JP2943440B2 - Rover operating method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of operating a roving machine in which at least a spinning drive system and a winding drive system are driven by different variable speed motors, and more particularly, to a spinning drive system at start-up and stop. The present invention also relates to a method for operating a roving machine that can reliably synchronize a winding drive system.

[0002]

2. Description of the Related Art In a roving machine, a roving yarn sent from a front roller at a constant speed is generally twisted into a roving yarn by a difference in rotation speed between a flyer rotating at a constant speed and a bobbin rotating at a higher speed. And wind it around a bobbin. Unless winding is performed so that the amount of roving delivered and the amount of winding become substantially the same at the time of winding, normal winding will not be performed, and yarn unevenness and roving breakage will occur due to fluctuations in roving tension. . Therefore, conventionally, a rotational speed of the bobbin is controlled by a transmission using a pair of cone drums and a belt shifter so that the rotational speed of the bobbin gradually decreases as the roving layer wound on the bobbin increases. However, since the number of roving layers wound on the bobbin and the rate of increase in bobbin diameter (roving winding diameter) change depending on the spinning conditions, the shape of the cone drum is changed according to the spinning conditions ( Replacement) or using an auxiliary cam capable of adjusting the amount of movement of the belt shifter in accordance with the spinning conditions (Japanese Patent Publication No. 52-48652). Troublesome replacement or adjustment work was required.

In recent years, in order to cope with frequent changes in spinning conditions, the spinning drive system and the winding drive system are driven by different variable-speed motors in order to cope with frequent changes in spinning conditions. A roving machine has been proposed in which each variable speed motor is driven and controlled based on data previously input to a storage device in accordance with spinning conditions (for example, Japanese Patent Laid-Open No.
-40819 publication). In such a roving machine in which the spinning drive system and the take-up drive system are driven by different variable speed motors, the speed corresponding to the spinning conditions is input by inputting data corresponding to the spinning conditions. The drive motor is controlled so that the roving is wound from the start to the end of winding. Therefore, compared to a roving machine equipped with a transmission using a cone drum, it is easy to change the spinning conditions, and it is easy to deal with frequent changes in spinning conditions.

[0004]

However, in the case where the drive system of the roving machine is divided into a plurality of parts and driven by different motors, it is necessary to control each motor synchronously. When the drive system is divided into a plurality of parts, the load resistance and the load inertia of the motor driving the flyer drive system become larger than those of other motors. Therefore, when the speed command of each motor is linearly changed to a target predetermined speed in a state where the speed change of the motor is large, such as when the roving machine starts or stops, the load resistance and the load inertia force are reduced. It is easy for a large flyer drive system motor to have a rise delay or overshoot. On the other hand, in other drive system motors having a small load resistance and load inertia, even if a similar speed command is issued, the rise delay of the motor is smaller than that of the flyer drive system. As a result, the flyer drive system motor and the other drive system There is a problem that the synchronous control with the motor for use becomes difficult. This problem becomes more pronounced when the roving machine is operated at a high speed.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a roving machine in which a spinning driving system and a winding driving system are driven by different variable speed motors. It is an object of the present invention to provide an operating method of a roving machine capable of accurately and synchronously controlling the motors of the respective drive systems in a state where the speed of the motor is large, such as when the roving machine is started or stopped.

[0006]

According to the present invention, in order to attain the above objects, at least the spinning drive system and the winding drive system can be independently shifted so that each drive system has a different variable speed motor. Detecting means for detecting a rotation speed of at least a motor for driving a flyer drive system, a spinning condition input device, a storage device for storing spinning conditions input by the input device, In a roving machine comprising a calculating means for calculating the speed of the variable speed motor, the following control is performed on another motor based on the speed of the flyer drive system motor, and the speed command pattern at the time of starting the flyer drive system motor is determined. The speed command pattern at the time of stop is controlled so as to have an inverted S-shaped curve so as to have an S-shaped curve.

[0007]

The rotation speed of at least the flyer drive system motor is detected by the detection means. The arithmetic means corresponds to the speed of the motor for the flyer drive system based on the spinning conditions input by the input device, based on the speed of the motor for the flyer drive system at each elapsed time from the start of operation of the roving machine stand. The speeds of the other variable speed motors are calculated. Then, the driving of each variable speed motor is controlled so as to be the calculated speed. At start-up, the speed command pattern for the flyer drive system motor is controlled so as to have an S-shaped curve, and when stopped, the speed command pattern is controlled so as to have an inverted S-shaped curve. Therefore, even if the speed change until reaching the target rotation speed is large, a delay between the speed command and the rotation speed of the flyer drive system motor in the middle stage until the shift is completed is prevented. Further, other drive systems having a small load inertia force have small changes in the speed of the flyer, so that the follow-up control to the flyer drive system can be performed more precisely. As a result, synchronous drive control of each variable speed motor is accurately performed.

[0008]

【Example】

(Embodiment 1) Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.

First, a drive system of a roving machine for carrying out the method of the present invention will be described with reference to FIG. The drive system includes a spinning drive system, a winding drive system, and a lifting drive system, and each drive system has a different variable speed motor. The spinning drive system includes a draft unit 1 and a flyer unit 2, and a rotary shaft 3 having a front roller 3 constituting the draft unit 1.
a gear train 5 between one end of the
And a belt transmission mechanism 6. The driving shaft 4 is connected to a flyer motor M1 as a flyer drive system motor via a belt transmission mechanism 7. A driving gear 10 is fitted on a rotating shaft 9 to which the rotation of the driving shaft 4 is transmitted via a belt transmission mechanism 8, and a driven gear 12 meshing with the driving gear 10 is provided above a flyer 11 constituting the flyer unit 2. It is fitted and fixed so as to be integrally rotatable. A pulse encoder E1 is connected to one end of the rotary shaft 3a as detecting means for indirectly detecting the rotational speed of the flyer motor M1.

A bobbin wheel 13 constituting a winding drive system
Is mounted on a bobbin rail 14 and bobbin wheels 13
The rotational force of the driving shaft 4 and the rotational force of the winding motor M2 are applied to the rotating shaft 16 to which the driving gear 15 meshed with the driven gear 13a is fitted and fixed.
7 and transmitted. That is, the rotation of the winding motor M2 is input to the differential gear mechanism 17 via the belt transmission mechanism 18, and the differential gear mechanism 17
The universal joint 20 for the gear train 19 arranged on the output side of the
The rotation shaft 16 is connected via a connection shaft 21. Further, a pulse encoder E2 as a rotation speed detecting means is attached to the winding motor M2.

A lifter rack 22 constituting a lifting drive system is fixed to the bobbin rail 14, and a rotary shaft 2 on which a pinion 23 meshing with the lifter rack 22 is fitted.
4, the rotation of the lifting motor M3 is transmitted via the belt transmission mechanism 25, the gear train 26, and the like. A switching mechanism 29 equipped with a pair of electromagnetic clutches 27 and 28 is disposed in the middle of the gear train 26, and the direction of rotation of the rotary shaft 24, that is, the bobbin rail 1 is controlled by the demagnetization of the electromagnetic clutches 27 and 28.
4 can be changed in the direction of the vertical movement. Rotary axis 2
A pulse encoder E3 as a detecting means for indirectly detecting the rotation speed of the lifting / lowering motor M3 is connected to one end of 4. The two electromagnetic clutches 27 and 28 are not excited at the same time, and the bobbin rail 14 is moved upward when one electromagnetic clutch 27 is excited and is moved downward when the other electromagnetic clutch 28 is excited. It has become. The motors M1 to M3 are independent inverters 31 to 31 controlled based on commands from the control device 30.
The gears are driven to be shifted through the gear 33.

As shown in FIG. 4, a microcomputer 34 constituting the control unit 30 has a central processing unit (hereinafter referred to as a CPU) 35 as an arithmetic means and a program memory comprising a read-only memory (ROM) storing a control program. 36, and a working memory 38 as a storage device comprising a readable and rewritable memory (RAM) for temporarily storing the input data input by the input device 37 and the result of the arithmetic processing in the CPU 35.
Reference numeral 35 operates based on the program data stored in the program memory 36. The working memory 38 stores spinning conditions such as the skid, fiber type, number of twists, and bobbin diameter at the start of winding.
Is integrated into the control device 30 as a keyboard. The working memory 38 stores data indicating the relationship between the number of revolutions of the flyer motor M1 at the time of starting and stopping the roving machine, the winding motor M2, and the elevating motor M3 in accordance with the spinning conditions. ing.
The CPU 35 includes the pulse encoders E1, E2, E
3 is input.

The CPU 35 outputs a speed command to the flyer motor M1 to the inverter 31 via the output interface 39 and the flyer motor drive circuit 40 based on the spinning conditions inputted by the input device 37. . The CPU 35 calculates the rotation speed of the flyer motor M1 based on the output signal from the pulse encoder E1, calculates the rotation speeds of the winding motor M2 and the lifting / lowering motor M3 corresponding to the rotation speed, and calculates the rotation speed. A speed instruction corresponding to the speed is output to the output interface 39, the winding motor drive circuit 41, and the elevating motor drive circuit.
Are output to the inverters 32 and 33 via the.

Next, the operation of the above-configured device will be described. Prior to operation of the machine, first,
The spinning conditions such as the number of twists and the bobbin diameter at the start of winding are input by the input device 37. By starting the operation of the machine base, the flyer motor M1, the winding motor M2, and the elevating motor M3 are driven. The drive of the flyer motor M1 drives the belt transmission mechanism 7, the driving shaft 4, the belt transmission mechanism 8, the rotating shaft 9, the driving gear 10, and the driven gear 12.
, And the front roller 3 is rotationally driven via the belt transmission mechanism 7, the driving shaft 4, the gear train 5, and the belt transmission mechanism 6, respectively. Also, the combined rotational force of the flyer motor M1 and the winding motor M2 input to the differential gear mechanism 17 is transmitted to the rotating shaft 16 via the gear train 19 and the connecting shaft 21. The bobbin wheel 13 on which the bobbin B is mounted is transmitted and rotated via the driving gear 15 and the driven gear 13a. That is, the flyer motor M1 plays a part of the driving force of the winding drive system in addition to driving the draft unit 1 and the flyer unit 2. In addition, the bobbin rail 14 moves up and down together with the lifter rack 22 via the belt transmission mechanism 25, the gear train 26, the switching mechanism 29, the rotating shaft 24 and the pinion 23 by the drive of the lifting motor M <b> 3.

Inverter 3 from CPU 35 via output interface 39 and flyer motor drive circuit 40
The flyer motor M1 is driven in accordance with the speed instruction signal output to 1. The speed instruction signal to the flyer motor M1 is output based on the spinning conditions input by the input device 37. The CPU 35 calculates the rotation speed of the flyer motor M1 based on the output signal from the pulse encoder E1, and based on the actual rotation speed of the flyer motor M1, the winding motor M2 and the lifting motor corresponding to the rotation speed. The rotation speed of M3 is calculated. Then, a speed instruction signal corresponding to the rotation speed is output to the inverters 32 and 33, and the winding motor M2 and the elevating motor M3 are driven. Then, the rotation speeds of the motors M1, M2, M3 are detected by the pulse encoders E1, E2, E3 and fed back to the CPU 35.

At the time of starting from the start of operation of the machine stand to the time when the flyer 11 reaches a predetermined steady winding rotation speed, the CPU
35, as shown in FIG. 1, the speed instruction step ΔN for the inverter 31 for controlling the drive of the flyer motor M1 gradually increases from the initial stage except for the first speed instruction step Ns, and reaches almost half of the target speed. A command signal is output so as to gradually decrease from the point in time until reaching the target speed (steady winding rotation speed), that is, so that the speed instruction pattern becomes an S-shaped curve. Also, when the machine is stopped, the speed instruction step ΔN for the inverter 31 is performed as shown in FIG.
As shown in the figure, except for the final speed instruction step ND, the speed gradually increases from the initial stage of deceleration and gradually decreases from the time when the speed reaches almost half of the target speed until the speed reaches the target speed (rotation speed 0). Output a command signal so that the signal has an inverted S-shaped curve.

When the motor is accelerated or decelerated, a load inertia force is further applied to the load torque. Therefore, when the speed change of the motor is large, such as when the roving machine is started or stopped, and the speed command for the motor is linearly changed in a short time to a target predetermined speed, the flyer motor M
As shown in FIG. 2, in a motor having a large load torque (load resistance) and a large load inertia force acting as shown in FIG. 1, the actual rotation speed of the motor has a large delay with respect to the motor speed instruction and overshoot occurs. It is easy to occur. However, the acceleration torque of the motor is minimized by reducing the speed instruction step ΔN at the initial start, the initial stage of deceleration, or near the target speed at which the influence of the load inertia greatly acts, and acts like the flyer motor M1. Even when the load torque (load resistance) and the load inertia are large, the delay of the actual rotation speed of the motor with respect to the speed instruction becomes very small, and the occurrence of overshoot is prevented. In addition, a trip can be prevented without applying an overcurrent or an overvoltage to the inverter 31.

The winding motor M2 and the lifting motor M
Since the load torque and the load inertia force acting on the motor 3 are much smaller than those of the flyer motor M1, the delay of the actual rotation speed of the motor with respect to the speed instruction is small. And
The speed instruction for the winding motor M2 and the lifting motor M3 is set based on the actual rotation speed of the flyer motor M1, and since the speed change of the flyer motor M1 is small, each of the motors M1, M2, M3 Are synchronously controlled with high accuracy.

Also, as a characteristic of the inverter, there is a dead zone (below the lowest frequency) in which the variable speed motor cannot be controlled in a low frequency range. However, in this embodiment, the first speed instruction Ns at the start of starting and the final speed instruction ND at the time of stopping are described.
Is higher than the lowest frequency (for example, 6 Hz), the driving of each of the motors M1, M2, M3 can be reliably controlled in accordance with the speed instruction signal.

(Embodiment 2) Next, a second embodiment will be described with reference to FIGS. This embodiment is characterized in that the draft part 1 and the flyer part 2 of the spinning drive system are separated, and a draft motor M4 for driving the draft part 1 and an inverter 43 for the draft motor M4 are provided. It is different from the example. The rotation of the draft motor M4 is transmitted to the rotation shaft 3a via the belt transmission mechanism 6, and a pulse encoder E4 for detecting the rotation speed of the draft motor M4 is connected to the rotation shaft 3a. Further, a pulse encoder E1 for detecting the rotation speed of the flyer motor M1 is connected to the driving shaft 4. The draft motor M4 is driven according to the speed instruction signal output from the CPU 35 to the inverter 43 via the output interface 39 and the draft motor drive circuit 44.

In this embodiment, since the flyer motor M1 does not need to drive the draft section 1, the load torque and load inertia acting on the flyer motor M1 are smaller than those in the above-described embodiment, and a predetermined speed is obtained at the time of startup. Or the time from the start of deceleration to the completion of stop at the time of stop can be shortened. Further, even in the case of performing the speed change operation of the flyer corresponding to the large package and the high speed of the machine base, the synchronous driving control of each of the motors M1, M2, M3 can be performed with high accuracy.

The present invention is not limited to the above-described embodiment. For example, the rotary shaft 16 can be directly driven by only the winding motor M2 without providing the differential gear mechanism 17, or the lifting / lowering motor M3 can be used. The switching mechanism 29 may be omitted using a motor that can be driven forward and reverse. In addition, each motor M1, M
Other variable speed motors such as servo motors may be used instead of using motors driven at variable speeds via inverters as 2, M3 and M4.

[0023]

As described above in detail, according to the present invention, the delay between the speed command to the motor for the flyer drive system having the largest load resistance and the load inertia and the actual rotation speed can be prevented, and other motors can be prevented. Is controlled so as to follow the rotation speed of the motor for the flyer drive system, and since the speed change of the motor for the flyer drive system is small, the synchronization accuracy of each motor is improved.

[Brief description of the drawings]

FIG. 1 is a time chart showing a speed command in a first embodiment.

FIG. 2 is a diagram illustrating a deviation between a speed command and an actual motor rotation speed when the speed command at the time of starting and at the time of stopping is linearly performed.

FIG. 3 is a schematic perspective view of a drive mechanism of the roving machine according to the first embodiment.

FIG. 4 is a block diagram of a control device.

FIG. 5 is a schematic perspective view of a drive mechanism of a roving machine according to a second embodiment.

FIG. 6 is a block diagram of the control device.

[Description of Signs] 1... Draft section constituting spinning drive system, 2... Flyer section, 3... Front roller, 11.
CPU as arithmetic means, 37 input device, 38 program memory as storage device, E1, E2, E3 pulse encoder as rotational speed detecting means, M1 flyer motor as flyer drive system motor, M2 ...
Winding motor, M3 ... Moving motor.

Continuation of the front page (56) References JP-A-63-264923 (JP, A) JP-A-59-157330 (JP, A) JP-A-51-1730 (JP, A) JP-A-62-215022 (JP , A) JP-A-1-274691 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) D01H 1/20-1/34

Claims (1)

(57) [Claims] At least one of the drive systems is driven by a different variable speed motor so that at least the spinning drive system and the winding drive system can be independently shifted, and at least the rotation of the motor that drives the flyer drive system A roving machine comprising: a detecting means for detecting a speed; a spinning condition input device; a storage device for storing spinning conditions input by the input device; and a calculating means for calculating the speed of each of the variable speed motors. In addition, while following the other motor based on the speed of the flyer drive system motor as a reference, the speed command pattern at the time of stop is reversed so that the speed command pattern at the time of starting the flyer drive system motor has an S-shaped curve. A method of operating a roving machine that controls the curve so as to form an S-shaped curve.