 1 generator 0119, and the speed setter 0111 is similar to FIG. The figure shows the temporal transition of the speed command Vr generated by the phase speed command calculator 0112 when the speed setting Vs changes from Vs10 to Vs11. 7, 8, and 9 are respectively a speed command and a phase command in the acceleration start section according to the equation (28), the acceleration straight section according to the equation (29), and the acceleration arrival section according to the equation (30). Explains the generation of.

  First, in FIG. 7, it is assumed that the speed setting Vs has been Vs10 from before time zero and has changed to Vs11 at point E, and the acceleration / deceleration mode 1 generator 0119 has the equation (28) with reference to FIG. The speed command and the phase command generated in the acceleration start section will be described.

The acceleration / deceleration mode 1 generator 0119 is realized by using a microprocessor (not shown), and at the time t1 from the point E where it is detected that the speed setting Vs and the speed command Vr are inconsistent and satisfy the equation (26). Start measurement. The acceleration / deceleration mode 1 generator 0119 executes the calculation of the speed command and the phase command at times t1 [n−1], t1 [n], t1 [n + 1] at the scan time ΔTf.
Here, the acceleration / deceleration mode 1 generator 0119 calculates the speed command at the next scan time t1 [n + 1] at the current scan time t1 [n] as shown in the following equation (42) from the equation (17). The phase command of the following equation (43) is calculated from the equation (20). In the equation (43), Ps10 is a phase command initial value at point E.
Speed command Vα1 (t1 [n + 1]) = Vs10 + αa × t1 [n + 1] ²
... (42) Formula
Phase command Pα1 (t1 [n + 1]) = Ps10 + Vs10 × t1 [n + 1]
+ (Αa / 3) × t1 [n + 1] ³ (43)

Further, since the acceleration / deceleration mode 1 generator 0119 has already calculated the phase command Pα1 (t1 [n]) at the current scan time t1 [n] in the previous scan, the following equation (44) is obtained. Then, the phase command deviation ΔPα1 (t1 [n + 1]) between the current scan time t1 [n] and the next scan time t1 [n + 1] is calculated.
Phase command deviation
ΔPα1 (t1 [n + 1]) = Pα1 (t1 [n + 1]) − Pα1 (t1 [n])
= Vs10 × ΔTf + (αa / 3) × (t1 [n + 1] ³ −t1 [n] ³ )
... (44) Formula

  Thus, when the acceleration / deceleration mode 1 generator 0119 is in the acceleration / deceleration mode 1 according to the equation (26) and is in the acceleration start section according to the equation (28), the acceleration / deceleration mode 1 generator 0119 The speed command Vα1 (t1 [n + 1]) according to the equation (42) and the phase command deviation ΔPα1 (t1 [n + 1]) according to the equation (44) are set to the speed command Vr1 (t [n + 1]) and the mode 1 phase, respectively. The command deviation ΔPr1 (t [n + 1]) is output to the selector 0121.

Next, the acceleration / deceleration mode 1 generator 0119 determines that it is in the acceleration linear section when the time t1 falls within the range of the equation (29), and FIG. 8 explains the generation of the speed command and the phase command at this time. is doing. First, as shown by the following equation (45) in FIG. 8, the time t2 is obtained by subtracting the acceleration start time Tα1 from the time t1, and at the point G, the time t2 is zero.
t2 = t1-Tα1 (45) Then, the acceleration / deceleration mode 1 generator 0119 has times t2 [n−1], t2 [n], t2 [n + 1], a speed command and a phase command when the scan time is ΔTf. Execute the operation.

Here, the acceleration / deceleration mode 1 generator 0119 calculates the speed command at the next scan time t2 [n + 1] at the current scan time t2 [n] as shown in the following formula (46) from the formula (18). The phase command of the following equation (47) is calculated from the equation (21).
Speed command Vα2 (t2 [n + 1]) = Vs20 + αb × t2 [n + 1]
(46) Expression Phase command Pα2 (t2 [n + 1]) = Ps20 + Vs20 × t2 [n + 1]
+ (Αb / 2) × t2 [n + 1] ² (47) where Vs20 and Ps20 are the speed command initial value and the phase command initial value at point G, respectively, and the formula (42) and (43), respectively. The time t1 [n + 1] in the equation is replaced with tα1 and is determined by the following equations (48) and (49).
Speed command initial value Vs20 = Vs10 + αa × tα1 ² (48) Phase command initial value Ps20 = Ps10 + Vs10 × tα1
+ (Αa / 3) × tα1 ³ (49)

Further, since the acceleration / deceleration mode 1 generator 0119 has already calculated the phase command Pα2 (t2 [n]) at the current scan time t2 [n] in the previous scan, the following equation (50) is obtained. The phase command deviation ΔPα2 (t2 [n + 1]) between the current scan time t2 [n] and the next scan time t2 [n + 1] is calculated.
Phase command deviation
ΔPα2 (t2 [n + 1]) = Pα2 (t2 [n + 1]) − Pα2 (t2 [n])
= Vs20 × ΔTf + (αa / 2) × (t2 [n + 1] ² -t2 [n] ² ) (50)

  Thus, when the acceleration / deceleration mode 1 generator 0119 is in the acceleration / deceleration mode 1 according to the equation (26) and is in the acceleration linear section of the equation (29), the acceleration / deceleration mode 1 generator 0119 is at the current scan time t2 [n]. The speed command Vα2 (t2 [n + 1]) according to the equation (46) and the phase command deviation ΔPα2 (t2 [n + 1]) according to the equation (50) are set to the speed command Vr1 (t [n + 1]) and the mode 1 phase, respectively. The command deviation ΔPr1 (t [n + 1]) is output to the selector 0121.

Next, the acceleration / deceleration mode 1 generator 0119 determines that it is in the acceleration reaching section when the time t1 falls within the range of the equation (30), and FIG. 9 explains the generation of the speed command and the phase command at this time. is doing. First, as shown by the following equation (51) in FIG. 9, the time t3 is obtained by subtracting the acceleration start times Tα1 and TαGH from the time t1, and at the point H, the time t3 is zero.
t3 = t1−Tα1−TαGH (51) Then, the acceleration / deceleration mode 1 generator 0119 has time t3 [n−1], t3 [n], t3 [n + 1], a speed command, and a scan time ΔTf. Executes phase command calculation.

Here, the acceleration / deceleration mode 1 generator 0119 calculates the speed command at the next scan time t3 [n + 1] at the current scan time t3 [n] as shown in the following formula (52) from the formula (19). The phase command of the following equation (53) is calculated from the equation (22).
Speed command Vα3 (t3 [n + 1]) = Vs11−αd
× (t3 [n + 1] −Tα3) ² (52) Phase command Pα3 (t3 [n + 1]) = Ps30 + Vs11 × t3 [n + 1]
− (Αd / 3) × (t3 [n + 1] −Tα3) ³ (53) where Ps30 is a phase command initial value at the point H, and the time t2 [n + 1] in the equation (47) is expressed as tαGH. Can be obtained by the following equation (54).
Phase command initial value Ps30 = Ps20 + Vs20 × tαGH
+ (Αb / 2) × tαGH ² (54)

Further, since the acceleration / deceleration mode 1 generator 0119 has already calculated the phase command Pα3 (t3 [n]) at the current scan time t3 [n] in the previous scan, the following equation (55) is obtained. Then, a phase command deviation ΔPα3 (t3 [n + 1]) between the current scan time t3 [n] and the next scan time t3 [n + 1] is calculated.
Phase command deviation
ΔPα3 (t3 [n + 1]) = Pα3 (t3 [n + 1]) − Pα3 (t3 [n])
= Vs11 × ΔTf− (αd / 3) × {(t3 [n + 1] −tα3) ³
− (T3 [n] −tα3) ³ } (55)
In this way, when the acceleration / deceleration mode 1 generator 0119 is in the acceleration / deceleration mode 1 according to the equation (26) and is in the acceleration reaching section according to the equation (30), the acceleration / deceleration mode 1 generator 0119 is the current scan time t3 [n]. The speed command Vα3 (t3 [n + 1]) according to the equation (52) and the phase command deviation ΔPα3 (t3 [n + 1]) according to the equation (55) are set to the speed command Vr1 (t [n + 1]) and the mode 1 phase, respectively. The command deviation ΔPr1 (t [n + 1]) is output to the selector 0121.

Thus, the speed command Vr1 (t [n + 1]) of the mode 1 and the phase command deviation ΔPr1 (t [n + 1]) of the mode 1 output from the acceleration / deceleration mode 1 generator 0119 are expressed by the equation (11). The calculation is performed using the equations (42), (44), (46), (50), (52), and (55) determined by the acceleration / deceleration time characteristics.
These operations are performed at a very high speed and accurately in a microprocessor that performs single-precision (32 bits, etc.) or double precision (64 bits, etc.) floating point operations. In particular, the phase command deviations of the equations (44), (50), and (55) are extremely improved in comparison with the conventional example of FIG. 27- (C), and the equations (42), Corresponds physically with high accuracy to the speed command by the equations (46) and (52).

  Then, when the time elapses in FIG. 9 and the point K is passed, the speed command Vr becomes equal to the speed setting Vs11, the acceleration / deceleration mode 1 ends and the acceleration / deceleration mode 0 is entered. The acceleration / deceleration mode 0 will be described later, and the operation of the acceleration / deceleration mode 2 by the acceleration / deceleration mode 2 generator 0120 will be described with reference to FIG. 2 with reference to FIGS.

(G) Operation of Acceleration / Deceleration Mode 2 Generator 0120 FIG. 10 and FIG. 11 are similar to FIG. 6, when the speed command Vr by the speed setter 0111 changes from Vs40 to Vs41, the phase speed command calculator 0112 The time transition of the speed command Vr to be generated is shown. FIGS. 10 and 11 illustrate generation of the speed command and the phase command in the acceleration start interval according to the equation (40) and the acceleration arrival interval according to the equation (41), respectively.

  First, in FIG. 10, it is assumed that the speed setting Vs has been Vs40 from before time zero and has changed to Vs41 at point E. The acceleration / deceleration mode 2 generator 0120 is expressed by the equation (40) with reference to FIG. The speed command and the phase command generated in the acceleration start section will be described.

The acceleration / deceleration mode 2 generator 0120 is also realized by a microprocessor (not shown), and the time t4 is measured from the point E where it is detected that the speed setting Vs and the speed command Vr do not coincide with each other to satisfy the equation (31). Start. Then, the acceleration / deceleration mode 2 generator 0120 executes the calculation of the speed command and the phase command at time t4 [n−1], t4 [n], t4 [n + 1] at the scan time ΔTf.
Here, the acceleration / deceleration mode 2 generator 0120 calculates the speed command at the next scan time t4 [n + 1] at the current scan time t4 [n] as shown in the following formula (56) from the formula (32). The phase command of the following equation (57) is calculated from the equation (34). In the equation (57), Ps40 is a phase command initial value at point E.
Speed command Vα4 (t4 [n + 1]) = Vs40 + αa × t4 [n + 1] ²
(56) Expression Phase command Pα4 (t4 [n + 1]) = Ps40 + Vs40 × t4 [n + 1]
+ (Αa / 3) × t4 [n + 1] ³ (57)

Further, since the acceleration / deceleration mode 2 generator 0120 has already calculated the phase command Pα4 (t4 [n]) at the current scan time t4 [n] in the previous scan, the following equation (58) is obtained. Then, a phase command deviation ΔPα4 (t4 [n + 1]) between the current scan time t4 [n] and the next scan time t4 [n + 1] is calculated.
Phase command deviation ΔPα4 (t4 [n + 1]) = Pα4 (t4 [n + 1]) − Pα4 (t4 [n])
= Vs40 * [Delta] Tf + ([alpha] a / 3) * (t4 [n + 1] ^3- t4 [n] ³ )
... (58) Formula

  Thus, when the acceleration / deceleration mode 2 generator 0120 is in the acceleration / deceleration mode 2 according to the equation (31) and is in the acceleration start section according to the equation (40), the acceleration / deceleration mode 2 generator 0120 is the current scan time t4 [n]. The speed command Vα4 (t4 [n + 1]) according to the equation (56) and the phase command deviation ΔPα4 (t4 [n + 1]) according to the equation (58) are set to the speed command Vr2 (t [n + 1]) and the mode 2 phase, respectively. The command deviation ΔPr2 (t [n + 1]) is output to the selector 0121.

Next, the acceleration / deceleration mode 2 generator 0120 determines that it is in the acceleration reaching section when the time t4 falls within the range of the equation (41), and FIG. 11 explains the generation of the speed command and the phase command at this time. is doing. First, as shown by the following equation (59) in FIG. 11, the time t5 is obtained by subtracting the shortened acceleration start time TαEL from the time t4, and at the point L, the time t5 is zero.
t5 = t4-TαEL (59) Then, the acceleration / deceleration mode 2 generator 0120 has a scan time ΔTf, and time t5 [n−1], t5 [n], t5 [n + 1], speed command and phase command. Execute the operation.

Also at this time, the acceleration / deceleration mode 2 generator 0120 calculates the speed command at the next scan time t5 [n + 1] at the current scan time t5 [n] as shown in the following equation (60) from the equation (19). Then, the phase command of the following equation (61) is calculated from the equation (22).
Speed command Vα5 (t5 [n + 1]) = Vs41−αd
X (t5 [n + 1] -tαLK) ² (60) Expression Phase command Pα5 (t5 [n + 1]) = Ps50 + Vs41 × t5 [n + 1]
− (Αd / 3) × (t5 [n + 1] −tαLK) ³
(61) Here, Ps50 is a phase command initial value at the point L, and can be obtained by the following equation (62) by replacing the time t4 [n + 1] in the equation (57) with tαEL.
Phase command initial value Ps50 = Ps40 + Vs40 × tαEL + (αa / 3) × tαEL ³ (62)

Further, since the acceleration / deceleration mode 2 generator 0120 has already calculated the phase command Pα5 (t5 [n]) at the current scan time t5 [n] in the previous scan, as shown in the following equation (63): The phase command deviation ΔPα5 (t5 [n + 1]) between the current scan time t5 [n] and the next scan time t5 [n + 1] is calculated.
Phase command deviation ΔPα5 (t5 [n + 1]) = Pα5 (t5 [n + 1])
−Pα5 (t5 [n]) = Vs41 × ΔTf− (αd / 3)
× {(t5 [n + 1] −tαLK) ³ − (t5 [n] −tαLK) ³ } (63)

  Thus, when the acceleration / deceleration mode 2 generator 0120 is in the acceleration / deceleration mode 2 according to the equation (31) and is in the acceleration arrival section according to the equation (41), the acceleration / deceleration mode 2 generator 0120 is the current scan time t5 [n]. The speed command Vα5 (t5 [n + 1]) according to the equation (60) and the phase command deviation ΔPα5 (t5 [n + 1]) according to the equation (63) are used as the speed command Vr2 (t [n + 1]) and the mode 2 phase, respectively. The command deviation ΔPr2 (t [n + 1]) is output to the selector 0121.

The speed command Vr2 (t [n + 1]) of mode 2 and the phase command deviation ΔPr2 (t [n + 1]) of mode 2 output from the acceleration / deceleration mode 2 generator 0120 are the acceleration / deceleration of the equation (11). The calculation is performed using the equations (56), (58), (60), and (63) determined by the time characteristics.
These operations are carried out extremely accurately and at high speed by a microprocessor that performs single-precision (32 bits, etc.) or double precision (64 bits, etc.) floating point operations. In particular, the phase command deviations of the equations (58) and (63) are greatly improved in accuracy as compared with the conventional example shown in FIG. Corresponds to the command with physical accuracy.

  Then, when the time elapses in FIG. 11 and the point K is passed, the speed command Vr becomes equal to the speed setting Vs41, the acceleration / deceleration mode 2 ends and the acceleration / deceleration mode 0 is entered. Next, the acceleration / deceleration mode 0 will be described with reference to FIG.

(H) Operation of Acceleration / Deceleration Mode 0 Generator 0118 FIG. 12 shows a case where the speed setting Vs output from the speed setting unit 0111 is equal to Vr output from the phase speed command calculator 0112. At this time, the acceleration / deceleration mode 0 and the acceleration / deceleration mode 0 generator 0118 act.
In FIG. 12, if the time is t6, the acceleration / deceleration mode 0 generator 0118 has the scan time ΔTf and the times t6 [n−1], t6 [n], t6 [n + 1] and the speed command and phase command. Perform the operation.
Then, at time t6 [n], the speed command Vα6 (t6 [n + 1]) at the next scan time t6 [n + 1] is calculated. The speed command is constant as in the following equation (64). Speed command Vα6 (t6 [n + 1]) = Vs60 (64) Further, the phase command deviation ΔPα6 (t6 [n + 1]) between the current scan time t6 [n] and the next scan time t6 [n + 1] is expressed as follows. Calculation is performed according to equation (65).
Phase command deviation ΔPα6 (t6 [n + 1])] = Vs60 × ΔTf (65)

  The acceleration / deceleration mode 0 generator 0118 then outputs the speed command Vα6 (t6 [n + 1]) according to the equation (64) and the phase command deviation ΔPα6 (t6 [t] according to the equation (65) at the current scan time t6 [n]. n + 1]) are output to the selector 0121 as the speed command Vr0 (t [n + 1]) in mode 0 and the phase command deviation ΔPr0 (t [n + 1]) in mode 0, respectively.

  The operations of the above equations (64) and (65) are performed extremely accurately and at high speed by a microprocessor that performs single-precision (32 bits, etc.) or double precision (64 bits, etc.) floating point operations. In particular, the accuracy of the phase command deviation in the equation (65) is significantly improved as compared with the conventional example shown in FIG. 27- (C), and also corresponds physically to the speed command in the equation (64).

Thus, the configuration example of the virtual rotation command generation device 0101 of the present invention will be described with reference to FIG. 2, and further, the virtual rotation command generation device 0101 generates the speed command and the phase command with high accuracy. Detailed description was made with reference to FIGS.
(I) Time Transition Operation of Device Group Constructing Virtual Rotation Command Generating Device Next, referring to FIG. 2, the operation of the device group constituting the virtual rotation command generating device 0101 is changed over time with reference to FIG. A description will be given together. That is, in order to realize an ideally accurate virtual rotation command generation device, the values of the speed command and the phase command are accurately calculated and sent to the synchronous drive devices 06a to 06f, and the speed command and the phase command are output. It is necessary to precisely define the time for generating the command. In the present invention, the speed command and the phase command can be interpolated at an arbitrary time on the synchronous drive device side by accurately defining the time for generating the command.

FIGS. 13A and 13B show temporal transitions of the outputs of the frame timer 0104 and the comparator 0105, respectively, and FIG. 13C shows temporal transitions of the frame signal 02b.
First, the frame timer 0104 counts the constant frequency signal output from the transmitter 0103 and outputs the count value C. The vertical axis of FIG. 13- (a) indicates the temporal transition of the count value C. Show.

The count value C repeats the clear operation with the frame time (t [n−1]), (t [n]), (t [n + 1]) at the frame timer maximum value Cmax by the operation of the comparator 0105. As a result, the count value C transitions with a sawtooth wave at an accurate frame period ΔTf. Here, the frame period ΔTf corresponds to the scan time described with reference to FIG. 7 and is, for example, 0.2 ms.
Also, the calculation start value Ca in the figure is the comparison level of the comparator 0108, and the calculation start time (ta [n-1]), (ta [n]), (ta [n]) is sent to the phase speed command calculator 0112. n + 1]), the calculation start signal is sent sequentially.

FIG. 13- (b) shows the output of the comparator 0105, and when the count value C reaches the frame timer maximum value Cmax, it becomes an active level (“1”). The signal of FIG. 13- (b) is electrically insulated through the signal interface 0107, converted in level, and extended in the pulse width of the active level to become the frame signal 02b shown in FIG. 13- (c).
Since the frame signal 02b is generated by hardware such as a gate array, the frame period ΔTf is extremely accurate, and the synchronous drive devices 06a to 06f that receive the frame signal 02b receive the frame signal 02b at an active level. The time of (“1”) is recorded with high accuracy. Thus, the frame signal 02b is for recording the time of reception of a set of data strings (one frame) and is not intended to synchronize the control periods of the synchronous drive devices 06a to 06f. Please note that.

  Next, FIG. 13- (d) shows the timing at which the phase speed command calculator 0112 calculates the speed command and speed command deviation of the formula (7) and the phase command and phase command deviation of the formula (10). ing. Then, a calculation start signal is generated at the calculation start time (ta [n-1]) of FIG. 13A, and the microprocessor (not shown) receives the calculation start signal and receives the phase speed command calculator 0112. Is executed at the calculation time (td [n−1]).

  Here, (ΔTd [n−1]) in the figure is a delay time between the calculation start time (ta [n−1]) and the calculation time (td [n−1]). This is because when the calculation start signal becomes active, the microprocessor is executing another job or accessing the memory. The delay time (ΔTd [n−1]) can occur until it starts. However, in the present invention, by the next frame time t [n], the phase speed command calculator 0112 performs the calculation and completes the transmission of the speed command and the rotation command by the phase speed command communication 02a. It is. In this way, by adopting an architecture that allows redundancy in the processing timing of the microprocessor, software can be configured simply and high reliability can be obtained.

Next, the speed command and the phase command calculated by the phase speed command calculator 0112 in the scan shown in FIG. 13- (d) are transmitted to the phase speed command communication 02a at the timing shown in FIG. Through the synchronous drive devices 06a to 06f.
Here, with reference to FIGS. 13C, 13D, and 13E, at the time (td [n−1]) in FIG. 13D, the next frame time t [n ], The command data composed of the speed command and the speed command deviation of the equation (7) and the phase command and the phase command deviation of the equation (10) are predicted and calculated. Then, these command data are transmitted by the phase velocity command communication 02a at the time (te [n-1]) of FIG. 13- (e), and the transmission of the command data is completed by the time t [n]. is doing.

Similarly, at the time (td [n]) of FIG. 13- (d), the phase speed command calculator 0112 converts the speed command and speed command deviation at the next frame time t [n + 1] into the equation (7). The following equation (66) is obtained according to the above equation, and the following equation (67) is obtained from the phase command and the phase command deviation according to the above equation (10).
Speed command Vr (t [n + 1])
Speed command deviation ΔVr (t [n + 2]) (66) Phase command Pr (t [n + 1])
Phase command deviation ΔPr (t [n + 2]) (67) Equations (66) and (67) are transmitted via the phase velocity command communication 02a by frame time t [n + 1]. Completed.

Next, FIGS. 13- (f) and (g) are diagrams for explaining the time relationship between the speed command by the equation (7) and the phase command by the equation (10) calculated by the phase velocity command calculator 0112, respectively. is there.
First, from FIG. 13- (f), the speed command Vr (t [n-1]) and the speed command deviation ΔVr (t [n]) at the point F1 at the frame time t [n-1] are as follows. Transmission from the virtual rotation command generation device 0101 has already been completed to the synchronous drive devices 06a to 06f.
Further, at the point F2 at the frame time t [n], the speed command Vr (t [n]) and the speed command deviation ΔVr (t [n + 1]) are already transferred from the virtual rotation command generation device 0101 to the synchronous drive devices 06a to 06f. The transmission is complete.

Similarly, in FIG. 13- (g), the phase command Pr (t [n-1]) and the phase command deviation ΔPr (t [n]) at the point G1 at the frame time t [n-1] are generated by the virtual rotation command generation. Transmission from the device 0101 has already been completed to the synchronous drive devices 06a to 06f.
Further, at the point G2 at the frame time t [n], the phase command Pr (t [n]) and the phase command deviation ΔPr (t [n + 1]) are already transmitted from the virtual rotation command generator 0101 to the synchronous drive devices 06a to 06f. The transmission is complete.

FIGS. 13- (f) and (g) are diagrams for explaining the operation of the virtual rotation command generation device 0101 of FIG. 2. These pieces of information are the frame signal 02b and the phase velocity command as described above. It is transmitted by communication 02a.
Accordingly, each of the phase velocity command detection devices 0601 incorporated in the synchronous drive devices 06a to 06f in FIG. 1 also generates the same information as in FIGS. 13- (f) and (g). If the time of FIG. 13 is used as it is in the phase speed command detection device 0601, the phase speed command detection device 0601 at the time tf [n] of FIG. 13- (f), the interpolation speed command Vh (tf [n] ) And the interpolation phase command Ph (tf [n]), a highly accurate command is calculated by interpolation of the following equations (68) and (69).
Interpolation speed command Vh (tf [n]) = Vr (t [n]) + ΔVr (t [n + 1])
× {(tf [n] −t [n]) / ΔTf} (68) Interpolation phase command Ph (tf [n]) = Pr (t [n]) + ΔPr (t [n + 1])
× {(tf [n] −t [n]) / ΔTf} (69)

  Here, the equations (68) and (69) show how the output of the virtual rotation command generator 0101 is processed on the side of the synchronous drive devices 06a to 06f. It should be noted that it does not indicate a feature.

(J) Summary of Speed Command Function and Phase Command Function, Calculation of Speed Command and Phase Command The virtual rotation command generator 0101 according to the present invention has been described with reference to FIGS. 14 is a speed command function and phase command generated by the acceleration / deceleration mode 0 generator 0118, acceleration / deceleration mode 1 generator 0119, and acceleration / deceleration mode 2 generator 0120 incorporated in the virtual rotation command generation device 0101 during acceleration. A collection of functions.
As described above, in the present invention, the speed command function and the phase command function shown in FIG. Command and phase command are calculated.

  By the way, in the conventional example, as described in FIG. 27- (c), the phase command is obtained from the equation (6) by inputting the speed command. Therefore, when there is an error in the speed command, it is an error in the phase command as it is. Further, since the integration calculation is performed by approximating it in a stepped manner as described in the above equation (6), an error also occurs.

  Here, FIG. 15 is a visual representation of the speed command calculation according to the equation (42) and the phase command calculation according to the equation (43) as an example of the present invention. A calculation block for the speed command Vα1 according to the equation, 0119b indicates a calculation block for the phase command Pα1 according to the equation (43). The arithmetic block 0119a and the arithmetic block 0119b both use the time t1 [n + 1] as a variable input, perform the calculation independently and accurately, and output the speed command Vα1 and the phase command Pα1. Therefore, the accuracy of the phase command according to the present invention is not affected by the accuracy of the speed command, and further, there is a feature that both the speed command and the phase command are calculated with high accuracy by each function.

(K) Deceleration In FIG. 4, the first embodiment of the present invention has been described by taking the case of acceleration as an example, but the parameter input device 0114 also performs deceleration time Tβ0, deceleration start time Tβ1, and deceleration during deceleration. The arrival time Tβ3 is set. Then, as shown in FIG. 16 with further reference to FIG. 3, the phase speed command calculator 0112 calculates the deceleration start speed deviation ΔVβEG and the deceleration arrival speed deviation ΔVβHK in advance, and performs the deceleration operation in the same manner as in the case of acceleration. Will be done.

(M) Features of Embodiment 1 As described above, Embodiment 1 of the present invention has the following features as described with reference to FIGS.
(1) The parameter input device 0114 visually sets the acceleration / deceleration time characteristic of the equation (11) to determine an S-shaped acceleration / deceleration pattern.
(2) The parameter calculator 0113 obtains the acceleration / deceleration time characteristics of the equation (11) and calculates the acceleration / deceleration parameters of the equation (25) in advance.
(3) And, for example, in the acceleration operation, the speed command function and the phase command function generated by the acceleration / deceleration mode 0 generator 0118, the acceleration / deceleration mode 1 generator 0119, and the acceleration / deceleration mode 2 generator 0120 described so far are summarized. FIG.
(4) The speed command function and phase command function in FIG. 14 are determined from the acceleration / deceleration parameters, and are prepared by calculating each coefficient before operation.
(5) As described with reference to FIG. 1, the phase command according to the present invention is calculated independently of the speed command, and thus is not affected by the calculation accuracy of the speed command. Further, since the speed command and the phase command are calculated from the respective speed command functions and phase command functions, the resolution and accuracy are particularly excellent.

3. Example 2 (phase velocity command detection device and phase velocity FB detection device)
By the way, it is considered that the following four items are necessary for performing accurate synchronous control.
(6-1) The virtual rotation command generator 0101 and the hybrid encoder 09a need to output a speed signal and a phase signal having excellent resolution and accuracy.
(6-2) The synchronous drive device 06a that receives the speed signal and the phase signal needs to extract the speed and phase without degrading the resolution and accuracy.
(6-3) The synchronous drive device 06a needs to detect the speed and phase of the command and feedback in real time without being restricted by the communication cycle.
(6-4) The synchronous drive device 06a needs to detect the speed and phase of the command and feedback at the same time to obtain the correct speed deviation and phase deviation.

  That is, the necessary items (6-1) and (6-2) relate to the resolution and accuracy of physical quantities, and these have already disclosed the first embodiment of the present invention in FIGS. The third and fourth necessary items suggest that the processing time is important. However, when a speed command or a phase command is transmitted from the virtual rotation command generator using communication, the communication usually has a scan cycle such as an interval of 0.2 ms. Similarly, the presence of a communication cycle cannot be avoided when the rotary encoder transmits a feedback phase using communication.

However, in order to realize synchronous control with excellent accuracy, the synchronous drive device 06a detects the speed and phase in real time without being affected by the communication cycle of such a command or feedback, and the above (6-3 ) And (6-4) must be realized.
Next, Embodiment 2 of the present invention will be described with reference to FIGS. The second embodiment discloses an invention in which the synchronous drive device 06a inputs and processes a command signal output from the virtual rotation command generation device 0101 of the first embodiment through communication and a feedback signal output from the hybrid encoder 09a in real time. ing.

  Reference numerals 06a, 0601, and 0602 in FIG. 17 have the same functions as those shown in FIG. 1, and are a synchronous drive device, a phase velocity command detection device, and a phase velocity FB detection device, respectively. Also, 0101, 02a, 02b, and 09a are the same as the virtual rotation command generator, phase speed command communication, frame signal, and hybrid encoder, respectively, with the same reference numerals in FIG. 1, and 02e and 02f are respectively absolute. Signal and incremental signal.

  The synchronous drive device 06a in FIG. 17 is roughly divided into a phase velocity command detection device 0601 for processing a signal from the virtual rotation command generation device 0101 and a phase velocity FB detection device 0602 for processing a signal from the hybrid encoder 09a. The phase velocity command detection device 0601 will be described sequentially.

  The phase speed command detection device 0601 receives the phase speed command communication 02a and the frame signal 02b output from the virtual rotation command generation device 0101. Reference numerals 0621, 0622, and 0629 denote a receiver, a data latch, and a phase speed command memory, respectively. The receiver 0621 receives the phase speed command communication 02a and receives the speed command Vr (t [n]), speed command deviation ΔVr (t [n + 1]), and phase command Pr according to the equations (7) and (10). (T [n]) and a phase speed command consisting of phase command deviation ΔPr (t [n + 1]) are extracted and output to the data latch 0622. The data latch 0622 latches the input phase speed command at an edge at which a later-described latch signal 0661 input to the CK terminal becomes active, and outputs it to the phase speed command memory 0629.

  As a result, the phase speed command memory 0629 has a latched speed command Vr (t [n]), speed command deviation ΔVr (t [n + 1]), phase command Pr (t [n]), and phase command deviation ΔPr ( The phase velocity command consisting of t [n + 1]) is stored.

  Next, processing of the frame signal 02b performed by the phase velocity command detection device 0601 of FIG. 17 will be described. In FIG. 17, reference numerals 0624 and 0625 denote a transmitter and a control timer, respectively. The transmitter 0624 is a precise crystal oscillator, and supplies a constant frequency signal such as 20 MHz or 40 MHz to the control timer 0625. is doing. The control timer 0625 counts the constant frequency signal and outputs the count value. When all the bits of the output become ‘1’, the count value becomes zero and repeats counting up.

  Reference numeral 0623 is a signal interface, and 0626, 0627, and 0628 are all data latches. The signal interface 0623 electrically insulates the frame signal 02b, converts the level, and serves as the CK input of the data latch 0626. The data latch 0626 receives the count value output from the control timer 0625, that is, the time, latches the count value at the edge where the frame signal 02b becomes active, and outputs the latched value to the next data latch 0627. That is, the data latch 0626 captures (records) the time when the frame signal 02b becomes active.

Next, the data latch 0627 receives the time when the frame signal 02b becomes active as described above, and the data latch 0628 receives the count value output by the control timer 0625, that is, the time. The data latches 0627 and 0628 input a latch signal 0661 described later to their respective CK terminals, and latch and output the input data at an edge where the latch signal 0661 becomes active.
That is, the data latch 0627 outputs the capture time when the frame signal 02b becomes active to the capture time memory 0630 described later, and the capture time corresponds to the time t [n] in FIG. Yes. The data latch 0628 outputs a time t [m] when a latch signal 0661 described later becomes active, that is, a current time t [m] for processing the synchronization control to a synchronization control processing time memory 0631 described later. t [m] corresponds to tf [n] in FIG.

  Reference numerals 0630 and 0631 in FIG. 17 denote a capture time memory and a synchronization control processing time memory, respectively, which store the capture time and the synchronization control processing time as described above. Incidentally, reference numeral 0611 denotes a microprocessor system, and the phase speed command memory 0629, the capture time memory 0630, and the synchronization control processing time memory 0631 are built in the microprocessor system 0611. When the microprocessor system 0611 performs synchronous control processing, the latch signal 0661 is activated from the LT terminal and the input data of the data latches 0622, 0627, and 0628 are latched simultaneously.

  Thus, the phase speed command memory 0629 stores the speed command Vr (t [n]), speed command deviation ΔVr (t [n + 1]), and phase command Pr (t [t [ n]) and a phase speed command consisting of phase command deviation ΔPr (t [n + 1]), the capture time memory 0630 holds the capture time t [n], and the synchronization control processing time memory 0631 controls synchronization. The processing time t [m] is held. As a result, the microprocessor system 0611 can perform interpolation speed command Vh (t [m]) and interpolation phase command Ph (t [t [t]] according to the equations (68) and (69) at an arbitrary synchronous control processing time t [m]. m]).

  Here, the phase velocity command communication 02a transmits absolute data. However, the communication means has intermittentness in data update. However, as described above, the phase velocity command detection device 0601 eliminates the intermittency in which data by communication is updated, and obtains an accuracy by calculating an absolute interpolation phase command and an interpolation velocity command at an arbitrary time. Good synchronous control is possible.

  Next, the operation of the phase velocity FB detection device 0602 in FIG. 17 will be described. The phase velocity FB detector 0602 receives an incremental signal 02f composed of the absolute signals 02e, SIN and COS signals output from the hybrid encoder 09a.

  Reference numeral 0641 denotes a receiver, which receives the absolute signal 02e, extracts a coarse rotational phase, and outputs it to a counter 0643 described later. Also, 0642 is a comparator, and 0644 and 0645 are both A / D converters. The comparator 0642 detects a rectangular wave generated every 90 degrees in electrical angle and the rotation direction from the SIN signal and the COS signal, and outputs them to a counter 0643 described later. Further, when the latch signal 0661 input to the LT terminal becomes active, the A / D converters 0644 and 0645 quantize the SIN signal and the COS signal, respectively, and output the quantized signals to the arctan calculator 0647 described later.

  Next, 0643 is a presettable up / down counter (hereinafter referred to as a counter). When the preset terminal PR becomes active, the rough rotation phase input to the DATA terminal is preset to the count value of the counter 0643. Note that the lower two digits of the count value in binary form indicate a sine wave section. The rectangular wave generated at every 90 electrical angles input to the CNT terminal of the counter 0643 counts up or down the count value of the counter 0643. The up / down count operation is applied to the F / R terminal. It depends on the input rotation direction.

Reference numeral 0646 is a data latch which inputs the count value output from the counter 0643. When the latch signal 0661 input to the CK terminal becomes active, the count value is latched and transferred to a phase feedback memory 0648 described later. Output.
Reference numeral 0647 denotes an arctan calculator, which inputs the values S and C obtained by quantizing the SIN signal and the COS signal from the A / D converters 0644 and 0645, and outputs the SIN signal at (ARCTAN (S / C)). Calculate and output electrical angle. Note that the value of (Arctan (S / C)) is (90.00 degrees) as an example, but in FIG. 17, it is assumed that this value is multiplied by K assuming an integer.

  Next, 0648 is a phase feedback memory. The phase feedback memory 0648 inputs the count value latched by the counter 0643 to the upper digit to obtain CYCLE, and inputs the electrical angle Kθ output by the Arctan calculator 0647. To the lower digit. Thus, the phase feedback memory 0648 holds the current rotational phase feedback Pf (t [m]) of the hybrid encoder 09a.

Here, the Arctan calculator 0647 and the phase feedback memory 0648 are built in the microprocessor system 0611. The microprocessor system 0611 activates the preset signal 0662 from the terminal PR, for example, after turning on the power, and initializes the coarse rotation phase output from the receiver 0641 to the count value of the counter 0643.
When the microprocessor system 0611 performs synchronous control processing, the latch signal 0661 is output as active from the LT terminal, the input data of the data latch 0646 is latched, and the conversion of the A / D converters 0644 and 0645 is performed. Trigger. As a result, the microprocessor system 0611 holds the current rotational phase feedback Pf (t [m]) of the hybrid encoder 09a in the phase feedback memory 0648 at any required time.

  The microprocessor system 0611 has a built-in phase feedback memory 0649, and the phase feedback memory 0649 holds a rotational phase feedback Pf (t [m−1]) before one scan. The rotational speed is obtained from the rotational phase deviation of the phase feedback memories 0648 and 0649 and the synchronous control processing time 0631.

With respect to the second embodiment of FIG. 17 described above, the temporal transition of each part is shown in a graph with reference to FIGS.
FIG. 18 shows the operations of the phase velocity command detection device 0601 and the phase velocity FB detection device 0602 of FIG. 17 simultaneously with graphs. First, FIGS. 18C and 18E show frames received by the signal interface 0623, respectively. A time transition of the signal 02b and the phase velocity command communication 02a received by the receiver 0621 is shown. These correspond to the signals of FIGS. 13- (c) and (e) generated by the virtual rotation command generator 0101 described above.

  That is, the receiver 0621 receives the command data by the phase speed command communication 02a at, for example, the times (te [n-1]) and (te [n]) in FIG. The command data received by the receiver 0621 at time (te [n−1]) is the speed command Vr (t [n]) and the speed command deviation ΔVr (t [n + 1]) shown in the equation (7). , And the phase command Pr (t [n]) and the phase command deviation ΔPr (t [n + 1]) shown in the equation (10). These are input to the data latch 0622 as command data at a time (t [n]) described later by the action of the frame signal 02b.

  Then, the signal interface 0623 receives the frame signal 02b illustrated in FIG. 18- (c), and the time (t [n-1]), (t [n]) when the frame signal 02b becomes active, (T [n + 1]) are sequentially input to the data latch 0627. Here, times (t [n−1]), (t [n]), and (t [n + 1]) are times output by the control timer 0625.

  Next, FIG. 18- (f) illustrates the speed command received by the phase speed command detection device 0601 through the phase speed command communication 02a and the frame signal 02b, and points F1 and F2 at which the frame signal 02b becomes active. , And F3 speed commands are sequentially held in the data latch 0622. Further, as an example, the data latch 0622 holds a speed command Vr (t [n]) and a speed command deviation ΔVr (t [n + 1]) at a point F2 at time (t [n]).

  Then, the microprocessor 0611 activates the latch signal 0661 at time (t [m]) in FIG. 18- (f) to latch the inputs of the data latches 0622, 0627 and 0628, and speed command Vr (t [n ]), The speed command deviation ΔVr (t [n + 1]), the time (t [n]) held by the data latch 0627, and the time (t [m]) held by the data latch 0628, respectively. The data is stored in the memory 0629, the capture time memory 0630, and the synchronization control processing time 0631. Subsequently, the microprocessor 0611 immediately obtains the speed command at the point Fm, that is, the interpolation speed command Vh (t [m]) at the time (t [m]) from the equation (68).

  Next, FIG. 18- (g) illustrates the phase command received by the phase velocity command detection device 0601 through the phase velocity command communication 02a and the frame signal 02b, and points G1 and G2 at which the frame signal 02b becomes active. , G3 and the sequential phase command are held in the data latch 0622. Further, as an example, at the point G2 at time (t [n]), the data latch 0622 holds the phase command Pr (t [n]) and the phase command deviation ΔPr (t [n + 1]).

Similarly to the speed command, the microprocessor 0611 activates the latch signal 0661 at time (t [m]) in FIG. 18- (g), latches the input of the data latch 0622, and outputs the phase command Pr (t [N]) and the phase command deviation ΔPr (t [n + 1]) are stored in the phase velocity command memory 0629. Subsequently, the microprocessor 0611 immediately instantiates the phase command Pr (t [n]), the phase command deviation ΔPr (t [n + 1]), and the time (t [n]) stored in the capture time memory 0630. The phase command at the point Gm using the time (t [m]) stored in the synchronous control processing time 0631, that is, the interpolation phase command Ph (t [m]) at the time (t [m]) Calculation is performed according to equation (69).
Here, FIGS. 18- (f) and (g) showing the operation of the synchronous drive device 06a correspond to FIGS. 13- (f) and (g), respectively, for the virtual rotation command generating device 0101. .

  Next, FIG. 18- (h) shows temporal transitions of the SIN signal and the COS signal output from the hybrid encoder 09a and received by the A / D converters 0644 and 0645 in FIG. The comparator 0642 receives the SIN signal and the COS signal and outputs a rectangular wave signal shown in FIG. A method for obtaining the rotational phase feedback Pf (t [m]) and the rotational speed feedback Vf (t [m]) from FIGS. 18- (h) and (i) will be further described with reference to FIGS.

  FIG. 18- (m) shows the generation status of the latch signal 0661 output from the microprocessor 0611 built in the first synchronous drive device 06a. That is, the microprocessor 0611 of the first synchronous driving device generates the latch signal 0661 periodically at times (t [m−1]), (t [m]), and (t [m + 1]). As shown in the figure, in the present invention, the period of the latch signal 0661 may not be fixed, but may vary, and the period of the latch signal 0661 is asynchronous with the frame signal 02b shown in FIG. It does n’t matter. As a result, the microprocessor 0611 of the synchronous drive device can freely construct firmware without being restricted by the phase speed command communication 02a and the frame signal 02b, and the cost and reliability of the software of the synchronous control system can be reduced. Realize great benefits in improving

  FIG. 18- (p) shows the generation status of the latch signal 0661 output from the microprocessor 0611 built in the second synchronous drive device 06a. 18- (p) and FIG. 18- (m), the microprocessors 0611 included in the plurality of synchronous drive devices exemplify the manner in which the latch signal 0661 is freely generated independently of each other. is doing. Thus, the synchronous control system according to the present invention has a feature that the number of the synchronous drive devices 06a and the electric motors 07a can be freely added.

Next, a method for obtaining the rotational phase feedback Pf (t [m]) and the rotational speed feedback Vf (t [m]) will be described in detail with reference to FIGS.
First, FIG. 19 will be described, and FIGS. 19- (h), (i), (m), and (p) show temporal transitions of the same signals as the graphs with the same reference numerals in FIG.

  FIG. 19- (h) shows temporal transitions of the SIN signal and the COS signal output from the hybrid encoder 09a and received by the A / D converters 0644 and 0645 in FIG. Although time th1 to time th2 in FIG. 19- (h) represent one rotation of the hybrid encoder 09a, the hybrid encoder 09a normally generates 512 or 2048 cycles of SIN signal and COS signal per rotation. . However, in order to facilitate the explanation by visually representing the graph, in FIG. 19- (h), it is assumed that the SIN signal and the COS signal of 12 cycles per rotation are generated.

  Next, the comparator 0642 receives the SIN signal and the COS signal and outputs a rectangular wave signal shown in FIG. Here, it is assumed that the comparator 0642 outputs four rectangular waves for each cycle of the SIN signal. That is, a rectangular wave is output every 90 degrees when one cycle of the SIN signal is 360 degrees.

  FIG. 19- (j) shows the temporal transition of the count value output by the counter 0643. The counter 0643 inputs the rotation direction from the FR terminal of the comparator 0642 to the F / R terminal, and inputs a rectangular wave from the C terminal to the CNT terminal. In FIG. 19- (i), the rotation direction of the hybrid encoder 09a is set to normal rotation, and the counter 0643 is a count-up operation and represents an operation that is cleared to zero every rotation. The count value output from the counter 0643 is input to the data latch 0646.

  Then, the microprocessor 0611 activates the latch signal 0661 at time (t [m]) in FIG. 19- (j) to latch the input of the data latch 0646, and the count value is stored in the phase feedback memory 0648. It is assumed that CYCLE is the upper digit.

  On the other hand, the latch signal 0661 activated by the microprocessor 0611 is input to the LT terminals of the A / D converters 0644 and 0645 to start A / D conversion. The A / D converters 0644 and 0645 generate values S and C obtained by quantizing the SINθ signal and the COS signal output from the hybrid encoder 09a, and output the generated values S and C to the S terminal and the C terminal of the Arctan calculator 0647. The Arctan calculator 0647 calculates (ARCTAAN (S / C)) to calculate an electrical angle from zero to 90 degrees, and multiplies K to obtain an integer value Kθ as a lower digit of the phase feedback memory 0648. Let it be a certain Kθ. As a result, the upper digit CYCLE and the lower digit Kθ of the phase feedback memory 0648 are simultaneously updated, and the phase feedback memory 0648 holds the rotational phase feedback Pf (t [m]).

  FIG. 19- (k) shows the temporal transition of the electrical angle Kθ output from the Arctan calculator 0647. Here, in FIG. 19- (k), the Arctan calculator 0647 does not always calculate the Kθ, but calculates at the time (t [m]) when the microprocessor 0611 makes the latch signal 0661 active. It is carried out.

In this way, the microprocessor 0611 detects and calculates the rotational phase feedback Pf (t [m]) of the hybrid encoder 09a at an arbitrary time (t [m]) required by the microprocessor 0611, thereby calculating the phase feedback. Store in memory 0648. Further, another phase feedback memory 0649 stores rotational phase feedback Pf (t [m−1]) at time (t [m−1]) one scan before. The microprocessor 0611 immediately calculates the rotational speed feedback Vf (t [m]) by the following equation (70).
Vf (t [m]) = {Pf (t [m]) − Pf (t [m−1])} / {t [m] −t [m−1]} (70)

Next, the time before and after the time (t [m]) in FIG. 19 is enlarged and shown in FIG. 20, and FIGS. 20- (h) to (p) are graphs with the same reference numerals in FIG. The time transition of the same signal is shown.
First, in FIG. 20- (h) showing changes in the SINθ signal and the COS signal output from the hybrid encoder 09a, time ti1 to time ti5 indicate one cycle of the SINθ signal, and time ti1 to ti5 indicate the SIN. The section from the first quadrant to the fourth quadrant of the signal is shown. At the time (t [m]) of FIG. 20- (h), the A / D converters 0644 and 0645 respectively convert the analog values at the points Hm1 and Hm2 in the figure and output digital values S and C. .

Next, the Arctan calculator 0647 receives the S and C, performs an operation of (K × ARCTAAN (S / C)), and outputs Kθ, which is illustrated in FIG. This is the point Km in the figure. Then, as shown in FIG. 20- (k), the Arctan calculator 0647 detects the phase from zero to Kθ every 90 degrees of the SIN signal or COS signal.
The Kθ is stored in the lower digits of the phase feedback memory 0648. Here, FIG. 20- (k) shows a sawtooth wave assuming that the hybrid encoder 09a rotates at a constant speed. However, the ARCTAan calculator 0647 causes the microprocessor 0611 to activate the latch signal 0661. Kθ is calculated at the timing.

  Next, FIG. 20- (i) shows a waveform that the comparator 0642 inputs, calculates and outputs the SIN signal and the COS signal. As shown in the figure, the comparator 0642 detects points where the SIN signal and the COS signal cross each zero, and outputs four rectangular waves for each period of the times ti1, ti2 and the SIN signal.

  The counter 0643 receives the output of the comparator 0642 shown in FIG. 20- (i) and outputs the count value shown in FIG. 20- (j). At the time t [m] when the microprocessor 0611 activates the latch signal 0661, the count value becomes the value of the point Jm, and the upper digit of the phase feedback memory 0648 is passed through the data latch 0646. Stored in Here, the lower 2 bits of the count value represent a sine wave section from the first quadrant to the fourth quadrant of the SINθ signal. Thus, the rotational phase feedback Pf (t [m]) of the hybrid encoder 09a is stored in the phase feedback memory 0648.

In the description of FIG. 20, finally, FIGS. 20- (m) and (p) are the same as those described in FIGS. 18- (m) and (p), and the description thereof will be omitted. The second embodiment of the present invention described with reference to FIGS. 17 to 20 summarizes the above description and has the following features.
(7-1) The microprocessor 0611 included in the synchronous drive device 06a activates the latch signal 0661, and performs interpolation phase command Ph (t [m]), interpolation speed command Vh (t [m]) at the same time, A rotational phase feedback Pf (t [m]) and a rotational speed feedback Vf (t [m]) are obtained. Thereby, since the speed deviation and the phase deviation at the same time are accurately detected, it is possible to perform synchronous control with high accuracy between a plurality of electric motors.
(7-2) The period in which the microprocessor 0611 activates the latch signal 0661 is not fixed and may vary. As a result, the degree of freedom for constructing the firmware of the microprocessor 0611 is large, and a great merit is realized in reducing the cost of software and improving the reliability of the software of the synchronous control system.
(7-3) The timing at which the microprocessor 0611 included in the synchronous drive device 06a activates the latch signal 0661 may be asynchronous with the frame signal 02b output from the virtual rotation command generation device 0101. This also has a high degree of freedom in constructing the firmware of the microprocessor 0611, and realizes a great merit in reducing the cost and improving the reliability of the software of the synchronous control system.
(7-4) Each of the microprocessors 0611 included in a plurality of synchronous drive devices freely activates the latch signal 0661 independently of each other, and performs an interpolation phase command Ph (t [m]) at the same time, Interpolation speed command Vh (t [m]), rotational phase feedback Pf (t [m]) and rotational speed feedback Vf (t [m]) are obtained. This makes it possible to freely add a plurality of synchronous drive devices and electric motors, and easily realize synchronous control systems of various scales according to applications.

4). Example 3 (Transition from speed control to synchronous control)
Next, FIG. 21 illustrates the third embodiment of the present invention, which will be described with reference to FIG. 1, FIG. 2, and FIG. First, in FIG. 17, the synchronous control device 06a of the present invention always holds the current rotational phase Pf (t [n]) of the hybrid encoder 09a in the built-in phase feedback memory 0648.

On the other hand, the phase command buffer 0123 built in the virtual rotation command generation device 0101 of FIG. 2 includes a pi terminal and a PRE terminal. When the preset signal input to the PRE terminal becomes active, the value of the preset phase input 0124 input to the pi terminal is preset to the phase command Pr (t [n]) and the initial phase command is set. To do.
Here, the speed command buffer 0122 built in the virtual rotation command generation device 0101 operates completely independently of the phase command buffer 0123. For this reason, even if the phase command buffer 0123 performs the preset operation, the speed command Vr (t [n]) and the speed command deviation ΔVr (t [n + 1]) output from the speed command buffer 0122 are affected. Continue to operate continuously without any problems.

The shaftless rotary printing press shown in FIG. 1 starts operation by speed control from synchronous control in the following order.
(7-1) The electric motors of the printing presses 10a and 10b and the folding machine 15f of the shaftless rotary printing press of FIG. 1 start a slow speed operation by speed control of the slow speed.
(7-2) At this time, the printing cylinder (not shown) of each printing machine is open, and the continuous paper 04 (see FIG. 19) is pulled by the drag 13 (see FIG. 22) and the folding machine 15f. Yes.

(7-3) When the slow speed operation becomes stable, the rotational phase feedback Pf (t [m]) held in the phase feedback memory 0648 of FIG. 17 built in the synchronous drive device 06f of the folding machine is used as the general-purpose communication line 02d. Then, the phase is preset in the phase command buffer 0123 built in the virtual rotation command generation device 0101 of FIG.
(7-4) At this time, since the speed command buffer 0122 built in the virtual rotation command generation device 0101 in FIG. 2 is not affected, the speed command does not fluctuate, and the shaftless rotary printing press continues to operate stably. Yes.
(7-5) Then, the phase command of the virtual rotation command generator 0101 and the rotation phase of the folding machine 15f are substantially matched and the slow speed operation is continued.

(7-6) Next, the centralized controller 01 adds all of the first printing press 10a to the folding machine 15f to the speed control and turns on the phase control.
(7-7) Here, the phase control is control that minimizes the deviation between the phase command of the virtual rotation command generator 0101 and the phase feedback of the hybrid encoder attached to the motor, that is, the phase deviation ΔP.
(7-8) When the phase control is turned on, all the printers perform the origin matching control by changing the speed of each motor, and the deviation between the phase command of the virtual rotation command generator 0101 and the phase feedback of the motor, that is, the phase When the deviation ΔP is within the target ± ΔPs, the control shifts to synchronous control.
(7-9) When the phase control is turned on, since the folding machine 15f is already operating in accordance with the phase command of the virtual rotation command generator 0101, the control immediately shifts to the synchronous control.
(7-10) That is, since the folding machine 15f does not perform the origin adjustment, the continuous paper 04 does not break or become jammed before the folding machine 15f.
(7-11) When all of the first printing machine 10a to the folding machine 15 are in the synchronous control state, the printing cylinder of the printing machine is closed and printing starts, and the central control device 01 adjusts the S-shape. The printing speed is increased with the speed pattern.

  Here, origin adjustment control is also a category of phase control, and in the present invention, when phase control is performed and the phase deviation ΔP is large and larger than a desired small phase deviation ΔPs, it is referred to as origin adjustment control. Then, when the phase control is performed in addition to the speed control and the phase deviation ΔP is smaller than the target phase deviation ΔPs, it is called synchronous control.

  Next, FIG. 21 is a graph for explaining the third embodiment of the present invention described above, and schematically shows temporal transitions by speed control and phase control. 21- (a) shows the temporal transition of the speed command Vr output from the virtual rotation command generator 0101, FIG. 21- (b) shows the temporal transition of the phase command Pr, and FIG. 21- (c). Represents a temporal transition of the phase deviation ΔP of the folding machine, and FIG. 21- (d) represents a temporal transition of the phase deviation ΔP of the printing press.

  First, in FIG. 21- (a), the shaftless rotary printing press starts speed control at the slow speed Vj at time T1, and the phase control is turned on at time T3. Then, when the origin alignment of each printing press described later is completed, or while the origin alignment is being executed, the speed command is increased, printing is started at the printing speed Vk, and then the speed is increased to the rated speed Vsm.

  Next, in FIG. 21- (b), the phase command Pr output from the virtual rotation command generator 0101 starts to operate from time T1 when the slow speed operation starts. At time T2, the rotation phase of the folder 15f is preset in the phase command buffer 0123 built in the virtual rotation command generator 0101. At this time, as shown in FIG. 21- (a), the speed command is not affected at all, and the shaftless rotary printing press is operating stably. Next, at time T3, the phase control is turned on, and each motor operates to follow the phase command Pr.

  That is, on the side of the synchronous drive device, only the speed command output from the virtual rotation command generation device 0101 is valid from the time T1 to T3, and the phase command is not used. At time T3, the speed command and the phase command output from the virtual rotation command generation device 0101 are valid.

  FIG. 21- (c) shows the phase deviation ΔP between the virtual rotation command generating device 0101 and the electric motor 07f of the folding machine, and the time when the rotational phase of the electric motor 07f of the folding machine is phase preset in the virtual rotation command generating device 0101. At T2, the phase deviation is about zero, and it moves around zero until time T3 when the phase control is turned on. When the phase control is turned on at time T3, the phase deviation ΔP is already smaller than the target phase deviation ΔPs, so that the control shifts to the synchronous control without going through the origin adjustment control. As a result, the electric motor 07f of the folding machine greatly increases or decreases the speed and does not perform the origin adjustment, so that the continuous paper 04 does not break or become jammed.

  FIG. 21- (d) shows the phase deviation ΔP between the virtual rotation command generator 0101 and the electric motor 07a of the first printing press, for example. Since the phase deviation ΔP is not controlled until time T3 when the phase control is turned on, it is a random value. When the phase control is turned on at time T3, the origin adjustment is started. At time T4, the phase deviation ΔP falls within the target phase deviation ± ΔPs, and the control shifts to synchronous control.

  Here, the timing of phase presetting the rotation phase of the electric motor 07f of the folding machine in the virtual rotation command generation device 0101 is an example at the time T2 during the slow speed. This phase preset timing can be considered when the shaftless rotary printing press is turned on or before the shaftless rotary printing press is turned on to start operation.

  Also at this time, the shaftless rotary printing press performs the inching operation by speed control independently for the printing machine and the folding machine 15f in order to newly feed the continuous paper 04 before the printing operation. Further, in order to change the type of the continuous paper 04, similarly, the printing machine or the folding machine 15f is independently operated to perform an inching operation to replace the continuous paper 04. Therefore, when a preparatory operation is performed after the phase presetting, a deviation between the rotational phase of the electric motor 07f of the folding machine and the phase command of the virtual rotation command generator 0101 becomes large. When the synchronization control is turned on, the folding machine 15f starts from the origin matching control mode, and the acceleration / deceleration of the electric motor 07f increases, and the continuous paper 04 is broken or jammed.

  Therefore, the phase preset timing should be the time T2 in FIG. 21- (c), which is immediately before the phase control is reliably performed. Furthermore, the method of phase presetting the rotation phase of the electric motor 07f of the folding machine in the virtual rotation command generator 0101 at the time T3 when the phase control is turned on is the optimal timing for eliminating the operation error.

  As described above, in the present invention, the virtual rotation command generation device 0101, the phase velocity command detection device 0601, the phase velocity FB detection device 0602, and the hybrid encoder 09a are configured by a common architecture in order to realize excellent synchronous control. To do. Then, a hybrid synchronous control using a hybrid virtual rotation command generator and a hybrid encoder is realized, and a highly accurate synchronous control system with good operability is realized.

It is a figure explaining the whole structure of the present invention. It is a figure explaining the structural example of Example 1 of this invention. It is a figure explaining the setting of the acceleration / deceleration pattern of Example 1. FIG. It is a figure explaining operation | movement of the parameter calculator of Example 1. FIG. It is description of the acceleration / deceleration mode 1 which the parameter calculator of Example 1 detects. It is description of the acceleration / deceleration mode 2 which the parameter calculator of Example 1 detects. FIG. 4 is an operation explanation (part 1) in the acceleration / deceleration mode 1 according to the first embodiment. FIG. 6 is an operation explanation (2) of the acceleration / deceleration mode 1 of the first embodiment. FIG. FIG. 6 is an operation explanation (No. 3) in the acceleration / deceleration mode 1 of the first embodiment. It is operation | movement description (the 1) of the acceleration / deceleration mode 2 of Example 1. FIG. 4 is an operation explanation (2) of the acceleration / deceleration mode 2 of the first embodiment. It is operation | movement description in the acceleration / deceleration mode 0 of Example 1. FIG. 2 is an overall operation explanation of the first embodiment. It is a list (in the case of acceleration operation) of the speed command and phase command of Example 1. It is operation | movement explanatory drawing of Example 1 of this invention. It is operation | movement description (in the case of deceleration) of the parameter calculator of Example 1. FIG. It is description of the structural example of Example 2 of this invention. It is operation | movement explanatory drawing (the 1) of Example 2 of this invention. It is operation | movement explanatory drawing (the 2) of Example 2 of this invention. It is operation | movement explanatory drawing (the 3) of Example 2 of this invention. It is operation | movement description of Example 3 of this invention. It is FIG. (1) explaining a prior art example. It is FIG. (2) explaining a prior art example. It is FIG. (3) explaining a prior art example. It is FIG. (4) explaining a prior art example. It is FIG. (5) explaining a prior art example. It is FIG. (6) explaining a prior art example.

Explanation of symbols

01 Central Controller 0101 Virtual Rotation Command Generator 0102 Frame Signal Generator 0103 Transmitter 0104 Frame Timer 0105 Comparator 0106 Frame Timer Maximum Register 0107 Signal Interface 0108 Comparator 0109 Calculation Start Register 0111 Speed Setter 0112 Phase Speed Command Calculator 0113 Parameter Calculation 0114 Parameter input device 0115, 0116, 0117 AND gate 0118 Acceleration / deceleration mode 0 generator 0119 Acceleration / deceleration mode 1 generator 0119a Calculation block 0119b of velocity command Vα1 by equation (42) Calculation block 0120 of phase command Pα1 by equation (43) Acceleration / deceleration mode 2 generator 0121 Selector 0122 Speed command buffer 0123 Phase command buffer 0124 Preset input 124
Transmitter 02 Communication line 02a Phase speed command communication 02b Frame signal 02c Virtual rotation command communication line 02d General-purpose communication line 02e Absolute signal 02f Incremental signal 02g Encoder communication 03 Paper feed unit 04 Continuous paper 05 Infeed 06a, 06b, 06f Synchronous drive Device 0601 Phase velocity command detection device 0602 Phase velocity FB detection device 0611 Microprocessor 0621 Receiver 0622 Data latch 0623 Signal interface 0624 Transmitter 0625 Control timer 0626 Data latch 0627 Data latch 0628 Data latch 0629 Phase velocity command memory 0630 Capture time memory 0631 Synchronization control processing time memory 0641 Receiver 0642 Comparator 0643 Counters 0644, 0645 A / D converter 0661 Latch signal 0662 Preset signal 0646 Data latch 0647 Arctan calculator 0648, 0649 Phase feedback memory 07a, 07b, 07f Electric motor 08a, 08f Rotary encoder 081 Incremental encoder 082 Absolute encoder 09, 09a, 09b, 09f Encoder First printing machine 10b Second printing machine 10c Third printing machine 10d Fourth printing machine 11 Dryer 12 Cooling 13 Drag 15f Folding machine

Claims (12)

Consists of a centralized control device with a built-in virtual rotation command generator, multiple sets of synchronous drive devices and an electric motor,
The virtual rotation command generator has a built-in phase speed command calculator,
The phase speed command calculator is
Based on the speed setting signal and the preset acceleration / deceleration time characteristics, the acceleration start speed command pattern in which the acceleration gradually increases during acceleration, the corresponding phase command pattern, the acceleration constant speed command pattern with constant acceleration, and A corresponding phase command pattern and an acceleration arrival speed command pattern in which the acceleration gradually decreases from a predetermined acceleration and a corresponding phase command pattern are generated and calculated.
Deceleration start speed command pattern and phase command pattern corresponding to the deceleration start speed gradually increasing when decelerating, deceleration constant speed command pattern with constant deceleration and corresponding phase command pattern, and deceleration gradually decrease Calculate and generate the deceleration arrival speed command pattern and the corresponding phase command pattern,
Based on the acceleration start speed command pattern, the constant acceleration speed command pattern, and the phase command pattern corresponding to the acceleration arrival speed command pattern, an S-shaped acceleration characteristic is obtained, and the deceleration start speed command pattern, the constant deceleration speed command pattern, Based on the deceleration arrival speed command pattern and the corresponding phase command pattern, the S-shaped deceleration characteristic is obtained, and the speed command and the phase command are generated based on the S-shaped acceleration characteristic and the deceleration characteristic,
The speed command and the phase command are sent as a phase speed command communication signal to the plurality of sets of synchronous drive devices via a communication line,
Each of the plurality of electric motors includes a hybrid encoder,
The hybrid encoder outputs a rotational phase as an absolute signal and outputs a SIN signal and a COS signal as incremental signals.
The synchronous drive device is a phase speed command detection device that extracts a phase command and a speed command from a phase speed command communication signal sent via the communication line;
A phase velocity FB detection device for detecting a phase feedback signal and a velocity feedback signal from an absolute signal and an incremental signal output from the hybrid encoder;
The synchronous drive device controls the speed and phase of the motor to follow the speed command and phase command output by the virtual rotation command generator based on the outputs of the phase speed command detection device and the phase speed FB detection device. A synchronous control system characterized by that. Consists of a centralized control device with a built-in virtual rotation command generator, multiple sets of synchronous drive devices and an electric motor,
The virtual rotation command generator is
A preset speed setting signal is input, and from this speed setting signal, a speed command having an S-curve acceleration / deceleration characteristic in which the speed command changes into an S shape over time, and a phase command corresponding thereto A built-in phase speed command calculator that outputs the generated speed command and phase command as a phase speed command communication signal to the outside,
The phase speed command calculator is
The rated speed Vsm, the rated acceleration time Tα0 until the speed command becomes the rated speed Vsm at the time of acceleration, the acceleration start time Tα1, the acceleration arrival time Tα3, and the speed command from the rated speed Vsm becomes zero at the time of deceleration. Acceleration / deceleration time characteristics consisting of rated deceleration time Tβ0 until deceleration start time Tβ1 and deceleration arrival time Tβ3 are set,
Based on the acceleration / deceleration time characteristics, when accelerating, the acceleration start speed command pattern in which the acceleration gradually increases during the acceleration start time Tα1 and the phase command pattern corresponding thereto, [rated acceleration time Tα0−acceleration start time] Acceleration constant speed command pattern with constant acceleration during Tα1-acceleration arrival time Tα3] and phase command pattern corresponding thereto, and acceleration gradually decreases from a predetermined acceleration during the acceleration arrival time Tα3. An acceleration arrival speed command pattern that reaches the rated speed Vsm and a corresponding phase command pattern are calculated and generated,
At the time of deceleration, during the deceleration start time Tβ1, the speed command decreases from the rated speed Vsm, and the deceleration start speed command pattern in which the deceleration gradually increases and the corresponding phase command pattern, [rated acceleration time Tβ0 -Deceleration constant speed command pattern with a constant deceleration between acceleration start time Tβ1 and acceleration arrival time Tβ3], a phase command pattern corresponding thereto, and the speed command decreases to 0 during the deceleration arrival time Tβ3. Calculate and generate a deceleration arrival speed command pattern that gradually decreases in speed and a corresponding phase command pattern,
The S-shaped acceleration characteristics are obtained based on the acceleration start speed command pattern, the constant acceleration speed command pattern, and the phase command pattern corresponding to the acceleration arrival speed command pattern, and the deceleration start speed command pattern, constant deceleration speed command pattern. And the deceleration arrival speed command pattern and the phase command pattern corresponding to each, obtaining the S-shaped deceleration characteristics, and generating the speed command and phase command based on the S-shaped acceleration characteristics and deceleration characteristics,
The speed command and the phase command are sent as a phase speed command communication signal to the plurality of sets of synchronous drive devices via a communication line,
Each of the plurality of electric motors includes a hybrid encoder,
The hybrid encoder outputs a rotation phase with a resolution of 2 to the power of 1 as an absolute signal, and outputs a SIN signal and a COS signal with a cycle number of 2 to the power of 2 or less per rotation as an incremental signal. ,
The synchronous drive device is a phase speed command detection device that extracts a phase command and a speed command from a phase speed command communication signal sent via the communication line;
A phase velocity FB detection device for detecting a phase feedback signal and a velocity feedback signal from an absolute signal and an incremental signal output from the hybrid encoder;
The synchronous drive device controls the speed and phase of the motor so as to follow the command of the virtual rotation command generation device based on the outputs of the phase velocity command detection device and the phase velocity FB detection device. Synchronous control system. The phase speed command calculator included in the virtual rotation command generator is:
At the time of acceleration, a speed command function Vα1 composed of (αa × t ² ) and a phase command function Pα1 composed of (αa / 3 × t ³ ) by the third power of time are generated, and the coefficient αa is previously determined as the acceleration / deceleration time. Calculated from the characteristics
An acceleration start speed command pattern at the acceleration start time Tα1 is determined based on the speed command function Vα1, and an acceleration start phase command pattern at the acceleration start time Tα1 is determined based on the phase command function Pα1.
For a period in which the acceleration is constant, a speed command function Vα2 composed of (αb × t) proportional to time and a phase command function Pα2 composed of (αb / 2 × t ² ) by the square of time are generated, and the coefficient αb Is determined in advance from the acceleration / deceleration time characteristics,
An acceleration constant speed command pattern for a constant acceleration period is determined based on the speed command function Vα2, and an acceleration constant phase command pattern for the acceleration constant period is determined based on the phase command function Pα2.
Further, for the acceleration arrival time Tα3, a speed command function Vα3 that is {−αd × (t−Tα3) ² + αf} by the square of time, and {−αd / 3 × (t−Tα3) ³ by the cube of time. }, And the coefficient αd is determined in advance from the acceleration / deceleration time characteristics,
The acceleration arrival speed command pattern at the acceleration arrival time Tα3 is determined based on the speed command function Vα3, and the acceleration arrival phase command pattern at the acceleration arrival time Tα3 is determined based on the phase command function Pα3. The synchronous control system described. The phase speed command calculator built in the virtual rotation command generator constantly monitors the speed setting as an input and the speed command as an output,
The speed setting changes to be different from the speed command, and the speed setting change amount is positive, and the speed setting change amount is an increase amount of the speed command during the acceleration start time Tα1 and a speed at the acceleration arrival time Tα3. When exceeding the value obtained by adding the command increment, the acceleration / deceleration mode 1 is set.
The acceleration start speed command pattern in which the acceleration increases slowly and the corresponding phase command pattern, the acceleration constant speed command pattern in which the acceleration is constant and the corresponding phase command pattern, and the acceleration arrival speed in which the acceleration gradually decreases from the predetermined acceleration A command pattern and a phase command pattern corresponding to the command pattern are calculated and generated, and an S-shaped acceleration characteristic is obtained from these command patterns.
The speed setting change amount is positive and the speed setting change amount is less than or equal to the sum of the speed command increase amount during the acceleration start time Tα1 and the speed command increase amount during the acceleration arrival time Tα3. Deceleration mode 2
In the acceleration / deceleration mode 2,
The acceleration start speed command pattern in which the acceleration gradually increases and the phase command pattern corresponding to the acceleration start speed command pattern, and the acceleration arrival speed command pattern in which the acceleration gradually decreases from the predetermined acceleration, and the phase command pattern corresponding to each are generated. 4. The synchronous control system according to claim 3, wherein an S-shaped acceleration characteristic is obtained from these command patterns. When in the acceleration / deceleration mode 1,
An acceleration start speed command pattern at the acceleration start time Tα1 is determined based on the speed command function Vα1, and an acceleration start phase command pattern at the acceleration start time Tα1 is determined based on the phase command function Pα1.
An acceleration constant speed command pattern for a constant acceleration period is determined based on the speed command function Vα2, and an acceleration constant phase command pattern for the acceleration constant period is determined based on the phase command function Pα2.
5. The acceleration arrival speed command pattern at the acceleration arrival time Tα3 is determined based on the speed command function Vα3, and the acceleration arrival phase command pattern at the acceleration arrival time Tα3 is determined based on the phase command function Pα3. The synchronous control system described. In acceleration / deceleration mode 2 above,
A shortened acceleration start time TαEL that is smaller than the acceleration start time Tα1 is calculated from the acceleration / deceleration time characteristics and generated,
The acceleration start speed command pattern at the shortened acceleration start time TαEL is determined by the acceleration start time TαEL and the speed command function Vα4 derived from the speed command function Vα1, and the acceleration start phase command pattern at the acceleration start time TαEL is determined by the acceleration. Based on the start time TαEL and the phase command function Pα4 derived from the phase command function Pα1,
Further, a shortened acceleration arrival time TαLK that is smaller than the acceleration arrival time Tα3 is calculated from the acceleration / deceleration time characteristics, and is generated.
The acceleration arrival speed command pattern at the shortened acceleration arrival time TαLK is determined by the acceleration arrival time TαLK and the speed command function Vα5 derived from the speed command function Vα3, and the acceleration arrival phase command pattern at the acceleration arrival time TαLK is determined by the acceleration. 5. The synchronous control system according to claim 4, wherein the synchronous control system is determined based on an arrival time TαLK and a phase command function Pα5 derived from the phase command function Pα3. The phase speed command calculator included in the virtual rotation command generator is:
7. The speed command and the phase command are calculated independently based on the acceleration / deceleration time characteristics with reference to a time signal, respectively. Synchronous control system. The phase speed command computing unit incorporated in the virtual rotation command generation device includes means for holding a preset phase input, and when the preset phase input is given from the outside, the preset phase input is used as an initial value to set the speed. The synchronous control system according to claim 1, wherein the phase command is calculated independently of the command. Consists of a centralized control device with a built-in virtual rotation command generator, multiple sets of synchronous drive devices and an electric motor,
The virtual rotation command generator includes a frame signal generator and a phase speed command calculator,
The frame signal generator sends a calculation start signal to the phase velocity command calculator at a predetermined time interval, generates a frame signal serving as a time reference, and sends the frame signal to the plurality of sets of synchronous drive devices.
The phase speed command calculator is
A speed command having an S-curve acceleration / deceleration characteristic in which a speed command changes into an S-shape with the passage of time from a preset speed setting signal with a calculation start signal sent from the frame signal generator as a time reference. Vr and the phase command Pr corresponding to this are generated by calculation,
The speed command and the phase command at the time when the frame signal is output are sent to the plurality of sets of synchronous drive devices via a communication line as a phase speed command communication signal,
Each of the plurality of electric motors includes a hybrid encoder,
The hybrid encoder outputs a rotational phase as an absolute signal and outputs a SIN signal and a COS signal as incremental signals.
The synchronous drive device is a phase speed command detection device that extracts a phase command and a speed command from a phase speed command communication signal sent via the communication line;
A phase velocity FB detection device for detecting a phase feedback signal and a velocity feedback signal from an absolute signal and an incremental signal output from the hybrid encoder;
The synchronous drive device has a built-in control timer, and records the time output by the control timer when the frame signal is received,
The synchronous drive device outputs a latch signal when performing a synchronous control operation, obtains a synchronous control processing time from the control timer based on the latch signal, and receives a speed command, a phase received from the virtual rotation command generator. From the time when the command and the frame signal are received, the interpolation speed command and the interpolation phase command at the synchronous control processing time are obtained,
Also, at the timing when the latch signal is output, an absolute signal and an incremental signal of the hybrid encoder are captured, and from this, a phase feedback signal and a speed feedback signal are obtained,
The interpolation speed command at the same time, the interpolation phase command and the phase feedback signal, and the speed feedback signal are compared, and the speed and phase of the motor are controlled to follow the command of the virtual rotation command generator. Synchronous control system. Consists of a centralized control device with a built-in virtual rotation command generator, multiple sets of synchronous drive devices and an electric motor,
The virtual rotation command generator includes a frame signal generator and a phase speed command calculator,
The frame signal generator includes a frame timer that counts up with a pulse signal of a constant frequency and is cleared when a predetermined count value is reached, and sends a calculation start signal to the phase speed command calculator at a predetermined time interval. Along with sending out, generate a frame signal as a time reference and send it to the multiple sets of synchronous drive devices,
The phase speed command computing unit is an S-shape in which the speed command changes in an S-shape over time from a preset speed setting signal with the computation start signal sent from the frame signal generator as a time reference. A speed command Vr having the acceleration / deceleration characteristics and a phase command Pr corresponding to the speed command Vr are generated and generated.
Prior to time t [n] at which the frame signal is transmitted, speed command Vr (t [n]) and phase command Pr (t [n]) at time t [n], time t [n], and time t The speed command deviation ΔVr (t [n + 1]), which is the speed command difference between [n + 1], and the phase command deviation ΔPr (t [n + 1]), which is the phase command difference, are used as the phase speed command communication signal at time t. [N] is sent from the communication line to the plurality of sets of synchronous drive devices,
The frame signal generator sends a frame signal from a communication line to the synchronous drive device at time t [n] after the transmission time,
Each of the plurality of electric motors includes a hybrid encoder,
The hybrid encoder outputs a rotation phase with a resolution of 2 to the power of 1 as an absolute signal, and outputs a SIN signal and a COS signal with a cycle number of 2 to the power of 2 or less per rotation as an incremental signal. ,
The synchronous drive device is a phase speed command detection device that extracts a phase command and a speed command from a phase speed command communication signal sent via the communication line;
A phase velocity FB detection device for detecting a phase feedback signal and a velocity feedback signal from an absolute signal and an incremental signal output from the hybrid encoder;
The synchronous drive device incorporates a control timer,
The phase speed command detecting device detects the speed command deviation between the time command t [n] and the time command t [n + 1] by the speed command Vr (t [n]) and the phase command Pr (t [n]) by the phase speed command communication. Receiving ΔVr (t [n + 1]) and phase command deviation ΔPr (t [n + 1]), and recording the time t [n] output by the control timer when the frame signal is received;
The synchronous drive device outputs a latch signal when performing a synchronous control operation, obtains a synchronous control processing time tf [n] when the latch signal is output from the control timer, and records the time t Based on [n] and the received signal, an interpolation speed command Vh (tf [n]) and an interpolation phase command Ph (tf [n]) at the synchronization control processing time tf [n] are obtained,
In addition, a phase feedback signal and a speed feedback signal at the synchronization control processing time tf [n] are obtained in synchronization with the latch signal, and the interpolation phase command, the interpolation speed command, the phase feedback signal, and the speed feedback signal are compared, A synchronous control system for controlling the speed and phase of the electric motor so as to follow a command of the virtual rotation command generator. The phase velocity FB detector initializes the upper i bits of the rotation phase to be detected with the absolute signal, and then counts and updates the upper i bits for each cycle of the SIN signal or COS signal. 11. The synchronous control system according to claim 10, wherein the lower (m + 2) bits of the phase are interpolated with an electrical angle obtained by digitizing the SIN signal and the COS signal with an A / D converter. A shaftless rotary printing press is composed of a centralized control device with a built-in virtual rotation command generator, a plurality of sets of synchronous drive devices and an electric motor
The virtual rotation command generator is
A preset speed setting signal is input, and from this speed setting signal, a speed command having an S-curve acceleration / deceleration characteristic in which the speed command changes into an S shape over time, and a phase command corresponding thereto A built-in phase speed command calculator that outputs the generated speed command and phase command as a phase speed command communication signal to the outside,
The speed command and the phase command are sent as a phase speed command communication signal to the plurality of sets of synchronous drive devices via a communication line,
Each of the plurality of electric motors includes a hybrid encoder,
The hybrid encoder outputs a rotation phase with a resolution of 2 to the power of 1 as an absolute signal, and outputs a SIN signal and a COS signal with a cycle number of 2 to the power of 2 or less per rotation as an incremental signal. ,
The synchronous drive device is a phase speed command detection device that extracts a phase command and a speed command from a phase speed command communication signal sent via the communication line;
A phase velocity FB detection device for detecting a phase feedback signal and a velocity feedback signal from an absolute signal and an incremental signal output from the hybrid encoder;
The synchronous drive device is synchronized in a synchronous control system that controls the speed and phase of the motor to follow the command of the virtual rotation command generator based on the outputs of the phase velocity command detection device and the phase velocity FB detection device. A startup method,
The shaftless rotary printing press is started to operate at a slow speed by a slow speed,
Thereafter, the centralized control device turns on phase control, and at this time, the phase feedback signal of the hybrid encoder of the folding machine is immediately preset and initialized to the phase command generated by the phase speed command calculator,
Thereby, the folding machine shifts to synchronous control without performing origin adjustment control, and the plurality of printing machines shift to synchronous control after performing origin alignment,
A synchronous activation method for a synchronous control system, wherein the speed command is increased after the plurality of printing presses have completed origin adjustment or during origin adjustment.

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