JP2014226694A - Control device for looper device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device for a looper device capable of improving the responsivity of bending loss compensation to attribute changes of a strip material.SOLUTION: A control device for a looper device includes: first and second looper devices; a tension reference setting portion 40 for outputting a first tension reference to a carriage motor 11a of the first looper device; a host device 20 for outputting a second tension reference to a carriage motor 11b of the second looper device; and a bending loss learning portion 30 for learning a bending loss generated in the first looper device. The tension reference setting portion 40 calculates an electric tying reference value which becomes a reference of electric tying control on the basis of a bending loss learned by the bending loss learning portion 20, and computes a first tension reference by using at least the electric tying tension reference value and the positional deviation of carriages of the first and second looper devices.

Description

  The present invention relates to a control device for a looper device.

  A conventional control device for a looper device includes a plurality of carriages that can be moved up and down, a movable helper roll that is provided on the carriage and that moves up and down together with the carriage, and a fixed helper roll whose center position is fixed. It is known to control the tension applied to the strip material by winding the strip material between the fixed helper roll and raising and lowering the carriage.

  In such a control device of the looper device, a part of the fixed helper roll is a driving helper roll that is rotationally driven by a motor, and bending loss compensation, mechanical loss compensation, and inertia compensation in the helper roll are performed by rotating the driving helper roll. 2. Description of the Related Art Conventionally, it is known to perform driving control and calculate a bending loss compensation amount based on deviations of positions of a plurality of carriages (see, for example, Patent Document 1).

JP 2008-284586 A

  However, in the conventional control device of the looper device shown in Patent Document 1, since the control is a feedback type that calculates the bending loss compensation amount based on the positional deviation of the carriage, the change in the bending loss value is actually changed. The compensation corresponding to the change in the value of the bending loss is not made unless it is reflected in the positional deviation of the carriage.

  For this reason, especially when strip materials having different attributes (plate thickness, plate width, steel type) newly enter the looper device, the response of the bending loss compensation becomes slow. Further, since the response of the bending loss compensation is not good, the response of the carriage position control correction becomes slow, and the position control may not be stable.

  The present invention has been made to solve such a problem, and is a control device for a looper device capable of improving the response of bending loss compensation to changes in attributes (plate thickness, plate width, steel type) of a strip material. Is what you get.

  In the control device of the looper device according to the present invention, a carriage that is provided so as to be movable up and down and is driven to move up and down by a carriage motor, a movable helper roll that is provided on the carriage and moves up and down with the carriage, and a rotation shaft are fixed. A first looper device and a first looper device each having a plurality of fixed helper rolls that wrap a treatment material between the movable helper rolls and a drive motor that rotationally drives some or all of the plurality of fixed helper rolls. 2 looper devices, a position detector that detects the vertical position of the carriage, a tension reference setting unit that outputs a first tension reference to the carriage motor of the first looper device, and the second looper Occurs in a host device that outputs a second tension reference to the carriage motor of the device and in the first looper device A bending loss learning unit that learns a bending loss, and the tension reference setting unit is configured to control the first looper device and the second looper device based on the bending loss learned by the bending loss learning unit. An eletie tension reference value serving as a reference for eletie control that synchronizes the vertical positions of the two carriages is calculated, and at least the deviation between the eletie tension reference value and the vertical position of the two carriages detected by the position detector Is used to calculate the first tension reference.

  The control device of the looper device according to the present invention has an effect of improving the response of the bending loss compensation to changes in the strip material attributes (plate thickness, plate width, steel type).

It is a block diagram of the looper apparatus which concerns on Embodiment 1 of this invention. It is a figure which illustrates typically the electric tie control of the looper apparatus which concerns on Embodiment 1 of this invention. It is a block diagram which shows typically an example of a structure of the carriage motor control system of the looper apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows the detailed structure of the tension reference | standard setting part which concerns on Embodiment 1 of this invention. It is a block diagram which shows typically the other example of a structure of the carriage motor control system of the looper apparatus which concerns on Embodiment 1 of this invention.

  The present invention will be described with reference to the accompanying drawings. Throughout the drawings, the same reference numerals indicate the same or corresponding parts, and redundant description thereof will be simplified or omitted as appropriate.

Embodiment 1 FIG.
FIGS. 1 to 4 relate to Embodiment 1 of the present invention. FIG. 1 is a configuration diagram of the looper device, FIG. 2 is a diagram schematically illustrating eletie control of the looper device, and FIG. 3 is carriage motor control. 4 is a block diagram schematically showing an example of the configuration of the system, FIG. 4 is a diagram showing a detailed configuration of the tension reference setting unit, and FIG. 5 is a block diagram schematically showing another example of the configuration of the carriage motor control system. .

  In the first embodiment, the looper device is a double looper device including two looper devices, a master and a slave. In FIG. 1, a strip material 1 as a processing material is passed through two looper devices, a slave-side looper device 2a and a master-side looper device 2b. The slave-side looper device 2 a is disposed on the entry side of the strip material 1. The master side looper device 2b is disposed on the exit side (process side: specifically, for example, the furnace side) of the strip material 1.

  The slave-side looper device 2a includes a slave-side movable helper roll 3a, a slave-side non-drive helper roll 4a, and a slave-side drive helper roll 5a. The strip material 1 is passed through the slave looper device 2a by being wound around these helper rolls.

  The slave-side non-drive helper roll 4a and the slave-side drive helper roll 5a are fixed so that the positions of the rotation axes do not move. Hereinafter, the slave-side non-driving helper roll 4a and the slave-side driving helper roll 5a are collectively referred to as “slave-side fixed helper roll”.

  Of the slave-side fixed helper rolls, the slave-side non-drive helper roll 4a is a roll that can rotate with respect to the rotation axis but cannot receive a driving force that rotates with respect to the axis itself. Therefore, the slave-side non-drive helper roll 4a rotates passively with the movement of the strip material 1 wound around the slave-side non-drive helper roll 4a.

  On the other hand, among the slave-side fixed helper rolls, the slave-side drive helper roll 5a is actively driven to rotate. For this reason, each slave side drive helper roll 5a is provided with a slave side helper roll drive motor 6a. And each slave side drive helper roll 5a can be rotated by the driving force applied by the slave side helper roll drive motor 6a.

  Here, a part of the slave-side fixed helper roll is the slave-side drive helper roll 5a. However, all of the slave-side fixed helper rolls may be provided with drive motors to serve as the slave-side drive helper roll 5a.

  The slave-side movable helper roll 3a is attached to the slave-side carriage 7a. The slave side carriage 7a is provided so as to be movable in the vertical direction. Therefore, the position of the rotation axis of the slave-side movable helper roll 3a can be moved with the movement of the slave-side carriage 7a.

  The slave-side movable helper roll 3a is arranged on the slave-side carriage 7a along the plate passing direction of the strip material 1. The slave-side fixed helper rolls (slave-side non-driving helper roll 4a, slave-side driving helper roll 5a) are arranged along the plate passing direction of the strip material 1 on the lower side relative to the slave-side movable helper roll 3a. It has been.

  By moving the slave carriage 7a up and down to move the position of the slave movable helper roll 3a, the distance between the slave movable helper roll 3a and the slave fixed helper roll can be changed.

  One end of a slave side wire 8a is connected to the slave side carriage 7a. An intermediate portion of the slave side wire 8a is wound around the slave side drum 9a. A slave counterweight 10a is connected to the other end of the slave wire 8a. Thus, the slave-side carriage 7a and the slave-side counterweight 10a are suspended by the slave-side wire 8a so as to be vertically movable in directions opposite to each other.

  The slave side drum 9a is rotationally driven by a slave side carriage motor 11a. The slave counterweight 10a is provided mainly to compensate the weight of the slave carriage 7a applied to the slave drum 9a at this time. In addition, as the slave side wire 8a, strips, such as other chains of a wire rope, can be used suitably.

  The strip material 1 is alternately wound around the slave-side movable helper roll 3a and the slave-side fixed helper roll, thereby passing through the slave-side looper device 2a in a folded manner.

  The master looper device 2b also has the same configuration as the slave looper device 2a described above. That is, the master side looper device 2b includes a master side movable helper roll 3b and a master side fixed helper roll (master side non-drive helper roll 4b, master side drive helper roll 5b). Each of the master side drive helper rolls 5b is rotationally driven by a master side helper roll drive motor 6b.

  Each master-side movable helper roll 3b is attached to the master-side carriage 7b along the plate passing direction of the strip material 1. The master-side carriage 7b is suspended in a vine shape together with the master-side counterweight 10b by a master-side wire 8b wound around the master-side drum 9b. By rotating the master side drum 9b by the master side carriage motor 11b, the master side carriage 7b and the master side counterweight 10b move up and down in directions opposite to each other.

  The strip material 1 is alternately wound around the master-side movable helper roll 3b and the master-side fixed helper roll, and is passed through the master-side looper device 2b in a folded manner.

  In the dual looper device composed of the slave side looper device 2a and the master side looper device 2b configured as described above, the slave side carriage motor 11a and the master side carriage motor 11b are connected to the slave side carriage 7a and the master side carriage 7b. By moving each of them up and down, the distance between the slave-side movable helper roll 3a and the slave-side fixed helper roll and the distance between the master-side movable helper roll 3b and the master-side fixed helper roll are changed. be able to.

  And the quantity of the strip material 1 stored in each looper apparatus can be changed by changing the distance (looper height) between a movable helper roll and a fixed helper roll in this way (FIG. 2). . Therefore, the storage amount of the strip material 1 in the looper device and the feed difference of the strip material 1 sent from the looper device to the process side are adjusted by moving the carriage of the looper device up and down.

  In addition, the force which narrows the distance between a movable helper roll and a fixed helper roll acts by the strip material 1 passed by the movable helper roll and the fixed helper roll alternately. Therefore, even when the carriage is not moved, in order to maintain the position of the carriage, it is necessary to apply a force in the direction of lifting the carriage by the carriage motor so as to balance this force.

  The slave-side looper device 2a includes a slave-side speed detector 12a, a slave-side position detector 13a, and a slave-side tension meter 14a. The slave side speed detector 12a detects the rotational speed of the slave side carriage motor 11a and outputs the result as a detection signal. The slave side position detector 13a detects the vertical position of the slave side carriage 7a and outputs the result as a detection signal. The slave tension meter 14a detects the tension of the strip material 1 entering the slave looper device 2a, and outputs the result as a detection signal.

  Similarly, the master side looper device 2b is provided with a master side speed detector 12b, a master side position detector 13b, and a master side tension meter 14b. The master side speed detector 12b detects the rotational speed of the master side carriage motor 11b and outputs the result as a detection signal. The master side position detector 13b detects the vertical position of the master side carriage 7b and outputs the result as a detection signal. The master side tension meter 14b detects the tension of the strip material 1 coming out of the master side looper device 2b, and outputs the result as a detection signal. The moving direction of the strip material 1 is the direction indicated by the arrow A in FIG.

  Now, in the looper device configured as described above, the slave side carriage motor 11a, the slave side carriage motor 11a, and the slave side helper roll drive are considered in consideration of the following compensation items and control items. Each of the motor 6a and the master side helper roll drive motor 6b is controlled. That is, the items are bending loss (bendross) compensation, inertia (GD2) compensation, mechanical loss (mechanical loss) compensation, tension control, and electric tie control.

  Bending loss (bendross) compensation compensates for a loss caused by bending the strip material 1 in each helper roll. Inertia (GD2) compensation is required to change the operating state against the inertia of each element constituting the looper device, specifically the main ones such as the carriage and each helper roll. Compensates for force. The mechanical loss (mechanical loss) compensation is for compensating energy lost by, for example, friction in each element constituting the looper device.

  Moreover, tension control is control performed in order to make the tension | tensile_strength of the strip material 1 passed by the looper apparatus into a desired thing. The eletie control does not physically connect both the slave side carriage 7a and the master side carriage 7b physically and mechanically, but by electrical control based on a detection signal of a position detector that detects the position of both. The positions of the two are matched (FIG. 2).

  In the following, a description will be given of a configuration that realizes control of the slave side carriage motor 11a and the master side carriage motor 11b in consideration of each compensation item and each control item in the looper device configured as described above. .

  FIG. 3 schematically shows an example of the configuration of the carriage motor control system of the looper device. In FIG. 3, for example, a higher-level device 20 such as an HMI outputs a tension reference that is a reference for tension in the drive control of the master-side carriage motor 11 b.

  The tension reference output from the host device 20 is input to the master side carriage motor 11b. On the other hand, the slave tension reference set by the tension reference setting unit 40 is input to the slave carriage motor 11a. The tension reference setting unit 40 outputs a speed reference for each of the master side and the slave side.

  The master-side carriage motor 11b is controlled in two degrees of freedom in accordance with the tension reference output from the host device 20 and the master-side speed reference output from the tension reference setting unit 40. In contrast, the slave-side carriage motor 11a is controlled in two degrees of freedom in accordance with the slave tension reference output from the tension reference setting unit 40 and the slave speed reference output from the tension reference setting unit 40. The

  The bending loss learning unit 30 is means for learning the value of bending loss generated in the slave looper device 2a. The bending loss learning unit 30 includes a learning calculation unit 31, a storage unit 32, a bending loss setting unit 33, and a manual setting input unit 34.

  The learning calculation unit 31 calculates a bending loss that occurs in the slave looper device 2a when the slave looper device 2a is operated. The bending loss is calculated by calculating the steel type, thickness and width of the strip material 1, the position of the slave carriage 7a detected by the slave position detector 13a, and the strip material 1 detected by the slave tension meter 14a. This is based on tension. Information on the steel type, thickness, and width of the strip material 1 used at this time can be acquired from the host device 20.

  In order to calculate the bending loss by the learning calculation unit 31, a dedicated operation (bending loss learning operation) may be performed in the slave looper device 2a, or learning may be performed during normal operation in the slave looper device 2a. The calculation of the bending loss by the calculation unit 31 may be performed in parallel.

  The calculation result of the bending loss by the learning calculation unit 31 is stored in the storage unit 32. In the storage unit 32, the value of the bending loss is stored in a state in which the strip material 1 is associated with each type (steel type, plate thickness, and width).

  The bending loss setting unit 33 acquires information about the type (steel type, plate thickness, and width) of the strip material 1 that is currently passed through from the host device 20 during normal operation of the slave looper device 2a. Next, the bending loss setting unit 33 acquires the value of the bending loss associated with the type of the strip material 1 that is currently passed from the storage unit 32. Then, this acquired value is set as a bending loss occurring in the current slave looper device 2a.

  The tension reference setting unit 40 uses the bending loss value set by the bending loss setting unit 33 of the bending loss learning unit 30 to calculate a slave tension reference for the slave carriage motor 11a.

  The bending loss learning unit 30 includes a manual setting input unit 34 for manually setting a bending loss value used for calculation of the slave tension reference in the tension reference setting unit 40. For example, when the bending loss value automatically set by the bending loss setting unit 33 is not appropriate for some reason, the operator inputs a desired value and manually sets the bending loss value. Can be done.

  In addition, the bending loss learning unit 30 can reset the learning result obtained by the learning calculation unit 31 so far by resetting the value of the bending loss stored in the storage unit 32.

  Here, the bending loss is expressed in advance as a function for the attributes (steel type, plate thickness and width) of the strip material 1, and the learning calculation unit 31 optimizes the parameters in the function so that the learning calculation of the bending loss is performed. May be implemented. That is, in this case, the learning calculation unit 31 determines the bending loss value calculated based on the attributes (steel type, plate thickness and width) of the strip material 1, the position of the slave-side carriage 7a and the tension of the strip material 1, and the strip Based on the attributes of the material 1, each parameter included in the function is optimized using an existing method (for example, the least square method).

  And the memory | storage part 32 memorize | stores the value of each parameter of the said function optimized by the learning calculation part 31. FIG. According to such a method of learning function parameters, only the function parameters need be stored in the storage unit 32 even if the number of types of strip materials 1 processed by the slave looper device 2a increases. The capacity of the storage unit 32 can be reduced.

  On the other hand, the method of storing the bending loss value learned in the storage unit 32 directly in the storage unit 32 is suitable particularly when the number of types of strip material 1 processed by the slave looper device 2a is small.

  FIG. 4 shows the internal details of the tension reference setting unit 40. The learning control tension setting calculation unit 41 calculates the eletie tension reference value 42 based on the bending loss value input from the bending loss learning unit 30. The electric tie tension reference value 42 is a tension value that serves as a reference for the electric tie control of the slave carriage 7a. The total tension calculator 43 calculates the total tension of the strip material 1 in the slave looper device 2a based on the eletie tension reference value 42.

  The carriage position deviation 44 is a deviation between the position of the slave side carriage 7a detected by the slave side position detector 13a and the position of the master side carriage 7b detected by the master side position detector 13b. The tension meter detection value 45 is a detection value by two tension meters, that is, the slave tension meter 14a and the master tension meter 14b.

  The strip material weight 46 is the weight of the strip material 1 passed through the looper device. The strip material weight 46 is calculated from the thickness t of the strip material 1, the structure (steel type) n, and the width w. The difference 47 between the weight of the carriage and the counterweight is a difference between the weight of the slave carriage 7a and the weight of the slave counterweight 10a, and can be calculated in advance based on the design specifications.

  The strip material entry side speed 48 is the speed of the strip material 1 entering the slave side looper device 2a. The strip material delivery speed 49 is the speed of the strip material 1 coming out of the master looper device 2b.

  The carriage speed feedback 50 is the rotation speed of the slave side carriage motor 11a detected by the slave side speed detector 12a and the rotation speed of the master side carriage motor 11b detected by the master side speed detector 12b.

  The mechanical loss compensation 51 is for compensating for a mechanical loss related to the slave-side carriage 7a. The inertia compensation 52 is for compensating a force necessary for changing the operation state of the slave carriage 7a. Both of the mechanical loss compensation 51 and the inertia compensation 52 can be calculated in advance based on the design specifications of the looper device.

  The carriage speed deviation 53 is a deviation between the rotation speed of the slave side carriage motor 11a detected by the slave side speed detector 12a and the rotation speed of the master side carriage motor 11b detected by the master side speed detector 12b.

  In the tension reference setting unit 40, the eletie tension reference value 42 and the carriage position deviation 44 are added, and the tension meter detection value 45 is subtracted from the added result. Then, the subtracted result and the total tension of the strip material 1 calculated by the total tension calculator 43 are added.

  Further, in the tension reference setting unit 40, the strip material exit side speed 49 is subtracted from the strip material entrance side speed 48, and the change in the speed of the strip material 1 is calculated. Next, the change in the speed of the strip material 1 is subtracted from the carriage speed feedback 50. Subsequently, mechanical loss compensation 51 and inertia compensation 52 are added to the subtraction result. The addition result of the strip material weight 46, the carriage weight, and the counterweight weight difference 47 is further added to the addition result.

  The calculation result obtained by adding or subtracting the calculation result of the total tension calculation unit 43, the carriage position deviation 44, and the tension meter detection value 45 to the reference value 42 of the tie strength as described above with respect to the addition result is as described above. Further, the sum is input to the conversion unit 54 provided in the tension reference setting unit 40. Then, the result of the necessary conversion performed by the conversion unit 54 is output from the tension reference setting unit 40 as the slave tension reference.

  Further, the tension reference setting unit 40 calculates the speed reference for each of the slave side and the master side based on the result of adding the carriage speed deviation 53 to the change in the speed of the strip material 1. These speed references are also output from the tension reference setting unit. In calculating the speed reference, the mechanical loss compensation 51 may be further taken into consideration.

  In the carriage motor control system of FIG. 3 described above, the tension reference setting unit 40 uses the tension reference output from the host device 20 when setting the slave tension reference to the slave carriage motor 11a. There wasn't.

  On the other hand, another example of the configuration of the carriage motor control system shown in FIG. 5 is the slave reference to the slave carriage motor 11a in the tension reference setting unit 40 based on the tension reference output from the host device 20. The tension reference is set.

  That is, in FIG. 5, the tension reference setting unit 40 corrects the tension reference value output from the host device 20 using the bending loss value set by the bending loss setting unit 33 of the bending loss learning unit 30. Thus, the slave tension reference for the slave carriage motor 11a is calculated.

  The learning control tension setting calculation unit 41 included in the tension reference setting unit 40 is based on the tension reference input from the host device 20 and the bending loss input from the bending loss learning unit 30. Is calculated. The other configurations are the same as those already described with reference to FIGS.

  The control device of the looper device configured as described above includes a carriage that is movable up and down and driven to move up and down by a carriage motor, a movable helper roll that is provided on the carriage and moves up and down with the carriage, and a rotating shaft. A first looper device that includes a plurality of fixed helper rolls that are fixed and wound with a processing material between the movable helper rolls, and a drive motor that rotationally drives some or all of the plurality of fixed helper rolls. (Slave side looper device) and second looper device (master side looper device) are controlled.

  In addition, a tension reference setting unit that outputs a first tension reference to the carriage motor of the first looper device, a host device that outputs a second tension reference to the carriage motor of the second looper device, A bending loss learning unit that learns a bending loss that occurs in one looper device is further provided.

  The tension reference setting unit, based on the bending loss learned by the bending loss learning unit, is an elevator that serves as a reference for the elevator control for synchronizing the vertical positions of the carriages of both the first looper device and the second looper device. A tension reference value is calculated, and a first tension reference is calculated using at least the eletie tension reference value and the deviation of the vertical positions of the two carriages detected by the position detector.

  In this way, the strip material bending loss is learned in advance based on the feedback of the strip material attributes (plate thickness, plate width, steel type), and the tension reference for the slave looper device is determined using the learned bending loss. By calculating, it is possible to improve the response of the bending loss compensation to changes in the strip material attributes (plate thickness, plate width, steel type).

  By improving the responsiveness of bending loss compensation, the position control can be stabilized by improving the responsiveness of the carriage position control correction, contributing to stable operation by suppressing fluctuations in tension in the looper device. As a result, the quality of the product can be improved.

  Furthermore, the bending loss learning unit learns and calculates the bending loss generated in the first looper device, and the bending loss learned and calculated by the learning calculation unit is attributed to the processing material (strip material) (plate material). The storage unit stores information related to the thickness, plate width, steel type) and the bending loss associated with the attribute of the processing material obtained from the host device from the storage unit. The acquired bending loss is obtained from the tension reference setting unit. And a bending loss setting unit for setting as a bending loss used for the calculation of the first tension reference.

  For this reason, the attribute of the strip material that next enters the looper device is acquired from the host device, and the bending that immediately matches the attribute of the strip material in response to the change in the attribute of the strip material that enters the looper device Carriage position control can be implemented using the loss. That is, the carriage position can be feedforward controlled in accordance with the attribute of the strip material entering the looper device, and the responsiveness of the carriage position control correction can be further improved.

  In addition, the position control of the carriage with respect to the change in the attribute of the strip material is performed not by the master looper device close to the process unit but by the slave looper device far from the process unit. It is possible to prevent the tension fluctuations generated in the process from propagating to the process part and contribute to a more stable operation.

DESCRIPTION OF SYMBOLS 1 Strip material 2a Slave side looper apparatus 3a Slave side movable helper roll 4a Slave side non-drive helper roll 5a Slave side drive helper roll 6a Slave side helper roll drive motor 7a Slave side carriage 8a Slave side wire 9a Slave side drum 10a Slave side counter Weight 11a Slave side carriage motor 12a Slave side speed detector 13a Slave side position detector 14a Slave side tension meter 2b Master side looper device 3b Master side movable helper roll 4b Master side non-drive helper roll 5b Master side drive helper roll 6b Master side Helper roll drive motor 7b Master side carriage 8b Master side wire 9b Master side drum 10b Master side counterweight 11b Master side carriage motor 12b Master side speed detector 13b Master side position detector 14b Master side tension meter 20 Host device 30 Bending loss learning unit 31 Learning calculation unit 32 Storage unit 33 Bending loss setting unit 34 Manual setting input unit 40 Tension reference Setting section 41 Learning control tension setting calculation section 42 Eletie tension reference value 43 Total tension calculation section 44 Carriage position deviation 45 Tensile meter detection value 46 Strip material weight 47 Difference between carriage weight and counterweight weight 48 Strip material entry side speed 49 Strip material Delivery speed 50 Carriage speed feedback 51 Mechanical loss compensation 52 Inertia compensation 53 Carriage speed deviation 54 Conversion unit

Claims (4)

A processing material is wound between a carriage that is movable up and down and driven to move up and down by a carriage motor, a movable helper roll that is provided on the carriage and moves up and down together with the carriage, and a rotary shaft that is fixed. A first looper device and a second looper device each having a plurality of fixed helper rolls to be hung and a drive motor that rotationally drives part or all of the plurality of fixed helper rolls;
A position detector for detecting the vertical position of the carriage;
A tension reference setting unit that outputs a first tension reference to the carriage motor of the first looper device;
A host device that outputs a second tension reference to the carriage motor of the second looper device;
A bending loss learning unit that learns a bending loss that occurs in the first looper device,
The tension reference setting unit
Based on the bending loss learned by the bending loss learning unit, an eletie tension reference value serving as a reference for eletie control for synchronizing the vertical positions of the carriages of both the first looper device and the second looper device is obtained. Calculate
A control device for a looper device, wherein at least the first tension reference is calculated using at least the eletie tension reference value and a deviation between the vertical positions of the carriages detected by the position detector. The bending loss learning unit
A learning calculation unit for learning and calculating a bending loss generated in the first looper device;
A storage unit that stores the bending loss learned and calculated by the learning calculation unit in association with the attribute of the processing material;
Bending loss associated with the attribute of the processing material obtained from the host device is acquired from the storage unit, and the acquired bending loss is used for the calculation of the first tension reference in the tension reference setting unit. The looper device control device according to claim 1, further comprising a bending loss setting unit configured to set as a loss.   3. The tension reference setting unit calculates the Eletie tension reference value based on the second tension reference and the bending loss learned by the bending loss learning unit. The control device of the looper device described in 1.   4. The control device for a looper device according to claim 1, wherein the second looper device is disposed closer to the process unit than the first looper device. 5.

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