JP2009161894A - Yarn-conveying apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a yarn-conveying apparatus capable of controlling yarn tension without regard for whether yarn is kept in conveying state or stopping state. <P>SOLUTION: The yarn-conveying apparatus is equipped with a delivery roll on a conveying line and a latter part on downstream side of the delivery roll. The yarn-conveying apparatus comprises a latter part roll driving means for rotating and driving the latter part roll, a stretch control means for outputting rotation order of the delivery roll in order to adjust draw ratio of yarn when the latter part roll is kept in rotating state, a delivery roll-driving means for rotating and driving the delivery roll based on rotation order from the stretch control means, a tension control means for outputting rotation order of the delivery roll for making yarn tension coincide with a target yarn tension when rotation of the latter part roll is kept in stop state and a control changeover means for permitting input of rotation order from the tension control means to the delivery roll driving means when rotation of the latter part roll is kept in stop state and inhibiting the input when the latter part roll is kept in rotary state. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a yarn conveying device for conveying a yarn from an upstream side to a downstream side along a predetermined conveying line, and particularly in a yarn gluing device for gluing a yarn conveyed along a conveying line. It is suitable for being used as a yarn conveying device.

  2. Description of the Related Art Conventionally, a yarn gluing device for textile products is provided with a yarn conveying device that conveys a large number of thin yarns that are hung on a plurality of rolls by rotationally driving these rolls, and is conveyed by the yarn conveying device. It is an apparatus for applying gluing and drying to a large number of fine yarns. Such a yarn gluing device is provided with a delivery roll in which a large number of fine yarns are wound around the outer periphery, and a large number of fine yarns are sent out onto a conveying line by the feed roll.

  Originally, the beam from which the yarn is sent out should be referred to as “sending beam”, and the beam for winding up the yarn should be referred to as “winding beam”. However, in this specification, for convenience of explanation, “sending beam” is referred to as “sending beam”. It is referred to as “sending roll” and “winding beam” is referred to as “winding roll”.

  According to this yarn gluing device, a large number of fine yarns are fed out from the feed roll, aligned by the scissors, conveyed to the feed roll on the downstream side thereof, and further glued on the downstream side through the feed roll. It is conveyed toward the sizing roll. A large number of fine yarns are glued by a sizing roll, sent into the hot air drying device, and while passing through the hot air drying device, the glue surface adhering to the fine yarn is dried by hot air.

  Next, the large number of fine yarns that have passed through the hot air drying apparatus are wound and conveyed while being in contact with the outer peripheral surfaces of the plurality of cylinder rolls for drying. Here, the plurality of cylinder rolls are heated by steam supplied to the inside of the cylinder rolls, and finish and dry a large number of glued fine yarns to a predetermined moisture content. And the thread | yarn dried by this cylinder roll is conveyed by the cooling device in the downstream of a cylinder roll, and is cooled by passing through this cooling device.

  A large number of fine yarns cooled by the cooling device are conveyed to a take-up roll by a take-up roll disposed on the downstream side thereof, and wound around the outer periphery of the take-up roll. Further, the feed roll, the sizing roll, the cylinder roll, and the take-up roll are each provided with a guide roll for bringing a large number of fine yarns into contact with the outer peripheral surfaces of these rolls.

  Furthermore, the feed roll, feed roll, sizing roll, cylinder roll, take-up roll, and take-up roll are each driven to rotate by an individual servo motor, and the yarn gluing device rotates each roll by this servo motor. By driving, a large number of fine yarns are transported on the transport line from the upstream side to the downstream side.

  Here, in the yarn gluing device, it is desirable to adjust and maintain the tension (hereinafter referred to as “yarn tension”) acting on the fine yarn as uniform as possible. If excessive yarn tension acts on the fine yarn, the strength and elongation of the fine yarn decreases, causing thread breakage. On the other hand, if excessive yarn tension acts on the fine yarn, for example, a large number of fine yarns are entangled. This is because, as a result of the matching or the bottom shift in the hot air drying apparatus, it may cause the fine yarn to fall off or become fluffy.

  If the yarn tension acting on the thin yarn cannot be reduced in this way and the above-mentioned problems occur in the thin yarn, the operation of the yarn gluing device must be stopped in order to eliminate such problems, It takes a lot of effort to restore it. Therefore, when the yarn gluing device is operated, it is extremely important to adjust the yarn tension acting on a large number of thin yarns to be conveyed to an appropriate value (appropriate target value).

  Here, the section where the thread tension needs to be adjusted (hereinafter referred to as “thread tension adjusting section”) is a section where the thread is suspended between a pair of rolls on the upstream side and the downstream side. This applies between the feed roll and feed roll, between the feed roll and sizing roll, between the sizing roll and cylinder roll, between the cylinder roll and take-up roll, or between the take-up roll and take-up roll. To do.

  Various proposals have been made for the yarn tension adjustment method for adjusting the yarn tension of the yarn in each yarn tension adjustment section. Among them, the tension control method, the stretch The control method is well known.

  The tension control method is a control method that directly adjusts the yarn tension of the yarn in the yarn tension adjustment section, whereas the stretch control method is based on the hook law for the yarn. This is a control method in which the yarn tension is indirectly adjusted by increasing or decreasing the yarn drawing amount (stretch amount) or the yarn drawing rate (stretch rate) of a certain yarn.

  Here, in the tension control method, for example, a tension detector such as a load cell is provided in the middle of an arbitrary yarn tension adjustment section, and an actual value of the yarn tension is detected by the tension detector, and an actual value of the yarn tension is detected. The measured value of the yarn tension in the yarn tension adjustment section matches the target yarn tension by increasing / decreasing the rotational speed of both or one of the rolls in the yarn tension adjustment section based on the deviation between the thread tension and the target yarn tension. I will try to let you.

  On the other hand, the stretch control method, for example, defines the difference or ratio between the movement speed of the yarn by one roll and the movement speed of the yarn by the other roll in an arbitrary yarn tension adjustment section as the stretch ratio, and then each roll The stretch rate is calculated based on the measurement result of the rotational speed, and the rotational speed of both or either of the pair of rolls related to the yarn tension adjustment section is increased or decreased based on the deviation between the stretch rate and the target stretch rate. Thus, the yarn stretch rate in the yarn tension adjustment section is intended to match the target stretch rate.

  As described above, although the specific control structure is different between the tension control method and the stretch control method described above, they all coincide with each other in the purpose of finally adjusting the yarn tension. Moreover, both the tension control method and the stretch control method are for speed control of the rotation speed of the roll in the yarn tension adjustment section, and substantially control the speed of the servo motor that rotationally drives the roll. is there.

These tension control method and stretch control method are not only those that use speed control, but also those that control the drive torque of the roll in the yarn tension adjustment section, in effect a servo that rotationally drives the roll. Motor torque control may be performed.
Japanese Patent Application Laid-Open No. 07-229055 Japanese Patent Laid-Open No. 06-108338 Japanese Patent Laid-Open No. 06-108337 Japanese Patent Laid-Open No. 05-078031 Japanese Patent No. 2892355

  By the way, with recent diversification of clothing products, for example, there is a case where a woven fabric using ultrafine yarn of about 10 to 30 denier is required, and in such a case, the elongation of the ultrafine yarn is high. Therefore, when applying the gluing process, it is required to adjust the yarn tension when the yarn is conveyed by the yarn conveying device to be lower and to convey the yarn while maintaining the low tension state strictly.

  However, in the case of using the speed control or torque control described above, for example, about 1000 ultrafine yarns having a yarn thickness of 10 to 30 denier are formed between the feed roll and the feed roll of the yarn conveying device or between the take rolls. A yarn tension of about 20 to 50 Nm, which is a general set yarn tension, was applied between the up roll and the take-up roll and could not be stably conveyed.

  This is due to the fact that the delivery roll and the take-up roll are heavy objects having a weight of approximately 200 kgf or more, and the influence of the inertia of such a heavy delivery roll or take-up roll is another factor (damping). As a result, if the speed control system or torque control system is configured with emphasis on the speed response of the yarn tension and stretch rate, the steady-state deviation increases or the damping performance decreases. End up. On the other hand, if the speed control system and the torque control system are configured with emphasis on the steady deviation and the damping property of the yarn tension or stretch rate, the speed response is conversely reduced.

  In particular, when the weight of the feed roll and the take-up roll is large, the mechanical torque loss due to the transmission mechanism that transmits the rotational force of the servo motor to the feed roll or the take-up roll is increased accordingly. In particular, in the yarn tension adjustment method using torque control, it has been impossible to stably convey the ultrafine yarn with low tension.

  In addition, when the strength and elongation are extremely small as in the case of ultra-thin yarn, if the speed control system or torque control system is configured with emphasis on the speed response of the thread tension or stretch rate, the damping property of the thread tension or stretch rate can be reduced. It is assumed that the thread tension and stretch rate converge to the appropriate values and stabilize, and depending on the degree of gain, the controlled variable oscillates and the ultrathin thread breaks. There is also a risk of it.

  Therefore, as an extremely effective thread tension adjustment method for such a problem, the applicant of the present application is to transfer ultrafine yarn while applying low thread tension in Japanese Patent Application Nos. 2007-210597 and 2007-232413. A thread tension adjustment method using position control is proposed.

  The yarn tension adjustment method proposed by the applicant of the present application is specifically a stretch control method using position control, and the basic concept thereof is the rotation amount of one roll in an arbitrary yarn tension adjustment section. Define the difference or ratio of the rotation amount of the other roll as the stretch amount of the yarn, set the target stretch amount, and based on the target stretch amount and the rotation amount of one roll, the rotation amount of the other roll A command is calculated, and based on the rotation amount command, the rotation amount of the other roll is increased or decreased to match the yarn stretch amount in the yarn tension adjustment section with the target stretch amount.

  The stretch control method using this position control is to position-control the amount of rotation of the pair of rolls related to the yarn tension adjustment section in order to finally adjust the yarn tension. The position control (rotation amount) of the servo motor to be driven is performed. In this way, the stretch control method using position control adjusts the rotation amount of a pair of rollers related to an arbitrary yarn tension adjustment section based on the rotation amount ratio converted from the target stretch amount. This is an application of the ratio control method.

  However, even in the stretch control method using the above-described position control, each servo motor cannot be rotated, such as when the feeding roll or the winding roll is replaced or when the yarn conveyance is stopped due to yarn breakage or the like. In this case, since there is no change in the rotation amount of each servo motor, it is not possible to generate a control input for adjusting the yarn stretch amount based on the rotation amount of each servo motor. There was a problem that the thread tension of a certain thread could not be adjusted.

  In addition, when an unnecessary expansion or contraction occurs in the yarn on the transport line at the time of replacement of the delivery roll or the winding roll, or an unnecessary expansion or contraction occurs in the yarn over time due to a recovery operation such as thread breakage, The actual yarn tension related to the yarn tension adjustment section may deviate from the target value, and there is a problem that the yarn tension is deviated. Furthermore, if the yarn conveyance is resumed with the yarn tension deviating from the target value, the yarn conveyance after the resumption becomes unstable, and as a result, a quality defect occurs in the glued yarn. there were.

  Accordingly, the present invention has been made to solve the above-described problems, and when the yarn is in a conveying state (for example, an acceleration state, a deceleration state, or a steady operation state), the yarn stretch control is performed. On the other hand, the thread tension acting on the thread can be adjusted regardless of whether the thread is in the transport state or the stop state by switching to the tension control when the thread is in the transport stop state. An object of the present invention is to provide a yarn conveying device capable of performing the above.

  In order to achieve this object, a yarn conveying device according to claim 1 is provided with a feeding roll rotatably arranged on a predetermined conveying line and wound around the outer periphery thereof, and on the downstream side of the conveying line with respect to the sending roll. And a second-stage roll rotatably disposed on the conveyance line, and conveys the yarn sent along with the rotation of the delivery roll to the second-stage roll along the conveyance line, A yarn conveying device of a yarn gluer for conveying to each step disposed further downstream of the conveying line via rotation of the subsequent roll, further comprising a subsequent roll driving means for rotating the latter roll, and thereafter When the corrugated roll is in a rotating state, the rotation of the latter-stage roll and the feed roll obtained based on the target yarn drawing rate that the yarn between the subsequent-stage roll and the feed roll (hereinafter referred to as “delivery section”) should generate. Quantity Ratio (hereinafter referred to as “feeding section rotation ratio”), the ratio of the outer diameter of the subsequent stage roll and the current winding diameter of the feeding roll (hereinafter referred to as “feeding section diameter ratio”), and the rotation amount of the subsequent stage roll. Based on the rotation amount command output by the stretch control means and the stretch control means for outputting the rotation amount command to rotate the delivery roll in order to adjust the yarn drawing rate of the delivery section. In order to make the yarn tension in the delivery section coincide with the target yarn tension when the delivery roll driving means for rotating the delivery roll and the latter-stage roll are in a rotation stop state, the target thread tension and the actual tension in the delivery section are matched. Tension control means for calculating and outputting a rotation amount command for rotating the delivery roll based on a deviation from the yarn tension (hereinafter referred to as "delivery section tension deviation"), and tension control thereof. A control switching means for permitting the input of the rotation amount command output by the means to the delivery roll driving means when the latter roll is in a rotation stopped state and prohibiting when the latter roll is in a rotation state; It has.

  According to the yarn conveying device of the first aspect, the yarn tension of the yarn suspended between the feeding roll and the succeeding roll, that is, the yarn in the feeding section is adjusted by the stretch control when it is in the conveying state. When it is in the conveyance stop state, the yarn tension is adjusted by tension control. That is, the stretch control is executed when the rear roll is in a rotating state, that is, when the rotation amount of the rear roll is not zero, and the tension control is performed when the rear roll is in a rotation stopped state, that is, the rotation of the rear roll. It is executed when the quantity is zero.

  This is because the yarn is transported from the delivery section to each process downstream from the sending section by rotating the latter-stage roll, and the rotation amount of the latter-stage roll is generated (that is, not zero). This is because the stretch control can be executed (see Expression (2)). Further, if the rotation of the rear stage roll is stopped, the yarn stops in the delivery section, and naturally the rotation amount of the rear stage roll becomes zero, and as a result, the stretch control cannot be executed (see Expression (2)). Instead, the thread tension in the delivery section is adjusted by tension control.

  The stretch control means adjusts the yarn stretch rate of the yarn traveling in the sending section when the latter-stage roll is in a rotating state, i.e., when the yarn is in a conveying state, and by this adjustment, the yarn tension in the sending section is adjusted. Is indirectly adjusted. According to this stretch control means, in order to stretch the yarn in the delivery section at the target yarn drawing rate, the rotation amount command for the delivery roll is based on the target yarn drawing rate, the sending portion diameter ratio, and the rotation amount of the subsequent roll. Is calculated. The target yarn drawing rate is the target value of the yarn drawing rate that the yarn in the sending section should produce, and the current winding diameter is the current value of the winding diameter of the sending roll that changes with the sending of the yarn. .

  The calculation of the rotation amount command by the stretch control means is performed based on the relationship of the following formulas (1) and (2). Here, the expression (1) shows a relationship established between the yarn drawing rate and the sending part rotation ratio, and the expression (2) is sent when the rotation amount of the subsequent roll is used as a reference. This shows the relationship established between the part rotation ratio, the delivery part diameter ratio, and the amount of rotation of the delivery roll.

γ = 1−ε (1)
Δθ1 = γ · (D2 / D1) · Δθ2 (2)
(However, in Equation (1), γ is the rotation ratio of the delivery section in the delivery section, ε is the yarn drawing rate of the yarn in the delivery section, and in Equation (2), Δθ1 is the rotation amount of the delivery roll, and Δθ2 is the subsequent stage. The amount of rotation of the roll, D2 / D1 is the feed portion diameter ratio, D1 is the current roll diameter of the feed roll, D2 is the outer diameter of the subsequent roll, and “·” in the equation is a multiplication operator “ / ”Is a division operator (the same applies hereinafter))

In addition, the yarn drawing rate in the formula (1) is based on the following formula (3), and this formula (3) showed a relationship established between the yarn drawing rate and the yarn drawing amount in the delivery section. Is.
ε = ΔL / L = (L′−L) / L (3)
(However, in Equation (3), ΔL is the amount of yarn stretched in the delivery section, L is the length of the undrawn yarn, and L ′ is the length of the drawn yarn.)

  In the case where the above formulas (1) and (2) are used, according to the stretch control means, by substituting the value of the target yarn drawing rate into the yarn drawing rate (ε) of the formula (1), the sending portion rotation ratio ( The value of γ) is calculated, and this calculated value is substituted into the sending portion rotation ratio (γ) of equation (2). The value of the outer diameter (D2) of the rear roll and the rotation amount of the rear roll (Δθ2) are substituted into this substitution value. ) And multiplying this multiplied value by the value of the winding roll current value (D1), the value of the rotation amount of the sending roll in equation (2) is obtained, and this value is determined by the value of the sending roll. Output as a rotation amount command.

  As described above, when the rotation amount command is calculated based on the expressions (1) and (2), the rotation amount command by the stretch control means is the product of the sending portion rotation ratio, the sending portion diameter ratio, and the rotation amount of the rear roll. Therefore, it becomes zero when the latter-stage roll is in a rotation stop state (see Expression (2)). As a result, when tension control is executed, the rotation amount command from the stretch control means is automatically suppressed from being input to the delivery roll drive means.

  That is, by adopting the stretch control means based on the above formulas (1) and (2), when tension control is performed on the yarn in the delivery section, it is input from the tension control means to the delivery roll drive means. Therefore, it is possible to automatically cut the rotation amount command by the stretch control means, which is a disturbance to the rotation amount command by the tension control means. As a result, it is not necessary to separately provide a means for cutting the rotation amount command by the stretch control means.

  The delivery roll drive means rotates the delivery roll based on a rotation amount command from the stretch control means or the tension control means. Here, the delivery roll drive means does not necessarily need to use the rotation amount command from the stretch control means or the tension control means as it is for the rotation of the delivery roll, and a new rotation amount generated based on this rotation amount command. The delivery roll may be rotated using a command. For example, the delivery roll drive unit may be configured to rotationally drive the delivery roll using a rotation amount command obtained by performing a predetermined correction process on the rotation amount command by the stretch control unit or the tension control unit.

  The tension control means adjusts the yarn tension of the yarn stopped in the feeding section directly to the target yarn tension when the rear roll is in the rotation stopped state, that is, when the yarn is in the conveyance stopped state. is there. According to this tension control means, in order to make the actual yarn tension of the yarn stopped in the delivery section coincide with the target yarn tension, the delivery section tension deviation as these deviations is obtained, and based on this delivery section tension deviation Then, a rotation amount command for rotating the delivery roll is calculated.

  Here, when the latter-stage roll is in a rotation stop state, the rotation amount command by the stretch control means becomes zero, so the stretch control of the delivery roll by the stretch control means is stopped, and the tension control means and the delivery roll drive are driven by the control switching means. The connection with the means is permitted, and a rotation amount command by the tension control means is input to the delivery roll driving means. Then, based on the rotation amount command by the tension control means, the delivery roll is rotated by the delivery roll drive means, and the position of the delivery roll is changed, so that the yarn tension of the yarn in the delivery section becomes the target yarn tension. Changed to match.

  On the other hand, when the latter-stage roll is in a rotating state or when the latter-stage roll that has been in a rotation stopped state shifts to a rotating state, a rotation amount command is generated by the stretch control means, so that the stretch control of the delivery roll is executed. For this reason, the control switching means prohibits the tension control means and the rotation amount command from the tension control means from being input to the delivery roll driving means. Then, the delivery roll driving means is driven to rotate the delivery roll based on the rotation amount command from the stretch control means without being affected by the rotation amount command from the tension control means.

  As a result, the stretch control means exhibits its own control function without being interfered by the tension control means in the rotation state of the latter-stage roll, and the tension control means is stretched in the rotation stop state of the latter-stage roll. An original control function can be exhibited without being interfered by the control means.

  The yarn conveying device according to claim 2 is the yarn conveying device according to claim 1, in which, in place of the stretch control means, when the rear roll is in a rotating state, the target yarn stretching that the yarn in the delivery section should produce A stretch control means for calculating and outputting a rotation amount command to rotate the delivery roll in order to adjust the yarn drawing rate of the delivery section based on the rate and the rotation amount of the rear roll. In place of the switching means, when the latter-stage roll is in a rotation stopped state, the rotation amount command input by the tension control means to the delivery roll drive means is permitted and the rotation amount command input by the stretch means is prohibited. On the other hand, when the latter-stage roll is in a rotating state, input of a rotation amount command by the tension control means to the delivery roll drive means is prohibited and the stretch control means And a control switching means for permitting the input of the rotation amount command with.

  The yarn conveying device according to claim 2 is obtained by changing the stretch control means and the control switching means with respect to that according to claim 1, and this change causes a part of the operation different from that of claim 1. . Therefore, in the following, description of the same parts as those of the yarn conveying device of claim 1 will be omitted, and only different parts will be described.

  According to the yarn conveying device of the second aspect, the stretch control means stretches the yarn in the sending section at the target yarn drawing rate, and therefore, based on the target yarn drawing rate and the rotation amount of the subsequent roll, A rotation amount command is calculated. Note that the calculation of the rotation amount command by the stretch control means is not necessarily limited to that based on the above formulas (1) to (3), and other calculation methods may be adopted.

  Here, when another calculation method is employed, the rotation amount command by the stretch control means is not necessarily zero when the rear roll is in the rotation stop state. Therefore, when the latter-stage roll is in a rotation stop state, the control switching means prohibits the rotation control command from being input to the output roll drive means by the stretch control means, and then the rotation control command output roll drive by the tension control means. Input to the means is allowed.

  Then, based on the rotation amount command by the tension control means, the delivery roll is rotationally driven by the delivery roll drive means, so that the position of the delivery roll is changed, and the yarn tension of the yarn in the delivery section becomes the target yarn tension. Will be changed to match.

  On the other hand, when the succeeding roll is in a rotating state or when the succeeding roll that has been in a rotation stopped state shifts to a rotating state, stretch control of the delivery roll by the stretch control means is required. Therefore, when the latter-stage roll is in a rotating state, the control switching means prohibits the input of the rotation amount command from the tension control means to the delivery roll drive means, and permits the input of the rotation amount command by the stretch control means. The

  Then, the delivery roll drive means rotates the delivery roll based on the rotation amount command output from the stretch control means without being affected by the rotation amount command by the tension control means.

  As a result, the stretch control means exhibits its own control function without being interfered by the tension control means in the rotation state of the latter-stage roll, and the tension control means is stretched in the rotation stop state of the latter-stage roll. An original control function can be exhibited without being interfered by the control means.

  The yarn conveying device according to a third aspect is the yarn conveying device according to the first or second aspect, wherein a rotation amount command of the delivery roll output by the tension control means is input, and the rotation amount command of the delivery roll is in response to the rotation amount command. A winding diameter variation compensating means for outputting a value subjected to correction conversion based on the current winding diameter value to the delivery roll driving means as a rotation amount command for rotating the delivery roll, and replacing the control switching means; The rotation amount command output by the winding diameter variation compensating means is allowed to be input to the delivery roll driving means when the latter roll is in a rotation stopped state, while the latter roll is in a rotating state. The control switching means for prohibiting is provided.

  The yarn conveying device according to claim 3 is obtained by changing the tension control means and the control switching means with respect to that according to claim 1 or 2, and partly differs from that according to claim 1 or 2 due to this change. Produces different effects. Therefore, in the following, description of the same parts as those of the yarn conveying device of claim 1 or 2 will be omitted, and only different parts will be described.

  According to the yarn transport device of claim 3, when the rear roll is in the rotation stopped state, that is, when the yarn is in the transport stopped state, the tension control means changes the yarn tension of the yarn in the delivery section to the target yarn tension. Based on the delivery section tension deviation in order to match, the delivery roll rotation amount command necessary to make the deviation zero is calculated.

  Here, the current value of the winding diameter of the feeding roll changes from moment to moment according to the feeding or unwinding of the yarn by the feeding roll. Such a change in the current value of the winding diameter of the delivery roll causes a change in dynamic characteristics (modeling error) during rotation of the delivery roll, and the fluctuation of the dynamic characteristics reduces the control performance of the tension control means. There is a fear. For example, when the tension control means is designed based on the value of the minimum winding diameter (beam diameter) of the delivery roll, the model becomes larger as the current winding diameter of the delivery roll becomes larger than the beam diameter of the delivery roll. It is presumed that the control error by the tension control means decreases by that amount.

  Therefore, in the yarn conveying device according to the third aspect, the winding diameter variation compensating means performs correction conversion using the current value of the winding diameter of the delivery roll with respect to the rotation amount command output from the tension control means. Then, a rotation amount command corresponding to the current value of the winding diameter of the delivery roll is calculated, and this new rotation amount command is output to the delivery roll driving means via the control switching means.

  The yarn conveying device according to a fourth aspect is the yarn conveying device according to the third aspect, wherein the winding diameter fluctuation compensating means is configured to wind the sending roll in response to a rotation amount command of the sending roll calculated by the tension control means. Correction conversion is performed by multiplying the reciprocal of the current diameter value. This winding diameter variation compensating means is particularly suitable when the tension control means is designed based on the value of the minimum winding diameter (beam diameter) of the delivery roll.

  According to the yarn conveying device of the fourth aspect, the same action as that of the yarn conveying device of the third aspect is achieved, and the current value of the winding diameter of the feeding roll is determined with respect to the rotation amount command of the feeding roll calculated by the tension control means. By multiplying the reciprocal number, the rotation amount command is corrected and converted into a new rotation amount command corresponding to the winding diameter current value. Then, if this new corrected rotation amount command is output from the winding diameter variation compensating means to the sending roll driving means via the control switching means, the thread tension can be adjusted according to the winding diameter of the sending roll. As a result, a decrease in yarn tension control performance associated with a change in the winding diameter of the delivery roll is also suppressed.

  The yarn conveying device according to claim 5 is disposed on a predetermined conveying line so as to be rotatable, and a winding roll around which a yarn is wound, and on the upstream side of the conveying line with respect to the winding roll, the conveying line. A pre-stage roll that is rotatably arranged on the top, and from each process arranged upstream of the pre-stage roll, the yarn conveyed through the rotation of the pre-stage roll, A yarn transporting device of a yarn gluer that winds and winds around the outer periphery of the winding roll, and further, when the preceding-stage roll driving means that rotationally drives the preceding-stage roll and the preceding-stage roll are in a rotating state, The ratio of the amount of rotation of the preceding roll and the winding roll (hereinafter referred to as the “winding section”) obtained based on the target yarn drawing rate that the yarn between the preceding roll and the winding roll (hereinafter referred to as “winding section”) should produce. "Takebu rotation ratio") A value obtained by multiplying the ratio of the outer diameter of the corrugating roll and the current value of the winding diameter of the winding roll (hereinafter referred to as “winding portion diameter ratio”) and the amount of rotation of the preceding roll to the winding section. Stretch control means for outputting a rotation amount command for rotating the winding roll in order to adjust the yarn drawing rate, and winding for rotating the winding roll based on the rotation amount command output by the stretch control means. When the take-up roll driving means and the preceding roll are in a rotation stopped state, in order to make the yarn tension in the take-up section coincide with the target yarn tension, the deviation between the target yarn tension and the actual yarn tension in the take-up section (Hereinafter, referred to as “winding section tension deviation”), a tension control unit that calculates and outputs a rotation amount command for rotating the winding roll, and the winding amount command output by the tension control unit. Take The inputs to Lumpur driving means, the front roll while allowing when in rotation stopped state, the front roll and a control switching means for prohibiting when in rotating state.

  According to the yarn conveying device of the fifth aspect, the yarn tensioned between the preceding roll and the take-up roll, that is, the yarn in the take-up section, has the yarn tension by the stretch control when it is in the carrying state. The thread tension is adjusted by tension control when it is adjusted and in the conveyance stop state. That is, the stretch control is executed when the front roll is in a rotating state, that is, when the rotation amount of the front roll is not zero, and the tension control is performed when the front roll is in a rotation stopped state, that is, the rotation of the front roll. It is executed when the quantity is zero.

  This is because the yarn is conveyed from each process to the winding section by rotating the front roll and the amount of rotation of the front roll is generated (that is, not zero), so the stretch control is executed. This is because it becomes possible (see formula (12)). Further, if the rotation of the front roll is stopped, the yarn stops in the winding section, and naturally, the rotation amount of the front roll also becomes zero, and as a result, the stretch control cannot be executed (see Expression (12)). Instead, the yarn tension in the winding section is adjusted by tension control.

  The stretch control means adjusts the yarn drawing rate of the yarn traveling in the winding section when the preceding roll is in a rotating state, that is, when the yarn is in a conveying state. The yarn tension is adjusted indirectly. According to this stretch control means, in order to stretch the yarn in the winding section at the target yarn drawing rate, based on the target yarn drawing rate, the winding portion diameter ratio, and the amount of rotation of the preceding roll, A rotation amount command is calculated. The target yarn drawing rate is the target value of the yarn drawing rate that the yarn in the winding section should produce, and the current winding diameter is the current value of the winding diameter of the winding roll that changes as the yarn is wound. Value.

  The calculation of the rotation amount command by the stretch control means is performed based on the relationship of the following formulas (11) and (12). Here, the equation (11) shows a relationship established between the yarn drawing rate and the winding portion rotation ratio, and the equation (12) is based on the rotation amount of the preceding roll. The relationship established between the winding portion rotation ratio, the winding portion diameter ratio, and the amount of rotation of the winding roll is shown.

γ = 1 + ε (11)
Δθ1 = γ · (D2 / D1) · Δθ2 (12)
(However, in Equation (11), γ is the winding portion rotation ratio of the winding section, ε is the yarn drawing rate of the yarn in the winding section, and in Equation (12), Δθ1 is the amount of rotation of the winding roll. , Δθ2 is the amount of rotation of the preceding roll, D2 / D1 is the winding portion diameter ratio, D1 is the current winding diameter of the winding roll, D2 is the outer diameter of the preceding roll, and “·” in the equation is a multiplication. "/" Is a division operator (the same applies hereinafter))

In addition, the yarn drawing rate in the equation (11) is based on the following equation (13), and this equation (13) shows the relationship established between the yarn drawing rate and the yarn drawing amount in the winding section. It is a thing.
ε = ΔL / L = (L′−L) / L (13)
(However, in Equation (13), ΔL is the amount of yarn stretched in the winding section, L is the length of the undrawn yarn, and L ′ is the length of the drawn yarn.)

  When the above formulas (11) and (12) are used, according to the stretch control means, the value of the target yarn drawing rate is substituted into the yarn drawing rate (ε) of the formula (11), thereby taking up the winding portion rotation ratio. The value of (γ) is calculated, and this calculated value is substituted into the winding part rotation ratio (γ) of equation (12), and the value of the outer diameter (D2) of the preceding roll and the rotation amount of the preceding roll are substituted into this substituted value. When the value of (Δθ2) is multiplied and this multiplied value is divided by the value of the winding diameter current value (D1) of the winding roll, the value of the amount of rotation of the winding roll in equation (12) is obtained. Is output as a rotation amount command for the take-up roll.

  As described above, when the rotation amount command is calculated based on the equations (11) and (12), the rotation amount command by the stretch control means includes the winding portion rotation ratio, the winding portion diameter ratio, and the rotation amount of the preceding roll. Therefore, it becomes zero when the preceding roll is in a rotation stop state (see Expression (12)). As a result, when tension control is executed, the rotation amount command by the stretch control means is automatically suppressed from being input to the take-up roll drive means.

  That is, by adopting the stretch control means based on the above formulas (11) and (12), when tension control is performed on the yarn in the winding section, from the tension control means to the winding roll driving means. The rotation amount command by the stretch control means, which is a disturbance to the rotation amount command by the input tension control means, can be automatically cut, and as a result, there is no need to separately provide a means for cutting the rotation amount command by the stretch control means. .

  The take-up roll driving means rotates the take-up roll based on a rotation amount command from the stretch control means or the tension control means. Here, the take-up roll drive means does not necessarily need to use the rotation amount command from the stretch control means or the tension control means as it is for the rotation of the take-up roll, and a new one generated based on this rotation amount command. You may rotate a winding roll using rotation amount instruction | command. For example, the take-up roll drive means may drive the take-up roll using a rotation amount command obtained by performing a predetermined correction process on the rotation amount command by the stretch control means or the tension control means. .

  The tension control means adjusts the yarn tension of the yarn stopped in the winding section directly to the target yarn tension when the preceding roll is in the rotation stopped state, that is, when the yarn is in the conveyance stopped state. It is. According to this tension control means, in order to make the actual yarn tension of the yarn stopped in the winding section coincide with the target yarn tension, the winding section tension deviation as these deviations is obtained. A rotation amount command for rotating the winding roll is calculated based on the deviation.

  Here, when the preceding roll is in the rotation stop state, the rotation amount command by the stretch control means becomes zero, so the stretch control of the take-up roll by the stretch control means is stopped, and the tension changeover means and the take-up roll are controlled by the control switching means. Connection with the roll drive means is permitted, and a rotation amount command by the tension control means is input to the take-up roll drive means. Then, the winding roll is rotationally driven by the winding roll driving means based on the rotation amount command by the tension control means, and the position of the winding roll is changed, so that the yarn tension of the yarn in the winding section is changed. It is changed to match the target thread tension.

  On the other hand, when the preceding roll is in a rotating state or when the preceding roll that has been in a rotation stopped state shifts to a rotating state, a rotation amount command is generated by the stretch control means, and thus the stretch control of the winding roll is executed. For this reason, the control switching means prohibits the tension control means and the rotation amount command from the tension control means from being input to the take-up roll driving means. Then, the take-up roll driving means is driven to rotate the take-up roll based on the rotation amount command from the stretch control means without being influenced by the rotation amount command from the tension control means.

  As a result, the stretch control means exerts its own control function without being interfered by the tension control means in the rotation state of the front roll, and the tension control means is stretched in the rotation stop state of the front roll. An original control function can be exhibited without being interfered by the control means.

  According to a sixth aspect of the present invention, in the yarn conveying device according to the fifth aspect, in place of the stretch control means, the target yarn to be produced by the yarn in the winding section when the preceding roll is in a rotating state. Based on the drawing rate and the amount of rotation of the preceding roll, it is provided with a stretch control means for calculating and outputting a rotation amount command for rotating the winding roll in order to adjust the yarn drawing rate of the winding section. In place of the control switching means, when the preceding roll is in a rotation stopped state, the input of the rotation amount command by the tension control means to the winding roll drive means is permitted and the rotation amount command by the stretch means Input of the rotation amount is prohibited, and when the preceding roll is in a rotating state, input of the rotation amount command by the tension control means to the winding roll drive means is prohibited and the stretch control means And a control switching means for permitting the input of the rotation amount command with.

  The yarn conveying device according to claim 6 is obtained by changing the stretch control means and the control switching means with respect to that according to claim 5, and this change causes a partially different action from that of claim 5. . Therefore, in the following, description of the same parts as those of the yarn conveying device of claim 5 is omitted, and only different parts are described.

  According to the yarn transporting apparatus of the sixth aspect, the stretch control means stretches the yarn in the winding section at the target yarn drawing rate, so that the winding is based on the target yarn drawing rate and the rotation amount of the preceding roll. A roll rotation amount command is calculated. Note that the calculation of the rotation amount command by the stretch control means is not necessarily limited to that based on the above formulas (11) to (3), and other calculation methods may be adopted.

  Here, when another calculation method is adopted, the rotation amount command by the stretch control means is not necessarily zero when the preceding roll is in the rotation stop state. Therefore, when the preceding roll is in the rotation stop state, the control switching means prohibits the rotation amount command from being input to the take-up roll drive means by the stretch control means, and then the winding of the rotation amount command by the tension control means. Input to the roll drive means is permitted.

  Then, based on the rotation amount command by the tension control means, the take-up roll is rotationally driven by the take-up roll drive means, so that the position of the take-up roll is changed, and the yarn tension of the yarn in the take-up section is changed. Is changed to match the target yarn tension.

  On the other hand, when the preceding roll is in a rotating state or when the preceding roll that has been in a rotation stopped state shifts to a rotating state, stretch control of the winding roll by the stretch control means is required. Therefore, when the preceding roll is in a rotating state, the control switching means prohibits the input of the rotation amount command from the tension control means to the take-up roll drive means, and permits the input of the rotation amount command from the stretch control means. Is done.

  Then, the take-up roll drive means rotates the take-up roll based on the rotation amount command output from the stretch control means without being affected by the rotation amount command by the tension control means.

  As a result, the stretch control means exerts its own control function without being interfered by the tension control means in the rotation state of the front roll, and the tension control means is stretched in the rotation stop state of the front roll. An original control function can be exhibited without being interfered by the control means.

  A yarn conveying device according to a seventh aspect is the yarn conveying device according to the fifth or sixth aspect, wherein a rotation amount command of the winding roll output from the tension control means is input, and the winding amount is in response to the rotation amount command. A winding diameter variation compensating means for outputting a value subjected to correction conversion based on a roll winding diameter current value to the winding roll driving means as a rotation amount command for rotating the winding roll; In place of the switching means, the rotation amount command output by the winding diameter fluctuation compensating means is allowed to be input to the winding roll driving means when the preceding roll is in a rotation stop state, while the preceding roll is Control switching means is provided that is prohibited when in a rotating state.

  The yarn conveying device according to claim 7 is obtained by changing the tension control means and the control switching means with respect to that of claim 5 or 6, and partly differs from that of claim 5 or 6 due to this change. Produces different effects. Therefore, in the following, description of the same parts as those of the yarn conveying device according to claim 5 or 6 will be omitted, and only different parts will be described.

  According to the yarn transporting apparatus of the seventh aspect, when the preceding roll is in the rotation stop state, that is, when the yarn is in the transport stop state, the tension control means determines the yarn tension of the yarn in the winding section as the target yarn tension. Based on the winding section tension deviation, the winding roll rotation amount command necessary to make the deviation zero is calculated.

  Here, the present value of the winding diameter of the winding roll changes from moment to moment according to the feeding or unwinding of the yarn by the winding roll. Such a change in the current value of the winding diameter of the take-up roll causes a change in dynamic characteristics (modeling error) during rotation of the take-up roll, and such a change in dynamic characteristics reduces the control performance of the tension control means. There is a risk that. For example, when the tension control means is designed based on the value of the minimum winding diameter (beam diameter) of the winding roll, the current value of the winding diameter of the winding roll becomes larger than the beam diameter of the winding roll. The modeling error becomes large, and it is presumed that the control performance by the tension control means decreases accordingly.

  Therefore, in the yarn conveying device according to the seventh aspect, the winding diameter variation compensating means performs correction conversion using the current value of the winding diameter of the winding roll with respect to the rotation amount command output from the tension control means. Thus, a rotation amount command corresponding to the current value of the winding diameter of the winding roll is calculated, and this new rotation amount command is output to the winding roll driving unit via the control switching unit.

  The yarn conveyance device according to claim 8 is the yarn conveyance device according to claim 7, wherein the winding diameter variation compensating means is configured to respond to the rotation amount command of the winding roll calculated by the tension control means. The correction conversion is made by multiplying the reciprocal of the present winding diameter value. This winding diameter variation compensating means is particularly suitable when the tension control means is designed based on the value of the minimum winding diameter (beam diameter) of the winding roll.

  According to the eighth aspect of the present invention, the yarn conveying apparatus operates in the same manner as the seventh aspect of the yarn conveying apparatus. By multiplying the reciprocal of the value, the rotation amount command is corrected and converted into a new rotation amount command corresponding to the reel diameter current value. Then, if the new rotation amount command that has been corrected and converted is output from the winding diameter variation compensating means to the winding roll driving means via the control switching means, the yarn tension corresponding to the size of the winding diameter of the winding roll is adjusted. Since the adjustment is made, a decrease in yarn tension control performance associated with a change in the winding diameter of the winding roll is also suppressed.

  According to the yarn conveying device according to any one of claims 1 to 4, after the yarn conveyance is stopped, the yarn tension adjustment method of the yarn is changed from the stretch control by the stretch control means to the tension control by the tension control means by the control switching means. Therefore, there is an effect that the yarn tension in the feeding section can be adjusted to coincide with the target yarn tension even when the rotation operation of the rear roll is stopped. Therefore, even if unnecessary expansion / contraction occurs in the yarn in the delivery section, or unnecessary expansion / contraction occurs in the thread over time due to recovery work such as thread breakage, the target thread tension of the thread in the delivery section is targeted. The yarn tension can be adjusted to match the yarn tension. As a result, the yarn conveyance state after the yarn conveyance is resumed can be stabilized, and the quality of the glued yarn can be prevented from being deteriorated.

  According to the yarn conveying device of any one of claims 5 to 8, after the yarn conveyance is stopped, the yarn tension adjusting method is controlled by the control switching means from the stretch control by the stretch control means to the tension control by the tension control means. Therefore, there is an effect that the yarn tension in the winding section can be adjusted to coincide with the target yarn tension even in the state where the rotation operation of the preceding stage roll is stopped. Therefore, even if unnecessary expansion / contraction occurs in the yarn in the winding section, or unnecessary expansion / contraction occurs in the yarn over time due to restoration work such as thread breakage, the yarn tension of the yarn in the winding section Can be adjusted to match the target yarn tension. As a result, the yarn conveyance state after the yarn conveyance is resumed can be stabilized, and the quality of the glued yarn can be prevented from being deteriorated.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a schematic view showing a configuration of a gluing device 1 which is an embodiment of a yarn gluing device for fiber yarn provided with a conveying device 2 which is an embodiment of the yarn conveying device of the present invention. The gluing device 1 is a so-called sizer.

  As shown in FIG. 1, the gluing device 1 rotates a plurality of rolls arranged on the yarn λ conveying line, thereby rotating a large number of yarns λ from the upstream side to the downstream side along the conveying line. In the process of transporting a large number of yarns λ, the yarn λ is glued, dried and cooled, and then wound up and collected.

  Although not shown in the drawings, the gluing device 1 has a structure in which a large number of yarns λ are simultaneously conveyed in a state where the yarns λ are aligned in a direction perpendicular to the paper surface of FIG. Further, the conveyance line corresponds to the locus of the yarn λ shown in FIG. 1 and coincides with the yarn λ in FIG.

  In the gluing device 1, a feed roll 11 is rotatably disposed on the most upstream side (left side in FIG. 1) of the yarn λ conveyance line. The sending roll 11 is formed so that a large number of yarns λ can be wound on the outer periphery thereof, and the wound yarn λ is sent to the downstream side of the transport line by the rotation of the sending roll 11.

  Further, on the conveying line of the gluing device 1, further on the downstream side of the delivery roll 11, a basket (not shown), a tension roll 17, a feed roll 12, a sizing roll 15, a hot air drying device 3, a plurality of cylinder rolls. 16, 16, ..., the cooling device 4, the take-up roll 13 and the tension roll 18 are arranged in this order.

  The feed roll 12, the sizing roll 15, the cylinder rolls 16, 16,..., The take-up roll 13 and the tension rolls 17 and 18 are all arranged rotatably on the transport line. The yarn λ delivered from the delivery roll 11 is conveyed along the conveyance line.

  Each tension roll 17, 18, feed roll 12, sizing roll 15, first-stage and fifth-stage cylinder rolls 16, 16 and take-up roll 13 have a large number of yarns λ on their outer peripheral surfaces. Guide rolls 19, 19,... For contacting and transporting are attached in a rotatable state.

  A winding roll 14 is rotatably disposed on the most downstream side (right side in FIG. 1) of the transport line. The winding roll 14 is formed so that a large number of yarns λ can be wound around the outer periphery of the winding roll 14. The yarn λ that has been subjected to the pasting, drying, and cooling processes is accompanied by the rotation of the winding roll 14. It is wound around the outer periphery of the winding roll 14 and wound.

  As described above, the gluing device 1 includes the transport device 2 for transporting the yarn λ from the feed roll 11 toward the take-up roll 14 along the transport line by the rolls 11 to 19 described above.

  A load cell 5 is connected to the end of the rotating shaft of the tension roll 17 on the side where the delivery roll 11 is disposed, and this load cell 5 is connected between the delivery roll 11 and the feed roll 12 (hereinafter referred to as “feed section”). .) A tension sensor (tension detecting means) for detecting the yarn tension acting on the yarn λ in the.

  On the other hand, another load cell 6 is connected to the end of the rotating shaft of the tension roll 18 on the side where the take-up roll 14 is disposed, and this load cell 6 is connected between the take-up roll 13 and the take-up roll 14 (hereinafter referred to as “the take-up roll 13”). This is a tension sensor for detecting the yarn tension acting on the yarn λ in 8.

  By the way, the feed roll 11, feed roll 12, sizing roll 15, cylinder rolls 16, 16,..., Take-up roll 13, and take-up roll 14 are all supplied from servo motors M1 to M6. It is a driving roll that is rotationally driven by force.

  Specifically, the feed roll 11 is the servo motor M1, the feed roll 12 is the servo motor M2, the take-up roll 13 is the servo motor M3, the take-up roll 14 is the servo motor M4, and the sizing roll 15 is the servo motor M5. Thus, each cylinder roll 16 is configured to be rotationally driven by a servo motor M6.

  On the other hand, the tension rolls 17, 18 and the guide rolls 19, 19,... Are driven rolls that are not directly driven to rotate by the servo motors M1 to M6, and are friction with the yarn λ that is transported and moved. It is rotated through contact or frictional contact with any of the driving rolls.

  In the following description, the delivery roll 11, the feed roll 12, the sizing roll 15, the take-up roll 13 or the take-up roll 14 may be simply referred to as “driving roll DR” without being distinguished from each other. The tension rolls 17, 18 and the guide rolls 19, 19,... May be simply referred to as “driven rolls FR” without being distinguished from each other.

  The servo motors M1 to M5 are connected to the rotation shaft of the driving roll DR (excluding the cylinder rolls 16, 16,...) Via a transmission mechanism (not shown). However, one servo motor M6 is connected to the rotation shafts of the plurality of cylinder rolls 16, 16,... Via a transmission mechanism (not shown). The output rotational force is branched and transmitted to each of the cylinder rolls 16, 16,... So that each of the cylinder rolls 16, 16,... Rotates at the same rotational speed (or rotation amount). Is done.

  Each of these driving rolls DR is rotated by receiving the rotational force supplied from each of the servo motors M1 to M6, whereby the gluing device 1 transports the yarn λ from the upstream side to the downstream side on the transport line. Can do it. Further, pulse encoders (rotary encoders) EN1 to EN6 are connected to the rotation shafts of the servomotors M1 to M6, respectively.

  The pulse encoders EN1 to EN6 are rotation sensors for detecting the rotation amounts of the rotation shafts of the servo motors M1 to M6, and the control device 20 described below is configured so that each driving force is based on the detection results of these pulse encoders EN1 to EN6. The rotation amount and rotation speed of the roll DR are controlled, and as a result, the conveyance speed, yarn tension and stretch amount of the yarn λ are adjusted.

  FIG. 2 is a block diagram showing an electrical configuration of the gluing device 1.

  As shown in FIG. 2, the gluing device 1 includes a control device 20 that controls the operation of each unit, and a CPU 21 that is an arithmetic device is mounted inside the control device 20. The CPU 21 performs a control calculation at a constant control calculation time interval (hereinafter simply referred to as “time interval”) Δt, and updates a control command for each part of the gluing device 1. A feed roll control unit 40 which will be described later. Various operations performed by the delivery roll control unit 50, the delivery part winding diameter estimation unit 70, the take-up roll control unit 80, the take-up roll control unit 90, and the take-up part winding diameter estimation unit 100 are executed.

  The control device 20 includes a ROM 22 which is a non-rewritable nonvolatile memory storing a basic program and various fixed data, a RAM 23 which is a rewritable volatile memory used as a work area, and various settings can be changed. An EEPROM 24 which is a rewritable nonvolatile memory for storing various data and a control program for controlling each part of the gluing device 1 is mounted.

  The RAM 23 temporarily stores various data calculated by the CPU 21, and further includes a feed roll control unit 40, a delivery roll control unit 50, a winding diameter estimation unit 70, a take-up roll control unit 80, a winding roll. Control programs related to various processes performed by the take-up roll control unit 90 and the take-up portion winding diameter estimation unit 100 are developed on the RAM 23 and executed.

  The EEPROM 24 stores the control program described above. In the EEPROM 24, numerical data necessary for performing the stretch control at the time of yarn conveyance and the tension control at the time of yarn conveyance stop relating to the sending section 7, for example, the target yarn tension f1 ^ of the sending section 7, the sending roll 11 Actual total rotation amount (hereinafter referred to as “feed roll detection total rotation amount”) θ1, data table (hereinafter referred to as “winding diameter data table”) regarding the winding diameter current value D1 of the feeding roll 11, and outer diameter of the feed roll 12. Various numerical data such as D2, the acceleration / deceleration curve of the feed roll 12, and the target yarn drawing rate ε1 ^ of the yarn λ in the delivery section 7 are stored.

  Further, the EEPROM 24 stores numerical data necessary for performing the stretch control at the time of yarn conveyance and the tension control at the time of yarn conveyance stop with respect to the winding section 8, for example, the target yarn tension f2 ^ of the winding section 8, The actual value of the actual total rotation amount of the roll 14 (hereinafter referred to as “wound roll detection total rotation amount”) θ4, the outer diameter D3 of the take-up roll 13, the acceleration / deceleration curve of the take-up roll 13, and the winding Various numerical data such as the target yarn drawing rate ε2 ^ of the yarn λ in the section 8 are also stored.

  In addition, although the winding diameter data table regarding the winding diameter present value D4 of the winding roll 14 is not memorize | stored in EEPROM24, estimation of the winding diameter present value D4 of this winding roll 14 was mentioned above so that it might mention later. A winding diameter data table of the delivery roll 11 is used.

  Further, the EEPROM 24 can store various other numerical data necessary for controlling each part of the gluing device 1, for example, the set temperature of the hot air drying device 3, the cylinder rolls 16, 16,. Numerical data such as the set temperature and the set temperature of the cooling device 4 are also stored.

  Further, the control device 20 includes an operation display panel 25 operated to input various set values, a heating device 3a of the hot air drying device 3, and heating devices of the cylinder rolls 16, 16,. 16a, the cooling device 4a of the cooling device 4, the temperature sensor TS1 for detecting the temperature in the hot air drying device 3, the temperature sensor TS2 for detecting the temperature in each of the cylinder rolls 16, 16, ..., the cooling device 4 is connected to a temperature sensor TS3 for detecting the temperature.

  The operation display panel 25 is an input device that is operated to input various setting values necessary for controlling each part of the gluing device 1. In particular, the various numerical data stored in the EEPROM 24 described above are as follows. This is input using the operation display panel 25. Further, the operation display panel 25 is a touch panel having a display function, and various information indicating the operation status of the gluing device 1 can be displayed on the screen.

  Each of the temperature sensors TS <b> 1 to TS <b> 3 outputs a detection signal having a level corresponding to the magnitude of the detected temperature, and inputs these detection signals to the control device 20. Then, in the control device 20, each detection signal is amplified by an amplifier (not shown), and further converted into a data value indicating the detected temperature by an A / D converter (not shown). Control instructions for adjusting the outputs of the heating device 3a, the heating devices 16a of the cylinder rolls 16, 16,... And the cooling device 4a of the cooling device 4 are calculated.

  When these control commands are input from the control device 20 to the heating device 3a of the hot air drying device 3, the heating device 16a of each cylinder roll 16, 16,..., And the cooling device 4a of the cooling device 4, The outputs of the heating devices 3a and 16a and the cooling device 4a are adjusted according to the control command so that the temperatures of the hot air drying device 3, the cylinder rolls 16, 16,..., And the cooling device 4 coincide with the set temperature. Control is performed.

  Further, the control device 20 includes six load cells 5 for detecting the yarn tension of the yarn λ in the sending section 7, and six load cells 6 for detecting the yarn tension of the yarn λ in the winding section 8. The pulse encoders EN1 to EN6 are connected to six servo motors M1 to M6, respectively.

  The load cell 5 disposed in the sending section 7 outputs a detection signal of a level corresponding to the magnitude of the yarn tension of the yarn λ in the sending section 7 and inputs this detection signal to the control device 20. On the other hand, the load cell 6 disposed in the winding section 8 outputs a detection signal having a level corresponding to the magnitude of the yarn tension of the yarn λ in the winding section 8 and inputs this detection signal to the control device 20. To do.

  Each of the pulse encoders EN <b> 1 to EN <b> 6 outputs a pulse signal sequence corresponding to the rotation amount of the rotation shaft of the servo motor M <b> 1 to M <b> 6 to which the pulse encoders EN <b> 1 to EN <b> 6 are connected. In addition, each servo motor M1 to M6 is a power source that rotationally drives each driving roll DR described above, and the rotation amount according to the three-phase voltage output from the servo amplifiers 31 to 36 built in the control device 20, It is rotationally driven at a rotational speed or torque.

  Here, servo motor M1 is servo amplifier 31, servo motor M2 is servo amplifier 32, servo motor M3 is servo amplifier 33, servo motor M4 is servo amplifier 34, servo motor M5 is servo amplifier 35, servo motor M6 is driven by a servo amplifier 36, respectively.

  Next, with reference to FIG. 3 to FIG. 7, a control method for the yarn λ located in the delivery section 7 of the gluing device 1 will be described.

(A) Feed Roll Control Unit FIG. 3 is a block diagram showing the feed roll control unit 40. The feed roll control unit 40 is a control unit configured inside the control device 20 to perform rotational drive control of the feed roll 12, and mainly includes a feed roll controller 41 and a servo that rotationally drives the feed roll 12. And a servo amplifier 32 for a motor (hereinafter also referred to as “feed motor”) M2.

(A-1) Feed roll controller The feed roll controller 41 is a controller for the feed roll 12, and mainly includes a feed roll speed command device 42, a rotation amount converter 43, and a pulse generator 44. I have.

(A-1-1) Feed roll speed command device The feed roll speed command device 42 generates a feed roll speed command ω2 ^ according to a predetermined acceleration / deceleration curve set in advance and outputs it to the rotation amount converter 43. Is. The feed roll speed command ω2 ^ is a target value of the rotational speed that the feed roll 12 should output during the time interval Δt, and is determined based on an acceleration / deceleration curve stored in the EEPROM 24.

(A-1-2) Rotation amount converter The rotation amount converter 43 is connected to the output end of the feed roll speed command device 42 at its input end, and the feed roll input from the feed roll speed command device 42. Based on the speed command ω2 ^, the feed roll rotation amount command Δθ2 ^ is calculated by the following equation (21) and output to the pulse generator 44.
Δθ2 ^ = ω2 ^ · Δt (21)
(However, in Expression (21), Δt is a time interval.)

  Here, when the feed roll 12 rotates during the time interval Δt at a rotational speed corresponding to the feed roll speed command ω2 ^, the feed roll 12 is controlled during the time interval Δt. The amount of rotation to rotate.

(A-1-3) Pulse generator The pulse generator 44 has an input end connected to the output end of the rotation amount converter 43, and a feed roll rotation amount command Δθ2 input from the rotation amount converter 43. A pulse signal sequence (hereinafter referred to as “feed motor pulse command”) PL2 ^ including a number of pulse signals in the time interval Δt is generated, and this feed motor pulse command PL2 ^ is used for the feed motor M2. This is output to the deviation counter 32a of the servo amplifier 32.

  Here, “the number of pulse signals based on the feed roll rotation amount command Δθ2 ^” means “the rotation that the feed motor M2 should rotate in order to rotate the feed roll 12 by the feed roll rotation amount command Δθ2 ^”. It means “the number of pulse signals corresponding to the quantity”.

Therefore, in this pulse generator 44, the input feed roll rotation amount command Δθ2 ^ is converted into a rotation amount command Δθm2 ^ of the feed motor M2 based on the following equation (22), and the rotation amount command of the feed motor M2 is converted. A pulse signal sequence including a number of pulse signals corresponding to Δθm2 ^ within the time interval Δt is output as a feed motor pulse command PL2 ^.
Δθm2 ^ = R2 · Δθ2 ^ (22)
(However, in Formula (22), R2 is a transmission ratio (including other transmission loss and the like) of the transmission mechanism interposed between the feed roll 12 and the feed motor M2.)

(A-2) Servo Amplifier FIG. 4 is a block diagram showing the internal structure of the servo amplifier 32. As shown in FIG. 4, the servo amplifier 32 mainly includes a deviation counter 32a, a position controller 32b, a speed controller 32c, and a current controller 32d.

(A-2-1) Deviation counter The deviation counter 32a has a pulse for the feed motor M2 connected to the output end of the pulse generator 44 of the feed roll controller 41 and the servo amplifier 32 at its input end. The output end of the encoder EN2 is connected, and the input end of the position controller 32b is connected to the output end.

  The deviation counter 32a detects the rotation amount command Δθm2 ^ of the feed motor M2 by counting the number of pulses of the feed motor pulse command PL2 ^ input from the pulse generator 44 of the feed roll controller 41, and sends it to the feed motor M2. The actual number of rotations of the feed motor M2 (hereinafter also referred to as “detected amount of rotation”) Δθm2 is detected by counting the number of pulses in the pulse signal train input from the connected pulse encoder EN2, and also related to the feed motor M2. A deviation Em (= Δθm2 ^ −Δθm2) between the rotation amount command Δθm2 ^ and the detected rotation amount Δθm2 is calculated and output to the position controller 32b.

(A-2-2) Position Controller The position controller 32b has an input terminal connected to the output terminal of the deviation counter 32a. Based on the deviation Em input from the deviation counter 32a, the position controller 32b The speed command vm2 ^ is calculated by the following equation (23) and output.
vm2 ^ = Kp · Em = Kp · (Δθm2 ^ −Δθm2) (23)
(However, in equation (23), Kp is a proportional gain of the position controller 32b.)

(A-2-3) Speed Controller The speed controller 32c has an input terminal connected to the output terminal of the position controller 32b, and a speed command vm2 ^ of the feed motor M2 input from the position controller 32b. The motor current command im ^ is calculated based on the above and the motor current command im ^ is output to the current controller 32d. As the speed controller 32c, for example, a PI controller or a PID controller is used, and the values of the proportional gain of the proportional control element, the integration time of the integral control element, and the derivative time of the differential control element are as follows. Are stored in the EEPROM 24 and can be set and changed by operating the operation display panel 25.

(A-2-4) Current controller The current controller 32d is connected to the output terminal of the speed controller 32c at its input terminal, and based on the motor current command im ^ input from the speed controller 32c. A predetermined three-phase voltage is applied to the feed motor M2, and the feed motor M2 is rotationally driven by the application of the three-phase voltage.

(B) Sending Roll Control Unit FIG. 5 is a block diagram showing the sending roll control unit 50. The delivery roll control unit 50 is a control unit configured inside the control device 20 to perform rotational drive control of the delivery roll 11, and mainly includes a delivery roll controller 51 and a servo that rotationally drives the delivery roll 11. A servo amplifier 31 for a motor (hereinafter also referred to as “feed motor”) M1 is provided.

(B-1) Sending roll controller The sending roll controller 51 is a controller for the sending roll 11, and mainly includes a transport mode controller 52, a stop mode controller 53, a control switch 54, and a mode. The detector 55 and the pulse generator 56 are provided, and the output ends of the transport mode controller 52 and the stop mode controller 53 are connected to the input end of the pulse generator 56 via the control switch 54, respectively. Yes.

(B-1-1) Transport mode controller The transport mode controller 52 is activated when the yarn λ in the delivery section 7 is in the transport state (transport mode), that is, when the feed roll 12 is in the rotating state. By operating and adjusting the rotation of the delivery roll 11 in accordance with the rotation of the feed roll 12, the yarn stretch amount of the yarn λ transported and moved in the delivery section 7 is controlled. Here, the transport mode controller 52 mainly includes a pulse restoring unit 52a, a stretch compensator 52b, a tension deviation calculator 52c, a transport tension compensator 52d, and an operation amount corrector 52e.

(B-1-1-1) Pulse restorer The pulse restorer 52a has an input terminal connected to the output terminal of the pulse encoder EN2 for the feed motor M2, and a pulse signal string input from the pulse encoder EN2. (Hereinafter referred to as “feed roll detection pulse”.) The actual rotation amount Δθm2 of the feed motor M2 is detected by counting the number of pulses of PL2, and the detected rotation amount Δθm2 of the feed motor M2 is detected as the detected rotation amount of the feed roll 12. This is converted to Δθ2 and output to the stretch compensator 52b.

(B-1-1-2) Stretch compensator The stretch compensator 52b performs control for adding stretching based on the target yarn stretching ratio ε1 ^ to the yarn λ conveyed in the delivery section 7. The stretch compensator 52b has an input terminal connected to the output terminal of the pulse restorer 52a. Based on the detected rotation amount Δθ2 of the feed roll 12 input from the pulse restorer 52a, the stretch compensator 52b is stretched with respect to the delivery roll 11. The rotation amount command Δθ1str ^ is calculated by the following equations (24) and (25) derived from the above equations (1) and (2) and output to the manipulated variable corrector 52e.

γ1 ^ = 1−ε1 ^ (24)
Δθ1str ^ = γ1 ^ · (D2 / D1) · Δθ2 (25)
(In the equation (1), γ1 ^ is the rotation ratio of the sending section in the sending section 7, ε1 ^ is the target yarn drawing rate of the yarn λ in the sending section 7, and in the expression (2), Δθ1str ^ is the sending roll. 11 is the rotation amount command of the stretch, Δθ2 is the detected rotation amount of the feed roll 12, D2 / D1 is the ratio of the diameter of the feed section, D1 is the current winding diameter of the feed roll 11, and D2 is the outer diameter of the feed roll 12.

(B-1-1-3) Tension deviation calculator The tension deviation calculator 52c has a target yarn tension f1 ^ to be applied to the yarn λ in the delivery section 7 and a yarn λ in the delivery section 7 at its input ends. The actual yarn tension (hereinafter also referred to as “detected yarn tension”) f1 that acts on the thread is input. The tension deviation calculator 52c calculates a delivery section tension deviation E1tns (= f1 ^ -f1), which is a deviation between the target thread tension f1 ^ and the detected thread tension f1, and outputs it to the transport tension compensator 52d. .

  Here, the value of the target yarn tension f1 ^ is set and stored in the EEPROM 24, read by the CPU 21, and input to the tension deviation calculator 52c. On the other hand, the detected yarn tension f1 in the delivery section 7 is a data value that amplifies the detection signal detected by the load cell 5 arranged in the delivery section 7 by the amplifier 57 and indicates the detected yarn tension by the A / D converter 58. And is input from the A / D converter 58 to the tension deviation calculator 52c.

(B-1-1-4) Conveyance tension compensator The conveyance tension compensator 52d matches the detected yarn tension f1 of the yarn λ conveyed in the delivery section 7 with the target yarn tension f1 ^, that is, the delivery section. This is a PID controller that performs control for setting the tension deviation E1tns to zero, and the output terminal of the tension deviation calculator 52c is connected to the input terminal. The transport tension compensator 52d calculates a transport tension rotation amount command Δθ1dtns ^ for the delivery roll 11 based on the delivery section tension deviation E1tns input from the tension deviation computing unit 52c, and outputs it to the operation amount corrector 52e. It is.

  For the PID controller functioning as the transport tension compensator 52d, the proportional gain of the proportional control element, the integral time of the integral control element, and the value of the derivative time of the differential control element are stored and set in the EEPROM 24 described above. The input setting and setting change can be performed by operating the operation display panel 25.

(B-1-1-5) Operation Amount Corrector The operation amount corrector 52e is obtained by correcting the stretch rotation amount command Δθ1str ^ based on the transport tension rotation amount command Δθ1dtns ^ by the following equation (26). Is output to the control switch 54 as a new rotation amount command (hereinafter referred to as “conveyance rotation amount command”) Δθ1drv ^ for the delivery roll 11. According to the manipulated variable corrector 52e, the transport rotation amount command Δθ1drv ^ is calculated based on the following equation (26).
Δθ1drv ^ = Δθ1str ^ −Δθ1dtns ^ (26)

(B-1-2) Stop mode controller The stop mode controller 53 is when the yarn λ in the delivery section 7 is in the transport stop state (stop mode), that is, when the feed roll 12 is in the rotation stop state. The yarn tension of the yarn λ stopped in the delivery section 7 is controlled by adjusting the rotation of the delivery roll 11. Here, the stop mode controller 53 mainly includes a stop tension compensator 53a and a winding diameter fluctuation compensator 53b.

(B-2-1-1) Stop tension compensator The stop tension compensator 53a matches the detected yarn tension f1 of the yarn λ stopped in the delivery section 7 with the target thread tension f1 ^, that is, the delivery section. This is a PID controller that performs control for setting the tension deviation E1tns to zero, and the output terminal of the tension deviation calculator 52c of the transport mode controller 52 is connected to the input terminal. The stop tension compensator 53a calculates a stop tension rotation amount command Δθ1stns ^ for the delivery roll 11 based on the delivery section tension deviation E1tns input from the tension deviation computing unit 52c and outputs it to the winding diameter fluctuation compensator 53b. Is.

  For the PID controller functioning as the stop tension compensator 53a, the proportional gain of the proportional control element, the integration time of the integral control element, and the value of the derivative time of the differential control element are stored and set in the EEPROM 24 described above. The input setting and setting change can be performed by operating the operation display panel 25.

(B-1-2-2) Winding Diameter Fluctuation Compensator The winding diameter fluctuation compensator 53b is connected to the output end of the stop tension compensator 53a and is input from the stop tension compensator 53a. The stop tension rotation amount command Δθ1stns ^ is subjected to correction conversion based on the value of the winding roll current value D1 of the delivery roll 11 based on the following equation (27), whereby the stop rotation amount command Δθ1stp for the delivery roll 11 is performed. ^ Is calculated and output to the control switch 54.
Δθ1stp ^ = (K1 / D1) · Δθ1stns ^ (27)
(However, in Equation (27), K1 is a proportional gain (K1 ≠ 0).)

  The winding diameter variation compensator 53b based on the equation (27) is the minimum winding diameter as the outer diameter of the delivery roll 11 when modeling the delivery roll 11 to be controlled, particularly when the stop tension compensator 53a is designed. This is suitable when (beam diameter) is used.

(B-1-3) Control switching unit The control switching unit 54 determines the connection destination of the pulse generator 56 based on the stop mode signal or the transport mode signal output from the mode detector 55, as the transport mode controller 52 or The stop mode controller 53 is switched from one to the other. The control switch 54 has one input terminal connected to the output terminal of the transport mode controller 52, that is, the output terminal of the operation amount corrector 52e, and the other input terminal connected to the output terminal of the stop mode controller 53. That is, the output end of the winding diameter fluctuation compensator 53b is connected, and the input end of the pulse generator 56 is connected to the output end.

(B-1-4) Mode Detector The mode detector 55 has an input end connected to the output end of the pulse restorer 52a of the transport mode controller 52, and feed rolls input from the pulse restorer 52a. When the rotational speed ω2 of the feed roll 12 is calculated based on the detected rotational amount Δθ2 of 12, the rotational speed ω2 is equal to or less than a threshold value (hereinafter referred to as “stop speed”) indicating the stop state of the feed roll 12. A stop mode signal is output to the control switch 54, and when the rotational speed ω2 exceeds the stop speed, a transport mode signal is output to the control switch 54. The stop speed indicating the stop state of the feed roll 12 is set to 0 rad / s.

(B-1-4-1) Operation of control switch and mode detector According to these control switch 54 and mode detector 55, when the rotation speed ω2 of the feed roll 12 exceeds the stop speed, the mode detector 55, a conveyance mode signal is input to the control switch 54, and the control switch 54 that has received this conveyance mode signal disconnects the connection between the output terminal of the stop mode controller 53 and the input terminal of the pulse generator 56, The output end of the transport mode controller 52 and the input end of the pulse generator 56 are connected.

  As a result, when the mode detector 55 outputs a conveyance mode signal, that is, when the yarn λ of the delivery section 7 is in the conveyance state (conveyance mode), the conveyance rotation amount command Δθ1drv ^ is pulsed from the conveyance mode controller 52. Input to the generator 56 and prohibiting the stop rotation amount command Δθ1stp ^ from being input to the pulse generator 56 from the stop mode controller 53 are prohibited.

  On the other hand, when the rotational speed ω2 of the feed roll 12 reaches the stop speed, a stop mode signal is input from the mode detector 55 to the control switch 54, and the stop mode controller 53 receives the stop mode signal and the control switch 54 receives the stop mode signal. And the input end of the pulse generator 56 are disconnected, and the output end of the transport mode controller 52 and the input end of the pulse generator 56 are disconnected.

  As a result, when the mode detector 55 outputs a stop mode signal, that is, when the yarn λ in the delivery section 7 is in the transport stop state (stop mode), the stop rotation amount command Δθ1stp ^ is set to the stop mode controller 53. To the pulse generator 56, and the conveyance rotation amount command Δθ1drv ^ is prohibited from being input from the conveyance mode controller 52 to the pulse generator 56.

(B-1-5) Pulse generator The pulse generator 56 is connected to the output terminal of the control switch 54 at its input terminal, and the conveyance rotation amount command Δθ1drv ^ input from the control switch 54 or stopped. A pulse signal sequence (hereinafter referred to as “transmission motor pulse command”) PL1 ^ including a number of pulse signals within the time interval Δt based on the hourly rotation amount command Δθ1stp ^ is generated, and this transmission motor pulse command PL1 ^ This is output to the deviation counter 31a of the servo amplifier 31 for the sending motor M1.

  Here, “the number of pulse signals based on the conveyance rotation amount command Δθ1drv ^ or the stop rotation amount command Δθ1stp ^” means “the amount of the delivery roll 11 corresponding to the conveyance rotation amount command Δθ1drv ^ or the stop rotation amount command Δθ1stp ^. The number of pulse signals corresponding to the amount of rotation that the delivery motor M1 should rotate in order to rotate the motor only.

  Therefore, in this pulse generator 56, based on the following equation (28), the input transport rotation amount command Δθ1drv ^ or stop rotation amount command Δθ1stp ^ of the output roll 11 is converted into the rotation amount Δθm1 ^ of the output motor M1. Then, a pulse signal sequence including a number of pulse signals corresponding to the rotation amount Δθm1 ^ of the sending motor M1 within the time interval Δt is sent to the deviation counter 31a of the servo amplifier 31 for the sending motor M1 as a sending motor pulse command PL1 ^. Will be output.

Δθm1 ^ = R1 · Δθ1 ^ (28)
(However, in Expression (28), R1 is a transmission ratio of the transmission mechanism (including other transmission loss, etc.) interposed between the delivery roll 11 and the delivery motor M1, and Δθ1 ^ is conveyed in the conveyance mode. (Rotation amount command Δθ1drv ^, and in the stop mode, it is a stop rotation amount command Δθ1stp ^).

(B-2) Servo amplifier for sending motor The servo amplifier 31 for sending motor M1 has at its input ends the output end of the pulse generator 56 of the sending roll controller 51 and the output end of the pulse encoder EN1 for the sending motor M1. Are connected, and the output motor M1 is connected to the output end thereof. The servo amplifier 31 for the feed motor M1 has the same internal structure and operation as the servo amplifier 32 for the feed motor M2 described above, and a description thereof will be omitted.

(C) Winding Diameter Data Table By the way, in the above-described delivery roll controller 51, the stretch compensator 52b of the transport mode controller 52 and the stop tension compensator 53a of the stop mode controller 53 are the winding diameter current value D1. Is used, it is necessary to obtain the present winding diameter value D1 of the delivery roll 11 at the time of the calculation. Therefore, the “winding diameter data table” is stored in the EEPROM 24.

  This is because the winding roll current value D1 of the delivery roll 11 varies with the delivery or rewinding of the yarn λ, that is, according to the change in the value of the delivery roll detected total rotation amount θ1. In particular, in the gluing device 1, when the feed roll 11 is rotated forward to send out the yarn λ (when the feed roll detected total rotation amount θ1 increases), the winding roll current value D1 of the feed roll 11 decreases, and the feed roll. When reversing 11 and rewinding the yarn λ (when the total rotation amount θ1 detected by the delivery roll decreases), the winding diameter current value D1 of the delivery roll 11 increases.

  Here, the “winding diameter data table” is acquired in a preprocessing step 60 in which the yarn λ is wound around the delivery roll 11 by a so-called warper.

(D) Preprocessing Step for Acquiring a Reel Diameter Data Table FIG. 6 is a schematic diagram of a preprocessing step 60 for acquiring a “reel diameter data table”. As shown in FIG. 6, the pretreatment step 60 mainly includes a creel 61, a hook 62, a length measuring roll 63, a feed roll 11, a servo motor M 11, a servo amplifier 64, and a controller 65. A measuring device 66 and a storage memory 67 are provided.

  In particular, the measuring device 66 sequentially changes the total rotation amount θ1inv of the sending roll 11 from the start time to the end time of winding the yarn λ around the sending roll 11, and the change of the total rotation amount of the sending roll 11 with the change in the total rotation amount. Changes in the winding diameter current value D1 are stored in the storage memory 67 in association with each other.

  According to the pretreatment step 60 described above, a large number of yarns λ supplied from the creel 61 are sent to the length measuring roll 63 via the barb 62, and contact the outer circumference of the length measuring roll 63 to the sending roll 11. Then, it is wound around this delivery roll 11 and wound. Here, the length measuring roll 63 is a driven roll that is rotated by a frictional contact force with the yarn λ, and a large number of yarns λ are driven by the delivery roll 11 being rotated by the servo motor M11. Are sequentially wound around the outer periphery of the.

  Further, the path encoders EN11 and EN12 are individually connected to the rotating shaft of the length measuring roll 63 and the rotating shaft of the servo motor M11 for driving the delivery roll 11, and these path encoders EN11 and EN12 are connected to each other. The measuring device 66, the servo amplifier 64, and the controller 65 are connected to each other.

  The controller 65 calculates a rotation command for the delivery roll 11 based on the rotation amount of the delivery roll 11 detected via the path encoder EN12 connected to the servo motor M11, and outputs the rotation command to the servo amplifier 64. is there. The servo amplifier 64 generates a three-phase voltage that is output to the servo motor M11 based on the rotation amount command input from the controller 65, applies it to the servo motor M11, and drives the servo motor M11 to rotate. .

  The measuring device 66 is based on the pulse signal sequences output from the individual path encoders EN11 and EN12, and the unit rotation amount (rotation amount per unit time Δτ) Δθ0 and the unit rotation amount Δθ1inv of the delivery roll 11 based on the pulse signal trains. Based on the measurement result, the winding roll current value D1 of the delivery roll 11, the total rotation amount θ0 (= ΣΔθ0 · Δτ) of the length measurement roll 63, and the total rotation amount θ1inv (= ΣΔθ1inv) of the delivery roll 11 are measured. (Δτ) is calculated.

  According to the measurement device 66, when the winding of the yarn λ around the delivery roll 11 is started, the measurement calculation process described below is executed every time the unit time Δτ elapses.

According to this measurement calculation process, the unit rotation amounts Δθ 0 and Δθ 1 inv of the length measuring roll 63 and the sending roll 11 are measured based on the pulse signal trains from the path encoders EN 11 and EN 12 and stored in the storage memory 67. . The measured values of the unit rotation amounts Δθ0 and Δθ1inv and the outer diameter D0 of the length measuring roll 63 stored in advance in the storage memory 67 are calculated by substituting them into the following equation (29). The winding diameter current value D1 of the delivery roll 11 at the time is calculated, and the calculated winding diameter current value D1 is stored in the storage memory 67.
D1 = D0 · Δθ0 / Δθ1inv (29)
(However, in Formula (29), D0 is the outer diameter of the length measuring roll 63.)

  Equation (29) is derived from the relationship that the amount of movement of the yarn λ due to the rotation of the length measuring roll 63 is equal to the amount of winding of the yarn λ due to the rotation of the delivery roll 11.

  Furthermore, in the measurement calculation process, the measurement calculation process is executed by integrating the unit rotation amount Δθ1 inv of the delivery roll 11 from the yarn winding start time stored in the storage memory 67 to the execution time of the current measurement calculation process. The total rotation amount θ1inv of the delivery roll 11 at the time is calculated, and this calculated value is stored in the storage memory 67 in association with the value of the winding diameter current value D1 of the delivery roll 11, and one measurement calculation process is completed. To do.

  This one-time measurement calculation process is repeatedly executed at intervals of unit time Δτ from the start to the end of winding of the yarn λ around the delivery roll 11, and the total rotation amount θ1inv of the delivery roll 11 and the current winding diameter each time it is executed. The value D1 is associated with each other and stored in the storage memory 67. As a result, a data table in which the value of the winding diameter current value D1 of the sending roll 11 is recorded in association with the total rotation amount θ1inv of the sending roll 11, that is, a “winding diameter data table” is generated in the storage memory 67. .

  This “winding diameter data table” is stored in the pre-processing step 60 when the pre-processing step 60 completes the winding of the yarn λ around the sending roll 11 and the pasting device 1 performs gluing using the sending roll 11. Are transferred from the storage memory 67 to the EEPROM 24 of the gluing device 1 and stored.

(E) Sending Section Winding Diameter Estimating Unit FIG. 7 is a block diagram showing the sending section winding diameter estimation unit 70. As shown in FIG. 7, the delivery part winding diameter estimation unit 70 mainly includes a pulse restoration unit 71, a delivery total rotation amount calculator 72, and a delivery part winding diameter estimator 73. This sending section winding diameter estimation unit 70 is synchronized with the above-mentioned sending roll control unit 50, and performs processing for estimating the winding diameter current value D1 of the sending roll 11 at each time interval Δt (hereinafter referred to as “sending roll winding diameter estimation”). Process ").

(E-1) Pulse Restorator The pulse restorer 71 has an input end connected to the output end of the pulse encoder EN1 for the sending motor M1, and a pulse signal sequence (hereinafter referred to as “sending”) input from the pulse encoder EN1. This is referred to as “roll detection pulse.”) The actual rotation amount Δθm1 of the delivery motor M1 is detected by counting the number of pulses of PL1, and the detected rotation amount Δθm1 of the delivery motor M1 is converted into the detected rotation amount Δθ1 of the delivery roll 11. The total output rotation amount calculator 72 is then output.

(E-2) Sending total rotation amount computing unit The sending total rotation amount computing unit 72 is connected to the output end of the pulse restoring unit 71 at its input end, and based on the following equation (30), this pulse restoring unit Based on the detected rotation amount Δθ1 of the delivery roll 11 input from 71, the latest value of the delivery roll detected total rotation amount θ1 is calculated.

According to this total sending rotation amount calculator 72, the input value of the detected rotation amount Δθ1 of the sending roll 11 (the second term on the right side of the equation (30)) and the previous total amount of rotation detected by the sending roll read from the EEPROM 24. A value obtained by adding the value of θ1 (the first term on the right side of Expression (30)) is acquired as the value of the current output roll detection total rotation amount θ1 (the left side of Expression (30)).
θ1 ← θ1 + Δθ1 (30)
(However, in the expression (30), the operator “←” means rewriting the calculated value on the right side with the variable value on the left side.)

  Further, the value of the current output roll detection total rotation amount θ1 acquired by the output total rotation amount calculator 72 is overwritten and stored in the EEPROM 24 by the CPU 21 as a new value of the output roll detection total rotation amount θ1. This is used for the calculation of the next output roll detection total rotation amount θ1.

(E-3) Sending part winding diameter estimator The sending part winding diameter estimator 73 reads at the input end the sending roll detected total rotation amount θ1 output from the sending total rotation amount computing unit 72, and is read from the EEPROM 24 by the CPU 21. The output reel diameter data table is input. The sending section winding diameter estimator 73 extracts the value of the winding diameter current value D1 of the sending roll 11 corresponding to the value of the sending roll detected total rotation amount θ1 from the winding diameter data table, and extracts the extracted winding diameter. The current value D1 is output to the stretch compensator 52b and the winding diameter fluctuation compensator 53b, respectively.

  Of course, the total rotation amount θ1inv of the delivery roll 11 stored in the “winding diameter data table” is the one when the yarn λ is wound around the delivery roll 11 by the above-described pretreatment process, whereas the total revolution amount of delivery. The sending roll detection total rotation amount θ1 output from the computing unit 72 is that when the yarn λ is sent out in the gluing device 1.

  Therefore, in the delivery part winding diameter estimator 73, when extracting the winding diameter current value D1 from the winding diameter data table based on the delivery roll detected total rotation quantity θ1, the detected total rotation quantity is calculated based on the following equation (31). θ1 is once converted into a value θ1inv ^ corresponding to the total rotation amount θ1inv, and a winding diameter current value D1 corresponding to the converted total rotation amount θinv ^ is extracted from the winding diameter data table, and the stretch compensator 52b and the winding diameter are extracted. Each is configured to output to the fluctuation compensator 53b.

θ1inv ^ = θ1inv (max) −θ1 (31)
(However, in equation (31), θ1inv (max) is the maximum value of the total rotation amount θ1inv of the delivery roll 11 stored in the winding diameter data table.)

  The winding diameter present value D1 of the feeding roll 11 extracted by the feeding section winding diameter estimator 73 is input to the stretch compensator 52b and the winding diameter fluctuation compensator 53b, respectively, and is expressed by the above formulas (25) and (27). Used for arithmetic processing based on it.

  Next, with reference to FIG. 8 to FIG. 10, a control method for the yarn λ located in the winding section 8 of the gluing device 1 will be described.

(F) Take-up Roll Control Unit FIG. 8 is a block diagram showing the take-up roll control unit 80. The take-up roll control unit 80 is a control unit configured in the control device 20 to perform rotation drive control of the take-up roll 13. The take-up roll control unit 80 mainly includes the take-up roll controller 81 and the take-up roll 13. And a servo amplifier 33 for a rotary motor (hereinafter also referred to as “take-up motor”) M3.

(F-1) Take-up roll controller The take-up roll controller 81 is a controller for the take-up roll 13, and mainly includes a take-up roll speed command device 82, a rotation amount converter 83, and pulse generation. Instrument 84.

(F-1-1) Take-up roll speed command device The take-up roll speed command device 82 generates a take-up roll speed command ω3 ^ according to a predetermined acceleration / deceleration curve set in advance to generate a rotation amount converter 83. To output. The take-up roll speed command ω3 ^ is a target value of the rotational speed to be output by the take-up roll 13 during the time interval Δt, and is determined based on an acceleration / deceleration curve stored in the EEPROM 24.

(F-1-2) Rotation amount converter The rotation amount converter 83 is connected to the output end of the take-up roll speed command device 82 at its input end, and is input from the take-up roll speed command device 82. Based on the take-up roll speed command ω3 ^, the take-up roll rotation amount command Δθ3 ^ is calculated by the following equation (41) and output to the pulse generator 84.
Δθ3 ^ = ω3 ^ · Δt (41)
(However, in Expression (41), Δt is a time interval.)

  Here, when the take-up roll rotation amount command Δθ3 ^ is rotated during the time interval Δt when the take-up roll 13 rotates at a rotation speed corresponding to the take-up roll speed command ω3 ^, the take-up roll rotation amount command Δθ3 ^ This is the amount of rotation that the up roll 13 should rotate.

(F-1-3) Pulse generator The pulse generator 84 has an input terminal connected to the output terminal of the rotation amount converter 83, and a take-up roll rotation amount command input from the rotation amount converter 83. A pulse signal sequence (hereinafter referred to as “take-up motor pulse command”) PL3 ^ including a number of pulse signals based on Δθ3 ^ within the time interval Δt is generated, and the take-up motor pulse command PL3 ^ is taken up. This is output to the deviation counter 33a of the servo amplifier 33 for the motor M3.

  Here, “the number of pulse signals based on the take-up roll rotation amount command Δθ3 ^” means “the take-up motor M3 rotates the take-up roll 13 by the amount of the take-up roll rotation amount command Δθ3 ^”. The number of pulse signals corresponding to the amount of rotation to be rotated is meant.

Therefore, in this pulse generator 84, the input take-up roll rotation amount command Δθ3 ^ is converted into a rotation amount command Δθm3 ^ of the take-up motor M3 based on the following equation (42). A pulse signal sequence including a number of pulse signals corresponding to the rotation amount command Δθm3 ^ within the time interval Δt is output as the take-up motor pulse command PL3 ^.
Δθm3 ^ = R3 · Δθ3 ^ (42)
(However, in the equation (42), R3 is a transmission ratio (including other transmission loss and the like) of the transmission mechanism interposed between the take-up roll 13 and the take-up motor M3.)

(F-2) Servo amplifier 33 for take-up motor Servo amplifier 33 for take-up motor M3 has an input end of pulse generator 84 of take-up roll controller 81 and a pulse encoder for take-up motor M3. An output terminal of EN3 is connected, and a take-up motor M3 is connected to the output terminal. The servo amplifier 33 for the take-up motor M3 has the same internal structure and operation as the servo amplifier 32 for the feed motor M2 described above, and a description thereof will be omitted.

(G) Winding Roll Control Unit FIG. 9 is a block diagram showing the winding roll control unit 90. The take-up roll control unit 90 is a control unit configured inside the control device 20 to perform rotation drive control of the take-up roll 14, and mainly includes the take-up roll controller 91 and the take-up roll 14. And a servo amplifier 34 for a rotationally driven servo motor (hereinafter also referred to as “winding motor”) M4.

(G-1) Take-up roll controller The take-up roll controller 91 is a controller for the take-up roll 14, and mainly includes a transport mode controller 92, a stop mode controller 93, and a control switch 94. A mode detector 95 and a pulse generator 96. The output terminals of the transport mode controller 92 and the stop mode controller 93 are respectively connected to the input terminals of the pulse generator 96 via the control switch 94. It is connected.

(G-1-1) Transport mode controller The transport mode controller 92 is used when the yarn λ in the winding section 8 is in the transport state (transport mode), that is, when the take-up roll 13 is in the rotating state. By adjusting the rotation of the take-up roll 14 in accordance with the rotation of the take-up roll 13, the amount of the yarn λ that is being conveyed and moved in the take-up section 8 is controlled. Here, the transport mode controller 92 mainly includes a pulse restoring unit 92a, a stretch compensator 92b, a tension deviation calculator 92c, a transport tension compensator 92d, and an operation amount corrector 92e.

(G-1-1-1) Pulse restorer The pulse restorer 92a has an input terminal connected to the output terminal of the pulse encoder EN3 for the take-up motor M3, and a pulse signal input from the pulse encoder EN3. The actual rotation amount Δθm3 of the take-up motor M3 is detected by counting the number of pulses of the row (hereinafter referred to as “take-up roll detection pulse”) PL3, and the detected rotation amount Δθm3 of the take-up motor M3 is taken up. 13 to the detected rotation amount Δθ3 and output to the stretch compensator 92b.

(G-1-1-2) Stretch compensator The stretch compensator 92b performs control to add stretching based on the target yarn stretching ratio ε2 ^ to the yarn λ conveyed in the winding section 8. The stretch compensator 92b has an input terminal connected to the output terminal of the pulse restorer 92a. Based on the detected rotation amount Δθ3 of the take-up roll 13 input from the pulse restorer 92a, the take-up roll 14 Is calculated by the following equations (44) and (45) derived from the above equations (11) and (12) and output to the manipulated variable corrector 92e.

γ2 ^ = 1 + ε2 ^ (44)
Δθ4str ^ = γ2 ^ · (D3 / D4) · Δθ3 (45)
(In the equation (11), γ2 ^ is the winding portion rotation ratio of the winding section 8, ε2 ^ is the target yarn drawing rate of the yarn λ in the winding section 8, and in the expression (12), Δθ4str ^ Is a rotation amount command of the take-up roll 14, Δθ3 is a detected rotation amount of the take-up roll 13, D3 / D4 is a take-up diameter ratio, D4 is a current value of the take-up roll 14 diameter, and D3 is a take-up roll 13. The outer diameter of

  Here, the right side of the expression (44) in the winding roll controller 91 is an addition expression, whereas the right side of the expression (24) in the above-described feed roll controller 51 is a subtraction expression. This is because in the sending section 7, the yarn drawing amount is increased by decreasing the stretch rotation amount command Δθ1str ^ of the sending roll 11 with respect to the rotation amount Δθ2 of the feed roll 12, whereas in the winding section 8 This is because, on the contrary, by increasing the stretch rotation amount command Δθ4str ^ of the take-up roll 14 with respect to the rotation amount Δ3 of the take-up roll 13, the yarn drawing amount in the delivery section 7 is increased.

(G-1-1-3) Tension deviation calculator The tension deviation calculator 92c is located at the input end of the target yarn tension f2 ^ to be applied to the yarn λ in the winding section 8 and in the winding section 8. The actual yarn tension (hereinafter also referred to as “detected yarn tension”) f2 acting on the yarn λ is input. The tension deviation calculator 92c calculates a winding section tension deviation E2tns (= f2 ^ -f2), which is a deviation between the target thread tension f2 ^ and the detected thread tension f2, and outputs it to the transport tension compensator 92d. is there.

  Here, the value of the target yarn tension f2 ^ is set and stored in the EEPROM 24, read by the CPU 21, and inputted to the tension deviation calculator 92c. On the other hand, the detected yarn tension f2 in the winding section 8 is obtained by amplifying the detection signal detected by the load cell 6 disposed in the winding section 8 by the amplifier 97 and indicating the detected yarn tension by the A / D converter 98. It is converted into a data value and is input from the A / D converter 98 to the tension deviation calculator 92c.

(G-1-1-4) Conveyance tension compensator The conveyance tension compensator 92d matches the detected yarn tension f2 of the yarn λ conveyed in the winding section 8 with the target yarn tension f2 ^. This is a PID controller that performs control for setting the take section tension deviation E2tns to zero, and the output terminal of the tension deviation calculator 92c is connected to the input terminal. The transport tension compensator 92d calculates a transport tension rotation amount command Δθ4dtns ^ for the winding roll 14 based on the winding section tension deviation E2tns input from the tension deviation calculator 92c, and outputs it to the operation amount corrector 92e. To do.

  For the PID controller functioning as the transport tension compensator 92d, the proportional gain of the proportional control element, the integration time of the integral control element, and the value of the derivative time of the differential control element are stored and set in the EEPROM 24 described above. The input setting and setting change can be performed by operating the operation display panel 25.

(G-1-1-5) Operation amount corrector The operation amount corrector 92e is obtained by correcting the stretch rotation amount command Δθ4str ^ based on the transport tension rotation amount command Δθ4dtns ^ by the following equation (46). Is output to the control switch 94 as a new rotation amount command (hereinafter referred to as “transport rotation amount command”) Δθ4drv ^ to the winding roll 14. According to the manipulated variable corrector 92e, the transport rotation amount command Δθ4drv ^ is calculated based on the following equation (46).
Δθ4drv ^ = Δθ4str ^ + Δθ4dtns ^ (46)

  Here, the right side of the equation (46) in the winding roll controller 91 is an addition equation, whereas the right side of the equation (26) in the above-described feed roll controller 51 is a subtraction equation. In the sending section 7, the yarn drawing amount is increased by decreasing the conveyance rotation amount command Δθ1drv ^ of the feeding roll 11 with respect to the rotation amount Δθ2 of the feed roll 12, whereas the winding section 8 is increased. This is because, on the contrary, by increasing the conveyance rotation amount command Δθ4drv ^ of the take-up roll 14 with respect to the rotation amount Δ3 of the take-up roll 13, the yarn drawing amount in the delivery section 7 is increased.

(G-1-2) Stop mode controller The stop mode controller 93 is in the case where the yarn λ in the winding section 8 is in the transport stop state (stop mode), that is, the take-up roll 13 is in the rotation stop state. In this case, the yarn tension of the yarn λ stopped in the winding section 8 is controlled by adjusting the rotation of the winding roll 14. Here, the stop mode controller 93 mainly includes a stop tension compensator 93a and a winding diameter fluctuation compensator 93b.

(G-1-2-1) Stop tension compensator The stop tension compensator 93a matches the detected thread tension f2 of the thread λ stopped in the winding section 8 with the target thread tension f2 ^, that is, the winding tension. This is a PID controller that performs control for setting the take section tension deviation E2tns to zero, and the output terminal of the tension deviation calculator 92c of the transport mode controller 92 is connected to the input terminal. The stop tension compensator 93a calculates a stop tension rotation amount command Δθ4stns ^ for the take-up roll 14 based on the take-up section tension deviation E2tns input from the tension deviation calculator 92c, and sends it to the winding diameter fluctuation compensator 93b. Output.

  For the PID controller that functions as the stop tension compensator 93a, the proportional gain of the proportional control element, the integration time of the integral control element, and the value of the derivative time of the differential control element are stored and set in the EEPROM 24 described above. The input setting and setting change can be performed by operating the operation display panel 25.

(G-1-2-2) Winding Diameter Fluctuation Compensator The winding diameter fluctuation compensator 93b is connected to the output terminal of the stop tension compensator 93a at its input terminal, and is input from the stop tension compensator 93a. By applying correction conversion based on the value of the winding diameter current value D4 of the winding roll 14 to the stop tension rotation amount command Δθ4stns ^ based on the following formula (47), The command Δθ4stp ^ is calculated and output to the control switch 94.
Δθ4stp ^ = (K2 / D4) · Δθ4stns ^ (47)
(However, in Expression (47), K2 is a proportional gain (K2 ≠ 0).)

  The winding diameter fluctuation compensator 93b based on the equation (47) is the minimum outer diameter of the winding roll 14 when modeling the winding roll 14 to be controlled, particularly when the stop tension compensator 93a is designed. This is suitable when the winding diameter (beam diameter) is used.

(G-1-3) Control switching device The control switching device 94 determines the connection destination of the pulse generator 96 based on the stop mode signal or the transport mode signal output from the mode detector 95 or the transport mode controller 92 or The stop mode controller 93 is switched from one to the other. The control switch 94 has one input terminal connected to the output terminal of the transport mode controller 92, that is, the output terminal of the operation amount corrector 92e, and the other input terminal connected to the output terminal of the stop mode controller 93. That is, the output end of the winding diameter fluctuation compensator 93b is connected, and the input end of the pulse generator 96 is connected to the output end.

(G-1-4) Mode Detector The mode detector 95 has an input terminal connected to the output terminal of the pulse restorer 92a of the transport mode controller 92, and a take-up input from the pulse restorer 92a. Based on the detected rotation amount Δθ3 of the roll 13, the rotation speed ω3 of the take-up roll 13 is calculated, and the rotation speed ω3 is equal to or less than a threshold value (hereinafter referred to as “stop speed”) indicating the stop state of the take-up roll 13. In some cases, a stop mode signal is output to the control switch 94, and when the rotational speed ω3 exceeds the stop speed, a transport mode signal is output to the control switch 94. The stop speed indicating the stop state of the take-up roll 13 is set to 0 rad / s.

(G-1-4-1) Operation of the control switch and the mode detector According to the control switch 94 and the mode detector 95, when the rotational speed ω3 of the take-up roll 13 exceeds the stop speed, the mode is detected. A transfer mode signal is input from the controller 95 to the control switch 94, and the control switch 94 that has received the transfer mode signal disconnects the output terminal of the stop mode controller 93 from the input terminal of the pulse generator 96. The output terminal of the transport mode controller 92 and the input terminal of the pulse generator 96 are connected.

  As a result, when the mode detector 95 outputs a conveyance mode signal, that is, when the yarn λ in the winding section 8 is in the conveyance state (conveyance mode), the conveyance rotation amount command Δθ4drv ^ is transmitted from the conveyance mode controller 92. Input to the pulse generator 96 and the stop-time rotation amount command Δθ4stp ^ are prohibited from being input from the stop mode controller 93 to the pulse generator 96.

  On the other hand, when the rotational speed ω3 of the take-up roll 13 reaches the stop speed, a stop mode signal is input from the mode detector 95 to the control switch 94, and the control switch 94 that receives this stop mode signal causes the stop mode controller to 93 is connected to the input end of the pulse generator 96, and the connection between the output end of the transport mode controller 92 and the input end of the pulse generator 96 is disconnected.

  As a result, when the mode detector 95 outputs a stop mode signal, that is, when the yarn λ in the winding section 8 is in the transport stop state (stop mode), the stop rotation amount command Δθ4stp ^ is set to the stop mode controller. 93 is input to the pulse generator 96, and the conveyance rotation amount command Δθ4drv ^ is prohibited from being input from the conveyance mode controller 92 to the pulse generator 96.

(G-1-5) Pulse generator The pulse generator 96 has an input terminal connected to the output terminal of the control switch 94, and a conveyance rotation amount command Δθ4drv ^ input from the control switch 94 or stopped. A pulse signal sequence (hereinafter referred to as “winding motor M4 pulse command”) PL4 ^ including a number of pulse signals based on the hourly rotation amount command Δθ4stp ^ within the time interval Δt is generated, and this winding motor M4 pulse command is generated. PL4 ^ is output to the deviation counter 34a of the servo amplifier 34 for the winding motor M4.

  Here, “the number of pulse signals based on the conveyance rotation amount command Δθ4drv ^ or the stop rotation amount command Δθ4stp ^” means “the rotation number of the winding roll 14 Δθ4drv ^ or the stop rotation amount command Δθ4stp ^. This means that the number of pulse signals corresponds to the amount of rotation that the winding motor M4 should rotate in order to rotate it by the same amount.

  Therefore, in this pulse generator 96, based on the following equation (48), the input rotation amount command Δθ4drv ^ of the winding roll 14 or the rotation amount command Δθ4stp ^ at the time of stop is inputted to the rotation amount Δθm4 ^ of the winding motor M4. Servo amplifier for the take-up motor M4 as a take-up motor M4 pulse command PL4 ^, in which the pulse signal sequence including the number of pulse signals corresponding to the rotation amount Δθm4 ^ of the take-up motor M4 within the time interval Δt is converted into 34 deviation counters 34a.

Δθm4 ^ = R1 · Δθ4 ^ (48)
(However, in Formula (48), R1 is the transmission ratio of the transmission mechanism interposed between the winding roll 14 and the winding motor M4 (including other transmission losses, etc.), and Δθ4 ^ is in the transport mode. ) Is the conveyance rotation amount command Δθ4drv ^, and in the stop mode, it is the stop rotation amount command Δθ4stp ^.)

(G-2) Servo amplifier 34 for take-up motor Servo amplifier 34 for take-up motor M4 has at its input end an output end of pulse generator 96 of take-up roll controller 91 and a pulse encoder for take-up motor M4. The output terminal of EN4 is connected, and a winding motor M4 is connected to the output terminal. The servo amplifier 34 for the take-up motor M4 has the same internal structure and operation as the servo amplifier 32 for the feed motor M2 described above, and a description thereof will be omitted.

(H) Winding Part Winding Diameter Estimating Unit FIG. 10 is a block diagram showing the winding part winding diameter estimating unit 100. As shown in FIG. 10, the winding unit winding diameter estimation unit 100 mainly includes a pulse restoring unit 101, a total winding rotation amount calculator 102, and a winding unit winding diameter estimation unit 103. This winding part winding diameter estimation unit 100 is synchronized with the winding roll control unit 90 described above, and performs processing for estimating the winding diameter current value D4 of the winding roll 14 at each time interval Δt (hereinafter referred to as “winding roll”). "Roll roll diameter estimation process").

(H-1) Pulse Restorer The pulse restorer 101 has an input end connected to the output end of a pulse encoder EN4 for the take-up motor M4. It is referred to as “winding roll detection pulse.”) The actual rotation amount Δθm4 of the winding motor M4 is detected by counting the number of pulses of PL4, and the detected rotation amount Δθm4 of the winding motor M4 is detected and rotated by the winding roll 14. This is converted into an amount Δθ4 and output to the total winding rotation amount calculator 102.

(H-2) Winding Total Rotation Amount Calculator The winding total rotation amount computing unit 102 has its input end connected to the output end of the pulse restorer 101. This pulse is calculated based on the following equation (49). Based on the detected rotation amount Δθ4 of the winding roll 14 input from the restorer 101, the latest value of the winding roll detection total rotation amount θ4 is calculated.

According to this winding total rotation amount calculator 102, the value of the input detected rotation amount Δθ4 of the winding roll 14 (the second term on the right side of equation (49)) and the previous winding roll detection read from the EEPROM 24 are detected. A value obtained by adding the value of the total rotation amount θ4 (the first term on the right side of Expression (49)) is acquired as the value of the current winding roll detection total rotation amount θ4 (the left side of Expression (49)).
θ4 ← θ4 + Δθ4 (49)
(However, in Expression (49), the operator “←” means rewriting the operation value on the right side to the variable value on the left side.)

  Further, the value of the current winding roll detection total rotation amount θ4 acquired by the winding total rotation amount calculator 102 is overwritten in the EEPROM 24 by the CPU 21 as a new value of the winding roll detection total rotation amount θ4. It is stored and used for the calculation of the next winding roll detection total rotation amount θ4.

(H-3) Winding unit winding diameter estimator The winding unit winding diameter estimator 103 has a winding roll detected total rotation amount θ4 output from the winding total rotation amount calculator 102 at its input end, and the CPU 21. The reel diameter data table read from the EEPROM 24 is input. This winding part winding diameter estimator 103 extracts the value of the winding diameter current value D4 of the winding roll 14 corresponding to the value of the winding roll detected total rotation amount θ4 from the winding diameter data table, and extracts the extracted winding. The current diameter value D4 is output to the stretch compensator 92b and the winding diameter fluctuation compensator 93b, respectively.

  Here, the total rotation amount θ1inv of the delivery roll 11 stored in the “winding diameter data table” is for winding the yarn λ around the winding roll 14 by the above-described pretreatment step, and the total winding amount of winding. The winding roll detection total rotation amount θ4 output by the computing unit 102 is also when the yarn λ is wound up in the gluing device 1.

  For this reason, in this winding part winding diameter estimator 103, when extracting the winding diameter present value D4 from the winding diameter data table based on the winding roll detection total rotation amount θ4, it corresponds to the value of the detected total rotation amount θ4. The reel diameter current value D1 is extracted from the reel diameter data table, and the extracted reel diameter current value D1 is output to the stretch compensator 92b and the reel diameter fluctuation compensator 93b as the reel diameter current value D4. Is configured to do.

  The winding diameter current value D4 of the winding roll 14 output by the winding section winding diameter estimator 103 is input to the stretch compensator 92b and the winding diameter fluctuation compensator 93b, respectively, and the above-described equations (45) and (47) ).

  Next, a modification of the above embodiment will be described below with reference to FIG.

  FIG. 11 is a block diagram showing the delivery roll control unit 150 of the second embodiment. The delivery roll control unit 150 of the second embodiment is obtained by changing the control switch of the delivery roll controller with respect to the delivery roll control unit 150 of the first embodiment. In the following, the same parts as those in the first embodiment are denoted by the same reference numerals, description thereof is omitted, and only different parts are described.

  As shown in FIG. 11, in the delivery roll control unit 150 of the second embodiment, the control switch 154 of the delivery roll controller 151 includes a tension deviation calculator 52c, a transport tension compensator 52d, and a stop tension compensator 53a. It is arranged at a connection branch point. This control switch 154 has only its output terminal connected to the output terminal of the tension deviation calculator 52c, and one of its two output terminals connected to the input terminal of the transport tension compensator 52d. The input end of the stop tension compensator 53a is connected to the other output end.

  According to this control switch 154, when the rotational speed ω2 of the feed roll 12 exceeds the stop speed, the transport mode signal is input from the mode detector 55 to the control switch 154, and the control switch that has received this transport mode signal. 154 disconnects the output end of the tension deviation calculator 52c from the input end of the stop tension compensator 53a of the stop mode controller 53, and the output end of the tension deviation calculator 52c and the transport tension of the transport mode controller 52. The input terminal of the compensator 52d is connected.

  As a result, when the mode detector 55 outputs a transport mode signal, that is, when the yarn λ of the delivery section 7 is in the transport state (transport mode), the transport section tension deviation E1tns is compensated for the transport tension of the transport mode controller 52. 52d and the input to the stop tension compensator 53a of the stop mode controller 53 is prohibited. Therefore, the conveyance rotation amount command Δθ1drv ^ by the conveyance mode controller 52 is input to the pulse generator 56, and the input of the stop rotation amount command Δθ1stp ^ by the stop mode controller 53 is prohibited.

  On the other hand, when the rotational speed ω2 of the feed roll 12 reaches the stop speed, a stop mode signal is input from the mode detector 55 to the control switch 154, and the tension deviation calculator 52c is received by the control switch 154 that has received this stop mode signal. Are connected to the input terminal of the stop tension compensator 53a of the stop mode controller 53, and the output terminal of the tension deviation calculator 52c is connected to the input terminal of the transport tension compensator 52d of the transport mode controller 52. Disconnected.

  As a result, when the mode detector 55 outputs a stop mode signal, that is, when the yarn λ of the delivery section 7 is in the transport stop state (stop mode), the delivery section tension deviation E1tns is equal to the transport tension of the transport mode controller 52. Input to the compensator 52 d is prohibited and input to the stop tension compensator 53 a of the stop mode controller 53. For this reason, the pulse generator 56 is permitted to input the stop rotation amount command Δθ1stp ^ by the stop mode controller 53.

  In the stop mode, since the delivery section tension deviation E1tns is not input to the transport tension compensator 52d, the output of the transport tension rotation amount command Δθ1dtns ^ becomes zero, and the feed is the output of the pulse restorer 52a. Since the detected rotation amount Δθ2 of the roll 12 is also zero, the stretch rotation amount command Δθ1str ^ that is the output of the stretch compensator 52b is also zero. As a result, input of the conveyance rotation amount command Δθ1drv ^ by the conveyance mode controller 52 to the pulse generator 56 is automatically prevented.

  The present invention has been described based on the embodiments. However, the present invention is not limited to the above-described embodiments, and various improvements and modifications can be easily made without departing from the spirit of the present invention. It can be guessed.

  For example, in this embodiment, the detected rotation amount Δθm2 of the feed motor M2 is used as an input to the pulse restoration device 52a in the transport mode controller 52, but the input signal to the pulse restoration device 52a is not necessarily limited thereto. In particular, in order to eliminate the delay in the arithmetic processing, the feed motor M2 rotation amount command Δθm2 output from the pulse generator 56 of the feed roll controller 41 may be input to the pulse restorer 52a. good.

  In the present embodiment, the detected rotation amount Δθm3 of the take-up motor M3 is used as an input to the pulse restorer 92a in the transport mode controller 92. However, the input signal to the pulse restorer 92a is not necessarily limited to this. In particular, in order to eliminate the delay in the arithmetic processing, the take-up motor rotation amount command Δθm3 output from the pulse generator 84 of the take-up roll controller 81 is input to the pulse restorer 92a. May be.

  Further, in this embodiment, the delivery part winding diameter estimation unit 70 is used to obtain the winding diameter current value D1 of the delivery roll 11, and the winding part winding diameter estimation unit is used to obtain the winding diameter current value D4 of the winding roll 14. 100 is used, but the method of deriving the current winding diameter value of the delivery roll and the take-up roll is not necessarily limited to this. Alternatively, measurement may be performed using an optical sensor.

  In the second embodiment described above, the change relating to the control switch 154 is made to the sending roll controller 151. However, the change relating to the control switch described in the second embodiment is not necessarily applied to the sending roll controller. However, the present invention may be similarly applied to the control switch in the winding roll controller described above. Therefore, the control switching unit in the winding roll controller is arranged at the connection branch point of the tension deviation calculator 52c, the transport tension compensator 52d, and the stop tension compensator 53a in the winding roll controller. Also good.

  In this embodiment, the feed roll is used as the subsequent roll of the present invention and the take-up roll is used as the previous roll of the present invention. However, the subsequent roll and the previous roll are not necessarily limited to these. In the case of a yarn conveying device in which these feed rolls and take-up rolls are not present, another roll that moves back and forth across the delivery roll and the delivery section is used as a rear roll, and is moved back and forth across the winding roll and the winding section. Another roll may be used as the preceding roll.

  For example, when there is no feed roll, a sizing roll or the like may be applied as a subsequent roll, and when no take-up roll is present, a cylinder roll or the like may be applied as a front roll.

  In the present embodiment, the winding diameter fluctuation compensator 53b is provided between the stop tension compensator 53a of the stop mode controller 53 and the control switch 54. However, for example, the stop tension compensator 53a causes a modeling error. On the other hand, when the control element is robust, the winding diameter fluctuation compensator 53b is not necessarily provided.

It is the schematic which showed the structure of the gluing apparatus provided with the conveying apparatus which is one Example of this invention. It is a block diagram which shows the electrical structure of a gluing apparatus. It is the block diagram which showed the feed roll control unit. It is the block diagram which showed the internal structure of the servo amplifier. It is the block diagram which showed the sending roll control unit. It is the schematic of the pre-processing process for acquiring a "roll diameter data table". It is the block diagram which showed the sending part winding diameter estimation unit. It is the block diagram which showed the take-up roll control unit. It is the block diagram which showed the winding roll control unit. It is the block diagram which showed the winding part winding diameter estimation unit. It is the block diagram which showed the sending roll control unit of 2nd Example.

Explanation of symbols

1 Gluing device (thread gluing device)
2 Conveying device (part of yarn conveying device)
3 Hot air dryer (part of each process on the transport line)
4 Cooling device (part of each process on the transfer line)
5,6 Load cell (part of the yarn conveyor)
11 Sending roll 12 Feeding roll (Roller)
13 Take-up roll (previous roll)
14 Winding roll 15 Sizing roll (part of each process on the transport line)
16, 16, ... Cylinder roll (part of each process on the transfer line)
20 Control device (part of yarn transport device)
31 Servo amplifier (part of delivery roll drive means)
32 Servo amplifier (part of latter-stage roll drive means)
33 Servo amplifier (part of previous roll drive means)
34 Servo amplifier (part of winding roll drive means)
52b Stretch compensator (stretch control means according to claims 1 to 4)
53a Stop tension compensator (Tension control means according to claims 1 to 4)
53b Winding diameter fluctuation compensator (winding diameter fluctuation compensating means according to claims 1 to 4)
54,154 Control switching device (control switching means according to claims 1 to 4)
92b Stretch compensator (stretch control means according to claims 5 to 8)
93a Stop tension compensator (Tension control means according to claims 5 to 8)
93b Winding diameter fluctuation compensator (winding diameter fluctuation compensating means according to claims 5 to 8)
94,154 Control switching device (control switching means according to claims 5 to 8)
λ Yarn M1 to M6 Servo motor (part of yarn conveying device)
M1 servo motor (part of delivery roll drive means)
M2 servo motor (part of latter-stage roll drive means)
M3 servo motor (part of previous roll drive means)
M4 servo motor (part of winding roll drive means)
EN1 to EN6 Pulse encoder (part of yarn conveying device)

Claims (8)

A delivery roll that is rotatably arranged on a predetermined conveyance line and is wound around the outer circumference, and a subsequent roll that is arranged downstream of the delivery roll and is rotatable on the conveyance line. And the yarn to be sent along with the rotation of the sending roll is conveyed along the conveying line to the succeeding roll, and further disposed downstream of the conveying line via the rotation of the succeeding roll. In the yarn transfer device of the yarn gluing machine that transfers to each process
A latter-stage roll driving means for rotationally driving the latter-stage roll;
When the succeeding stage roll is in a rotating state, the succeeding stage roll and the delivering roll of the succeeding stage roll and the delivering roll, which are obtained based on the target yarn drawing rate that the yarn between the succeeding stage roll and the delivering roll (hereinafter referred to as “sending section”) should generate. The ratio of the amount of rotation (hereinafter referred to as “feed section rotation ratio”), the ratio of the outer diameter of the subsequent roll and the current value of the winding diameter of the feed roll (hereinafter referred to as “feed section diameter ratio”), and the subsequent roll Stretch control means for outputting a value obtained by multiplying the rotation amount of the rotation amount command as a rotation amount command to rotate the delivery roll in order to adjust the yarn drawing rate of the delivery section;
A delivery roll driving means for rotationally driving the delivery roll based on a rotation amount command output by the stretch control means;
When the latter-stage roll is in a rotation stopped state, in order to make the yarn tension in the delivery section coincide with the target thread tension, the deviation between the target thread tension and the actual thread tension relating to the delivery section (hereinafter referred to as “delivery section tension deviation”). Tension control means for calculating and outputting a rotation amount command for rotating the delivery roll based on
Control that permits the rotation amount command output by the tension control means to be input to the delivery roll drive means when the rear roll is in a rotation stopped state and prohibited when the rear roll is in a rotational state. A yarn conveying device comprising switching means. Instead of the stretch control means, when the rear roll is in a rotating state, the yarn in the delivery section is based on the target yarn stretch rate that the yarn in the delivery section should produce and the rotation amount of the rear roll. It has a stretch control means for calculating and outputting a rotation amount command to rotate the delivery roll in order to adjust the stretching rate,
Instead of the control switching means, when the rear roll is in a rotation stop state, the rotation amount command input by the tension control means to the delivery roll drive means is permitted and the rotation amount command input by the stretch means is allowed. On the other hand, when the latter-stage roll is in a rotating state, input of the rotation amount command by the tension control unit to the delivery roll driving unit is prohibited and input of the rotation amount command by the stretch control unit is permitted. 2. The yarn conveying device according to claim 1, further comprising a control switching means. A rotation amount command of the delivery roll output by the tension control means is input, and a value obtained by performing correction conversion based on the current value of the winding diameter of the delivery roll with respect to the rotation amount command is rotated. A winding diameter variation compensating means for outputting to the delivery roll driving means as a rotation amount command for
In place of the control switching means, the rotation amount command output by the winding diameter variation compensating means is allowed to be input to the delivery roll driving means when the latter roll is in a rotation stopped state, while the latter roll The yarn conveying device according to claim 1, further comprising a control switching unit that is prohibited when the roller is in a rotating state.   The winding diameter variation compensating means performs correction conversion by multiplying the rotation amount command of the delivery roll calculated by the tension control means by the reciprocal of the current roll diameter value of the delivery roll. The yarn conveying device according to claim 3. A take-up roll that is rotatably arranged on a predetermined conveyance line and has a yarn wound around the outer periphery thereof, and is arranged on the conveyance line upstream of the take-up roll and rotatable on the conveyance line. A pre-stage roll, and the yarn conveyed through the rotation of the pre-stage roll from each process arranged upstream of the pre-stage roll is wound around the outer circumference of the take-up roll. In the yarn transfer device of the yarn gluer to be wound
Pre-stage roll driving means for rotationally driving the pre-stage roll;
When the former roll is in a rotating state, the former roll and the winding obtained by the yarn existing between the former roll and the winding roll (hereinafter referred to as “winding section”) should be obtained based on the target yarn drawing rate. The ratio of the amount of rotation of the take-up roll (hereinafter referred to as “winding part rotation ratio”), the ratio of the outer diameter of the preceding roll and the current winding diameter of the take-up roll (hereinafter referred to as “winding part diameter ratio”) And a stretch control means for outputting a value obtained by multiplying the rotation amount of the preceding roll as a rotation amount command to rotate the winding roll in order to adjust the yarn drawing rate of the winding section,
Winding roll drive means for rotating the winding roll based on the rotation amount command output by the stretch control means;
In order to make the yarn tension in the winding section coincide with the target yarn tension when the preceding roll is in a rotation stopped state, the deviation between the target yarn tension and the actual yarn tension related to the winding section (hereinafter referred to as “winding section”). Tension control means for calculating and outputting a rotation amount command for rotating the take-up roll based on "tension deviation");
The input of the rotation amount command output by the tension control means to the winding roll driving means is permitted when the preceding roll is in a rotation stopped state, and prohibited when the preceding roll is in a rotating state. A yarn conveying device comprising a control switching means. Instead of the stretch control means, when the preceding stage roll is in a rotating state, the winding section is based on the target yarn drawing rate that the yarn in the winding section should generate and the amount of rotation of the preceding stage roll. A stretch control means for calculating and outputting a rotation amount command to rotate the winding roll in order to adjust the yarn drawing rate of
In place of the control switching means, when the preceding roll is in a rotation stopped state, the input of the rotation amount command by the tension control means to the winding roll drive means is permitted and the rotation amount command by the stretch means is allowed. On the other hand, when the preceding roll is in a rotating state, the input of the rotation amount command by the tension control unit to the winding roll drive unit is prohibited and the rotation amount command by the stretch control unit is not input when the input roll is prohibited. 6. The yarn conveying device according to claim 5, further comprising control switching means for permitting. A rotation amount command of the winding roll output by the tension control means is input, and a value obtained by performing a correction conversion based on a current value of the winding diameter of the winding roll with respect to the rotation amount command is obtained as the winding roll. Winding diameter variation compensating means for outputting to the winding roll driving means as a rotation amount command for rotating
In place of the control switching means, the rotation amount command output by the winding diameter variation compensating means is allowed to be input to the take-up roll driving means when the preceding roll is in a rotation stopped state, while the preceding stage The yarn conveying device according to claim 5 or 6, further comprising control switching means for prohibiting when the roll is in a rotating state.   The winding diameter variation compensating means performs correction conversion by multiplying the rotation amount command of the winding roll calculated by the tension control means by the reciprocal of the winding diameter current value of the winding roll. 8. The yarn conveying device according to claim 7, wherein the yarn conveying device is provided.

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