JP2011098807A - Tension device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To estimate linear speed and a wire delivery length without using an encoder for detecting linear speed. <P>SOLUTION: This tension device includes a tension pulley, a tension arm, an angle detecting part for detecting an arm angle, a motor for rotating the tension pulley, and a control part for controlling driving of the motor according to an arm angle detected by the angle detecting part and a target arm angle to be input to increase/decrease speed for delivering a winding wire. The tension device further includes a linear speed estimating part inputting an arm angle signal detected in the angle detecting part and a rotating speed signal of the motor, determining the linear speed of the winding wire by a calculation based on the arm angle signal, the rotating speed signal and arrangement positional information on the tension pulley and the tension arm, and outputting an estimated linear speed signal, and an estimated winding length estimating part for determining a winding length of the winding wire by inputting the estimated linear speed signal and integrating the estimated linear speed signal to output an estimated winding length signal. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a tension device that applies a desired tension to a winding and feeds it out.

  2. Description of the Related Art Conventionally, a tension device that applies tension to a winding when winding the winding to a winding machine that winds the winding around a winding core is known (for example, see Patent Document 1). This tension device has a configuration in which a winding led from a winding source is wound around a feeding control pulley via a guide pulley, and is fed from a feeding control pulley to a winding core such as a coil bobbin via a winding guide at the tip of the tension bar. . A servo motor is connected to the feed-out control pulley, and the tension bar is rotatably held with the base end as a fulcrum, and an urging force is applied to the winding by a urging member in a predetermined rotation direction. It is configured to add tension. When the tension applied to the winding changes, the tension bar rotates according to the change in tension, and the winding speed of the winding is controlled so that the servo motor is at a predetermined angle of the tension bar. The tension is not applied.

  In addition, in order to control the amount of wire drawn from the wire source to an appropriate value at all times, wire from the spool driven by the wire feeding motor is transferred from the pulley at the tip of the tension arm to the rotary shaft of the encoder. A winding device that guides a fixed pulley to a coil bobbin at the tip of the spindle and controls the rotation speed of a wire rod feeding motor according to the amount of wire rod supplied to the coil bobbin detected by an encoder is known (for example, , See Patent Document 2).

JP 2000-128433 A JP-A-11-222357

  However, in the winding apparatus described in Patent Document 2 and the like, an encoder is used to detect the linear velocity, so that an inertia load due to the encoder for detecting the linear velocity is applied to the winding and should be applied to the winding. There is a problem that the tension cannot be maintained at an appropriate value.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a tension device capable of estimating a wire speed and a wire feed length without using a wire speed detecting encoder. .

  In the present invention, in order to feed the winding from the bobbin with a desired tension to a winding machine that winds the winding around the winding core, the winding guided from the bobbin is directed toward the winding machine. A tension pulley that feeds out, an arm pulley that guides the winding between the tension pulley and the winding machine at a distal end, and the arm pulley is used as a fulcrum for the tension pulley and the winding machine, respectively. A tension arm that is rotatable so as to be closely spaced, a biasing member that biases the tension arm so that the arm pulley is separated from the tension pulley and the winding machine, and a base end and a distal end of the tension arm are connected to each other. An angle detection unit that detects an arm angle that is an angle formed by a straight line and a horizontal direction, and is coupled to the tension pulley and rotates the tension pulley. A tension motor, and a control unit that controls driving of the motor in accordance with the arm angle detected by the angle detection unit and an input target arm angle, and increases or decreases the speed at which the winding is extended. An apparatus for inputting the arm angle signal detected by the angle detection unit and a rotation speed signal of the motor, and arranging the arm angle signal, the rotation speed signal, the tension pulley, and the tension arm. A linear velocity estimation unit that calculates a linear velocity of the winding based on position information and outputs an estimated linear velocity signal; inputs the estimated linear velocity signal; and integrates the estimated linear velocity signal to integrate the winding. It further comprises an estimated winding length estimation unit that obtains a winding length of the wire and outputs an estimated winding length signal.

  In the present invention, in order to feed the winding from the bobbin with a desired tension to a winding machine that winds the winding around the winding core, the winding guided from the bobbin is directed toward the winding machine. A tension pulley that feeds out, an arm pulley that guides the winding between the tension pulley and the winding machine at a distal end, and the arm pulley is used as a fulcrum for the tension pulley and the winding machine, respectively. A tension arm that is rotatable so as to be closely spaced, a biasing member that biases the tension arm so that the arm pulley is separated from the tension pulley and the winding machine, and a base end and a distal end of the tension arm are connected to each other. An angle detection unit that detects an arm angle that is an angle formed by a straight line and a horizontal direction, and is coupled to the tension pulley and rotates the tension pulley. A tension motor, and a control unit that controls driving of the motor in accordance with the arm angle detected by the angle detection unit and an input target arm angle, and increases or decreases the speed at which the winding is extended. A rotation speed obtained by inputting the arm angle signal detected by the angle detection unit and the rotation angle signal of the motor, and converting the arm angle signal and the rotation angle signal into a rotation speed of the motor. A linear velocity estimation unit that outputs an estimated linear velocity signal by calculating a linear velocity of the winding based on a signal and the arrangement position information of the tension pulley and the tension arm, and inputs the estimated linear velocity signal, An estimated winding length estimation unit that obtains a winding length of the winding by integrating the estimated linear velocity signal and outputs an estimated winding length signal; And butterflies.

  The present invention is characterized in that the estimated winding length estimation unit obtains a winding length of the winding only during winding operation and outputs an estimated winding length signal.

  According to the present invention, since it is possible to estimate the wire speed and the wire feed length without installing a wire speed encoder, it is not necessary to provide a wire speed encoder, and the cost of the tension device can be reduced. Become. In addition, fluctuations in tension due to the influence of the inertia of the linear encoder are suppressed, leading to a reduction in defective products such as thickening and disconnection of the winding, and the effect of improving the quality of the winding product can be obtained.

It is a block diagram which shows the structure of one Embodiment of this invention. It is explanatory drawing which shows an example of a detection angle by the arm angle detection part 22 shown in FIG. It is a block diagram which shows the structure of the control part 23 shown in FIG. It is a flowchart which shows operation | movement of the control part 23 shown in FIG. It is explanatory drawing which shows the principle which performs the linear velocity estimation and winding length estimation in the winding length and linear velocity estimator 235 shown in FIG. FIG. 4 is a block diagram showing a configuration of a winding length / linear velocity estimator 235 shown in FIG. 3. 4 is a flowchart showing an operation of a winding length / linear velocity estimator 235 shown in FIG. 3. FIG. 4 is a block diagram showing a configuration of a winding length / linear velocity estimator 235 shown in FIG. 3. 4 is a flowchart showing an operation of a winding length / linear velocity estimator 235 shown in FIG. 3. It is a figure which shows the comparison result of the linear velocity detected with the estimator by this invention, and the linear velocity detected with the linear velocity encoder, when winding operation | movement was performed. It is a figure which shows the comparison result of the sending length based on the detection of a linear velocity encoder, and the sending length estimated using the estimator by this invention when winding operation | movement was performed.

  Hereinafter, a tension device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the embodiment. As shown in the figure, the tension device 1 applies a desired tension to the winding W guided by the guide pulley 3 from the bobbin 2 which is a winding source for supplying the winding W, and winds the winding. A winding W to which a desired tension is applied is fed out to a flyer 4 that is a device that winds around a core, for example, an armature of a motor. The tension device 1 includes a back tensioner unit 11, a tension pulley 12, a motor 13, a tension arm 14, an arm pulley 15, a fixing unit 16, a spring 17, stoppers 18 and 19, a guide pulley 20, 21, an arm angle detection unit 22, and a control unit 23.

  The back tensioner unit 11 applies a certain tension to the winding W guided through the guide pulley 3 from the bobbin 2 which is a winding source for supplying the winding W. The tension pulley 12 is wound with a winding W to which tension is applied by the back tensioner unit 11, and a frictional force is generated between the winding W and the tension pulley 12. Further, the tension pulley 12 rotates the winding W toward the flyer 4 by rotating in the direction a (clockwise in FIG. 1).

  Further, the tension pulley 12 rotates together with the rotor of the motor 13 when the rotating shaft 12a is coupled to the rotor of the motor 13 and the motor 13 is driven. That is, the tension pulley 12 is rotated by driving the motor 13 and the winding W is fed out, and the driving speed of the winding W is controlled by controlling the driving of the motor 13. For example, a brushless DC motor is used as the motor 13. Further, the back tensioner unit 11 uses a combination of a felt, a motor, and a pulley to generate a certain amount of friction so that the winding W between the back tensioner unit 11 and the tension pulley 12 does not loosen. .

  The motor 13 is additionally provided with a position detector 13a that detects the position (rotation angle) of the rotor of the motor 13 and outputs a position signal indicating the position of the rotor. Here, for the position detector 13a, for example, a resolver, a Hall IC, or an optical encoder, which is a magnetic position detector, is used. The tension arm 14 is rotatably held by the tension device 1 so as to rotate about the base end 14a. In addition, the tension arm 14 is rotatably supported by the arm pulley 15 at the distal end 14b, and the hook arm 14c provided at a position spaced from the proximal end 14a toward the distal end 14b has one end fixed to the fixing unit 16 of the tension device 1. The other end of the spring (biasing member) 17 locked to is locked.

  Further, the tension arm 14 is restricted by the stopper 18 from turning upward so that the arm pulley 15 is close to the tension pulley 12 and the flyer 4, and the arm pulley 15 is separated from the tension pulley 12 and the flyer 4. The downward rotation is restricted by the stopper 19. The tension arm 14 is made of a material that is light in mass and does not deform due to stress, for example, fiber reinforced plastic using glass fiber or carbon fiber.

  The guide pulleys 20 and 21 are provided on the side for supplying the winding to the arm pulley 15 and the side for sending the winding in the moving direction of the winding W, respectively, for changing the moving direction of the winding W. It is. That is, the winding W is drawn out by the tension pulley 12, is guided by the guide pulley 20, changes the moving direction, is guided by the arm pulley 15, is turned back, and is guided to the guide pulley 21. The guide pulley 21 is provided closest to the flyer 4 in the tension device 1, guides the winding W guided from the arm pulley 15, and changes the moving direction of the winding W toward the flyer 4. Reference numerals 20a and 21a denote rotation axes of the guide pulleys 20 and 21, respectively.

  Further, the guide pulley 20 has a winding W between the guide pulley 20 and the arm pulley 15 when the arrangement direction 14d of the tension arm 14 (the linear direction connecting the base end 14a and the tip end 14b) is parallel to the horizontal direction. Are arranged at positions where the moving direction is the vertical direction (vertical direction in the drawing). Similarly to the guide pulley 20, in the guide pulley 21, when the tension arm 14 is disposed in parallel with the horizontal direction, the moving direction of the winding W between the guide pulley 21 and the arm pulley 15 is vertical. It is arranged at the position.

  The arm angle detection unit 22 includes, for example, a resistance potentiometer, an optical potentiometer, an optical encoder, and the like. The arm angle detection unit 22 is provided at the base end 14a of the tension arm 14, and a straight line connecting the base end 14a and the rotation shaft 15a of the arm pulley 15 is formed. An arm angle θT, which is an angle formed with respect to the horizontal direction (the horizontal direction in the drawing, the direction perpendicular to the vertical direction), is measured, and an arm angle signal indicating the measured arm angle θT is output.

  The control unit 23 calculates an angle deviation ΔθT that is a difference between the arm angle θT and the target arm angle θTref from the arm angle signal output by the arm angle detection unit 22 and the target arm angle signal indicating the target arm angle θTref that is input. The motor 13 is driven by PI control according to the calculated angle deviation ΔθT and the position signal output from the position detection unit 13a so that the calculated angle deviation ΔθT becomes 0 (zero). That is, the control unit 23 controls the feeding speed of the winding W via the motor 13 and the tension pulley 12 based on the angle deviation ΔθT and the position signal, thereby matching the arm angle θT with the target arm angle θTref. Take control. The control unit 23 includes a motor drive control unit 23 a that drives the motor 13.

  FIG. 2 is a schematic diagram illustrating an example of the arm angle θT detected by the arm angle detection unit 22 in the same embodiment. FIG. 2 shows a part of the configuration related to the arm angle θT. As shown in the drawing, the arm angle detection unit 22 has a straight line connecting a base end 14a that is a rotation fulcrum of the tension arm 14 and a rotation shaft 15a of the arm pulley 15 with respect to the horizontal direction (vertical direction (gravity direction)). The arm angle θT formed with respect to the (perpendicular direction) is detected. The arm angle θT is a positive value when the arm pulley 15 approaches the guide pulleys 20 and 21, and a negative value when the arm pulley 15 moves away from the guide pulleys 20 and 21. Further, when the arm angle θT increases (when the tension arm 14 rotates upward), the tension applied to the winding W via the tension arm 14 and the arm pulley 15 increases due to the extension of the spring 17. On the other hand, when the arm angle θT decreases (when the tension arm 14 rotates downward), the tension applied to the winding W via the tension arm 14 and the arm pulley 15 decreases due to the spring 17 contracting.

  Here, the operation of the tension pulley 12 will be described. When the winding speed to the flyer 4 is faster than the winding speed of the winding fed by the tension pulley 12, the winding tension by the spring 17 applied to the winding W increases due to the speed difference, and the tension arm 14 moves upward. To turn. In this case, by increasing the rotation speed (rotation angle) of the tension pulley 12, the winding speed is increased and the tension applied to the winding W is decreased.

  On the other hand, when the winding speed to the flyer 4 is slower than the winding speed of the winding W fed by the tension pulley 12, the winding W is slackened due to the difference in speed. It turns downward by elastic force. In this case, by reducing the rotation speed (rotation angle) of the tension pulley 12, the feeding speed of the winding W is slowed down, and the winding tension by the spring 17 applied to the winding W is increased.

  Thus, the tension pulley 12 is connected to the rotary shaft of the motor 13 of the direct drive system, and the tension pulley 12 is wound with a winding, and a frictional force is generated between the tension pulley 12 and the winding W. Is supposed to occur. As the tension pulley 12 rotates, the winding W is sent toward the downstream side, so that the sending speed of the winding W can be controlled by controlling the rotation speed of the tension pulley 12. Further, tension is applied to the winding W by using the tension arm 14 and the spring 17. The winding tension value of the spring 17 can be adjusted according to the angle of the tension arm 14. By utilizing this fact, the winding tension can be adjusted by changing the target arm angle.

  Next, the configuration of the control unit 23 shown in FIG. 1 will be described with reference to FIG. FIG. 3 is a block diagram showing a configuration of the control unit 23 shown in FIG. As shown in the figure, the control unit 23 includes a low-pass filter (LPF) 230 and 231, a subtractor 232, a PI (Proportional Integral) calculation unit 233, an adder 234, a winding length / linear velocity estimator 235, and multiplication. And a motor drive controller 23a. The PI calculation unit 233 includes multipliers 241 and 244, an integration calculator 242, a limiter 243, and an adder 245.

Arm angle signal is a signal obtained by converting the data of the arm angle theta _T the voltage signal from the arm angle detector 22. The target arm angle signal is a signal obtained by taking a voltage signal from an external device and converting it into data of the target arm angle θ _Tref . The rotation signal (position signal or speed signal) output from the motor drive control unit 23a is a signal obtained by taking a voltage signal including rotation information and converting it into angle data or angular velocity data. The winding operation signal is a signal indicating whether or not the flyer 4 is performing a winding operation, and is input from an external device. The speed command output from the adder 234 is a signal output by converting the obtained speed command value into a voltage signal.

The PI calculation unit 233 performs PI calculation on the angle deviation Δθ _T , performs FF (feed forward) calculation on the estimated linear velocity estimated by the winding length / linear velocity estimator 235, and calculates the PI calculated value and The speed command value is added to the FF calculation value. When simply used as a PI compensator, the FF gain K _F may be set to zero. Further, an upper limit and a lower limit are provided by the limiter 243 for the integrated value of the angular deviation by the integrator 242, and an appropriate value is obtained by experiment. Further, the high-frequency component is cut through the secondary Butterworth low-pass filters 230 and 231 with respect to the target arm angle and the arm angle. An appropriate value for the cutoff frequency is obtained by experiment. Note that the control period of the control unit 23 is, for example, 1 ms.

Next, the operation of the control unit 23 shown in FIG. 3 will be described with reference to FIG. First, the control unit 23 inputs a target arm angle θ _Tref , an arm angle θ _T , and a winding operation signal (step S1). Each of the low-pass filters 230 and 231 cuts and outputs the high-frequency components of the target arm angle θ _Tref and the arm angle θ _T (step S2). Subsequently, the subtractor 232 indicates the angle deviation Δθ _T by subtracting the target arm angle θ _T after passing through the low-pass filter from the target arm angle θ _Tref after passing through the low-pass filter output from the low-pass filters 230 and 231. An angle deviation signal is generated and output to the PI calculation unit 233 (step S3). The integrator 242 performs time integration by accumulating the angle deviation signal output from the subtractor 232 during a predetermined period (step S4), and outputs the accumulative calculation result as an integral value. Note that the initial value of the integral value output by the integral calculator 242 is 0 (zero). The limiter 243 determines whether or not the integral value output from the integrator 242 is a value within a range determined by a predetermined upper limit value and lower limit value. If the integral value is a value within the range, An integrated value is output. If the integrated value is smaller than the lower limit value, the lower limit value is output. If the integrated value is larger than the upper limit value, the upper limit value is output (step S5).

The multiplier 241 multiplies the proportional gains K [theta _P subtractor 232 is predetermined for output angular deviation signal. Multiplier 244 multiplies the output of limiter 243 by a predetermined integral gain _KθI . The adder 245 adds and outputs the output of the multiplier 241 and the output of the multiplier 244 (step S6). Here, the addition result output from the adder 245 is a rotation speed (PI calculation value) with respect to the rotor of the motor 13 according to the angle deviation ΔθT, and this rotation speed is a rotation speed for rotating the tension pulley 12. . That is, in the PI operation unit 233, the multiplier 241 calculates the proportional term, and the integration operation unit 242, the limiter unit 243, and the multiplier 244 calculate the integration term. Here, as the period for accumulating the proportional gain K _θP , the integral gain K _θI and the angle deviation signal, values statistically calculated from simulations or experiments are used.

On the other hand, the winding length / line speed estimator 235 inputs the target arm angle θ _T after passing through the low-pass filter and the winding operation signal, and outputs the estimated linear speed signal and the estimated winding length signal. (Step S7). Detailed processing operations for outputting the estimated linear velocity signal and the estimated winding length signal will be described later.

Then, the multiplier 236 and outputs the multiplied a predetermined gain K _F for the estimated linear velocity signal (step S8). This is the FF calculation value. The adder 234 adds the FF operation value output from the multiplier 236 and the PI operation value output from the adder 245 (step S9). The output of the adder 234 becomes the speed command value. The adder 234 outputs the obtained speed command to the motor drive control unit 23a (step S10). By this operation, the rotation of the motor 13 is controlled, and the tension of the winding W is appropriately controlled.

  Next, the principle of estimating the winding length and the linear velocity will be described with reference to FIG. The feed winding length lout (estimated winding length) to the flyer 4 is calculated by calculation from the rotation angle of the tension pulley 12, the arm angle of the tension arm 14, and the position of the guide pulley. The sending winding speed vout (estimated linear velocity) to the flyer 4 is obtained by differentiating (differing) the sending winding length lout. This calculation is performed using equations (1) to (6). The feed winding speed vm from the tension pulley 12 is obtained from the equation (1). The winding length between the guide pulleys 20 and 21 is calculated | required by (2)-(4) Formula. Further, the feed winding speed from the guide pulley 21 to the flyer 4 side is obtained by the equation (5). The feed winding length from the guide pulley 21 to the flyer 4 side is obtained from equation (6).

ここで、（ｘ_１，ｙ_１）、（ｘ_２，ｙ_２）は、テンションアーム回転軸を原点としたときのガイドプーリ２０、２１の中心の座標、ｒｐは、テンションプーリ１２の半径（ただし、巻線が巻かれている円弧として）、ｒｔは、テンションアーム１４の長さ（ただし、回転軸から先端プーリ中心まで）、θは、ｔ＝ｔ時のテンションアーム１４の角度、ωｍは、テンションプーリ１２の回転速度である。ただし、座標（ｘ，ｙ）は図５において水平右方向をｘ方向、鉛直上方向をｙ方向とする。

Here, (x ₁ , y ₁ ), (x ₂ , y ₂ ) are the coordinates of the centers of the guide pulleys 20 and 21 when the tension arm rotation axis is the origin, and rp is the radius of the tension pulley 12 (however, Rt is the length of the tension arm 14 (however, from the rotation axis to the center of the tip pulley), θ is the angle of the tension arm 14 at t = t, and ωm is This is the rotational speed of the tension pulley 12. However, the coordinates (x, y) in FIG. 5 are the horizontal right direction as the x direction and the vertical direction as the y direction.

  Next, the configuration of the winding length / linear velocity estimator 235 shown in FIG. 3 will be described with reference to FIG. 6 is a block diagram showing a configuration of the winding length / linear velocity estimator 235 shown in FIG. The winding length / linear velocity estimator 235 shown in FIG. 6 has a configuration in which a rotational speed signal is output from the motor drive control unit 23a and processing is performed by inputting this rotational speed signal. As shown in FIG. 6, the winding length / line speed estimator 235 receives the arm angle signal θT and the speed signal ωm, and outputs a linear speed estimation unit 251 that outputs an estimated linear speed by calculation, and a linear speed estimation unit. 251 includes a low-pass filter (LPF) 252 that removes high-frequency components from the output 251 and an integrator 253 that integrates the estimated linear velocity signal and outputs an estimated winding length signal. The integrator 253 performs integration processing only while the winding operation signal is input, and outputs an estimated winding length signal.

Next, the operation of the winding length / linear velocity estimator 235 shown in FIG. 6 will be described with reference to FIG. First, when the arm angle θ _T , the rotation speed signal ωm, and the winding operation signal are input (step S11), the linear velocity estimation unit 251 sets the input arm angle to θ and the speed signal to ωm, and sets (1) to ( 4) The equation is calculated (step S12). Then, the linear velocity estimation unit 251 calculates the time differential value of the winding length lt between the guide pulleys 20 and 21 obtained by the equation (4) based on the difference (step S13). At this time, Fs (= 1 / Ts) is multiplied by the difference between the latest (current interrupt) lt and the previous interrupt lt.

  Next, the linear velocity estimation unit 251 calculates Equation (5) (Step S14). Thereby, the feed winding speed from the guide pulley 21 to the flyer 4 side is obtained. The low-pass filter 252 cuts the high-frequency component of the feed winding speed signal output from the linear speed estimation unit 251 (step S15). This output becomes the estimated linear velocity value.

  Next, the integrator 253 determines whether or not the winding operation is being performed based on whether or not the winding operation signal is input (step S16). If the result of this determination is that winding is in operation, the integrator 253 integrates the estimated linear velocity value output from the low-pass filter 252 (equation (6)) and outputs it (step S17). This output is the value of the estimated winding length. On the other hand, if the winding is not in operation, the integrator 253 initializes the output to 0 (step S18).

  Next, a modification of the configuration of the winding length / linear velocity estimator 235 shown in FIG. 3 will be described with reference to FIG. FIG. 8 is a block diagram showing a configuration of the winding length / linear velocity estimator 235 shown in FIG. The winding length / linear velocity estimator 235 shown in FIG. 8 has a configuration in which a rotational position signal is output from the motor drive control unit 23a and processing is performed by inputting this rotational position signal. The winding length / linear velocity estimator 235 shown in FIG. 8 is newly provided with a speed conversion unit 254 compared to the winding length / linear velocity estimator 235 shown in FIG. The speed conversion unit 254 receives the rotation position signal θm output from the motor drive control unit 23a and converts it into a rotation speed signal ωm.

Next, the operation of the winding length / linear velocity estimator 235 shown in FIG. 8 will be described with reference to FIG. First, when the arm angle θ _T , the rotation position signal θm, and the winding operation signal are input (step S21), the speed conversion unit 254 converts the rotation position signal θm into a rotation speed (angular speed) signal ωm and outputs it. (Step S22). At this time, Fs (= 1 / Ts) is multiplied by the difference between the latest position (at the time of the current interruption) (angle) and the position (angle) at the time of the previous interruption.

  Next, the linear velocity estimator 251 calculates the equations (1) to (4), assuming that the input arm angle is θ and the velocity signal is ωm (step S23). Then, the linear velocity estimation unit 251 calculates the time differential value of the winding length lt between the guide pulleys 20 and 21 obtained by the equation (4) based on the difference (step S24). At this time, Fs (= 1 / Ts) is multiplied by the difference between the latest (current interrupt) lt and the previous interrupt lt.

  Next, the linear velocity estimation unit 251 calculates Equation (5) (Step S25). Thereby, the feed winding speed from the guide pulley 21 to the flyer 4 side is obtained. The low-pass filter 252 cuts the high-frequency component of the feed winding speed signal output from the linear speed estimation unit 251 (step S26). This output becomes the estimated linear velocity value.

  Next, the integrator 253 determines whether or not the winding operation is being performed based on whether or not the winding operation signal is input (step S27). If the result of this determination is that winding is in operation, the integrator 253 integrates the estimated linear velocity value output from the low-pass filter 252 (equation (6)) and outputs it (step S28). This output is the value of the estimated winding length. On the other hand, if the winding is not operating, the integrator 253 initializes the output to 0 (step S29).

  Thus, since the estimated linear velocity value and the estimated winding length value are obtained only by calculation, the linear velocity and the wire feed length can be obtained without using the linear velocity detecting encoder. This eliminates the need to use an encoder for detecting the linear velocity, so that an inertial load due to the encoder for detecting the linear velocity is applied to the winding, and the tension to be applied to the winding cannot be maintained at an appropriate value. Since this can be solved, the winding quality can be improved.

  Further, since it is possible to detect a state in which the wire rod is not delivered even though the flyer 4 is operating, it is possible to perform a disconnection determination such as when the flyer 4 is disconnected based on the estimated linear velocity. Since the wound winding length can be obtained, an abnormal winding state or the like can be detected due to some trouble. In addition, since the estimated linear velocity can be used for tension control, it is possible to perform tension control that is higher than arm angle feedback control that does not perform FF (feed forward) computation on linear velocity.

  10 and 11 show a comparison result between the linear velocity detected by the linear velocity encoder and the estimated value according to the present invention when the winding operation is actually performed. FIG. 10 shows a comparison result of the linear velocity detected by the linear velocity encoder and the linear velocity estimated using the winding length / linear velocity estimator 235 according to the present invention when the winding operation is actually performed. FIG. As shown in FIG. 10, the linear velocity estimated value according to the present invention substantially coincides with the actually measured value. Further, FIG. 11 shows the transmission length based on the detection of the linear velocity encoder and the transmission length estimated using the winding length / linear velocity estimator 235 according to the present invention when the winding operation is actually performed. It is a figure which shows a comparison result. As shown in FIG. 10, the estimated winding length according to the present invention substantially matches the actual measured value.

  As described above, since it is possible to estimate the wire speed and the wire feed length without installing a wire speed encoder, it is not necessary to provide a wire speed encoder, and the cost of the tension device 1 can be reduced. It becomes. In addition, fluctuations in tension are suppressed by the influence of the inertia of the linear encoder, leading to reduction of defective products such as thickening and disconnection of the winding, and the quality of the winding product can be improved.

  In FIG. 3, a program for realizing the function of the control unit 23 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed, thereby executing linear velocity or You may perform the process which estimates wire sending out length. Here, the “computer system” includes an OS and hardware such as peripheral devices. The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Further, the “computer-readable recording medium” refers to a volatile memory (RAM) in a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those holding programs for a certain period of time are also included.

  The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, what is called a difference file (difference program) may be sufficient.

  The present invention can be applied to an application in which it is indispensable to apply a desired tension to the winding and feed it out.

  DESCRIPTION OF SYMBOLS 1 ... Tension apparatus, 2 ... Bobbin, 3 ... Guide pulley, 4 ... Flyer, 11 ... Back tensioner part, 12 ... Tension pulley, 13 ... Motor, 13a ... Position detection part, 14 ... Tension arm, 14a ... Base end, 14b ... tip, 14c ... hook part, 15, 31, 41 ... arm pulley, 16 ... fixing part, 17 ... spring, 18, 19 ... stopper 20, 21 ... guide pulley, 22 ... arm angle detection part, 23 ... control part, 23a ... Motor drive control unit, 12a, 15a ... Rotating shaft, 230, 231 ... Low pass filter, 232 ... Subtractor, 233 ... PI operation unit, 234 ... Adder, 241, 244 ... Multiplication unit, 242 ... Integrator 243 ... Limiter, 245 ... Adder, 235 ... Winding length / linear velocity estimator, 236 ... Multiplier, 251 ... Linear velocity estimator, 252 ... Low pass filter , 253 ... integrator, 254 ... speed conversion unit, W ... winding

Claims (3)

A tension pulley that feeds the winding led from the bobbin toward the winding machine in order to feed the winding from the bobbin with a desired tension to a winding machine that winds the winding around the winding core; An arm pulley that guides the winding between the tension pulley and the winding machine at a distal end, and the arm pulley is moved close to and away from each of the tension pulley and the winding machine with a base end as a fulcrum. A tension arm that is freely rotatable, a biasing member that biases the tension arm so that the arm pulley is separated from the tension pulley and the winding machine, a straight line that connects a proximal end and a distal end of the tension arm, An angle detection unit that detects an arm angle that is an angle formed with a direction, and a mode that is coupled to the tension pulley and rotates the tension pulley. And a control unit that controls the driving of the motor in accordance with the arm angle detected by the angle detection unit and the input target arm angle, and increases or decreases the winding speed of the winding. There,
The arm angle signal detected by the angle detection unit and the rotation speed signal of the motor are inputted, and based on the arm angle signal, the rotation speed signal, and the arrangement position information of the tension pulley and the tension arm. A linear velocity estimation unit that calculates a linear velocity of the winding by calculation and outputs an estimated linear velocity signal;
An estimated winding length estimation unit that inputs the estimated linear velocity signal, integrates the estimated linear velocity signal, obtains a winding length of the winding, and outputs an estimated winding length signal; A tension device characterized by that. A tension pulley that feeds the winding led from the bobbin toward the winding machine in order to feed the winding from the bobbin with a desired tension to a winding machine that winds the winding around the winding core; An arm pulley that guides the winding between the tension pulley and the winding machine at a distal end, and the arm pulley is moved close to and away from each of the tension pulley and the winding machine with a base end as a fulcrum. A tension arm that is freely rotatable, a biasing member that biases the tension arm so that the arm pulley is separated from the tension pulley and the winding machine, a straight line that connects a proximal end and a distal end of the tension arm, An angle detection unit that detects an arm angle that is an angle formed with a direction, and a mode that is coupled to the tension pulley and rotates the tension pulley. And a control unit that controls the driving of the motor in accordance with the arm angle detected by the angle detection unit and the input target arm angle, and increases or decreases the winding speed of the winding. There,
The arm angle signal detected by the angle detection unit and the rotation angle signal of the motor are input, the arm angle signal, a rotation speed signal converted from the rotation angle signal to the rotation speed of the motor, and the tension A linear velocity estimation unit that calculates a linear velocity of the winding based on the pulley and the arrangement position information of the tension arm and outputs an estimated linear velocity signal;
An estimated winding length estimation unit that inputs the estimated linear velocity signal, integrates the estimated linear velocity signal, obtains a winding length of the winding, and outputs an estimated winding length signal; A tension device characterized by that.   3. The tension according to claim 1, wherein the estimated winding length estimation unit obtains a winding length of the winding only during a winding operation and outputs an estimated winding length signal. apparatus.

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