JP2687760B2 - Conveyance tension control device for continuum - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a carrier tension control device for a continuous body for controlling the carrier tension of a continuous linear or strip-shaped material.

[0002]

2. Description of the Related Art A device for winding electric wires, paper, film,
In order to print or process on foil, thin strip steel plate, etc., a device for unwinding, conveying, winding, or cutting these linear or web-shaped ones is widely used. In such a case, it is often the case that a constant tension is applied to the line or web to be conveyed.

FIG. 3 is a view showing a part of a printing apparatus having such a web unwinding device. The web 11 is unwound from the unwinding coil 12, and the dancer roll mechanism 17, 18, 19, 2
0, through tension detector 25, through infeed roll 2
Unrolled through 6. The unwinding coil 12 has its unwinding speed controlled by a servo motor 13, and the servo motor 13 is driven by a motor driver 14. Dancer roll is lever 17
The web 11 is hung on the roll 19 provided at the other end of the lever 17 by swinging around the rotation center 18 at one end of the air cylinder 23.
Rocks by. The position detector 22 detects the swing position of the roll 19. The air cylinder 23 is driven by an electric air converter 24. The web 11 is driven by a roll of a printing unit that drives the web 11. The drive source is a main motor 27, and a drive shaft 28 is provided with a speed detector 29 that detects the transport speed of the web 11. Tension controller 10
Inputs the outputs of the position detector 22 and the speed detector 29, and controls the motor driver 14 and the electro-pneumatic converter 24 to control the tension of the web 11.

FIG. 7 is a diagram showing an example of such a tension control circuit, and FIG. 7A shows a control circuit of the servo motor 13,
(B) shows a control circuit of the electro-pneumatic converter 24. In this control method, the rotational position of the dancer roll arm 17 is detected by the position detector 22, the difference 62 from the set position 61 is taken, the nonlinear calculation 63 is performed, and the proportional / integral / derivative calculation 64 is performed. After that, add 59 with the speed signal from the speed detector 29, and then add the motor driver.
Output to 14. The output of the tension detector 25 is displayed on the tension display section 54, the value is read by the operator, the target tension of the web 11 is determined, the air pressure of the air cylinder 23 is set 71 so as to be this tension, and the air cylinder 23 The electro-pneumatic converter 24 controls so that this set pressure is obtained.

[0005]

In the case of the control method described above, the friction when the dancer roll swings, the moment of inertia of the swinging component, and the gear 21 meshing with the gear forming the rotation center 18 of the arm 17. Backlash etc. is as it is,
It directly affects the tension variation of the web 11. If the arm 17 of the dancer roll does not oscillate, the servo motor 13 does not perform the correction operation, and the stability of the tension of the web 11 depends largely on the mechanical properties of the components. As described above, since the above-mentioned method uses the indirect control method of controlling the tension of the web 11 in controlling the rotational position of the arm of the dancer roll, the mechanical failure of the components of the dancer roll is directly controlled. The accuracy is adversely affected.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a carrier tension control device for a continuous body that directly controls the tension of the continuous body based on the detected value of the tension of the continuous body. To do.

[0007]

FIG. 1 shows the principle of the present invention. In the figure, 1 is a speed adjusting unit for adjusting the transport speed of the continuous body, 2 is a tension detecting unit for detecting the tension of the continuous body, 3 is a speed detecting unit for detecting the transport speed of the continuous body,
4 is a speed based on a value obtained by adding / subtracting an operation value obtained by performing proportional / integral / derivative calculation of the difference between the tension set value and the detected tension of the tension detecting section 2 to the operation value based on the detected speed of the speed detecting section 3. A speed control unit that generates an adjustment signal and outputs it to the speed adjustment unit 1, 5 is provided with a roll at one end of the arm and a roll at the other end, and the continuous body is applied to this roll to change the rotation angle of the arm. A dancer roll for changing the tension of the continuum by means of 6, a rotary drive unit for rotating the arm of the dancer roll 5, a position detection unit 7 for detecting the rotational position of the arm of the dancer roll 5, and 8 for the dancer roll. Dancer roll control for outputting a rotation drive signal to the rotation drive unit 6 based on an operation value obtained by performing proportional / integral / differential calculation of the difference between the rotational position setting value of the arm 5 and the detection position of the position detection unit 7. It is a department.

Further, the position control speed of the dancer roll 5 performed by the rotation drive unit 6 is controlled with a slower response than the speed control of the transport speed of the continuum performed by the speed adjusting unit 1.

If the speed control unit 4 has a small input value for the difference between the tension setting value and the tension detected by the tension detecting unit 2.
When it becomes large, it is amplified by the first non-linear amplifier having a small amplification degree, and then proportional, integral and differential operations are performed.

Further, the dancer roll control unit 8 reduces the difference between the rotational position setting value of the arm of the dancer roll 5 and the detection position of the position detecting unit 7 when the input value is small.
When it becomes large, it is amplified by the second non-linear amplifier having a large amplification degree, and then proportional, integral and differential operations are performed.

[0011]

[0012]

The speed controller 4 performs proportional / integral / derivative calculation of the difference between the tension set value of the continuum and the tension detected by the tension detector 2, and amplifies the sum of this value and the speed detected by the speed detector 3. Then, the speed adjustment signal is generated to control the speed adjustment unit 1. The dancer roll control unit 8 performs proportional / integral / derivative calculation of the difference between the rotation position set value of the arm of the dancer roll 5 and the detection position of the position detection unit 7, and amplifies this value to output a rotation drive signal. The rotation drive unit 6 is controlled.

By having two control loops, a dancer roll control section 8 and a speed control section 4 for controlling the dancer roll 5 to a substantially central position, a sudden large tension fluctuation is absorbed by the swing of the dancer roll 5. However, fluctuations due to mechanical friction and backlash of the components that make up the mechanism of the dancer roll 5 are controlled and corrected by the speed control unit 4. By sufficiently slowing the control response speed of the dancer roll control unit 8, mutual interference can be avoided and stable control over a wide range can be performed.

The speed controller 4 amplifies the difference between the tension setting value and the tension detected by the tension detector 2 by the first non-linear amplifier to make a sharp correction for a small fluctuation, but to a large fluctuation. For example, do not modify more than necessary
It is possible to perform appropriate control according to the application.

The dancer roll control section 8 includes a dancer roll 5
By amplifying the difference between the rotational position setting value of the arm and the detection position of the position detection unit 7 by the second non-linear amplifier,
If the rotation position of the
When there is a small change, do not make unnecessary corrections, etc.
It is possible to perform appropriate control according to the application.

The first non-linear amplifier has a large amplification factor when the input value is small and has a small amplification factor when the input value is large, and the second non-linear amplifier has a small amplification factor when the input value is small and has a large amplification factor when the input value is large. By doing this
Therefore, the control of the speed control unit 4 responds to a short-term fluctuation or a minute fluctuation of the tension with a large amplification degree . Therefore, Dan
Mechanical evils such as salor 5's friction and backlash
The sound is removed by the control of the speed control unit 4. While the web
When there is a large fluctuation such as when connecting 11
To absorb the fluctuation of tension due to the swing of the dancer roll
In both cases, since the speed control unit 4 has a small amplification degree,
Servo motor 13 avoids going too far
You. Therefore, stable control can be performed immediately after returning to normal tension.
Wear. If the position of the dancer roll 5 is on the average substantially in the vicinity of the center, even if there is a large change in tension, the change in tension can be absorbed by the dancer roll moving within a wide movable range. Therefore, the position of the dancer roller 5 is required to improve precisely the position control if in the vicinity of the center, such Ino
In the dancer roll control unit 8, the amplification degree near the center is small.
And the response may be slow. The position of dancer roll 5
When it is largely displaced, it returns to the center with large amplification.
To control.

[0017]

Embodiments of the present invention will be described below with reference to the drawings. 2A and 2B show a control circuit of the present embodiment. FIG. 2A shows a servomotor control circuit and FIG. 2B shows an air cylinder control circuit. FIG. 3 shows a part of a printing apparatus that realizes the present embodiment in unwinding tension control. In FIG. 3, 10 is a tension control unit of this embodiment, and 11 is a paper or polyethylene sheet which is continuously printed on a web. Reference numeral 12 is an unwinding coil around which the web 11 is wound, 13 is a servomotor for controlling the unwinding speed of the unwinding coil 12, 14 is a motor drive for driving the servomotor 13, and 15 and 16 are unwinding coils of the unwinding coil 12. A diameter detecting encoder for detecting the projected diameter, 17 is an arm that constitutes a dancer roll, and 18 is provided at one end of the arm 17 and serves as a center of rotation to constitute a large gear. 19
Applies the web 11 with a roll provided on the other end of the arm 17. Reference numeral 20 denotes an engaging portion of an air cylinder 23, which will be described later, provided at an intermediate portion of the arm 17, and 21 denotes a pinion (small gear) of the gear 18, which takes out the rotational position of the arm. Reference numeral 22 is a position detector that detects the rotational position of the connecting portion 20 from the rotational position of the pinion 21.

Reference numeral 23 is an air cylinder, and the tip of the rod is an arm.
The arm 17 is rocked by engaging with the fitting portion 20 of the arm 17. 24 is an electro-pneumatic converter that converts an electric signal into air pressure to control the air cylinder 23, 25 is a tension detector that detects the tension of the web 11, 26 is an infeed roll that guides the web 11 to the downstream, 27
Is a main motor serving as a drive source for transporting the web 11, 28 is a drive shaft of the main motor 27, and 29 is a web from the drive shaft 28.
11 is a speed detector for detecting the conveying speed.

Next, FIG. 2 will be described. In the figure, 51 is a tension setting device for setting the tension of the web 11, 52 is a subtractor, 53
Is an amplifier that amplifies the value detected by the tension detector 25, 54 is a tension indicator that displays the output of the tension detector 25, and 55 is a first non-linear amplifier that has a large amplification factor when the input value is small and is large. It has a small amplification factor. 56 is a proportional / integral / derivative calculator, 57 is a converter that converts the rotation signal output from the speed detector 29 into a voltage, 58 is an amplifier, 59 is an adder, and 60 is an amplifier.

Reference numeral 61 is a position setter for setting the rotational position of the arm 17 of the dancer roll, 62 is a subtracter, and 63 is a second nonlinear amplifier, which has a small amplification factor when the input value is small and a large amplification factor when the input value is large. . 64 is a proportional / integral / derivative calculator,
65 is an amplifier.

Next, the operation will be described. First, the air cylinder control circuit shown in FIG. 2B will be described.
The position of the connecting part 20 of the arm 17 of the dancer roll is detected by the position detector.
The difference from the set value of the position setter 61 is detected by the subtractor 62, the second non-linear amplifier 63 performs non-linear amplification, and the proportional / integral / derivative calculator 64 calculates the value, which is 4 to 20 mA. It is converted into electric current and input to the electro-pneumatic converter 24 which operates the air cylinder 23. As a result, no matter what value the tension of the web 11 is, the arm 17 of the dancer roll is always controlled to the set position.

Next, the servo motor control circuit shown in (a) will be described. The tension detector 25 detects the tension of the web 11 and subtracts the difference from the tension set by the tension setter 51.
It is taken at 52, amplified by the first non-linear amplifier 55, and then calculated by the proportional / integral / derivative calculator 56. The speed of the output of the speed detector 29 is converted into a voltage by the converter 57, and the value amplified by the amplifier 58 is added to the value which is proportional / integral / derivative calculated by the adder 59. Is input to the motor driver 14 for operating. The tension of the web 11 is controlled by this control circuit so as to match the tension set value.

In the integral calculation of the proportional / integral / derivative calculator 64 of the control circuit shown in (b), the response of the control speed of the position control of the dancer roll is the tension of the web 11 of the servo motor control circuit shown in (a). Set it so that it is sufficiently slower than the control response speed. As a result, when a large tension fluctuation occurs, it is absorbed by the swing of the dancer roll. A small slow fluctuation controls the servomotor 13 to keep the tension on the web 11 constant.

Due to the amplification characteristics of the first non-linear amplifier 55, sudden tension fluctuations are absorbed by the dancer roll oscillation, while small fluctuations such as friction and backlash are sharply corrected.
For large fluctuations, avoid unnecessary correction and stabilize speed control. Due to the amplification characteristic of the second nonlinear amplifier 63,
The dancer roll is maintained at an average position in the vicinity of the center to widen the movable range of the dancer roll so that it can absorb a large change in tension.

As described above, the control of the present embodiment can ignore the tension fluctuation element due to mechanical factors such as the friction and inertia moat of the dancer roll, the backlash of the gear in the position detection, and the strength of the dancer roll and the tension detector 25. By directly using the output of, it is possible to sufficiently cope with sudden tension fluctuations and minute tension fluctuations.

FIG. 4 shows a case where this embodiment is used for in-feed tension control. In the figure, 30 indicates a printing unit. FIG.
Shows the case where this embodiment is used for the outfeed tension control. In this case, 59 shown in FIG.
A value obtained by subtracting the output of the proportional / integral / differentiator 56 from the output of is output to the amplifier 60. FIG. 6 shows a case where the winding tension control is used. In the figure, 31 indicates an outfeed roll, and 32 indicates a winding coil. Also in this case, as in the case of FIG. 5, 59 in FIG. 2 functions as a subtractor, and subtracts the output of the proportional / differentiator 56 from the output of the amplifier 58. In any of these tension controls, this embodiment can be used almost as it is.

[0027]

As is apparent from the above description, the present invention detects the tension of the web and directly controls the tension of the web by using this tension, and also controls the position of the dancer roll to a predetermined position. Achieves control that can handle small tension fluctuations, large tension fluctuations, sudden fluctuations, and slow fluctuations.

[Brief description of the drawings]

FIG. 1 is a principle diagram of the present invention.

FIG. 2 is a control circuit diagram of the present embodiment.

FIG. 3 is a configuration diagram of an apparatus when unwinding tension control is performed.

FIG. 4 is a configuration diagram of an apparatus when performing in-feed tension control.

FIG. 5 is a configuration diagram of an apparatus when performing outfeed tension control.

FIG. 6 is a configuration diagram of an apparatus when performing winding tension control.

FIG. 7 is a diagram showing an example of a conventional tension control circuit.

[Explanation of symbols]

 11 Web 12 Unwinding coil 13 Servo motor 14 Motor drive 17 Arm 18 Gear that is the center of rotation provided at one end of the arm 19 Roll provided at the other end of the arm 20 Coupling portion 21 Pinion that engages with the gear 22 Position detector 23 Air cylinder 24 Electro-pneumatic converter 25 Tension detector 29 Speed detector

Continuation of the front page (56) Reference JP-A 63-252865 (JP, A) JP-A-3-46954 (JP, A) JP-A 63-189359 (JP, A) JP-A 2-241383 (JP , A) JP 3-238259 (JP, A) JP 59-12039 (JP, A) JP 1-306695 (JP, A) JP 57-156946 (JP, A) JP 1-321263 (JP, A) Actual flat 2-61861 (JP, U) Actual flat 3-53544 (JP, U) JP 61-49220 (JP, B2)

Claims (3)

(57) [Claims] 1. A speed adjusting unit for adjusting a conveying speed of a continuum, a tension detecting unit for detecting a tension of the continuum, a speed detecting unit for detecting a conveying speed of the continuum, a tension set value and the Based on the detected speed of the speed detection unit, the operation value obtained by proportional / integral / differential calculation of the difference with the detected tension of the tension detection unit
A speed control unit that generates a speed adjustment signal based on a value that is added to or subtracted from the operation value and outputs the speed adjustment signal to the speed adjustment unit, and a roll is provided at the other end with one end of the arm as the center of rotation, and the continuous body is applied to this roll. A dancer roll that changes the tension of the continuum by changing the rotation angle, a rotation drive unit that rotates the arm of the dancer roll, a position detection unit that detects the rotation position of the arm of the dancer roll, and the dancer roll. And a dancer roll control unit that outputs a rotation drive signal to the rotation drive unit based on an operation value obtained by performing proportional / integral / derivative calculation of the difference between the rotation position setting value of the arm and the detection position of the position detection unit. The position control speed of the dancer roll performed by the rotation drive unit is controlled with a slower response than the transfer speed control of the continuum performed by the speed adjusting unit. Tension control device. 2. A speed adjusting unit for adjusting the conveying speed of the continuum, a tension detecting unit for detecting the tension of the continuum, a speed detecting unit for detecting the convey speed of the continuum, a tension set value and the Based on the detected speed of the speed detection unit, the operation value obtained by proportional / integral / differential calculation of the difference with the detected tension of the tension detection unit
A speed control unit that generates a speed adjustment signal based on a value that is added to or subtracted from the operation value and outputs the speed adjustment signal to the speed adjustment unit, and a roll is provided at the other end with one end of the arm as the center of rotation, and the continuous body is applied to this roll. A dancer roll that changes the tension of the continuum by changing the rotation angle, a rotation drive unit that rotates the arm of the dancer roll, a position detection unit that detects the rotation position of the arm of the dancer roll, and the dancer roll. And a dancer roll control unit that outputs a rotation drive signal to the rotation drive unit based on an operation value obtained by performing proportional / integral / derivative calculation of the difference between the rotation position setting value of the arm and the detection position of the position detection unit. The speed control unit increases the difference between the tension set value and the detected tension of the tension detection unit when the input value is small.
A carrier tension control device for a continuous body, characterized in that after being amplified by a first non-linear amplifier having a small amplification degree, proportional, integral, and differential operations are performed. 3. A speed adjusting unit for adjusting a conveying speed of the continuous body, a tension detecting unit for detecting a tension of the continuous body, a speed detecting unit for detecting a conveying speed of the continuous body, a tension set value and the Based on the detected speed of the speed detection unit, the operation value obtained by proportional / integral / differential calculation of the difference with the detected tension of the tension detection unit
A speed control unit that generates a speed adjustment signal based on a value that is added to or subtracted from the operation value and outputs the speed adjustment signal to the speed adjustment unit, and a roll is provided at the other end with one end of the arm as the center of rotation, and the continuous body is applied to this roll. A dancer roll that changes the tension of the continuum by changing the rotation angle, a rotation drive unit that rotates the arm of the dancer roll, a position detection unit that detects the rotation position of the arm of the dancer roll, and the dancer roll. And a dancer roll control unit that outputs a rotation drive signal to the rotation drive unit based on an operation value obtained by performing proportional / integral / derivative calculation of the difference between the rotation position setting value of the arm and the detection position of the position detection unit. The dancer roll control unit, the difference between the rotational position set value of the arm of the dancer roll and the detection position of the position detection unit.
When the input value is small, it becomes small
A carrier tension control device for a continuum characterized by performing proportional / integral / derivative operations after being amplified by a second non-linear amplifier having .