JP2720916B2 - Constant tension control method for belt-shaped material - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a motor for detecting the tension of a strip-shaped material wound and unwound via a plurality of rolls driven by a plurality of motors, respectively. The present invention relates to a control method for providing a constant tension control for a band-shaped material by providing a tension control device for controlling at least the detected tension value to be equal to a target value outside a current control loop for controlling a current. [Prior Art] Conventionally, as a method of this type, in order to control the front (rear) tension of a predetermined roll with high accuracy, a tension detector is also provided at the rear (front) of the predetermined roll to determine the amount of tension fluctuation, and compensation thereof is performed. Are known. [Problems to be Solved by the Invention] However, in such a system, a) an expensive tension detector must be provided on both the front and rear sides, which increases the cost. B) From the viewpoint of equipment configuration, it may be impossible to mount, and high-precision constant tension control cannot be performed. There are problems such as. Accordingly, an object of the present invention is to enable high-precision constant tension control with only one tension detector. [Means for Solving the Problems] A tension detector for detecting the tension of the strip material is provided only at one of the front and rear sides of the predetermined roll of the strip material, and the detected tension value, the motor current (motor torque) )
And a state observer for estimating and calculating the tension on the side where the tension detector is not provided from the motor speed, and adding the deviation between the tension detected by the tension detector and the target value to the input side of the tension control device. Control is performed by adding a deviation between the estimated tension and the target value to the input side of the current control loop. [Operation] The constant tension control is performed by removing the steady-state deviation by adding and controlling the deviation between the tension detected by the tension detector and the target value to the input side of the tension control device. By adding the deviation from the target value to the input side of the current control loop and controlling it, transient tension fluctuation is suppressed. [Embodiment] FIG. 1 is a structural view showing an embodiment of the present invention, wherein 1 is a bridle roll, 2 is a strip-shaped material, 3 is a tension detector, 4 is an electric motor, 5 is a power converter, 6 is a speed detector, 7 Is a current detector, 8 is a state observer, 9 is a tension regulator (ATR), 10 is a speed regulator (ASR), 11 is a current regulator (ACR), and SE1 and SE2 are tension setting devices. The electric motor 4 drives the pride roll 1 so that the material 2 is transported at the transport speed V _LS ^* . The electric motor 4 is controlled by a speed controller (ASR) 10 to generate a tension chamber ΔT in the material 2. Here, in order to control the tension T _n constant, to obtain a tension T _n from the tension detector 3, to match the tension target value T _n ^* that is set by the tension setting device SE1, the tension adjuster performs calculation in (ATR) 9, by fed back its output to ASR10, is controlled so that T _n becomes constant tension. Here, the state observer 8 has proportional elements 81, 82, 86, and an integral element
83, 84 and a function generator 85, etc., the actual motor speed n from the speed detector 6, the current I or the actual motor torque τ _M proportional thereto from the current detector 7, the tension detector front tension T _n is from 3, the rear tension set value T ^* _{n + 1} is given respectively from the tension setting device SE2. In the figure, S indicates a Labrass operator, and T indicates a motor start time constant. It is well known that the motor load torque τ _L is estimated and calculated from the output of the integrator 84 in this case. From the actual speed n and the function generator 85, the load torque due to the bending loss and the mechanical loss of the material is calculated. Is proportional to the actual tension difference ΔT = T _{n + 1} −T _n , and the proportional element
By multiplying a predetermined coefficient at 86, the actual tension difference ΔT =
T _{n + 1} −T _n is calculated, and T _n is given from the tension detector 3, and these are added to estimate the backward tension _{n + 1} = Δ
T + T _n is obtained. Therefore, by calculating the deviation T ^* _{n + 1} − _{n + 1} from T ^* _{n + 1} set by the tension setting device SE2, the fluctuation amount of the rear tension is detected. By feeding forward to the container (ACR) 11,
The forward tension fluctuation is suppressed from entering the front, and high-precision front tension control becomes possible. In the above estimates the backward tension T _{n + 1} from the front tension T _n, but to perform the forward constant tension control, backward tension T
It goes without saying that the front tension _Tn is estimated from _{n + 1} and the rear constant tension control can be performed. According to [Effect of the Invention The present invention, the speed actual value n of the roll drive motor, a current actual value I (or motor torque tau _M), and forward (backward) tension actually from the value T _n backward (forward) tension fact value
T _{n + 1} is estimated and calculated, rearward (forward) tension fluctuation is detected without using an expensive tension detector, and feedforward control of tension is performed. ) The advantage that constant tension control is possible is brought about. Further, since there is no restriction on a mounting position of the rear (front) tension detector, the implementation is easy. Furthermore, the deviation between the tension detected by the tension detector and the target value is added to the input side of the tension control device and controlled to remove a steady-state deviation, and the deviation between the estimated tension and the target value is calculated as the deviation. Transient tension fluctuations are suppressed by controlling in addition to the input side of the current control loop, so that high-accuracy constant tension control is realized by a synergistic effect of these.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a configuration diagram showing an embodiment of the present invention. Reference numeral 1 ... bridle roll, 2 ... strip material, 3 ... tension detector, 4 ... electric motor, 5 ... power converter, 6 ... speed detector, 7 ... current detector, 8 ... State Observer, 9 ...
Tension regulator (ATR), 10 ... Speed regulator (ASR), 11 ...
Current regulator (ACR), 81, 82, 86 …… Proportional element, 83, 84 ……
Integral element, SE1, SE2 ... Tension setting device.

   ────────────────────────────────────────────────── ─── Continuation of front page    (56) References JP-A-59-97953 (JP, A)                 JP-A-60-153370 (JP, A)                 JP-A-61-23066 (JP, A)

Claims (1)

(57) [Claims] Detecting the tension of the strip-shaped material wound and unwound through a plurality of rolls driven by a plurality of motors, and setting at least the detected tension value to a target value outside a current control loop for controlling the motor current. In a control method for providing constant tension control of a band-shaped material by providing a tension control device for controlling the tension, a tension detector for detecting a tension of the band-shaped material only at one of front and rear sides of a predetermined roll of the band-shaped material. And a state observer for estimating and calculating the tension on the side where the tension detector is not provided from the tension detection value, the motor current (or the motor torque) and the motor speed, and detecting the tension detected by the tension detector. The deviation between the tension and the target value is applied to the input side of the tension control device for control, and the deviation between the estimated tension and the target value is determined by the current control loop. A constant tension control method for a strip-shaped material, characterized in that it is controlled in addition to the input side of the belt.