JP3196192B2 - Drive device vibration suppression 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 machine for transmitting and processing torque from an electric motor to a load via a drive shaft having a low torsional rigidity in a facility for continuously transporting and processing web materials such as paper, film and metal. The present invention relates to a method of suppressing vibration of a drive device, which can automatically switch between speed control and torque control during operation.

[0002]

2. Description of the Related Art One of the conventional torsional vibration suppressing methods is based on the premise that the speed of a drive control device is controlled. FIG. 5 is a diagram showing the principle. In the figure,
1 is a web such as a paper, a film, a metal strip, etc., 2A is a web transport roll for transporting the web 1, 3, 3A is a drive shaft connecting the drive motors 4, 4A and the web transport rolls 2, 2A, 5, 5A. Is a speed detector for detecting the rotational speeds of the drive motors 4 and 4A; 6 is a power converter for supplying drive power for the drive motor 4; A drive control unit that gives a command, 9 is a speed controller that outputs a control signal in response to a difference between the speed command and the signal of the speed detector 5, and 8 is one that receives a control signal of the speed controller 9 and a torque command. An absolute value minimum priority circuit that outputs the one with the smaller absolute value, 10 is a torsional vibration suppression controller, and 20 is an adjacent roll drive control device. The torsional vibration suppression controller 10 includes an acceleration torque calculator 12, a torque compensation calculator 13, and a subtractor. And equipment
The sum of the acceleration / deceleration torque compensation signal for compensating the acceleration / deceleration torque command when the acceleration / deceleration operation is performed and the signal of the absolute minimum priority circuit 8 is input to the subtractor in the torsional vibration suppression controller 10 and the speed detector 5 Is input to the acceleration torque calculator 12. Further, a signal obtained by adding the output signal of the torsional vibration suppression controller 10 to the sum of the acceleration / deceleration torque compensation signal and the signal of the absolute value minimum priority circuit 8 is input to the drive control unit 7. After differentiating the actual speed signal of the speed detector 5, the acceleration torque calculator 12 multiplies the mechanical time constant τ _{M of} the electric motor to calculate the acceleration torque signal. With such a configuration, a disturbance torque, that is, a torque command compensation signal for canceling the load torque of the motor with respect to the torque command signal given to the motor is generated by the torsional vibration suppression controller 10, and the compensated signal is transmitted to the drive control unit 7. Is entered.

[0003]

However, in the prior art, since the torsional vibration suppressing method is a method for a speed control system, the web material such as paper, film and metal is continuously conveyed and processed. In drive control of equipment, in a drive control system that requires a torque control mode or two control modes of speed and torque, there is a problem that the torsional vibration suppression method cannot be used when performing torque control. The reason is as shown in FIG.
Since the torsional vibration suppression controller originally has an integration function, the acceleration torque command signal (T _RFAX ), which is the input signal to the torsional vibration suppression controller, has an offset signal (torque signal for generating tension, mechanical loss). ), A steady-state error _occurs between the acceleration torque command signal (T _RFAX ) and the acceleration torque calculation signal (T _MAFB ) obtained by processing the actual speed signal. Is generated, and as a result, the output signal of the torsional vibration suppression controller diverges. Further, even if the torsional vibration suppression controller is set to only the proportional control, the acceleration torque command signal (T
_{That RFAX)} a signal obtained by multiplying the proportional gain constant error amount only final torque command signal (T _RFM) deviates between the acceleration torque calculation signal obtained by processing an actual speed signal (T _MAFB) Therefore, torque control cannot be performed with the target torque command signal (T _ref ). Therefore, an object of the present invention is to provide a torsional vibration suppressing method that can exert its effect regardless of the speed control or the torque control mode.

[0004]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a roll for continuously transporting a web material such as paper, film and metal, which is driven by an electric motor through a drive shaft having a low torsional rigidity. In a drive device that can switch between speed control and torque control in accordance with the operating state of the motor, an acceleration for calculating the acceleration torque of the motor from the actual speed of the motor detected by the actual speed detecting means. When speed control is provided, comprising a torque calculation means, and a torsional vibration suppression controller including a torque compensation calculation unit for performing a proportional calculation and an integration calculation by inputting a difference between an acceleration torque command signal and a signal of the acceleration torque calculation means. , together with the sum of the acceleration and deceleration torque compensation signal for compensating the acceleration and deceleration torque when the signal with acceleration or deceleration of the speed controller is the acceleration torque command signal, said speed system The output signal of the torsional vibration suppression controller is added to the sum of the signal of the motor and the acceleration / deceleration torque compensation signal, which is input to the drive device for driving the electric motor. When torque control is performed, the acceleration / deceleration torque compensation signal is used. And the output signal of the torsional vibration suppression controller becomes the acceleration torque command signal, and the sum of the torque command, the acceleration / deceleration torque compensation signal, and the output signal of the torsional vibration suppression controller drives the electric motor. The torsional vibration is suppressed by switching to be input to the drive device.

[0005]

According to the above means, the output signal of the torsional vibration suppression controller, that is, the torque command compensation signal, generates torque compensation having a phase opposite to that of the actual acceleration torque signal causing torsional vibration, Since this torque command compensation signal is added to the original torque command signal given to the electric motor and given to the drive control unit, torsional vibration is suppressed in both speed control and torque control.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A specific embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a drive control arrangement for a section of paper, film and metalworking equipment. FIG. 1 includes the same components as those in FIG. 5, and thus different components will be described. In the torsional vibration suppression controller 10A,
Acceleration torque command signal selection switch 1 in addition to the configuration of FIG.
1 and a second subtracter and a control mode discriminating circuit 14A are included. The control mode discriminating circuit 14A inputs three torque commands T _RFA , T _ref , and T _RFAY . When T _RFA = T _RFAY , the acceleration torque command signal selection switch 11 is _moved upward, and
_{When ref} = _TRFAY , it has a function of switching the acceleration torque command signal selection switch 11 downward. For this reason,
The acceleration torque command signal selection switch 11 selects the upper side during speed control and the lower side during torque control. Therefore, the acceleration torque command signal T _RFAX becomes T _RFAY + T _comp during speed control,
At the time of torque control, it becomes equal to T _comp -T _RFL . Acceleration torque command signal T _RFAX and signal T of acceleration torque calculator 12A
The difference signal from _MAFB is input to the torque compensation calculator 13A, and the torque command compensation signal T _RFL is calculated by the proportional and integral calculation functions in the torque compensation calculator. When a difference between these torque signals is generated, it means that the actual acceleration torque does not follow the acceleration torque command, and when a vibrational deviation is generated, torsional vibration is generated. Means that This torque command compensation signal T _RFL
Is added to the original torque command signal T _RFMX given to the electric motor and given to the drive control unit. A drive roll 2 for transporting the web material 1 is connected to a drive motor 4 via a drive shaft 3 with low torsional rigidity. When speed control is performed in such a configuration, the speed command _Vref and the torque command _Tref
(Usually 100% to 200% or less), the absolute value of the output signal T _RFA of the speed controller 9 is compared with the absolute value of the torque command T _ref as | T _RFA | <| T _ref | The output T _{RFAY of the} circuit 8 becomes equal to T _RFA . The acceleration / deceleration torque compensation T _comp is added to this signal to obtain the final torque command T _RFMX . When performing torque control, the speed controller has a speed limiting function, and the speed command _Vref is a value obtained by adding the actual line speed command and the speed limiting bias (5 to 10%). In this case, the output signal T _RFA of the speed controller 9
Become a large value absolute value is very large and small relationship between the torque command _{| T RFA |> | T ref} | , and the output T _RFAY of the absolute value the minimum priority circuit 8 becomes equal to T _ref. The acceleration / deceleration torque compensation T _comp is added to this signal to obtain the final torque command T
_RFMX is obtained. The final torque command T _RFMX is _supplied to a drive control unit 7 (for example, a vector control unit in the case of an AC vector control inverter) specific to the drive device, and the electric motor is driven via the power conversion unit 6. This drive
Accelerated by the torsional vibration suppression control unit 10A for the control system
Phase difference torque between torque command and actual acceleration torque calculation value (outside
The final torque command signal is a torque signal that compensates for
Is added, it becomes possible to suppress torsional vibration.
You. Reference numeral 14A is a control mode discriminating circuit, which includes three switches in FIG.
Relation of equal signals in the _luc command T _RFA , T _ref , T _RFAY
By automatically recognizing the current control mode,
Move the acceleration torque command signal selection switch 11 to the target side.
This is the part that issues a command to switch. Acceleration torque command signal
In FIG. 1, the signal selection switch is at the upper side during speed control,
During torque control, it is selected downward. Therefore, the acceleration torque
The command signal T _RFAX is T _RFAX = T _RFAY + T during speed control.
_comp , and at the time of torque control, T _RFAX = T _comp −T _RFL ,
Given. 12A is an acceleration torque calculator that calculates the actual speed.
Differentiation and multiplication by the mechanical time constant τ _M of the motor
Thus, the acceleration torque signal T _MAFB is calculated. This
The acceleration torque command signal T _RFAX and acceleration torque signal T _MAFB of
Is input to the torque compensation calculator 13A, and the torque
The proportional and integral functions in the
The command compensation signal T _RFL is calculated. This torque command supplement
The compensation signal T _RFL is the torque command signal T _RFMX to the original motor.
Is added to, as a final torque command signal T _RFM, dry
Control section. Recently, the drive control system is digitally controlled by the application of the microprocessor. In this case, the entire drive control system including the torsional vibration suppression control unit is represented as shown in FIG. 10A of FIG. 1,
12A, 13A and 14A are respectively 10B, 12A and 12B in FIG.
B, 13B, and 14B correspond to each other and have the same function. The torsional vibration suppression control unit 10A
When excluding the acceleration and deceleration of the line, the torque control during the
When changing the torque command, drive torque is reduced through low torsional rigidity.
As shown in FIG.
Torsional vibration occurs. However , FIG. 4 showing the acceleration / deceleration operation state of the equipment and the characteristics when the torque command is changed during the torque control when the torsional vibration suppressing method of the present invention is used shows that the torsional vibration is well suppressed. .

[0007]

As described above, according to the present invention, torsional vibration can be suppressed in any of the speed control mode and the torque control mode. Further, even when the control mode is switched during operation, torsional vibration can be suppressed. As a result, the present invention can be applied to all drive control systems in paper, film, and metal processing equipment to which either speed control or torque control or a combination thereof is applied.

[Brief description of the drawings]

FIG. 1 shows a specific embodiment of the present invention.

FIG. 2 shows another embodiment of the present invention.

FIG. 3 Characteristics during torque control (without torsional vibration suppression control)

FIG. 4 Characteristics during torque control (with torsional vibration suppression control)

FIG. 5: Conventional example

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Web material 2, 2A Web conveyance roll 3, 3A Drive shaft 4, 4A Drive motor 5, 5A Speed detector 6 Power conversion part 7 Drive control part 8 Absolute value minimum priority circuit 9 Speed controller 10, 10A, 10B Torsional vibration Suppression controller 11 Acceleration torque command signal selection switch 12, 12A, 12B Acceleration torque calculator 13, 13A, 13B Torque compensation calculator 14 Control mode determination circuit 20 Adjacent roll drive control device

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) H02P 5/00 G05D 13/62

Claims (1)

(57) [Claims] 1. A paper, when the film and roll for continuously conveying the web material such as metal is driven by an electric motor via a drive shaft of low torsional rigidity, speed control and torque control in accordance with the operating conditions In the drive device which can be switched to any one of the above, the actual speed of the electric motor detected by the actual speed detection means
Acceleration torque calculation for calculating the acceleration torque of the electric motor from
Means, acceleration torque command signal and acceleration torque calculation means
To calculate the proportional and integral operations by inputting the signal difference
A torsional vibration suppression controller including a compensation calculator is provided.When speed control is performed, signals from the speed controller and acceleration / deceleration
The sum of the acceleration / deceleration torque compensation signal for compensating the acceleration / deceleration torque is before
The acceleration torque command signal and the speed controller
To the sum of the acceleration and deceleration torque compensation signals
The output signal of the motion suppression controller is added to drive the motor
It is an input drive device for, when the torque control the acceleration and deceleration torque compensation signal before
The difference from the output signal of the torsional vibration suppression controller
Torque command signal and torque command and acceleration / deceleration.
Torque compensation signal and output signal of the torsional vibration suppression controller
Is the input of the drive device for driving the electric motor.
Of the drive device, characterized by being switched so that
Vibration suppression method.