JP2023183518A - Conveyance control device, conveyance control method, conveyance control program - Google Patents

Abstract

To provide a conveyance control device, etc., that can effectively detect abnormality of a conveyed object without using a tension detector.SOLUTION: A conveyance control device 1 comprises: a drive motor 11 that drives a conveyance object 3 at a drive speed according to a speed command; an encoder 12 that measures the drive speed of the drive motor 11; and an abnormality detection unit 16 that detects abnormality of the conveyance object 3 on the basis of difference between the speed command and the drive speed. The abnormality detection unit 16 detects an abnormality such as breakage of the conveyance object 3 when the driving speed is greater than the speed command by a predetermined threshold value or more. The conveyance control device further comprise: a speed control unit 13 that calculates a speed control value on the basis of the speed command; and a torque control unit 15 that calculates a torque command for the drive motor 11 based on the difference between the speed control value and a rotational speed of the drive motor 11.SELECTED DRAWING: Figure 1

Description

The present invention relates to a transport control device and the like.

Patent Document 1 discloses a technique for controlling the tension of a conveyed object in a coating apparatus that performs a coating process on the conveyed object so as not to cause breakage or the like to occur in the conveyed object. Specifically, the rotational speed of the roller in the coating processing section is controlled according to the tension detected by the tension detector provided at the front stage of the coating processing section and the tension deviation between the tension command (tension setting value). This maintains the tension of the transported object within a desired range to prevent breakage, etc.

Japanese Patent Application Publication No. 11-79510

In Patent Document 1, in which a tension detector is provided to prevent breakage of the transported object, it is necessary to secure an installation space in the coating apparatus for a relatively large tension detector. However, there may be cases where it is impractical to install a tension detector due to space constraints within the coating apparatus or constraints on coating processing. Moreover, the tension detector is also a direct cause of the high cost of coating equipment.

The present invention has been made in view of these circumstances, and it is an object of the present invention to provide a conveyance control device and the like that can effectively detect an abnormality of a conveyed object without using a tension detector.

In order to solve the above problems, a conveyance control device according to an aspect of the present invention includes: a drive unit that drives a conveyed object at a drive speed according to a speed command; a drive speed measurement unit that measures the drive speed; and an abnormality detection section that detects an abnormality in the conveyed object based on the difference between the drive speed and the drive speed.

According to this aspect, it is possible to effectively detect an abnormality such as a break in the transported object based on the difference between the speed command and the drive speed that occurs when the transported object has an abnormality such as a break.

Another aspect of the present invention is a transport control method. This method consists of a driving step in which the transported object is driven at a driving speed according to a speed command, a driving speed measurement step in which the driving speed is measured, and an abnormality in the transported object is detected based on the difference between the speed command and the driving speed. and an abnormality detection step.

Note that the present invention also includes arbitrary combinations of the above-mentioned constituent elements and conversion of these expressions into methods, devices, systems, recording media, computer programs, and the like.

According to the present invention, it is possible to effectively detect an abnormality of a transported object without using a tension detector.

The configuration of the transport control device is schematically shown.

Hereinafter, modes for carrying out the present invention (hereinafter also referred to as embodiments) will be described in detail with reference to the drawings. In the description and/or drawings, the same or equivalent components, members, processes, etc. are denoted by the same reference numerals, and redundant description will be omitted. The scales and shapes of the parts shown in the drawings are set for convenience to simplify the explanation, and should not be interpreted in a limited manner unless otherwise stated. The embodiments are illustrative and do not limit the scope of the present invention. Not all features or combinations thereof described in the embodiments are necessarily essential to the present invention.

FIG. 1 schematically shows the configuration of a transport control device 1 that controls the transport operation of a transport device 2 that transports an object 3. As shown in FIG. Examples of the conveyed object 3 include linear objects such as strings and wires, and planar or sheet-like objects such as paper, cloth, film, foil, and rubber. In this embodiment, a roll-to-roll type conveying device 2 is used to convey a sheet-like base material as a conveyed object 3 in the conveying direction (approximately from left to right in FIG. 1). I will explain about it. The transport device 2 is a device that performs arbitrary processing on the transported object, such as a coater or coating device that performs coating processing such as coating on the transported object, or a printing machine that performs printing on the transported object. , it may be a part of a stretching device or the like that applies tension to the object to be transported and stretches it. In this embodiment, it is assumed that the conveying device 2 is a part of the coating device.

The conveyance device 2 includes a plurality of rollers 21 to 23 that are provided on the conveyance path of the conveyed object 3 and convey or guide the conveyed object 3 in the conveyance direction. The drive roller 21 is rotationally driven by the drive motor 11 in the clockwise direction in FIG. 1 to send out the object 3 in the transport direction. The drive roller 21 may constitute a coating processing section that coats the coating surface (for example, the upper surface in FIG. 1) of the conveyed object 3 with a coating material.

Guide rollers 22 and 23 provided downstream of the drive roller 21 guide the object 3 in the transport direction while contacting the surface of the object 3 (the upper surface in FIG. 1). Like the drive roller 21, the guide rollers 22 and 23 may be rotationally driven in the counterclockwise direction in FIG. 1 by a drive motor or a speed reducer (not shown).

The conveyance control device 1 includes a drive motor 11 as a drive section, an encoder 12 or a pulse generator (PG) as a drive speed measurement section, a speed control section 13, a subtractor 14, and a torque control section 15. , an abnormality detection section 16 , and a notification section 17 . These functional blocks (in particular, the abnormality detection unit 16 and the notification unit 17) include hardware resources such as the computer's central processing unit, memory, input device, output device, and peripheral devices connected to the computer, and the hardware resources that use them. This is realized through the cooperation of software executed by Regardless of the type of computer or installation location, each of the above functional blocks may be realized using the hardware resources of a single computer, or may be realized by combining hardware resources distributed across multiple computers. . For example, some or all of the functional blocks of the transport control device 1 may be realized in a distributed or centralized manner by computers or processors installed in the same site or building as the transport device 2, or may be realized in a distributed or centralized manner by computers or processors installed on the same site or building as the transport device 2, or in a different location from the transport device 2. It may also be realized in a distributed or centralized manner using computers and processors installed in buildings.

The drive motor 11 is a drive unit that drives the transported object 3 at a drive speed (transport speed) according to a speed command described later. Specifically, the drive motor 11 rotates at a rotational speed according to the speed command to rotationally drive the drive roller 21 in the clockwise direction in FIG. 1 . When a speed reducer is provided between the drive motor 11 and the drive roller 21, the rotational speed of the drive motor 11 and the rotational speed of the drive roller 21 are different due to the gear ratio thereof. Typically, the rotational speed of drive motor 11 is greater than the rotational speed of drive roller 21.

The encoder 12 is a drive speed measuring section that measures the drive speed of the drive motor 11. The encoder 12 may measure the rotation speed of the drive motor 11 as the drive speed, or may measure the rotation speed of the drive roller 21 as the drive speed. Further, a drive speed measurement section that measures the transport speed of the transported object 3 equivalent to the rotational speed of the drive roller 21 as the drive speed may be provided in addition to or in place of the encoder 12. The method of the encoder 12 for detecting the rotational angle or rotational position of the drive motor 11 and/or the drive roller 21 may be an incremental method or an absolute method.

For example, the incremental encoder 12 outputs a predetermined number of times (plurality) of A-phase and B-phase pulse signals and one Z-phase pulse signal for each rotation of the drive motor 11 and/or the drive roller 21. . The A-phase and B-phase pulse signals are counted by a counter, and the count value is reset by the Z-phase pulse signal. The count values of the A-phase and B-phase pulse signals that increase with each rotation of the drive motor 11 and/or the drive roller 21 represent the phase or rotational position of the drive motor 11 and/or the drive roller 21. The rotational speed of the drive motor 11 and/or the drive roller 21 can be obtained by dividing the rotational position of the drive motor 11 and/or the drive roller 21, which is continuously detected by such a pulse signal, by the time interval.

The speed control unit 13 calculates a speed control value based on a speed command given from a higher-level controller (not shown) outside the transport control device 1 or inside the transport control device 1 . The speed control section 13 includes at least one of a proportional control section that multiplies the speed command by a proportional gain, an integral control section that multiplies the speed command by an integral gain and integrates the result, and a differential control section that multiplies the speed command by a differential gain and differentiates the speed command. It may also include.

The subtracter 14 subtracts the speed control value calculated by the speed control unit 13 and the driving speed (measured speed) measured by the encoder 12 to obtain a speed deviation. Note that the conveyance control device 1 does not need to include the speed control unit 13, and in that case, the subtracter 14 subtracts the speed command given from the host controller and the drive speed (measured speed) measured by the encoder 12. Find the speed deviation.

Torque control unit 15 calculates a torque command for drive motor 11 based on the speed deviation (difference between speed control value or speed command and drive speed or rotational speed) calculated by subtractor 14 . The torque control section 15 includes at least one of a proportional control section that multiplies the speed deviation by a proportional gain, an integral control section that multiplies the speed deviation by an integral gain and integrates the result, and a differential control section that multiplies the speed deviation by a differential gain and differentiates the result. It may also include.

The drive motor 11 is driven to rotate at a desired rotational speed and torque by a drive current according to a speed command given from the host controller and a torque command calculated by the torque control section 15.

The abnormality detection unit 16 detects an abnormality in the transported object 3 based on the difference between the speed command given from the host controller and the drive speed or rotational speed measured by a drive speed measurement unit such as the encoder 12. Examples of the types of abnormalities in the transported object 3 include breakage, tension, loosening, wrinkles, and the like. When a break occurs, the tension of the transported object 3 as a load that maintains the balance of the transport operation disappears or sharply decreases, and as a result, the driving speed of the drive motor 11 and/or the drive roller 21 deviates from the speed command. It becomes a state of "runaway". Typically, excessive torque caused by the drive current that continues to flow through the drive motor 11 in response to the torque command (and speed command) causes the drive motor 11 and the drive roller 21 to perform accelerated motion, resulting in an increase in the drive speed. An "overspeed" condition occurs where the speed is greater than the speed command. Therefore, the abnormality detection unit 16 can detect that an abnormality such as breakage has occurred in the transported object 3 when the driving speed becomes significantly higher than the speed command. For example, when the difference between the driving speed and the speed command (“driving speed” - “speed command”) exceeds an abnormality detection threshold set in advance to detect abnormalities such as breakage, the abnormality detection unit 16 It is detected that an abnormality such as breakage has occurred in the transported object 3.

Note that the abnormality detection section 16 may use a speed control value calculated by the speed control section 13 instead of the speed command given from the host controller. In this case, the abnormality detection unit 16 detects the difference between the speed control value calculated by the speed control unit 13 and the drive speed or rotational speed measured by a drive speed measurement unit such as the encoder 12 (equivalent to the output of the subtractor 14). An abnormality in the transported object 3 is detected based on the following. In addition, abnormalities in the conveyed object 3 such as tension, slack, wrinkles, etc. other than breakage can also cause or result in an imbalance between the speed command or speed control value and the drive speed or rotational speed. There is a possibility that the abnormality detection unit 16 that monitors the abnormality of the conveyed object 3 other than breakage can be detected. In this case, it is assumed that the driving speed is not only higher than the speed command as at the time of rupture, but also that the driving speed is lower than the speed command unlike at the time of rupture.

The notification unit 17 notifies the administrator of the transport device 2 and/or the transport control device 1 of an abnormality such as breakage of the transported object 3 detected by the abnormality detection unit 16. In particular, if a break occurs in the transported object 3, not only will it not be possible to continue the appropriate coating process, but there is also the risk that the broken transported object 3 may be caught in unintended rollers of the coating device, etc. It is preferable that the notification unit 17 itself or an abnormality stop unit (not shown) attached to the notification unit 17 abnormally stops the conveyance device 2 and/or the conveyance control device 1.

According to this embodiment, based on the difference between the speed command and the drive speed that occurs when an abnormality such as a break occurs in the transported object 3, the abnormality can be effectively detected without using a tension detector. Since there is no need to provide a tension detector as in Patent Document 1, there is no need to allocate limited space in the conveyance device 2 or coating device for the tension detector, and the cost of the conveyance device 2 or coating device can be reduced. It also leads to However, the present invention is not intended to eliminate the tension detector; for example, a tension detector may be added to the configuration of the present embodiment shown in FIG. (A tension detector such as a dancer may be installed at the

The present invention has been described above based on the embodiments. It will be obvious to those skilled in the art that various modifications can be made to the combinations of components and processes in the exemplary embodiments, and such modifications are within the scope of the present invention.

Note that the configuration, operation, and function of each device and each method described in the embodiments can be realized by hardware resources, software resources, or by cooperation of hardware resources and software resources. As hardware resources, for example, a processor, ROM, RAM, and various integrated circuits can be used. As software resources, for example, programs such as operating systems and applications can be used.

Reference Signs List 1 conveyance control device, 2 conveyance device, 3 conveyed object, 11 drive motor, 12 encoder, 13 speed control section, 14 subtractor, 15 torque control section, 16 abnormality detection section, 17 notification section, 21 drive roller.

Claims (8)

a drive unit that drives the conveyed object at a drive speed according to the speed command;
a driving speed measuring section that measures the driving speed;
an abnormality detection unit that detects an abnormality of the conveyed object based on the difference between the speed command and the drive speed;
A transport control device comprising: The conveyance control device according to claim 1, wherein the abnormality detection unit detects an abnormality when the driving speed is higher than the speed command. The conveyance control device according to claim 2, wherein the abnormality detection unit detects an abnormality when the driving speed is greater than the speed command by a predetermined threshold value or more. The conveyance control device according to any one of claims 1 to 3, wherein the abnormality detection section detects breakage of the conveyed object based on a difference between the speed command and the drive speed. The drive unit is a motor that rotates at a rotational speed according to the speed command to drive the transported object,
The drive speed measurement unit measures the rotation speed,
The abnormality detection unit detects an abnormality of the transported object based on a difference between the speed command and the rotational speed.
A conveyance control device according to any one of claims 1 to 3. a speed control unit that calculates a speed control value based on the speed command;
a torque control unit that calculates a torque command for the motor based on the difference between the speed control value and the rotational speed;
The conveyance control device according to claim 5, further comprising:. a driving step for driving the conveyed object at a driving speed according to the speed command;
a driving speed measuring step of measuring the driving speed;
an abnormality detection step of detecting an abnormality of the conveyed object based on the difference between the speed command and the driving speed;
A conveyance control method comprising: a driving step for driving the conveyed object at a driving speed according to the speed command;
a driving speed measuring step of measuring the driving speed;
an abnormality detection step of detecting an abnormality of the conveyed object based on the difference between the speed command and the driving speed;
A transport control program that causes a computer to execute the following.

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