JP2009296692A - Motor drive control device, motor drive control method, and bobbin winder - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor drive controller which performs exact drive control of a motor from low speed rotation to high speed rotation. <P>SOLUTION: The motor drive controller 52 includes a pulse detection section (signal detection section) 55, a first speed calculation section 57, and a second speed calculation section 59. The pulse detection section 55 detects a signal having a frequency dependent on the rotational speed of a motor 51. The first speed calculation section 57 calculates the rotational speed below a predetermined speed based on a signal detected at the pulse detection section 55. The second speed calculation section 59 calculates the rotational speed higher than a predetermined speed based on a frequency division signal which is obtained by dividing the frequency of a signal detected at the pulse detection section 55. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention mainly relates to a motor drive control device.

Conventionally, various systems have been proposed as motor drive control systems. For example, Patent Document 1 discloses a motor drive control device configured to switch control methods so that vector control is performed during high-speed rotation and rectangular wave control is performed during low-speed rotation. Patent Document 1 assumes that this configuration enables accurate position detection of the rotor even when the motor rotates at a low speed.
JP 2006-81230 A

  On the other hand, for example, in a yarn winding machine such as an automatic winder, a brushless DC motor (hereinafter referred to as a brushless motor) may be employed as a package driving device for winding a yarn. A brushless motor has excellent characteristics such as low power consumption and long life.

  By the way, in a yarn winding machine such as an automatic winder as described above, it is required to perform accurate winding speed control over a wide range of package rotation speeds of several tens to several thousand rpm. In order to perform accurate winding speed control, it is necessary to feedback control the current to the drive coil of the motor. Therefore, accurate rotation speed detection is essential.

  As a method for detecting the rotational speed of a brushless motor, a method is known in which the rotational speed is calculated by measuring the interval of pulse signals from a position sensor (hall element) for detecting the rotor position. However, the signal from the position sensor has a low resolution per rotation (although it depends on the number of poles of the motor, it is about several pulses per rotation). For example, accurate speed control can be realized at a low speed of 500 rpm or less. There wasn't. For this reason, for example, the following problems have occurred in the yarn winding machine.

  That is, when the yarn splicing operation occurs when the yarn is wound, the rotation of the package cannot be stopped instantaneously and accurately. As a result, the yarn splicing operation took time, and the automatic winder package production efficiency was reduced.

  Also, in order to perform the yarn splicing operation, it is necessary to reverse the package at a low speed and pull out the yarn end. However, the control at this time cannot be performed accurately, and the length exceeding the length necessary for the yarn splicing is required. Yarn was sometimes pulled out. As a result, the yarn may be loosened and sucked into the yarn trap, resulting in the occurrence of chatter. Also, at this time, dust in the yarn trap may adhere to the yarn. And the quality of a package has fallen because this thread | yarn is wound up in a package as it is.

  In addition, instead of the configuration for calculating the rotation speed based on the pulse signal from the position sensor, a configuration in which a rotation pulse generation device that generates a pulse signal with sufficient resolution for control during low-speed rotation can be considered. However, if the pulse signal is generated with sufficient resolution to accurately detect the rotation speed at the low-speed rotation, the frequency of generation of the pulse signal excessively increases at the high-speed rotation. As a result, the yarn winding machine has a problem that an excessive load is applied to the CPU in the speed detection process at the time of high-speed rotation, and the responsiveness of the speed control (for example, disturb control) is deteriorated. And as a result of not being able to perform accurate rotation speed control, the quality of the package has been degraded.

  The present invention has been made in view of the above circumstances, and its main purpose is a motor drive control device capable of accurate drive control of a motor from low-speed rotation to high-speed rotation, and a package drive from low-speed rotation to high-speed rotation. An object of the present invention is to provide a yarn winding machine capable of accurate winding speed control.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

  According to the 1st viewpoint of this invention, the motor drive control apparatus of the following structures is provided. That is, the motor drive control device includes a signal detection unit, a first speed calculation unit, and a second speed calculation unit. The signal detection unit detects a signal whose frequency changes corresponding to the rotation speed. The first speed calculation unit calculates a rotation speed equal to or lower than a predetermined speed based on the signal detected by the signal detection unit. The second speed calculation unit calculates a rotation speed higher than a predetermined speed based on a frequency-divided signal obtained by dividing the signal detected by the signal detection unit.

  This makes it possible to calculate the rotation speed based on a signal with sufficient resolution without dividing the signal during low-speed rotation, and to reduce the load during calculation by dividing the signal during high-speed rotation. Responsiveness can be improved. Therefore, it is possible to provide a motor drive control device capable of accurate drive control from low speed rotation to high speed rotation.

  The motor drive control device preferably includes a switching unit that switches which of the first speed calculation unit and the second speed calculation unit performs control using the calculated rotation speed.

  Thereby, at the time of low speed rotation and high speed rotation, it is possible to calculate the rotation speed using a signal with an appropriate resolution in accordance with each speed range. Therefore, accurate drive control of the motor becomes possible.

  According to the 2nd viewpoint of this invention, the yarn winding machine which winds a thread | yarn of the following structures and produces | generates a package is provided. That is, the yarn winding machine includes a motor for rotating the package and a motor drive control unit for controlling the motor. The motor drive control unit includes a signal detection unit, a first speed calculation unit, and a second speed calculation unit. The signal detection unit detects a signal whose frequency changes corresponding to the rotation speed of the motor. The first speed calculation unit calculates a rotation speed equal to or lower than a predetermined speed based on the signal detected by the signal detection unit. The second speed calculation unit calculates a rotation speed higher than a predetermined speed based on a frequency-divided signal obtained by dividing the signal detected by the signal detection unit.

  Thereby, it is possible to provide a yarn winding machine capable of accurately controlling the rotational speed of the package from low speed rotation to high speed rotation. Therefore, since the rotation of the package can be accurately controlled in any speed region, the quality of the package can be improved.

  In the yarn winding machine, the motor drive control unit includes a switching unit that switches which of the first speed calculation unit and the second speed calculation unit performs control using the calculated rotation speed. It is preferable.

  Thereby, at the time of low speed rotation and high speed rotation, it is possible to calculate the rotation speed using a signal with an appropriate resolution in accordance with each speed range. Therefore, accurate drive control of the package becomes possible.

  In the yarn winding machine, the motor can be configured to drive a winding drum that rotates the package in a driven manner.

  Thereby, since the drive control of the winding drum can be performed accurately, the quality of the package can be improved by accurately performing the disturb control, for example.

  In the yarn winding machine, the motor can be configured to directly rotate the package.

  As a result, the drive control of the package can be performed accurately, so that a high-quality package can be manufactured by accurately synchronizing the drive of the package and the drive of the traverse device.

  In the yarn winding machine, it is preferable that the first speed calculation unit calculates a rotation speed during acceleration when starting winding. The “start” here includes not only the case where the yarn is first wound, but also the case where the rotation of the package which has been stopped is resumed.

  Thereby, the drive control of the package at the start of winding can be performed accurately. Therefore, since it can accelerate to a desired rotational speed promptly, the production efficiency of the package can be improved.

  In the yarn winding machine, it is preferable that the first speed calculation unit calculates a rotation speed during deceleration when the winding is stopped.

  Thereby, since the drive control of the package at the time of stopping the winding can be performed accurately, the rotation of the package can be completely stopped in a short time. Accordingly, for example, the time required for the doffing operation and the yarn splicing operation can be shortened, so that the productivity of the package is improved.

  In the yarn winding machine, it is preferable that the first speed calculation unit calculates a rotation speed when the package rotates backward.

  Thereby, the drive control of the package at the time of reverse rotation can be performed correctly. As a result, a yarn having a desired length can be accurately pulled out from the package.

  According to a third aspect of the present invention, a motor drive control method including the following steps is provided. That is, the motor drive control method includes a signal detection step, a comparison step, and a drive control step. In the signal detection step, a signal whose frequency changes corresponding to the rotation speed is detected. In the comparison step, the latest rotation speed obtained most recently is compared with a predetermined rotation speed. In the control step, when the latest rotation speed is equal to or lower than the predetermined rotation speed, drive control is performed using the rotation speed calculated based on the signal, and the latest rotation speed is higher than the predetermined rotation speed. When the frequency is high, drive control is performed using the rotation speed calculated based on the divided signal obtained by dividing the signal.

  As a result, the speed can be calculated based on a signal with a high resolution at the time of low speed rotation, and by dividing the signal at the time of high speed rotation, the load at the time of calculation can be reduced and the control responsiveness can be improved. Therefore, this method enables accurate drive control from low speed rotation to high speed rotation.

  Next, embodiments of the invention will be described. FIG. 1 is a block diagram showing the function and configuration of the motor drive control device according to the first embodiment of the present invention.

  A motor drive control device 52 shown in FIG. 1 is for feedback control of the drive of the motor 51. The motor drive control device 52 includes a CPU (central processing unit) 53, a power circuit 54, and a pulse detection unit. (Signal detection unit) 55.

  The motor 51 is configured as a brushless DC motor, for example. Since the configuration of the brushless motor is well known, detailed description is omitted, but the motor 51 includes a rotor (not shown) made of a permanent magnet and a plurality of coils constituting three phases U, V, and W. An approximate stator is provided as a main component. The motor 51 includes three position sensors 56 for detecting the position of the rotor. The position sensor 56 is a Hall element.

  With this configuration, the motor drive control device 52 performs control for sequentially switching currents flowing through the U, V, and W phases of the coil based on a signal from the position sensor 56 (that is, control for sequentially switching coils to be excited). By doing so, the rotor can be driven to rotate.

  The pulse detection unit 55 is configured to detect a pulse signal having a frequency proportional to the rotation speed of the motor 51. Specifically, the pulse detection unit 55 is configured in a disc shape and has an outer peripheral portion equally divided into a plurality of pieces and is multipolarly magnetized, and the speed detection magnet (not shown). And a speed sensor (not shown) composed of a Hall element arranged so as to be directed to the outer peripheral portion. The speed detection magnet is configured to rotate integrally with the rotor. The speed detecting magnet and the speed sensor are housed inside the housing case of the motor 51. When the rotor rotates, a magnetic field change is generated by the speed detection magnet that rotates integrally with the rotor, and a predetermined number (k1, for example, 60) of pulse signals per rotation is detected by the speed sensor. The pulse signal is output to the outside.

  The pulse detector 55 is not limited to the configuration built in the motor 51 as described above, and may be configured by connecting a known incremental rotary encoder to the shaft of the motor 51, for example. However, while a rotary encoder is generally expensive, a hall element is very inexpensive. Therefore, it is advantageous from the viewpoint of cost to configure it with a hall element and a magnet as described above.

  Next, the configuration of the CPU 53 will be described. The CPU 53 mainly includes a first speed calculation unit 57, a divided pulse generation unit 58, a second speed calculation unit 59, a counter 60, a switching unit 61, a speed control unit 62, and an output unit 63. I have.

  The first speed calculator 57 calculates the current rotation speed based on the pulse signal detected by the pulse detector 55 when the motor 51 rotates at a low speed.

  The frequency-divided pulse generator 58 divides the pulse signal detected by the pulse detector 55, generates a predetermined number (k2) of frequency-divided pulse signals per rotation, and outputs them. For example, when the pulse detection unit 55 generates 60 pulses per rotation and the divided pulse generation unit 58 divides the frequency by 8, the divided pulse generation unit 58 generates 7.5 pulses per rotation. Will do. In the following description, a signal output from the divided pulse generator 58 may be referred to as a “divided pulse”, and a pulse signal output from the pulse detector 55 may be referred to as a “raw pulse”.

  The second speed calculation unit 59 calculates the current rotation speed based on the frequency division pulse generated by the frequency division pulse generation unit 58 when the motor 51 rotates at high speed.

  The counter 60 is an up counter that stores an integer count value and increments the count value by one for each step of the machine clock.

  The switching unit 61 performs switching of which of the first speed calculation unit 57 and the second speed calculation unit 59 is used for control according to the rotation speed of the motor 51.

  The speed control unit 62 performs feedback control of the rotation speed of the motor 51 by known PID control. Although details of the PID control are omitted, the current rotation speed as the input value is compared with the target rotation speed as the target value, and a voltage control value for controlling the voltage applied to the coil of the motor 51 is determined. It is output as an output value. That is, when the current speed is lower than the target rotational speed, the voltage applied to the coil is controlled to be higher for acceleration, and when the current speed is higher than the target rotational speed, the coil is controlled to decelerate. Control is performed so as to lower the applied voltage.

  As the current speed as the input value, a calculated value calculated by either one of the first speed calculator 57 and the second speed calculator 59 is used. The selection of which calculated value is used for control is determined by the switching unit 61 as described above. In this embodiment, since the voltage applied to the coil is controlled by a pulse width modulation (PWM) method, a value indicating a duty ratio of a current waveform flowing through the coil is output as the voltage control value.

  Based on the voltage control value from the speed control unit 62 and the rotor position signal from the position sensor 56, the output unit 63 generates a signal indicating the waveform of the current that flows through the coils of the U, V, and W phases. Output. This signal controls the voltage applied to each coil by the PWM method.

  Specifically, based on the rotor position signal from the position sensor 56, the output unit 63 generates a signal indicating ON / OFF of the current flowing through the coil for each of the U, V, and W phases. Then, a pulse signal in which ON / OFF is finely repeated at a predetermined carrier cycle is generated and output for a period in which the current of the signal is ON. This fine ON / OFF time ratio is determined by the voltage control value (duty ratio). Thereby, a signal for applying a desired voltage to an appropriate coil can be output.

  The CPU 53 includes a control timer 64. The control timer 64 generates a timer event at regular time intervals (for example, 10 msec), calls the function of the speed control unit 62, and updates the voltage control value (duty ratio). Thereby, it is possible to reliably perform the feedback control process at regular intervals and appropriately perform the drive control (speed control) of the motor 51.

  An output signal from the output unit 63 of the CPU 53 is input to the power circuit 54. The power circuit 54 amplifies the current waveform signal from the output unit 63 to a predetermined voltage, and drives the motor 51 to rotate by passing a current through each coil of the motor 51.

  A method for calculating the rotation speed by the first speed calculation unit 57 and the second speed calculation unit 59 and a method for switching control by the switching unit 61 will be described later.

  Next, a calculation method of the rotation speed by the first speed calculation unit 57 will be described.

  First, collection of data for calculating the speed will be described. The configuration of the first speed calculation unit 57 will be described with reference to the block diagram shown in FIG. 2. The first speed calculation unit 57 includes a data calculation unit 571, a previous count storage unit 572, an annular buffer 573, and a rotation speed. And a calculation unit 574.

  As shown in FIGS. 1 and 2, k1 raw pulse signals are input to the first speed calculation unit 57 from the pulse detection unit 55 per one rotation of the motor. The first speed calculating unit 57 is configured to generate an interrupt by detecting both rising and falling edges of the input signal. Specifically, since the first speed calculation unit 57 detects both edges of k1 pulse signals per rotation, it generates 2 × k1 interruptions for each rotation of the motor 51. As will be described later, the first speed calculation unit 57 can be set not to generate this interrupt.

  The first speed calculation unit 57 has a circular buffer 573 capable of storing a plurality (m) of data relating to measurement time. When the interrupt occurs, the first speed calculation unit 57 sequentially stores data indicating the elapsed time from the previous interrupt in the circular buffer 573.

  Specifically, it is as follows. That is, the count value from the counter 60 is input to the data calculation unit 571. As described above, this count value is an integer value that increases for each machine clock of the CPU 53. The immediately preceding count storage unit 572 stores a count value (preceding count value) when the immediately preceding interrupt occurs.

  With this configuration, the data calculation unit 571 acquires the current count value from the counter 60 each time the interrupt occurs. Next, a value obtained by subtracting the previous count value stored in the previous count storage unit 572 from the current count value (that is, the number of steps elapsed since the previous interrupt) is calculated and stored in the circular buffer 573. . Then, the current count value is stored in the immediately preceding count storage unit 572. As a result, the circular buffer 573 successively stores values indicating the timing intervals at which both edges of the raw pulse are detected.

  Next, a method in which the first speed calculation unit 57 actually calculates the rotation speed will be described. The first speed calculation unit 57 includes a rotation speed calculation unit 574 that calculates the rotation speed of the motor 51 based on the data stored in the annular buffer 573. The calculation processing function of the rotation speed calculation unit 574 is called through the switching unit 61 every time the speed control unit 62 needs the calculation result. That is, since the calculated value of the rotational speed is used for feedback control executed at regular intervals (in this embodiment, every 10 msec, which is the timer event interval of the control timer 64 described above), the rotational speed calculation processing is also performed in this process. It is executed at regular intervals.

  When the function of the rotational speed calculation unit 574 is called from the speed control unit 62 via the switching unit 61, the rotational speed is calculated based on the m pieces of data stored in the annular buffer 573. The calculation formula will be described below in detail.

Each data stored in the circular buffer 573 represents the detection interval of both edges of the raw pulse detected by (2 × k1) times per rotation of the motor 51 by the number of machine clock steps. Therefore, for example, when the machine clock is C [nsec], the average value of the edge detection intervals is calculated as follows using the sum of the m times of data stored in the circular buffer 573.
Average value of edge detection interval [nsec] = (sum of data / m) × C
Since the edge is detected (2 × k1) times per rotation,
Time per rotation [nsec] = Average value of edge detection interval [nsec] × 2 × k1
Therefore, the rotation speed can be calculated by the following equation.
Rotational speed [rpm] = 60 / (time per rotation [nsec] × 10 ⁻⁹ )
= 3 × m × 10 ¹⁰ / (total data × C × k1)

  Next, the configuration of the second speed calculation unit 59 will be described with reference to the block diagram of FIG. The second speed calculation unit 59 includes a data calculation unit 591, a previous count storage unit 592, a circular buffer 593, and a rotation speed calculation unit 594.

  The second speed calculation unit 59 also performs substantially the same processing as the first speed calculation unit 57. As shown in FIGS. 1 and 3, the second speed calculation unit 59 receives the frequency division pulse signals (k2 pulse signals per one rotation of the motor 51) from the frequency division pulse generation unit 58. Similarly to the first speed calculation unit 57, the second speed calculation unit 59 is configured to detect both rising and falling edges of the input signal and generate an interrupt. Specifically, since the second speed calculation unit 59 detects both edges of k2 pulse signals per rotation, it generates 2 × k2 interruptions for each rotation of the motor 51.

  The second speed calculation unit 59 has a circular buffer 593 capable of storing a plurality (n) of data related to the measurement time. When the interrupt occurs, the second speed calculation unit 59 sequentially stores data indicating the elapsed time from the previous interrupt in the circular buffer 593.

  Specifically, it is as follows. That is, the count value from the counter 60 is input to the data calculation unit 591. The immediately preceding count storage unit 592 stores the immediately preceding count value when the immediately preceding interrupt occurs.

  With this configuration, the data calculation unit 591 acquires the current count value from the counter 60 each time the interrupt occurs. Next, a value obtained by subtracting the previous count value stored in the previous count storage unit 592 from the current count value (that is, the number of steps elapsed since the previous interrupt) is calculated and stored in the circular buffer 593. . Then, the current count value is stored in the immediately preceding count storage unit 592. As a result, the circular buffer 593 successively stores values indicating the timing intervals at which both edges of the divided pulse are detected.

  Next, a method by which the second speed calculation unit 59 actually calculates the rotation speed will be described. The second speed calculation unit 59 includes a rotation speed calculation unit 594 that calculates the rotation speed of the motor 51 based on the data stored in the annular buffer 593. The calculation processing function of the rotation speed calculation unit 594 is called via the switching unit 61 every time the speed control unit 62 needs the calculation result.

  When the function of the rotational speed calculation unit 594 is called from the speed control unit 62 via the switching unit 61, the rotational speed is calculated based on n pieces of data stored in the annular buffer 593. The calculation formula will be described below in detail.

Each piece of data stored in the circular buffer 593 represents the detection interval of both edges of the divided pulse detected by (2 × k2) times per rotation of the motor 51 by the number of steps of the machine clock. Therefore, assuming that the machine clock is C [nsec], the average value of the edge detection intervals is calculated as follows using the total sum of n times of data stored in the circular buffer 593.
Average value of edge detection interval [nsec] = (sum of data / n) × C
Because the edge is detected (2 × k2) times per rotation,
Time per rotation [nsec] = Average value of edge detection interval [nsec] × 2 × k2
Therefore, the rotation speed can be calculated by the following equation.
Rotational speed [rpm] = 60 / (time per rotation [nsec] × 10 ⁻⁹ )
= 3 × n × 10 ¹⁰ / (total data × C × k2)

  Next, a drive control method for the motor 51 according to the present embodiment will be described with reference to FIG. FIG. 4 is a flowchart showing a flow of a method for controlling the motor 51 by the motor drive control device 52. It is assumed that the motor 51 has stopped rotating at the start of the flow of FIG.

  First, when control is started, 0 [rpm] is set as an initial value in a variable representing the current rotation speed of the motor 51 (S101). Next, detection of a pulse signal by the pulse detector 55 is started (S102).

  Next, in S103, the value of the speed variable described above is examined. If the current speed is 1500 [rpm] or less, both speed detection based on the raw pulse (S104) and speed detection based on the divided pulse (S105) are performed. If the current speed is higher than 1500 [rpm], the speed detection based on the raw pulse is skipped, and only the speed detection based on the divided pulse (S105) is performed.

  Next, in S106 to S108, switching between the rotational speed based on the raw pulse and the rotational speed based on the divided pulse is adopted as the current speed. That is, the value of the speed variable is checked in S106, and if the current speed is 1000 [rpm] or less, the speed value is calculated based on the raw pulse (calculated by the first speed calculator 57). The variable value is overwritten and stored (S107). If the current speed is higher than 1000 [rpm], the value of the speed variable is overwritten and stored with the value of the rotational speed (calculated by the second speed calculator 59) calculated based on the divided pulse (S108). . This assigns a new value to the speed variable.

  In S109, the rotational speed of the motor 51 is controlled by the speed controller 62 based on the value (current speed) of the speed variable determined as described above. Then, the process returns to S103 and the above processing is repeatedly executed.

  The above control method will be described in more detail with reference to FIG. FIG. 5 is a graph conceptually showing how the motor drive control device according to the present embodiment controls the rotation speed of the motor whose rotation speed changes as time elapses. In addition, the vertical axis | shaft of the graph of FIG. 5 represents rotation speed, and the horizontal axis represents time.

  First, since the rotation speed is low immediately after starting rotation, speed calculation is performed using the raw pulse (by the first speed calculation unit 57) in order to calculate the speed with high resolution, and the speed control is also based on the raw pulse. Use the rotation speed.

  When the rotational speed gradually increases and reaches the speed control switching level (1000 rpm), the switching unit 61 divides the rotational speed used when feedback control is performed by the speed control unit 62 from the rotational speed based on the raw pulse. Switch to the rotation speed based on the pulse. This switching process is realized by a conditional branch executed by the switching unit 61, for example.

  When the rotational speed further increases, the data collection switching level (1500 rpm) is reached. At this point, the switching unit 61 switches so as not to perform the interrupt process (detection of both edges of the raw pulse) in the first speed calculation unit 57. This switching process is performed, for example, by setting a flag in a setting register for setting the edge detection process of the data calculation unit 571.

  In other words, the processing for detecting both edges of a raw pulse that generates many interruptions per rotation places a great load on the CPU. This load becomes excessive particularly during high-speed rotation, and in some cases, the feedback control every 10 msec executed by the speed control unit 62 is delayed. In consideration of this point, in the present embodiment, at the rotation speed higher than the data acquisition switching level, detection of both edges of the raw pulse is stopped, and both edges of the divided pulse divided so as not to delay the processing of the CPU. Only detection is performed. As a result, the drive of the motor 51 can be accurately controlled even during high-speed rotation.

  Next, the speed gradually decreases from the time of high-speed rotation, and when the rotational speed becomes equal to or lower than the data collection switching level, the switching unit 61 restarts detection of both edges of the raw pulse in the first speed calculation unit 57. At this time, since the rotational speed has not yet fallen below the speed control switching level, the rotational speed calculated by the second speed calculator 59 is used in the speed control in the speed controller 62. However, as described above, in order to perform the speed calculation process, it is necessary to store certain data in the buffer in advance. In consideration of this point, in the present embodiment, a data collection switching level is set separately from the speed control switching level, and the data is stored in the buffer before the rotation speed calculation value used for speed control is switched. Therefore, it is configured so as to ensure a sufficient margin.

  Then, when the rotation speed becomes equal to or lower than the speed control switching level, drive control is performed using the rotation speed calculated based on the raw pulse by the first speed calculation unit 57 in order to perform accurate control during low-speed rotation. .

  As described above, the motor drive control device 52 of this embodiment includes the pulse detection unit (signal detection unit) 55, the first speed calculation unit 57, and the second speed calculation unit 59. The pulse detector 55 detects a signal whose frequency changes corresponding to the rotation speed. The first speed calculation unit 57 calculates a rotation speed equal to or lower than a predetermined speed based on the signal detected by the pulse detection unit 55. The second speed calculation unit 59 calculates a rotational speed higher than a predetermined speed based on the divided signal obtained by dividing the signal detected by the pulse detection unit 55.

  This makes it possible to calculate the rotation speed based on a signal with sufficient resolution without dividing the signal during low-speed rotation, and to reduce the load during calculation by dividing the signal during high-speed rotation. Responsiveness can be improved. Therefore, the motor drive control device 52 can perform accurate drive control from low speed rotation to high speed rotation.

  In addition, the motor drive control device 52 of the present embodiment includes a switching unit 61 that switches which of the first speed calculation unit 57 and the second speed calculation unit 59 performs control using the calculated rotation speed. .

  Thereby, at the time of low speed rotation and high speed rotation, it is possible to calculate the rotation speed using a signal with an appropriate resolution in accordance with each speed range. Therefore, accurate drive control of the motor 51 becomes possible.

  In addition, the motor drive control method in the present embodiment includes a signal detection process, a comparison process, and a drive control process. In the signal detection step, the pulse detection unit 55 detects a signal whose frequency changes corresponding to the rotation speed. In the comparison step, the latest rotation speed obtained most recently is compared with a predetermined rotation speed (S106 in FIG. 4). In the control step, when the latest rotational speed is equal to or lower than the predetermined rotational speed, drive control is performed using the rotational speed calculated based on the signal (S107, S109), and the latest rotational speed is the predetermined rotational speed. If it is higher than the rotational speed, drive control is performed using the rotational speed calculated based on the frequency-divided signal obtained by dividing the signal (S108, S109).

  As a result, the speed can be calculated based on a signal with a high resolution at the time of low speed rotation, and by dividing the signal at the time of high speed rotation, the load at the time of calculation can be reduced and the control responsiveness can be improved. Therefore, accurate drive control from low speed rotation to high speed rotation is possible.

  Next, an automatic winder as a yarn winding machine according to a second embodiment of the present invention will be described with reference to FIG. FIG. 6 shows a schematic configuration of the automatic winder 90.

  As shown in FIG. 6, the automatic winder 90 mainly includes a plurality of yarn winding units 16 arranged side by side, a machine base control device 93, a yarn feeding bobbin supply device 92, and an automatic doffing device 91. ing.

  The yarn supplying bobbin supply device 92 is configured to convey and supply the yarn supplying bobbin 21 along a supply path (not shown) to each yarn winding unit 16. When the package 30 becomes full in each yarn winding unit 16, the automatic doffing device 91 travels to the position of the yarn winding unit 16, collects the full package, and supplies an empty bobbin. It is configured to be able to. The operations of the yarn feeding bobbin supplying device 92 and the automatic doffing device 91 are controlled by a machine base control device 93.

  Each of the yarn winding units 16 is configured so that the spun yarn 20 unwound from the yarn supplying bobbin 21 can be wound around the bobbin while traversing by the winding drum 24 to form the package 30. Each of the yarn winding units 16 includes a unit controller 50.

  The machine control device 93 mainly includes a monitor 94 for monitoring the operation status of the device and an input key 95 for an operator to input various setting values.

  Next, a description will be given with reference to FIG. FIG. 7 is a block diagram showing a functional configuration of the automatic winder 90.

  The machine base control device 93 stores various control parameters input by the operator operating the input keys 95 and transmits the parameters to the relay device 96. Examples of the control parameter include a target winding speed, a touch winding speed, and a package reverse rotation speed at the time of yarn joining.

  The relay device 96 relays the data from the machine base control device 93 to the automatic doffing device 91, the yarn feeding bobbin supply device 92, and the unit control unit 50 provided in each yarn winding unit 16.

  The unit controller 50 controls the operation of each yarn winding unit 16 based on the control parameters from the machine base control device 93 received via the relay device 96.

  Next, the configuration of the yarn winding unit 16 will be described with reference to FIG. FIG. 8 is a diagram showing a schematic configuration of the yarn winding unit 16.

  The yarn winding unit 16 shown in FIG. 8 winds the spun yarn 20 unwound from the yarn feeding bobbin 21 around the winding bobbin 22 while traversing to form a package 30 having a predetermined length and a predetermined shape. As described above, each yarn winding unit 16 includes the unit controller 50.

  The yarn winding unit 16 is arranged in the yarn traveling path between the yarn feeding bobbin 21 and the winding drum 24 in order from the yarn feeding bobbin 21 side, the unwinding assist device 12, the tension applying device 13, and the splicer device 14. And a clearer (yarn quality measuring device) 15 are arranged.

  The unwinding assisting device 12 assists the unwinding of the yarn from the yarn supplying bobbin 21 by lowering the regulating member 40 covering the core tube in conjunction with the unwinding of the yarn from the yarn supplying bobbin 21. . The regulating member 40 contacts the balloon formed on the upper portion of the yarn feeding bobbin 21 by the rotation and centrifugal force of the yarn unwound from the yarn feeding bobbin 21, and applies the appropriate tension to the balloon to release the yarn. Assist the cocoon.

  The tension applying device 13 applies a predetermined tension to the traveling spun yarn 20. As the tension applying device 13, for example, a gate type device in which movable comb teeth are arranged with respect to fixed comb teeth can be used. The tension applying device 13 can apply a certain tension to the wound yarn and improve the quality of the package 30. In addition to the gate type, for example, a disk type can be adopted as the tension applying device 13.

  The splicer device 14 detects the lower thread on the yarn feeding bobbin 21 and the package 30 side when the clearer 15 detects a yarn defect and performs yarn cutting or when the yarn breakage occurs during unwinding from the yarn feeding bobbin 21. The upper thread is spliced.

  The clearer head 49 of the clearer 15 is provided with an unillustrated sensor for detecting the thickness of the spun yarn 20. The clearer 15 is configured to detect a yarn defect by monitoring a yarn thickness signal from the sensor. Further, in the vicinity of the clearer head 49, a cutter (not shown) is provided for cutting the spun yarn 20 immediately when the clearer 15 detects a yarn defect.

  On the lower side and upper side of the splicer device 14, the lower yarn guide pipe 25 that captures the lower yarn on the yarn feeding bobbin 21 side and guides it to the splicer device 14, and the upper yarn on the package 30 side is captured on the splicer device 14. An upper thread guide pipe 26 for guiding is provided. Further, the lower thread guide pipe 25 and the upper thread guide pipe 26 are configured to be rotatable about shafts 33 and 35, respectively. A suction port 32 is formed at the tip of the lower thread guide pipe 25, and a suction mouth 34 is provided at the tip of the upper thread guide pipe 26. Appropriate negative pressure sources are connected to the lower thread guide pipe 25 and the upper thread guide pipe 26, respectively, and a suction flow is generated in the suction port 32 and the suction mouth 34 so that the thread ends of the upper thread and the lower thread are moved. It is configured to be able to suck and capture.

  On the further upper side of the splicer device 14, a cradle 23 configured to be able to rotatably hold the take-up bobbin 22, and a take-up drum (twill) for traversing the spun yarn 20 and rotating the take-up bobbin 22. Vibration drum) 24 is provided. A spiral traverse groove 27 is formed on the outer peripheral surface of the winding drum 24, and the spun yarn 20 is wound around the outer periphery of the winding bobbin 22 by the traverse groove 27 to wind the package 30. It is formed.

  The package 30 is driven to rotate as the winding drum 24 arranged to face the package 30 rotates. The winding drum 24 is connected to an output shaft of a motor 51, and the operation of the motor 51 is controlled by a motor drive control device (motor drive control unit) 52. In addition, as the motor drive control apparatus 52, the thing of the structure demonstrated in 1st Embodiment is used. Therefore, in FIG. 8, the same reference numerals as those in the first embodiment are assigned to the motor drive control device 52, and detailed description thereof is omitted.

  The cradle 23 is configured to be swingable in a direction in which the cradle 23 approaches or separates from the winding drum 24. Thereby, even if the yarn layer of the package 30 is gradually thickened, the change in the yarn layer thickness can be absorbed by the swing of the cradle 23 and the package 30 can be reliably brought into contact with the winding drum 24. Thereby, the package 30 can be appropriately driven and rotated by driving the winding drum 24.

  In addition, the unit control unit 50 appropriately outputs a speed instruction signal for instructing the rotation speed of the winding drum 24 in order to generate an optimally shaped package 30. The speed instruction signal is received by the CPU 53 and input to the speed control unit 62 (not shown in FIG. 8). The speed control unit 62 performs PID control using the speed instruction signal as a control target value. With this configuration, the spun yarn 20 unwound from the yarn supplying bobbin 21 can be wound on the winding bobbin 22 at an appropriate speed.

  As described above, the automatic winder 90 of the present embodiment includes the motor 51 for rotating the package 30, and the motor 51 is controlled by the motor drive control device 52.

  That is, in the yarn winding machine, it is necessary to accurately control the rotation speed of the package in a wide speed range from low speed rotation to high speed rotation. In this respect, since the automatic winder 90 controls the rotational speed of the package 30 by the motor drive control device 52, the rotational speed of the package 30 can be accurately controlled from the low speed to the high speed. As a result, since the rotation of the package can be accurately controlled in any speed region, the quality of the package can be improved.

  This point will be described more specifically. During high-speed rotation, the driving of the package 30 is controlled using the rotation speed calculated based on the divided pulse. Therefore, an excessive load for detecting the rotation speed is not applied to the CPU 53 even during high-speed rotation, and the drive control processing of the package 30 can be executed at a predetermined interval without delay. As a result, a package having a desired shape can be accurately formed, and a high-quality package can be produced at high speed. This is particularly advantageous in that the disturbance control during high-speed rotation can be accurately performed. Therefore, the disturbance control will be briefly described below.

  That is, when the number of rotations of the winding drum 24 and the package 30 becomes an integral multiple or a fraction of an integer during winding of the package 30, the traverse cycle and the winding cycle of the package 30 are synchronized, A so-called ribbon winding occurs in which the yarns to be collected gather and overlap at the same place. In a package in which ribbon winding has occurred in this manner, ribbon winding yarns are entangled with each other, and there is a problem in that yarn breakage occurs when the package yarn is unwound in a subsequent process.

  In order to break the ribbon winding, the rotation of the winding drum 24 is rapidly increased or decreased in the vicinity of the ribbon winding generation diameter to cause a slip between the package 30 and the winding drum 24, and the yarn path of the traverse yarn is dispersed. A method of winding up is known. This is the disturb control. By performing drive control of the winding drum 24 using the motor drive control device 52 of the present invention, it is possible to accurately perform the rapid acceleration / deceleration even during high-speed rotation, so highly accurate disturb control is performed. Can be realized.

  As described above, in the automatic winder 90 of the present embodiment, the motor 51 is configured to drive the winding drum 24 that rotates the package 30 in a driven manner. A motor drive control method that does not cause a delay in the drive control of the winding drum 24 even during high-speed rotation is employed by calculating the rotation speed based on the divided pulse during high-speed rotation.

  Thereby, since the drive control of the winding drum 24 can be performed accurately, the disturb control and the like can be performed accurately and the quality of the package can be improved.

  On the other hand, at the time of acceleration at the start of winding, deceleration at the time of winding stop, and low speed rotation such as reverse rotation, conventionally, resolution of pulses for speed calculation is insufficient, and accurate speed control of the package 30 is performed. Could not be done. In this respect, in the present embodiment, by controlling the rotational speed of the package 30 using the rotational speed calculated based on the high-resolution raw pulse of 60 pulses per rotation, accurate control can be performed even in a low rotational speed region. Realized. This will be specifically described below.

  For example, at the start of winding, control for accelerating from a stopped state to a target rotational speed is performed. In this case, in the low speed rotation range from 0 rpm to the speed control switching level, the drive control of the package 30 is performed using the rotation speed calculated based on the raw pulse.

  That is, when the yarn is first wound around the empty winding bobbin 22, the rotation of the winding bobbin is unstable and cannot be rotated at a high speed. Just do a touch roll. Here, the touch winding speed is set to a low speed below the speed control switching level so that the rotation of the take-up bobbin 22 does not become unstable. Therefore, the rotation calculated based on the raw pulse is used for the drive control during the touch winding. Speed is used. And when this touch winding is complete | finished, it accelerates rapidly to a predetermined winding speed. During this acceleration, drive control of the package 30 is performed using the rotation speed calculated based on the raw pulse until the rotation speed reaches the speed control switching level.

  On the other hand, even when the stopped package 30 is accelerated to a predetermined rotation speed, the touch winding is not necessary in cases other than the start of winding the yarn around the empty winding bobbin 22. Even in this case, the drive control of the package 30 is performed using the rotation speed calculated based on the raw pulse until the speed control switching level is reached from the stop state.

  As described above, the first speed calculation unit 57 of the motor drive control device 52 included in the automatic winder 90 of the present embodiment calculates the rotational speed during acceleration when starting winding of the package 30.

  Thereby, the drive control of the package 30 at the start of winding can be performed accurately. Therefore, since it can accelerate to a desired rotational speed promptly, the production efficiency of the package 30 can be improved.

  Next, the case where deceleration control is performed from the high-speed rotation state to stop the rotation of the package will be described. Although the speed of the package is reduced by this deceleration control, the rotational speed calculated based on the raw pulse is not changed until the rotation is completely stopped at 0 rpm after the rotational speed becomes lower than the speed control switching level. The rotational speed control of the package 30 is performed by using this. The winding stop process is performed, for example, when doffing or yarn joining.

  The doffing is performed by the automatic doffing device 91 when the package 30 is full, and it is necessary to completely stop the rotation of the full winding package during this doffing. In this regard, in this embodiment, the package can be stopped accurately in a short time by drive control using the rotation speed calculated based on the high-resolution raw pulse, so that the doffing work is performed efficiently, The production efficiency of the package 30 can be improved.

  The splicing is performed by the splicer device 14 when a yarn breakage occurs during winding or when the clearer 15 finds a yarn defect and cuts and removes it. Even when performing this splicing operation, it is necessary to temporarily stop the rotation of the package 30, but in this embodiment, the package can be removed in a short time by drive control using the rotation speed calculated based on the raw pulse with high resolution. It can be stopped accurately. Therefore, the yarn joining operation can be performed efficiently.

  As described above, in the automatic winder 90 of the present embodiment, the first speed calculation unit 57 of the motor drive control device 52 calculates the rotation speed at the time of deceleration when the winding of the package 30 is stopped.

  Thereby, since the drive control of the package 30 at the time of stopping the winding can be performed accurately, the rotation of the package 30 can be completely stopped in a short time. Accordingly, the time required for the doffing operation and the yarn splicing operation can be shortened, so that the productivity of the package is improved.

  Further, at the time of the yarn joining, in order to secure the yarn length necessary for the yarn joining, the package 30 is reversely rotated and the yarn end of the upper yarn on the package 30 side is pulled out by a predetermined length. In this embodiment, the speed at the time of reverse rotation is set to a low speed that is equal to or lower than the speed control switching level. Therefore, the driving of the package 30 is also performed using the rotation speed calculated based on the raw pulse at the time of reverse rotation. Control is performed.

  As described above, in the automatic winder 90 of the present embodiment, the first speed calculation unit 57 of the motor drive control device 52 calculates the rotation speed when the package 30 rotates in the reverse direction.

  Thereby, drive control of the package 30 at the time of reverse rotation can be performed correctly. As a result, a yarn having a desired length can be accurately pulled out from the package 30.

  Next, a third embodiment of the present invention will be described. FIG. 9 is a schematic view of the configuration of the yarn winding unit 16 provided in the automatic winder according to this embodiment. In the following description, the same or similar configurations as those in the second embodiment described above may be denoted by the same reference numerals in the drawings, and description thereof may be omitted.

  The yarn winding unit 16 of the present embodiment includes a cradle 23 configured to be able to rotatably grip the winding bobbin 22, an arm-type traverse device 11 for traversing the spun yarn 20, and the winding bobbin 22. A contact roller 45 that is in contact with the peripheral surface or the peripheral surface of the package 30 and can be driven to rotate.

  A motor 51 is attached to a portion of the cradle 23 that sandwiches the winding bobbin 22. Unlike the second embodiment, the motor 51 is configured to directly rotate and drive the package 30 (winding bobbin 22) to wind the spun yarn 20. The operation of the motor 51 is controlled by a motor drive control device 52.

  An analog angle sensor 83 for detecting the angle (rotation angle) of the cradle 23 is attached to the rotation shaft 46. Since the angle of the cradle 23 changes as the package 30 becomes thicker, the diameter of the yarn layer of the package 30 can be detected by detecting the rotation angle of the cradle 23 by the angle sensor 83. Thereby, the traverse device 11 is controlled according to the package yarn diameter, whereby the yarn can be traversed appropriately. The angle sensor 83 may be a digital sensor, or may be other means as long as it can detect the package yarn diameter.

  The traverse device 11 is provided in the vicinity of the contact roller 45. The traverse device 11 includes an elongated arm member 42 configured to be rotatable around a support shaft, a hook-shaped traverse guide 41 formed at the tip of the arm member 42, and a traverse guide that drives the arm member 42. And a drive motor 43. The arm member 42 is reciprocally swung as indicated by the arrow in FIG. 9 by the traverse guide drive motor 43 to traverse the spun yarn 20. The operation of the traverse guide drive motor 43 is controlled by the unit controller 50.

  Unlike the case where the package is driven by the winding drum as in the second embodiment, the yarn winding unit having this configuration includes separate motors for driving the package and driving the traverse device. Therefore, when winding the yarn around the surface of the package, it is necessary to accurately synchronize the driving of the package and the driving of the traverse device. Conventionally, it has been difficult to accurately control the driving of the package in a wide speed range. However, since the driving control of the package 30 can be performed by using the motor drive control device 52 of the present invention, Accurate synchronization is also facilitated. As a result, it is also possible to avoid the problem of traversing that has occurred because the driving of the package and the driving of the traverse device cannot be synchronized.

  As described above, in the automatic winder 90 of this embodiment, the motor 51 is configured to directly rotate and drive the package 30.

  Thereby, since the drive control of the package 30 can be performed accurately, the drive of the package 30 and the drive of the traverse device 11 can be accurately synchronized to manufacture a high-quality package.

  Although the preferred embodiment of the present invention and its modification have been described above, the above-described configuration can be changed as follows, for example.

  The configuration of the motor drive control device shown in FIGS. 1, 2, 3, etc. is an example, and it is needless to say that the configuration may be any configuration as long as the present invention can be realized. For example, as shown in the modification of FIG. 10, the divided pulse generation unit 58 can be configured as hardware provided outside the CPU 53.

  The signal detected by the pulse detection unit (signal detection unit) 55 can be changed so as to detect an appropriate signal at an appropriate frequency as long as sufficient resolution can be secured for control during low rotation. Further, the frequency-divided pulse generation unit 58 can also be configured to generate an appropriate frequency-divided signal according to the motor usage speed range and the processing capability of the CPU.

  Further, the control target of the motor drive control device of the present invention is not limited to a brushless DC motor, and any motor may be used as long as it detects the rotational speed and performs feedback control. For example, a DC motor with a brush can be driven and controlled by the motor drive control device of the present invention. In this case, the process of sequentially changing the currents flowing through the coils based on the signals from the three position sensors as in the above embodiment is not necessary.

  In the above embodiment, the speed control switching level is set to 1000 rpm and the data collection switching level is set to 1500 rpm. However, the present invention is not particularly limited to this. In addition, a change unit that can change the switching level may be provided so that the setting value of the switching level can be appropriately changed according to the use of the motor, the user's preference, the speed control range, and the like.

  The control method by the speed control unit 62 is not limited to PID control, and other feedback control methods such as P control and PI control can be used as appropriate.

  The yarn feeding bobbin supply device 92 and the automatic doffing device 91 can be omitted or changed. For example, instead of the configuration in which the yarn supplying bobbin 21 is supplied by the yarn supplying bobbin supplying device 92, a configuration in which a magazine type bobbin supplying device is provided on the front surface of each yarn winding unit 16 can be used.

  In the third embodiment, the yarn winding unit 16 includes the arm-type traverse device 11 and the motor 51 that directly rotates the package 30 as described above. However, a yarn winding unit configured to traverse the spun yarn 20 by a belt-type traverse device instead of the arm-type traverse device 11 may be used. Further, instead of directly driving the package 30 by the motor 51, the contact roller 45 may be driven by the motor 51, and the package 30 may be driven to rotate following the rotation of the contact roller 45.

  The function of the relay device 96 may be configured as a part of the function of the machine base control device 93.

  The yarn winding machine is not limited to an automatic winder, and the present invention can be applied to other yarn winding machines such as a spinning machine.

The block diagram which showed the function and structure of the motor drive control apparatus which concerns on 1st Embodiment of this invention. The block diagram which showed the structure of the 1st speed calculation part. The block diagram which showed the structure of the 2nd speed calculation part. The flowchart which shows the flow of the control method of the motor by a motor drive control apparatus. The graph explaining the control method of the motor from which a rotational speed changes. 1 is a schematic front view of an automatic winder according to an embodiment of the present invention. The block diagram which shows the functional structure of an automatic winder. Schematic of the structure of the yarn winding unit provided in the automatic winder according to the second embodiment. The schematic of the structure of the yarn winding unit with which the automatic winder which concerns on 3rd Embodiment was equipped. The block diagram which shows the modification of a structure of a motor drive control apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Traverse apparatus 16 Thread winding unit 24 Winding drum 30 Package 51 Motor 52 Motor drive control apparatus 55 Pulse detection part (signal detection part)
57 First speed calculation unit 58 Divided pulse generation unit 59 Second speed calculation unit 61 Switching unit 90 Automatic winder (yarn winding machine)

Claims (10)

A signal detector for detecting a signal whose frequency changes corresponding to the rotation speed;
A first speed calculation unit that calculates a rotation speed equal to or lower than a predetermined speed based on the signal detected by the signal detection unit;
A second speed calculator that calculates a rotational speed higher than a predetermined speed based on a frequency-divided signal obtained by frequency-dividing the signal detected by the signal detector;
A motor drive control device comprising: The motor drive control device according to claim 1,
A motor drive control device comprising: a switching unit that switches which of the first speed calculation unit and the second speed calculation unit performs control using the calculated rotation speed. A yarn winder that winds a yarn to produce a package,
A motor for rotating the package;
A motor drive control unit for controlling the motor;
With
The motor drive controller is
A signal detector for detecting a signal whose frequency changes corresponding to the rotational speed of the motor;
A first speed calculation unit that calculates a rotation speed equal to or lower than a predetermined speed based on the signal detected by the signal detection unit;
A second speed calculator that calculates a rotational speed higher than a predetermined speed based on a frequency-divided signal obtained by frequency-dividing the signal detected by the signal detector;
A yarn winding machine comprising: A yarn winding machine according to claim 3,
The motor drive control unit includes a switching unit that switches which of the first speed calculation unit and the second speed calculation unit performs control using the calculated rotation speed. Machine. The yarn winding machine according to claim 3 or 4,
The yarn winding machine, wherein the motor drives a winding drum that rotates the package in a driven manner. A yarn winding machine according to any one of claims 3 to 5,
The yarn winding machine, wherein the motor directly rotates the package. A yarn winding machine according to any one of claims 3 to 6,
The yarn winding machine according to claim 1, wherein the first speed calculator calculates a rotational speed during acceleration when starting winding. A yarn winding machine according to any one of claims 3 to 7,
The yarn speed winder according to claim 1, wherein the first speed calculator calculates a rotational speed during deceleration when the winding is stopped. A yarn winding machine according to any one of claims 3 to 8,
The yarn winding machine according to claim 1, wherein the first speed calculation unit calculates a rotation speed when the package rotates backward. A signal detection step of detecting a signal whose frequency changes corresponding to the rotation speed;
A comparison step of comparing the latest rotation speed obtained most recently and a predetermined rotation speed;
When the latest rotation speed is equal to or lower than the predetermined rotation speed, drive control is performed using the rotation speed calculated based on the signal, and when the latest rotation speed is higher than the predetermined rotation speed, A drive control step of performing drive control using the rotation speed calculated based on the frequency-divided signal obtained by dividing the signal;
The motor drive control method characterized by including.

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