JP3113996B2 - Motor control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device and a motor control system, and is provided in contact with a continuous material in a continuous material process line for producing, processing, or processing a continuous material such as a strip while running. To control a motor for driving a plurality of rolls.

[0002]

2. Description of the Related Art As a specific example, a continuous material process line includes a process line for continuously producing, processing or processing a strip-shaped material such as a rolled material, roll paper or a film while traveling. For example, rolling line, annealing line,
There are plating line, pickling line, papermaking process line, film process line, magnetic tape process line, etc.

Generally, in a continuous material process line, a plurality of rolls are provided in contact with the continuous material along the line in order to control processing conditions such as running speed and tension of the continuous material. The peripheral speed of these rolls is closely related to changes in operating conditions and the like of the continuous material process line. Therefore, the peripheral speeds of these rolls are generally controlled by a process computer and / or a plant controller (hereinafter collectively referred to as a plant controller). For example, in the case of an annealing line in a rolling plant, it is configured to include a plurality of rolls such as bridle rolls, tension rolls, and helper rolls, and the motors that drive those rolls maintain the uniformity of the peripheral speed of each roll. Meanwhile, cooperative control is performed according to changes in operating conditions.

For example, a plant controller for a rolled material annealing line described in Japanese Patent Application Laid-Open No. 4-85604 discloses a target peripheral speed of each roll in accordance with a target processing speed of a rolled material (hereinafter referred to as a target line speed). (M / min unit system), the target peripheral speed of the roll is converted into the speed of the motor driving each roll (r / min unit system), and is output to each motor controller as the target motor speed. ing. Each motor controller controls the motor so that the detected speed of the motor matches the target motor speed. Also, in order to satisfy the uniformity of the peripheral speed of each roll when the target line speed changes suddenly, each motor controller captures the input target motor speed via a speed change rate limiting means (change rate limiter). Thus, a change in the target motor speed is suppressed to a change having a constant change rate ε. This change rate ε is set to a constant value common to each motor controller.

On the other hand, when an abnormality occurs in the continuous material process line, or when an abnormality occurs in a higher-order control system such as a process controller, the continuous material process line may be stopped in an emergency. In this case, conventionally, an emergency stop command is sent to each motor controller from an independently provided emergency stop device, and the target motor speed input to the change rate limiter of each motor controller is forcibly set to "zero". ing. Thus, each motor is stopped according to the deceleration pattern having the slope of the change rate ε output from the change rate limiter.

[0006]

The target motor speed input to the motor controller is expressed by the following equation (1), which is expressed as a ratio of the rated speed of the motor to the reference speed. The speed (ωn ′) is used.

Ωn ′ = ωn / ω ₀ n (1) where ωn is a target motor speed (r / min) of a motor driving each roll n (n = 1, 2,..., N),
It is obtained by the following equation (2). Ω ₀ n is the rated speed of each motor.

Ωn = vn / (Gn · π · Dn) = (kn · V) / (Gn · π · Dn) (2) where, vn: speed of roll n (peripheral speed) (m / mi)
n) Gn: gear ratio between roll n and motor V: target line speed of continuous material (m / min) kn: coefficient for converting target line speed to speed of individual roll n Dn: roll n Diameter By the way, when the roll surface becomes rough due to the processing of the continuous material, the roll surface is cut and repaired, so that the roll diameter Dn becomes small. Therefore, a constant reference line speed V ₀
(For example, the maximum line speed), and the reference peripheral speed v ₀ n (for example, the maximum roll peripheral speed) of the roll is set correspondingly. The peripheral speed of the roll so that the reference peripheral speed v ₀ n, defines the reference diameter D ₀ n of each roll (typically minimum diameter) at rated speed of each motor (reference speed).
These relationships are shown in the following equation (3).

D ₀ n = (v ₀ n) / (Gn · π · ω ₀ n) = (kn · V ₀ ) / (Gn · π · ω ₀ n) (3) At this reference diameter D ₀ n The normalized target motor speed ωn ′ of each motor is expressed by the following equation (4) from the above relationship and equation (1).

[0010] ωn '= (kn · V) / (Gn · π · D 0 n · ω 0 n) = (kn · V · ω 0 n) / (kn · V 0 · ω 0 n) = V / V ₀ ... (4) if the diameter Dn of the roll is constant at D ₀ n, equation (4) as is clear from the relative change in the target line speed V,
The normalized target motor speeds ωn ′ of the respective rolls have the same common value.

However, the diameter Dn of the roll changes due to the repair as described above, and the degree of the change also differs for each roll. As a result, the normalized target motor speed ωn ′ may be different for each motor.

When an emergency stop command is issued when the target motor speed ωn 'is different as described above, each motor controller stops the motor from a different speed in a deceleration pattern according to a constant rate of change. Therefore, the stop timing of each motor varies.
As a result, there occurs a problem that the continuous material is broken due to an abnormal tension applied thereto. Once such a break occurs, it must be avoided because it may take several hours to restart the operation of the continuous material process line.

To solve such a problem, Japanese Patent Application Laid-Open No. Sho 62-6
According to the technology described in Japanese Patent No. 4417, in order to match the stop timing of each roll at the time of an emergency stop, the deceleration pattern of each motor at the time of an emergency stop is determined by a higher-level controller such as a process controller, and the uniformity of the peripheral speed of each roll is determined. The deceleration pattern is generated so as to be held, and the generated deceleration pattern is transmitted to each motor controller so that each motor is stopped at the same timing. But according to this,
When the cause of the emergency stop is an abnormality including a calculation failure of a higher-level controller such as a process controller (the most common case is an emergency stop due to this cause), since the deceleration pattern is not transmitted, the timing of stopping each motor varies.

According to the above prior art, when determining the deceleration pattern, first, the load torque of each motor is obtained based on the load current, and then the motor having the longest stop time when stopping by power generation braking is determined. Then, a deceleration pattern of each motor is generated so that the other motors are stopped according to the maximum stop time. However, an emergency stop is likely to occur when the target line speed is accelerated or decelerated, or when the processing conditions (for example, the type of the rolled material, the plate thickness, etc.) of a continuous material such as a rolled material are changed. In such a state, since the motor current fluctuates, it is difficult to obtain the load torque, and therefore, it may not be possible to stop at the same timing. Further, when the number of target motors is large, there is a problem that the calculation processing time becomes long.

An object of the present invention is to provide a motor control device having a function of limiting a change in a target speed to a predetermined rate of change, and switching the target speed to a set value such as zero when stopping to stop the motor. Another object of the present invention is to make it possible to set a fixed time until the motor stops.

Another object of the present invention is to provide a motor control system that can match the stop timing of each roll in the continuous material process line when stopping.

[0017]

In order to achieve the above object, a motor control device according to the present invention comprises a continuous material process line.
Each of the multiple loads provided in contact with the continuous
Motor control device that controls the motor (12)
And a rate-of-change limiting means (24) for limiting a change in a target speed of a load inputted corresponding to each of the plurality of motors to a certain rate of change or less. Speed command generating means (100) for converting the target speed of the load into a target motor speed of a motor for driving the load and outputting the target motor speed; and a speed of the motor according to the target motor speed output from the speed command generating means. a speed control means for controlling (27) comprises a stop switching means for switching the target speed in response to the stop command inputted is inputted to the rate of change limiting means to a set value (23), each The target speed of the load in the motor is common
, And the standardized target speed
(Vn ′) is converted to the target motor speed.
A degree conversion constant (Nn) is set .

The motor control device of the present invention is preferably applied to a motor control system for driving a roll of a continuous material processing line. In this case, the motor control device includes a plant controller (30) that determines target peripheral speeds of a plurality of rolls arranged in contact with the continuous material of the continuous material processing line, and a motor (12) connected to each of the rolls. ) Driving multiple motor controllers (20)
And each of the target peripheral speeds (vn) , which are provided separately in the plant controller and the motor controller as appropriate.
A speed command for limiting the change of the target peripheral speed to a constant rate of change common to the motors and converting the target peripheral speeds to target motor speeds of the motors based on a preset speed conversion constant. Generating means (100); and stopping means (60) for outputting a stop command for the continuous material processing line to each of the motor controllers. Each of the motor controllers (20) is output from the speed command generating means. Speed control means (27) for receiving the target motor speed and controlling the speed of the motor in accordance with the target motor speed; and for receiving the stop command and adjusting the target peripheral speed before the change rate is limited in response to the stop command. And a stop switching means (23) for switching to a set value, wherein the target peripheral speed (vn) is common to the plurality of rolls.
The scaled target circumferential speed so that the value 'a, the scaled target peripheral speed (vn (vn)') is of the roll
Predetermined scaling constants including "1" to the target circumferential velocity (K
n), based on the standardized target peripheral speed.
It is assumed that the standardized target peripheral speed is converted to the target motor speed by multiplying by a speed conversion constant (Nn) determined according to the standardization constant .

[0019]

According to the above means, the object of the present invention can be achieved by the following operations. According to the motor control device of the present invention, the target speed of the load is set in relation to the load.
Target speed (v
n '), the rate of change of each motor control device
Target speed input to the limiter is a value common to each motor.
Become. As a result, the rate of change
Even if the input is switched to zero, the target speed of each motor is
From the value to stop according to the same rate of change
Thus, the stop times of the respective motors can be matched. This
In the case of, according to the standardized target speed (vn '),
Speed conversion constant to convert to the target motor speed for each motor
(Nn) is set. Accordingly, even if diameter of the example roll load included in the speed conversion constant is decreased by repair and Ru are changing speed conversion constant of the speed command generating means accordingly. For example, when applying a plurality of rolls arranged in contact with the continuous material of the continuous material process line to control a plurality of motors for driving each, since it is possible to match the emergency stop timing of the plurality of rolls,
Problems such as breakage of the continuous material due to the stop timing mismatch can be prevented.

As a specific example, the speed command generating means (100) multiplies the input target speed by a predetermined standardization constant (including Kn, Kn = 1) including "1" to obtain a constant value. The first speed conversion means (3
3), a change rate limiting means (24) for limiting a change in the output of the first speed converting means to a constant rate of change, and outputting the speed conversion constant (Nn) to the output of the change rate limiting means. It has a second speed conversion means (25) for multiplying and converting it into a target motor speed and outputting the result, and can be formed so as to change a speed conversion constant of the second speed conversion means. For example, in the case of a roll whose load is in contact with a continuous material, the target speed is the target peripheral speed of the roll, and the standardization constant (Kn) is a predetermined reference diameter (D ₀ n) of the roll and a motor. And the speed conversion constant (Nn) is the reciprocal of the reference circumferential speed (v ₀ n) of the roll set based on the reference speed (ω ₀ n) of the motor and the speed ratio (Gn) between the motor and the roll. the diameter standard diameter for (Dn) (D ₀ n) ratio (D ₀ n / Dn).

According to this, since the target speed inputted to the rate-of-change limiting means is a constant value, even if the input of the rate-of-change limiting means suddenly changes to zero due to an emergency stop command, etc. A target speed command of a deceleration pattern in which the output always decreases from a constant value to zero at a constant rate of change is obtained. Even if this deceleration pattern is multiplied by the speed conversion constant between the motor and the load, the time until the value of the target speed command decreases to zero does not change, so that the motor stop timing can be adjusted to be constant. For example, when the present invention is applied to a motor control device that drives a plurality of rolls disposed on a continuous material processing line, the stop timing of each roll can be made the same, and problems such as breakage of the continuous material due to a mismatch in stop timing can be solved. . During normal operation, the output of the rate-of-change limiting means is converted into a predetermined motor target speed by the second speed converting means, so that the speed of each load is controlled to a given target load speed.

On the other hand, instead of using the standardized load target speed as described above, the change rate of the change rate limiting means may be varied according to the change in the speed conversion constant. Can be achieved. That is, there is provided a change rate limiting means for limiting a change in a target motor speed of a motor driving the load, which is input by multiplying a target speed of the load by a speed conversion constant (N'n), to a certain rate or less, Speed command generating means (100) for outputting the target motor speed limited by the rate-of-change limiting means; and speed control means (27) for controlling the speed of the motor according to the target motor speed output from the speed command generating means. ) And stop switching means (23) for switching the target motor speed input to the change rate limiting means to a set value in response to the input stop command, wherein the target motor speed is
Normalized target motor normalized by the reference speed of the motor
Speed, wherein the rate-of-change limiting means is the speed conversion constant
The rate of change can be changed according to the change of (N'n).
You. For example, in the case of a roll in which the load is disposed in contact with a continuous material, the target speed is the target peripheral speed of the roll, and the speed conversion constant (N'n) is at least the diameter of the roll (Dn) and the distance between the motor and the roll. Including the gear ratio (Gn), the rate of change of the rate-of-change limiting means is the reference diameter (D0n) with respect to the diameter (Dn) of the roll.
To the value multiplied by the ratio (D0n / Dn).

According to this, the rate of change of the rate- of-change limiting means is changed so that the time until the output of the rate-of-change limiting means becomes zero in accordance with the change of the speed conversion constant.
Thus, the stop timing of the motor can be made constant. For example, when the present invention is applied to a motor control device that drives a plurality of rolls disposed on a continuous material processing line, the stop timing of each roll can be made the same, and problems such as breakage of the continuous material due to a mismatch in stop timing can be solved. .

[0024]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing a configuration of a main part of a motor control device according to the present invention.

As shown in the figure, the target speed vn of the load of the motor 12 is input from a higher-level controller (not shown) to the speed command generating means 100. Speed command generation means 1
00 limits the change of the target speed v to a set rate of change, and sets the target speed v to the target motor speed ω (or the normalized target motor speed ω ′) of the motor 12 based on a preset speed conversion constant. Convert and output. The target motor speed ω is calculated by the subtracter 26 as a speed deviation from the detected motor speed ωa of the motor 12. Detected motor speed ω
a is detected by the speed detector 16. The speed deviation obtained by the subtractor 26 is input to a speed control means (ASR) 27, where a control command for reducing the speed deviation is output to a motor driver 28 by, for example, a proportional integration process. The motor driver 28 drives the motor 12 according to the input control command. Note that a current control system of a minor loop may be provided in the speed control system loop as needed.

The speed command generating means 100 receives an emergency stop command 62 from an emergency stop device (not shown). The speed command generating means 100 outputs the emergency stop command 6
An emergency stop switching means for switching the target speed before the rate of change is limited to a set value (zero in the case of the present embodiment) in response to the change of the speed is set. As a result, when the emergency stop command 62 is input, the target motor speed ω output from the speed
Decreases to zero in a slope decreasing pattern corresponding to the rate of change.
In particular, the speed command generating means 100 adjusts the target motor speed in accordance with the change of the speed conversion constant so that the time from when the emergency stop switching means operates until the target motor speed ω becomes zero is a desired constant time. It is formed so that the inclination of the decrease in ω can be changed.

Therefore, according to the present embodiment, the time until the motor 12 stops at the time of an emergency stop can be set to a desired constant time. As a result, for example, when applied to the control of a motor that drives a plurality of rolls provided in contact with the continuous material in a continuous material process line, the stop timing of the plurality of rolls can be matched at the time of an emergency stop, and the stop timing It is possible to prevent breakage of the continuous material caused by the displacement.

An embodiment of a motor control system for a rolled material annealing line to which such a motor control device of the present invention is applied will be described with reference to FIGS. FIG. 2 is an overall configuration diagram of a motor control system of a rolled material annealing line, and FIG. 3 is a detailed configuration diagram of a main part. As shown in FIG. 2, the annealing line according to the present embodiment is configured such that a rolled material 2 unwound from a rewinding machine 1 is passed through an entrance side bridle roll group 3 to perform annealing equipment 4.
, And then annealed, and then wound up on a winder 6 through an outlet bridle roll group 5. The entrance side bridle roll group 3 is composed of four entrance side bridle rolls 7 (1) to 7 (4). The annealing equipment 4 includes a plurality (J) of helper rolls 7 (5) to 7 (n-3). Although not shown, a looper section is provided on each of the inlet side and the outlet side of the annealing equipment 4. The outgoing bridle roll group 5 is composed of three outgoing bridle rolls 7 (n-2) to 7 (n). The rewinding machine 1 is driven by a motor 10. The rolls of the entrance bridle roll group 3, the annealing equipment 4, and the exit bridle roll group 5 are driven by motors 12 (1) to (n), respectively. The winding machine 6 is driven by a motor 11.

In such an annealing line, in order to maintain the quality of the rolled material and to maintain the tension of the rolled material in each portion at a constant value from the viewpoint of maintaining the quality and stable operation of the equipment, the uniformity of the rolls, that is, the speed of each motor, is maintained. It is important to match the changes. Particularly, at the time of an emergency stop, the most important issue is to stop the rolls 7 while keeping the speed of each motor 12 uniform. In addition to the emergency stop in which all the lines shown in FIG. 2 are stopped at the same time, as is well known, the emergency stop is divided into a plurality of sections, and it is necessary to maintain uniformity. An emergency stop may be performed. In the present embodiment, a case will be described as an example where the rolls of all the lines except the rewinding machine 1 and the winding machine 6 are stopped. The rewinding machine 1 and the winding machine 6 are not included in the target of the simultaneous stop control at the time of the emergency stop because the tension control is constant by the current control.

Each of the motors 10, 11, 12 (1) to (n) has a plurality of motor controllers 1 provided in correspondence with each other.
8, 19, and 20 (1) to (n). In order to simplify the illustration, some motor controllers are not shown. Each motor controller 18, 19, 2
In the case of 0, various control commands such as an operation stop command, a target speed, a target torque, and the like, and control data including a control parameter and the like are given from the plant controller 30 via the transmission line 40. Also, the motor controller 18,
Necessary information can also be transmitted to the plant controller 30 from 19 and 20. Further, actual operation information 44, which is the actual operation information of the necessary process equipment, is input from the various sensor groups 45 to the plant controller 30. The plant controller 30 is connected to a host process computer 50 via a transmission path 42.

The process computer 50 outputs various operation commands to the plant controller 30 based on the operating conditions and the actual operation information input from the plant controller 30. The plant controller 30 controls the speeds of the motors 10, 11, 12 based on the given operation command,
A control target value such as a current is generated and output to each of the motor controllers 18, 19 and 20. At this time, the actual operation information 44 from the sensor group 45 and the motor controllers 18, 1
The operation state is determined based on the operation information from 9 and 20. The motor controllers 18, 19, 20 control the corresponding motors 10, 11, 12 according to control commands given from the plant controller 30.

Further, abnormality detection signals 32 and 52 of the plant controller 30 or the process computer 50 are input to the emergency stop device 60. The emergency stop device 60 issues an emergency stop command 62 to each motor controller 20 when the abnormality detection signals 32 and 52 are input, or when an operator detects an operation malfunction or other abnormality and performs an emergency stop operation. Output.

FIG. 3A is a block diagram of a main part of the plant controller 30 for controlling the motor 12, and FIG. 3B is a block diagram of a main part of the motor controller 20. As shown in FIG. 2A, the plant controller 30 includes a control command generation unit 31, a peripheral speed conversion unit 32, and a register 34 for storing roll diameter information.
, A register 35 for storing an operation stop command, and a transmission unit 36. Control command generation means 31
Are based on operating conditions and operation commands input from the process computer 50 via the transmission line 42.
2 is generated. The generated control command is output to the corresponding motor controller 20 via the transmission means 36. In the present embodiment, a motor operation stop command D / S is output via the register 35. Further, the target line speed V corresponding to the processing condition of the rolled material is input to the peripheral speed converting means 32. The peripheral speed converting means 32 multiplies the target line speed V by a peripheral speed conversion constant kn corresponding to the roll 7 connected to each motor 12, converts the target line speed V into a target peripheral speed vn of each roll, and outputs the target peripheral speed vn. The speed conversion means 33 multiplies the target peripheral speed Vn by a predetermined standardization constant Kn, converts the target peripheral speed Vn into a constant peripheral target speed vn 'common to each motor, and outputs the target peripheral speed vn'.
Further, information Rn regarding the roll diameter of each roll 7 input from the process computer 50 via the transmission path 42 is output via the register 34.

The transmitting means 36 of this embodiment transmits data to each motor controller via a so-called radial transmission path 40. However, the present invention is not limited to this, and it is also possible to connect the motor controllers 18, 19, and 20 with a loop transmission path and transmit data via the loop transmission path. The transmitting means 36 converts the above commands into one according to the transmission format shown in FIG.
The transmission data 38 of the frame is generated, and the transmission data 3
8 is continuously output to one of the motor controllers 18, 19, and 20 corresponding to a predetermined transmission cycle. The transmission data 38 of one frame includes, for example, six words as shown in the figure. One word before and after is assigned a front data HEAD and a rear data END for transmission control. The previous data HEAD indicates the head of the transmission data 38. The subsequent data END includes data indicating the end of the transmission data 38 and error check data. Control data DATA1 to DATA4 are allocated to the four intermediate words. Those DATA1 to 4 are shown in FIG.
As shown in (1), an operation stop command D / S, a target speed vn ', roll diameter information Rn, and other control data are assigned.

Each of the motor controllers 20 (1) to 20 (n) has a block configuration shown in FIG. That is, the receiving means 21 and the operation sequencer 22
Emergency stop switching means 23, change rate limiter 24,
Speed conversion means 25, speed control means (ASR) 27,
It is configured to include a motor driver 28 including an inverter and the like. The receiving means 21 fetches the control data input via the transmission line 40, decodes the data according to the transmission format, and outputs the operation stop command D / S to the sequencer 2
2, the target peripheral speed vn 'is output to the change rate limiter 25 via the emergency stop switching means 23, and the roll diameter information Rn is output to the speed conversion means 25. The sequencer 22 mainly performs the operation stop control of the motor driver 28 according to the control content of the sequence of the operation stop command D / S. The output vn "of the change rate limiter 24 is input to the speed conversion means 25, and is converted from the unit system of the target peripheral speed vn" to the target rotation speed ωn 'of the motor. The converted target rotation speed ωn ′ is input to the speed control means 27 via the subtractor 26,
The same control as described in the above is performed.

FIG. 4 shows a block corresponding to the speed command generating means 100, which is a feature of the present invention, out of the blocks of the plant controller 30 and the motor controller 20, and equivalently shows the relationship between them. FIG. 5 shows specific contents of the peripheral speed conversion constant kn, the standardization constant Kn, the speed conversion constant Nn, and the roll diameter information Rn related to this embodiment. As shown, depending on the conditions of the line such as the annealing line, several combinations (in the example shown, three cases)
There is.

Here, the parts relating to the features of the present invention will be described in detail. When the operator finds an abnormality such as an operation failure of the annealing line, or by an abnormality detection signal of the plant controller 30 or the process computer 50, an emergency stop command 62 is input from the emergency stop device 60 of FIG. You. As a result, the emergency stop switching means 23 shown in FIG. 3B is opened, and the input of the change rate limiter 25 is switched to zero.

The change rate limiter 24 is a so-called ramp function generator configured as shown in FIG.
When the input is switched to zero (vn ′ → 0) at t ₁ shown in FIG. 9, the output vn ″ is reduced to zero at a constant change rate ε, as shown in FIG. The limiter 24 includes a subtractor 24a, a limiter 24b, and an integrator 24c. The output vn ″ of the rate-of-change limiter 24 itself is negatively fed back to the subtractor 24a. And limiter 24
b takes in the output (−vn ″) of the subtractor 24a at a constant sampling period T, and when the value is larger than a small amount ε, suppresses the output to ε. The integrator 24c integrates the output to obtain A target peripheral speed vn ″ in a pattern of decelerating at a constant rate of change ε and becoming zero at t ₂ is output. The change rate ε is set to the same value in each motor controller. The reason is that even if the target speed greatly changes during normal operation, the speed change of each motor is kept constant to ensure the uniformity of rolls. Therefore, very although certain assortment speed uniformity is maintained even for a rapid change in the speed command such as stop, FIG as shown in 10, emergency stop command o'clock t ₁ which is input the motor controller 20 ( The target speeds v ₁ and v ₂ input to 1) and 20 (2) are, for example, 95% r / m with respect to the rated speeds of the motors 12 (1) and (2), respectively.
in, 90% r / min. If there is a difference between the target speeds v ₁ and v ₂ in this manner, when the vehicle is decelerated and stopped at the same rate of change ε, the stop timings are respectively different timings t ₂₁ and t ₂₂ , and abnormal tension acts on the rolled material. It may be broken. Speed command generating means 100 of the present invention
Is to eliminate such a shift in the stop timing of each roll at the time of an emergency stop and stop at the same time.

The feature of the speed command generating means 100 shown in FIG. 4 is that the target speed vn 'inputted to each motor controller is obtained.
Are set to the same value, so that the deviation of the stop timing of each roll at the time of emergency stop is eliminated. First, the peripheral speed converting means 3 of the plant controller 30
2 multiplies the input target line speed V of the annealing line by a preset peripheral speed conversion constant kn of each roll to convert the target line speed V into a target peripheral speed for each roll. This is because in the case of an annealing line, the running speed of the rolled material differs depending on the position of the roll due to thermal elongation or the like. Therefore, the running speed of the rolled material at a representative position is defined as the target line speed V, and the roll peripheral speed conversion coefficient k is set to the target line speed V.
The target peripheral speed vn of each roll is determined by multiplying n.
The speed converting means 33 multiplies the preset reference constant Kn shown in FIG.
n ′ is set to the same value. Case 1 in FIG. 5 is a general case in which the target peripheral speeds vn of a plurality of rolls are not always the same, and the peripheral speed conversion constants kn are not necessarily the same. In this case, the target circumferential velocity vn of each roll, is scaled by multiplying scaling system number shown in FIG case 1, Kn = 1 / a _{(Gn · π · D 0 n} · ω 0 n). Here, Gn is a gear ratio between the motor and the roll, π is a pi, D ₀ n is a predetermined roll reference diameter, and ω ₀ n is a motor reference speed (for example, rated speed). As described above, the denominator of Kn is the reference peripheral speed v ₀ n at the reference diameter of the roll and the reference speed. By multiplying this by kn, as described in the above equation (4), the same value common to each roll is obtained. Become. Therefore, the common target line speed V is multiplied by the same constant (kn · Kn) for each roll, and the target peripheral speed vn of each roll can be converted to the target peripheral speed vn ′ of the same value. That is, the speed conversion means 33
Is output to the motor controller 20 as the same standardized value.

The target peripheral speed vn 'input to the motor controller 20 is input to the speed conversion means 25 via the rate-of-change limiter 24, where it is multiplied by a conversion constant Nn to obtain [r / min] unit system. Is converted to the target motor speed ωn ′. Current function of roll diameter Dn of the unit conversion constant Nn each roll, for example, as shown in case 1 of FIG. 5, the ratio D ₀ n / Dn of the reference diameter and the current diameter of the roll
(= Rn). Information R about this roll diameter
n is transferred from the register 34 of the plant controller 30 and stored in a memory (not shown).

The constants in Cases 2 and 3 in FIG. 5 are for the case where the peripheral speed of each roll is the same (v ₁ = v ₂ ... = Vn). Such an example is a processing line in which the running speed of the continuous material does not change throughout, or a case where only a specific section of the annealing line is to be controlled. In this case, the peripheral speed conversion constants kn are all the same (k ₁ = k ₂ ... = K
n), and the standardization constant Kn may be “1”. As a result, the output target peripheral speed vn ′ becomes the actual roll peripheral speed vn.
[M / min] system value that matches Therefore,
In the speed conversion means 25 of the motor controller 20,
It is necessary to convert to the target rotation speed of the motor based on the gear ratio and the roll diameter. Case 2 and case 3 differ in the content of the roll diameter information Rn transferred to the motor controller 20. That is, Case 2 is a case where the current roll diameter Dn is transferred, and Case 3 is a case where the ratio D ₀ / Dn of the reference roll diameter and the current roll diameter is transferred. Correspondingly,
As shown in FIG. 5, the unit conversion constant Nn is different. Case 2 transfers the actual roll diameter value Dn, so the number of necessary bits increases. Case 3 transfers the roll diameter ratio D ₀ n / Dn, so that the number corresponding to the number of significant digits is small. Only the number of bits is needed. Also, the unit system of the target motor speed for these cases is [r / min] system, the ratio ωn / ω ₀ n of the target rotational speed to the reference speed as can be seen from the relationship, such as the constants of the figure, i.e. normalization The set target motor speed ωn ′ is obtained.

As described above, according to the embodiment shown in FIGS. 2 to 8, the target peripheral speed vn 'of the same value always standardized.
From being operated by, be emergency stop command is input, the target circumferential velocity vn output from change rate limiter 24 of each motor controller "is at the same time t _2, as shown in FIG. 11 (a) zero And the target peripheral speed v
The initial value of the target motor speed ωn ′ of the motor whose speed has been converted to n ″ is, for example, ω ₁ ′, ω ₂ ′ in the motor controllers 20 (1), (2) as shown in FIG. be different, because both becomes zero at t _2, it is possible to stop the respective roles simultaneously.

Next, another embodiment of the present invention will be described with reference to FIGS.
This will be described with reference to FIG. In this embodiment, the change rate ε of the change rate limiter 24 of each motor controller 20 is changed according to the current roll diameter, thereby eliminating the shift in the stop timing of each roll at the time of an emergency stop. It is characterized by.

FIG. 12 shows the speed command generating means 100 of FIG.
9 shows another embodiment corresponding to FIG. FIG. 13 (A),
FIG. 13B is a block diagram of a plant controller 30 and a motor controller 20 corresponding to the speed command generating means 100 of FIG. 12, respectively. As shown in these figures, the speed converting means 37 of the speed command generating means 100 multiplies the target circumferential speed vn of the roll output from the circumferential speed converting means 32 by a speed conversion constant Nn 'to thereby standardize the target motor speed ωn'. Convert to That is, the target motor speed ωn ′ is obtained by the calculation of the following equation (5) and output to each motor controller 20.

[0046] ωn '= vn · Nn' = kn · V · Nn '= kn · V · 1 / (Gn · π · Dn · ω 0 n) = ωn / ω 0 n (5) here, the normalized target Since the motor speed ωn ′ includes the roll diameter Dn that changes due to the repair, the motor controllers 20 do not always have the same value. Therefore, the problem of the emergency stop timing mismatch described with reference to FIG. 10 remains as it is.

Therefore, in this embodiment, the motor controller 20 is provided with the change rate correction means 29, and the change rate limiter 2 is provided.
4 is corrected in accordance with the changed roll diameter Dn. Thus, the output of the change rate limiter 24 of each motor controller is set to zero at the same timing during an emergency stop. For example, assuming that the minimum allowable diameter of the roll is the reference diameter D ₀ n, the normalized target motor speed ωn ′ is small because the roll diameter Dn is large while the roll is new. Therefore, if the vehicle is decelerated at the same inclination during an emergency stop, the stop time is shortened. Therefore, the rate of change ε is substantially reduced by multiplying by D ₀ n / Dn in order to reduce the rate of change. Information D ₀ n / Dn on the current roll diameter
Is appropriately transferred from the register 34 as needed. As a result, for example, as shown in FIG.
Even if the normalized target motor speeds input to the motor controllers 20 (1) and (2) have a difference like ω ₁ ′ and ω ₂ ′, the rates of change are D ₀₁ / D ₁ and D _{02 respectively.} Since the correction is made in accordance with / D ₂ , the emergency stop timing t ₂ is controlled when the normalized target motor speed is “1”.

This will be further explained using equations. The reference motor speed ω ₀ n can be expressed by the following expression (6) from the expression (3), and the peripheral speed conversion constant kn can be expressed by the following expression (7).

Ω ₀ n = v ₀ n / (Gn · π · D ₀ n) (6) kn = v ₀ n / V ₀ = Gn · π · D ₀ n · ω ₀ n / V ₀ (7) Then, according to the relations of equations (5), (6) and (7), ω
When n ′ is arranged, it can be expressed by the following equation (8).

Ωn ′ = (D ₀ n / Dn) / (V / V ₀ ) (8) On the other hand, the stop timing t _{2 in} FIG. 14 can be expressed by the following equation (9).

[0051] _{t 2 = ωn '/ {(} D 0 n / Dn) · ε} = {(D 0 n / Dn) / (V / V 0)} / {(D 0 n / Dn)} = (V / V ₀ · ε) (9) As is clear from equation (9), V, V ₀ , and ε are constants, and therefore the stop timing t ₂ has the same value common to each motor.

FIGS. 15A and 15B respectively show FIGS.
This is a modified example of (A) and (B), except that the speed converter 37 is provided on the motor controller 20 side. The current roll diameter Dn required for the conversion is appropriately transferred from the register 34 as needed.

In one embodiment of the motor control system described above, the target speed input to the change rate limiter of the speed command generation means is set to the same value common to each motor controller. Even if the input of the rate limiter suddenly changes to zero, the output of each rate-of-change limiter becomes a target motor speed that decreases from the same target speed in the same deceleration pattern according to the same rate of change. As a result, the stop timings of the respective motors become the same, and the stop timings of the respective rolls can be matched with a simple configuration at the time of emergency stop of the continuous material process line due to, for example, a failure of the plant controller or the like.

During normal operation, the output of the rate-of-change limiter is converted by the speed converting means into the target motor speed of the motor based on the current roll diameter. Is controlled.

Further, since the emergency stop control of each roll is independently performed on the motor controller side, each roll can be stopped at the same time even if the plant controller breaks down.

In another embodiment, the constant change rate of the change rate limiter is corrected based on the difference between the target speeds input to the respective motor controllers so that the stop time at the time of the emergency stop becomes the same. Thus, similarly to the above, the stop timing of each motor becomes the same, and when the continuous material process line is stopped due to a failure of the plant controller or the like, each roll can be stopped at the same time with a simple configuration.

[0057]

As described above, according to the present invention,
Equipped with a function to limit the change in target speed to a predetermined change rate,
In a motor control device in which the target speed is switched to a set value such as zero at the time of stopping to stop the motor, the time until the motor stops can be set to a fixed time. In particular, the stop timing of each roll in the continuous material process line can be matched at the time of stop, and the effect of preventing a problem such as breakage of the continuous material due to the mismatch of the stop timing can be obtained.

[0058]

[0059]

[Brief description of the drawings]

FIG. 1 is a block diagram showing an outline of an embodiment of a motor control device according to the present invention.

FIG. 2 is an overall configuration diagram of one embodiment of a motor control system in which the motor control device of the present invention is applied to an annealing line for rolled material.

3 shows a main part of the motor control system according to the embodiment of FIG. 2, (A) is a block diagram of a main part of the plant controller, and (B) is a block diagram of a main part of the motor controller. is there.

FIG. 4 is a block configuration diagram equivalently extracted from a block configuration diagram shown in FIGS. 3A and 3B and corresponding to a speed command generation unit.

FIG. 5 is a diagram showing the contents of speed conversion constants of each block in FIG. 4 and combinations thereof.

FIG. 6 is a configuration diagram of a serial transmission frame.

FIG. 7 is a configuration diagram of transmission data.

FIG. 8 is a detailed configuration diagram of a change rate limiter.

FIG. 9 is a diagram illustrating the operation of the change rate limiter.

FIG. 10 is a diagram illustrating an operation when a stop timing is shifted during an emergency stop.

FIG. 11 is a diagram for explaining the operation of the speed command generating means of FIG. 4;

FIG. 12 is a block diagram of another embodiment of the speed command generating means.

13 shows a main part of a motor control system to which the speed command generation means of FIG. 12 is applied, and FIG. 13 (A) is a block diagram of a main part of a plant controller;
(B) is a block diagram of a main part of the motor controller.

FIG. 14 is a diagram illustrating the operation of a speed command generation unit in FIG. 12;

FIG. 15 shows a modified example of the block diagram shown in FIGS. 13A and 13B, wherein FIG. 15A is a block diagram of a main part of a plant controller, and FIG. FIG. 3 is a block configuration diagram of a unit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Rewinding machine 2 Rolled material 4 Annealing equipment 7 (1)-(4) Inlet bridle roll 7 (1)-(4) Helper roll 7 (n-2)-(n) Outlet bridle roll 10,11, 12 (1) to (n) Motor 18, 19, 20 (1) to (n) Motor controller 21 Receiving means 23 Emergency stop switching means 24 Change rate limiter 25, 33, 37 Speed conversion means 27 Speed control means 29 Change rate Correction means 30 Motor controller 31 Control command generation means 32 Roll peripheral speed conversion means 34 Register 36 Transmission means 40 Transmission path 50 Process computer 60 Emergency stop device 62 Emergency stop command 100 Speed command generation means

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) H02P 5/00 H02P 5/46-5/52 H02P 7/74-7/80 B21B 37/00-37 / 78

Claims (8)

(57) [Claims] 1. A continuous material in a continuous material process line
Motor for driving a plurality of loads provided in contact with each other
A motor control device for controlling (12) , wherein a change rate limiting means (24) for limiting a change in a target speed of a load input corresponding to each of the plurality of motors to a certain rate of change or less; A speed command generating means (100) for converting the target speed of the load limited by the rate-of-change limiting means into a target motor speed of a motor for driving the load and outputting the target motor speed; Speed control means (27) for controlling the speed of the motor according to the target motor speed, and stop switching means for switching the target speed input to the rate-of-change limiting means to a set value in response to an input stop command. (23), and the target speed of the load in each motor becomes a common value.
And the scaled target speed (vn ')
Is converted to the target motor speed.
(Nn) is set in the motor control device. 2. A plurality of loads each for transporting a continuous material.
A plurality of motors (12) to be driven are provided,
Target motor speed based on target speed (Vn) of load (7)
Speed command generating means (100) for generatingSet the speed of each load to zero for the speed command generating means.
Control Stopping means (60), wherein the speed command generating means (100) comprises:Before each motor
Normalize so that the target speed (Vn) of the load becomes a common value
Was doneMeans (3) for generating the target speed (V'n,? 'N)
3, 37) and the standardized target speed (V'n, [omega] ').
n) to a predetermined value (ε, Don · ε / Dn)
Limiting means (24), and the stopping means (60) is provided by the speed command generating means.
Means for limiting change rate (24)And The stopping means (60) is provided in the speed command generating means.
The scaled eye being the input to the means for limiting the rate of change
Set the target velocity (V'n, ω'n) to zero, The time when the load speed of each motor reaches zero is the same.
To control Data controller. 3. The motor according to claim 1, wherein
The standardized target speed (vn ') is standardized by multiplying the target speed of each load by a predetermined standardization constant (Kn) including "1" . Target speed
A motor control device, wherein a degree (vn ') is multiplied by a speed conversion constant (Nn) determined according to a standardization constant to convert the degree into the target motor speed. 4. The load according to claim 3, wherein the load is a roll disposed in contact with a continuous material, the target speed of the load is a target peripheral speed of the roll, and the standardization constant (Kn) is predetermined. The reference peripheral speed of the roll, which is set based on the reference diameter (D ₀ n) of the roll, the reference speed (ω ₀ n) of the motor, and the speed ratio (Gn) between the motor and the roll. (V ₀ n), wherein the speed conversion constant (Nn) is a ratio (D ₀ n / Dn) of a reference diameter (D ₀ n) to a diameter (Dn) of the roll. Control device. 5. The method according to claim 3, wherein the load is a roll disposed in contact with a continuous material, the target speed is a target peripheral speed of the roll, and the standardization constant (Kn) is “1”. The speed conversion constant (Nn) is at least a diameter (Dn) of the roll and a speed ratio (G) between the motor and the roll.
n) A motor control device comprising: 6.Continuous material in continuous material process line
Motor for driving a plurality of loads provided in contact with each other
A motor control device for controlling (12),Multiply the target speed of the load by the speed conversion constant (N'n)
In the target motor speed of the motor driving the load
The constant changeTo rateA rate-of-change limiting means for limiting
Output the target motor speed limited by the
Speed command generation means (100), and the target motor speed output from the speed command generation means
Speed control means for controlling the speed of the motor according to the degree
(27), and enters the rate-of-change limiting means in response to the input stop command.
Stop switching the target motor speed to a set value
Switching means (23), wherein the target motor speed is regulated by a reference speed of the motor.
The normalized normalized target motor speed,The rate-of-change limiting means is configured to control the speed conversion constant (N'n).
The rate of change can be changed according to the change, The load is a roll disposed in contact with the continuous material,
The target speed is the target peripheral speed of the roll, and the speed conversion constant
The number (N'n) is at least the diameter (Dn) of the roll.
Including the gear ratio (Gn) between the motor and the roll,
The rate of change of the rate-of-change limiting means is the diameter of the roll (D
n) to the reference diameter (D ₀ n) (D ₀ n / Dn)
To the same value Motor control device. 7. A plant controller (30) for determining a target peripheral speed of each of a plurality of rolls arranged in contact with a continuous material in a continuous material processing line, and a motor (12) connected to each of the rolls. A plurality of motor controllers (20), which are provided separately in the plant controller and the motor controller, receive the respective target peripheral speeds (vn) , and change the target peripheral speeds in common with the respective motors. Speed command generating means (100) for limiting the target peripheral speed to a target motor speed of the motor based on a preset speed conversion constant, and a stop command for the continuous material processing line. Stopping means (60) for outputting to each of the motor controllers, wherein each of the motor controllers (20) Speed control means (27) for receiving the input target motor speed and controlling the speed of the motor in accordance with the target motor speed; and stopping the target peripheral speed before receiving the stop command and limiting the rate of change. Stop switching means (23) for switching to a set value in response to a command, wherein the target peripheral speed (vn) is a value common to the plurality of rolls.
The target circumferential speed (vn ′) is standardized so that the target circumferential speed (vn ′) is equal to the target circumferential speed (vn ′) of each roll.
The speed is multiplied by a predetermined standardization constant (Kn) including “1”, and the standardized target peripheral speed is standardized.
The multiplied by the speed conversion constant determined according to the number (Nn)
A motor control device for converting a standardized target peripheral speed into the target motor speed. 8. The method according to claim 7 , wherein the scaling constant (K
n) is a predetermined reference diameter of the roll (D ₀ n)
And a reference peripheral speed (v ₀ n) of the roll set based on a reference speed (ω ₀ n) of the motor and a speed ratio (Gn) between the motor and the roll. speed conversion constant (Nn), the motor control device which is a ratio of the standard diameter for size (Dn) of the roll _{(D 0 n) (D 0} n / Dn).