JP4078879B2 - Traverse control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
TECHNICAL FIELD The present invention relates to a traverse control device that transmits a motion of a rotor of a traverse motor to a traverse guide and controls forward / reverse rotation driving of the traverse motor in order to reciprocate the traverse guide. It is related with the structure of the traverse control apparatus for this.
[0002]
[Prior art]
Conventionally, as a traverse device provided in a winding device for winding a yarn while traversing a yarn, a traverse motor controlled by a traverse control device and rotating in a forward and reverse direction, the traverse motor rotor motion is used as a traverse guide. There is a configuration that transmits and reciprocates the traverse guide.
As this traverse motor, generally, a permanent magnet (PM) type motor using a cylindrical permanent magnet as a rotor is used.
[0003]
[Problems to be solved by the invention]
In recent years, traverse devices have been required to increase the traverse speed, and in order to perform traverse at high speed, it is also necessary to increase the speed of reversal at the end of reciprocation.
In order to reverse at high speed, a large torque is required at the time of reversal, but in order to increase the torque of a conventional PM type motor, the rotor magnet is enlarged or an iron core made of silicon steel plate or the like is used. It is possible to enlarge it.
However, when the rotor magnet is increased in size, the inertia of the rotor increases, and on the contrary, the high-speed reversibility is impaired. As a result, the high-speed turn of the traverse is hindered, the yarn stays at the end of the traverse, and the package winding shape defect is caused by the occurrence of the ear height.
Therefore, the present invention provides a traverse control device using a low inertia and high torque traverse motor to enable high-speed reversal control of traverse.
[0004]
[Means for Solving the Problems]
  The present invention uses the following means in order to solve the above problems. That is, in the invention of claim 1, a traverse control device that transmits the movement of the rotor of the traverse motor to the traverse guide and controls the forward / reverse rotation drive of the traverse motor to reciprocate the traverse guide, The motor includes a rotor formed of a disk-shaped member and a pair of stator portions arranged to face both sides of the rotor, and a pair of stator portions forming a magnetic circuit by the pair of stator portions. A motor driver that calculates a current command value for the stator and controls excitationAnd position detecting means for detecting the current position of the rotor;WithSaidThe motor driver includes a torque current control unit, and the torque current control unitIs based on the current position detected by the position detecting meansTorque current command signal and,Actual torque current and,A torque voltage command signal is output based on
[0005]
This makes it possible to increase the turn speed at the end of the traverse because it is configured as a disk rotor type motor with high torque and high torque control as well as high precision position control. To do.
[0006]
According to a second aspect of the present invention, the motor driver includes a magnetic flux current control unit, and the magnetic flux current control unit outputs a magnetic flux voltage command signal based on a magnetic flux current command signal that is a target current and an actual magnetic flux current. To do.
[0007]
  In the invention of claim 3,in frontThe motor driverSaidBased on the current position detected by the position detecting means, an advance angle excitation position having a predetermined advance amount with respect to the current position of the rotor is calculated, and based on the current command signal, a current command signal after giving an advance angle An advance angle excitation position calculation unit for determining the magnitude of the.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a diagram showing the overall configuration of a traverse device equipped with a traverse control device of the present invention, FIG. 2 is a block diagram showing the configuration of a motor driver for vector control and advance angle control of a traverse motor, and FIG. 3 is a traverse motor 4 is a partial plan view showing a stator portion of a traverse motor, FIG. 5 is a partial plan view showing a rotor portion of the traverse motor, and FIG. 6 is a side cross-sectional view showing a traverse motor provided with a plurality of rotor disks. It is.
[0009]
The configuration of a traverse device equipped with the traverse control device of the present invention will be described.
As shown in FIG. 1, a traverse device 1 equipped with a traverse control device according to the present invention rewinds a yarn Y unwound from a yarn supply package (not shown) around a winding package 3 while traversing in a bobbin axial direction. Used in winding devices.
The winding package 3 is formed by winding the yarn Y around the bobbin 31 and is rotatably supported by the cradle 32.
[0010]
In FIG. 1, a taper end package formed by gradually reducing the traverse width (winding width) as the winding becomes thicker is shown as the winding package 3 (for example, the winding start package width is La, winding). The package shape at the end is set to Lb smaller than La), and the package shape is not limited to such a tapered end shape.
A winding roller 2 that is rotationally driven by a winding motor is in contact with the outer peripheral surface of the winding package 3, and the winding package 3 is rotationally driven by the winding roller 2.
[0011]
The traverse device 1 includes a traverse motor 11 in which a rotor can rotate forward and backward, a drive pulley 12 that is rotationally driven by the traverse motor 11 (rotor) so as to be able to switch between forward and reverse rotation, and a follower disposed on both sides of the traverse range. Pulleys 13 and 13, a drive belt 14 wound around the drive pulley 12 and the driven pulleys 13 and 13, and a traverse guide 15 fixed to the drive belt 14 and guiding the yarn Y are provided.
As the drive belt 14, a flexible endless body having various functions such as various belts such as a timing belt, metal wires, and the like can be used.
The traverse guide 15 is transmitted from the one end side in the axial direction of the bobbin 31 by transmitting the forward / reverse rotational motion via the drive belt 14 in accordance with the forward / reverse rotation of the drive pulley 12 (the rotor of the traverse motor 11). The yarn is reciprocated from the other end side or from the other end side to the one end side, whereby the yarn Y wound around the winding package 3 is traversed.
[0012]
In addition, the traverse device 1 includes a motor control unit 5 and controls the driving of the traverse motor 11 to control the position and driving speed of the traverse guide 15. Thus, by controlling forward / reverse driving of the traverse motor 11, the traverse guide 15 with which the yarn Y is engaged can be reciprocated with a predetermined traverse width.
Note that a plurality of traverse motors 11 are provided for each of the winding devices arranged side by side, and a plurality of motor control units 5 provided for each traverse motor 11 and a package formed for the motor control units 5. A traverse control device is configured with a central control unit (host computer) 6 that transmits data for the purpose.
[0013]
In the traverse device 1 configured as described above, a traverse motor 11 is individually provided for a single winding package 3, and the position and speed of the traverse guide 15 are controlled by the motor control unit 5 having a microcomputer. I am doing so.
The motor control unit 5 includes a drive pattern generation unit 52 and a motor driver 51 which will be described later. The drive pattern generation unit 52 outputs a motion pulse corresponding to a position command for the traverse motor 11, and the motor driver 51 controls the traverse motor 11 so that the rotation amount corresponds to the number of motion pulses.
[0014]
Next, control of the traverse motor 11 by the motor control unit 5 will be described.
The motor control unit 5 controls the position of the traverse guide 15 via the traverse motor 11, and generates a command signal (position command) for causing the traverse motor 11 to perform a predetermined driving operation as described above. And a motor driver 51 that drives the traverse motor 11 in accordance with the generated command signal.
The main functions of the drive pattern generation unit 52 and the motor driver 51 are realized by a common microcomputer (not shown).
[0015]
This microcomputer has a single arithmetic unit (CPU), a ROM for storing a traverse control program (motion program), arithmetic data, etc., which are the main components of means for executing the motion control function and the motor driver function. Are temporarily stored.
The arithmetic device performs control (traverse control) of the traverse motor 11 as described later by executing a control program stored in the ROM.
Note that a microcomputer may be provided for each of the drive pattern generation unit 52 and the motor driver 51, and each function may be realized by a separate microcomputer.
The motor controller 5 detects a rotation speed (rotary encoder) 53 for detecting a rotation angle (position) attached to the rotor shaft of the traverse motor 11 and the rotation speed of the winding package 3. A package rotation detector 54 is connected, and each detected value is input to the motor control unit 5.
[0016]
Package diameter calculation means 52a is provided in the drive pattern generation section 52 of the motor control section 5, and the package diameter is always calculated based on the detection value of the winding rotation detector 54 during winding.
The command signal generating means 52b provided in the drive pattern generating unit 52 controls the traverse motor 11 based on the motion program stored in the ROM and the calculated package diameter. Motion pulse).
As a method for calculating the package diameter, other methods such as detecting the relative position of the winding package 3 with respect to the winding roller 2 (the angle of the cradle 32) can be used.
[0017]
The motion program stored in the ROM is configured based on parameters related to the package shape such as the package width La at the start of winding, the package width Lb at the end of winding, the package diameter D at the end of winding, and the taper angle θ. . The parameter data relating to the package shape is transmitted from the central control unit 6, and various patterns of data can be transmitted from the central control unit 6 to form a desired package shape.
[0018]
The motor driver 51 includes a drive circuit (not shown) having a plurality of switching elements, and outputs a motor drive signal to the traverse motor 11 in accordance with the motion pulse generated by the drive pattern generation unit 52.
The traverse motor 11 to which the motor drive signal is input is rotationally driven at an angle corresponding to the number of motion pulses at a speed corresponding to the frequency of the motion pulses. That is, the motor driver 51 detects the rotational position of the traverse motor 11 with a rotation detector 53 such as a rotary encoder, and obtains a deviation between the detected rotational position and a position command value (number of motion pulses) by a microcomputer. Then, the position control of the traverse motor 11 is performed so that the deviation becomes zero, that is, the detected position follows the position command.
Specifically, as will be described later with reference to FIG. 2, the motor driver 51 includes current detection means (current detector 70) that detects a motor current, and a position command and a rotation detector corresponding to the number of motion pulses. 53, a speed command value is calculated based on the current position detected by 53, a current command value is calculated based on the speed command value and the current speed detected by the rotation detector 53, and the current command value and the current detection value are calculated. Based on the above, the excitation of the traverse motor 11 is controlled.
[0019]
As described above, the traverse control device includes the central control unit 6 that transmits data for forming a predetermined package shape to the motor control unit 5 of each traverse device 1. A diameter calculating unit 52a and a command signal generating unit 52b that generates a traverse control signal based on the package data transmitted from the central control unit 6 and the package diameter calculated by the package diameter calculating unit 52a are provided.
The drive control of the traverse guide 15 is surely performed so as to generate a motion pulse by these means and form the winding package 3 in a desired shape.
[0020]
As described above, the traverse control device that controls the drive of the traverse motor 11 energizes the motor coil at a timing that is advanced by a predetermined angle with respect to the actual rotor position (that is, advanced). It is possible to perform control and advance angle control.
In this case, a traverse pattern such as the speed and position of the rotor (or the speed and position of the traverse guide 15) is defined by the motion program stored in the ROM, and the traverse motor 11 is controlled to follow the traverse pattern. .
[0021]
The case where the advance angle control is performed on the vector-controlled traverse motor 11 will be described below with reference to FIG.
As described above, the motion pulse (command signal) generated by the command signal generation unit 52 b is a signal indicating the target rotation angle (position command signal) of the motor constituting the traverse motor 11.
A position control unit 61 in the motor driver 51 is a position calculation unit 67 calculated based on a position command signal (target position) calculated based on the number of motion pulses and a detection pulse of the motor rotation detector 53 that is a rotary encoder. A speed command signal is generated based on the position calculation result (current position). Specifically, a speed command signal is generated by PI control or PID control using a deviation between the position command signal calculated by the deviation calculation unit 60 and the position calculation result and a preset gain.
[0022]
The speed control unit 62 generates torque current based on the speed command signal (target speed) generated by the position control unit 61 and the speed calculation result (current speed) by the speed calculation unit 68 calculated based on the detection pulse of the encoder. A command signal (Iqref: q-axis target current) is generated. Specifically, a torque current command signal is generated by PI control or PID control using a deviation between the speed command signal and the speed calculation result and a preset gain.
A magnetic flux current command signal (Idref: d-axis target current) is input to the advance angle excitation position calculation unit 55a. In this example, since the rotor is formed of a permanent magnet and the rotor magnetic flux is established, the magnetic flux current command signal is set to zero and only the torque current command signal is changed to generate a torque proportional to the torque current. Control.
The magnetic flux current command signal can take a negative value as a value other than zero.
[0023]
The position calculation result is input to the advance angle excitation position calculation unit 55a. The advance angle excitation position calculation unit 55a calculates an advance angle excitation position having a predetermined advance amount with respect to the current position of the rotor, based on the position calculation result.
Further, the speed calculation result of the speed calculation unit 68 is input to the advance angle excitation position calculation unit 55a. The advance angle excitation position calculation unit 55a changes the advance amount based on the speed calculation result indicating the current speed of the rotor.
Further, the torque current command signal (Iqref: q-axis target power) generated by the speed control unit 62 is input to the advance angle excitation position calculation unit 55a. Based on the torque current command signal, the advance angle excitation position calculation unit 55a determines the magnitude of a torque current command signal after giving an advance angle (Iqref ′: q axis target current after giving an advance angle).
Thereby, a stator magnetic flux (torque) having a magnitude corresponding to the speed deviation amount acts on the rotor.
[0024]
Based on the above input, the advance angle excitation position calculation unit 55a generates the post-advance magnetic flux current command signal (Idref ': d-axis target current after advance angle) and the post-advance torque current command signal (Iqref': Q-axis target current) after the advance angle is given.
Next, the sin / cos calculation unit (trigonometric function generation unit) 77 generates a trigonometric function signal (sin signal and cos signal) based on the electrical angle detection signal that is the position calculation result of the position calculation unit 67.
The magnetic flux current control unit 64 generates a magnetic flux voltage command signal (d-axis voltage command signal) based on the advanced magnetic flux current command signal (Idref ′) and the actual magnetic flux current value (id: d-axis current detection value). Output. Specifically, the magnetic flux voltage command signal by PI control or PID control using a deviation between the magnetic flux current command signal (Idref ′) after giving advance angle and the actual magnetic flux current value (id) and a preset gain. Is generated.
[0025]
The torque current control unit 63 generates a torque voltage command signal (q-axis voltage command signal) based on the post-advance-provided torque current command signal (Iqref ′) and the actual torque current value (iq: q-axis current detection value). Output. Specifically, the torque voltage command signal by PI control or PID control using the deviation between the torque current command signal (Iqref ′) after giving advance angle and the actual torque current value (iq) and a preset gain. Is generated.
A coordinate conversion unit (dq / AB phase conversion unit) 65 converts a magnetic flux voltage command signal and a torque voltage command signal into a steady voltage command signal (A phase voltage command signal and B phase voltage command signal) based on the trigonometric function signal. ).
[0026]
The A and B phase waveform output unit (PWM inverter unit) 66 supplies the A phase and B phase voltages to the motor based on the stator voltage command signal. That is, the A and B phase waveform output unit 66 is a power conversion unit, includes a PWM modulation unit (not shown) and a drive circuit (not shown), PWM modulates the A phase and B phase voltage commands, and a base drive circuit. The switching of the drive circuit having a plurality of switching elements is controlled via the.
The speed position detector 53 detects the absolute position of the motor rotor as the traverse motor 11 rotates. For example, an optical encoder that generates a detection pulse (absolute position pulse) corresponding to the rotation angle of the output shaft of the motor can be used for the speed position detector 53. Instead of the optical encoder, a resolver, a Hall element, or the like can be used. Alternatively, the rotational angular velocity may be detected using a tachometer, and may be integrated and output.
[0027]
Further, the motor current detected by the current detectors 70 and 70 is supplied to the A phase current value I by the current sampling unit 79 via the D / A converters 78 and 78._A, B phase current value I_BExtracted as
This A phase current value I_AAnd B phase current value I_BIs converted into a d-axis current value id and a q-axis current value iq by a coordinate conversion unit (AB / dq phase conversion unit) 80 based on the trigonometric function signal generated by the sin and cos calculation unit 77.
[0028]
Further, the position calculation unit 67 calculates the current position of the rotor via the signal processing unit 69 based on the detection signal of the speed position detector 53. On the other hand, the speed calculation unit 68 calculates the current speed of the rotor via the signal processing unit 69 based on the detection signal of the speed position detector 53.
The current detector 70 detects the motor current of the traverse motor 11, and the current detector 70 is provided for each of the A phase and the B phase.
It is noted that the motor coil is energized by the torque current control unit 63, the magnetic flux current control unit 64, the coordinate conversion unit (dq / AB phase conversion unit) 65, the A and B phase waveform output unit (PWM inverter unit) 66, etc. The energization control means is configured to control the energization of the motor coil so that the direction of the magnetic flux generated by is at the advance angle excitation position.
The dq coordinates are motor coordinates that rotate with the rotation of the rotor, the d axis is a coordinate axis along the magnetic flux of the rotor, and the q axis is a coordinate axis orthogonal to the d axis.
[0029]
In this way, by performing vector control that controls the torque current according to the rotor position, the speed and torque of the traverse motor 11 can be controlled with high performance.
Thereby, the position accuracy of the traverse guide can be made higher, and a higher speed turn can be made at the traverse end. Therefore, the winding shape of the winding package can be improved, and the unwindability in the subsequent process can be improved.
The vector control used for controlling the traverse motor 11 is a rotational motor coordinate system (dq coordinate system) that rotates the detected motor current (A-phase and B-phase current) in synchronization with the rotor. After the conversion, the motor current is divided into a d-axis component (current for generating magnetic flux) and a q-axis component (current that contributes to torque generation) and controlled, so that the direction is always orthogonal to the rotor magnetic flux. The stator magnetic flux is generated.
[0030]
The traverse motor 11 controlled as described above makes it possible to increase the reverse speed at the end of the traverse as well as highly accurate position control. Here, in the present invention, in order to achieve further high-accuracy position control and high-speed turn at the traverse end, the rotor is configured to be a disk rotor type motor having low inertia and high torque.
The configuration of the traverse motor 11 will be described below.
As shown in FIGS. 3 to 5, in the traverse motor 11, holders 21 a and 21 b are fixed to the drive shaft 20, and a rotor disk 21 c that is a disk-like member is held by the holders 21 a and 21 b so as to be integrally rotatable. The rotor is composed of a rotor disk 21 c that can rotate integrally with the drive shaft 20.
[0031]
Further, support members 25a and 25b made of a nonmagnetic material such as resin are arranged opposite to each other in the axial direction of the drive shaft 20, and are integrally supported by the screw member 29 via the annular flanges 26a and 26b. Has been.
Bearings 39 and 39 are fitted to the support members 25a and 25b, respectively, and the drive shaft 20 is rotatably supported by the bearings 39 and 39. The support members 25a and 25b are respectively disposed on one side and the other side of the rotor disk 21c (in FIG. 3, the support member 25a is on the upper surface side of the rotor disk 21c, and the support member 25b is on the lower surface side of the rotor disk 21c. Is located).
[0032]
The support members 25a and 25b are provided with a stator portion 22a and a stator portion 22b, respectively, and are wound with a coil 23a and a coil 23b.
The stator portions 22a and 22b are thin plate-like members having a “U” shape in a side view, and a pair of stator portions 22a and 22b arranged to face each other constitute a stator portion pair 22. . The end faces of the outer U-shaped legs facing each other in the stator portions 22a and 22b are in contact with each other, and the end faces of the inner U-shaped legs facing each other are separated from each other to form a gap 35. is doing.
The coils 23a and 23b are wound around the inner U-shaped leg portion forming the gap 35, and the stator is constituted by the coils 23a and 23b and the stator portions 22a and 22b (stator portion pair 22). Has been.
A magnetic circuit is formed in the gap 35 by the pair of stator portions 22a and 22b, and the rotor disk 21c is disposed in the gap 35 portion.
The stator portions 22a and 22b are made of a magnetic material such as silicon steel.
[0033]
A plurality of stator portion pairs 22 are provided, and are arranged in a circumferential direction around the drive shaft 20 at a predetermined interval (by a predetermined pitch).
As shown in FIG. 4, the stator portion pairs 22 are arranged at various pitch angles, such as a pitch angle a, a pitch angle b, a pitch angle c,. Is arranged.
On the other hand, on the rotor disk 21c, a plurality of N magnetic poles 211 magnetized to N poles and a plurality of S magnetic poles 212 magnetized to S poles are arranged alternately and equiangularly in the circumferential direction. Yes.
Therefore, the phase in the rotation direction of each stator portion pair 22 on the stator side arranged at different pitch dimensions and the rotation direction of each N magnetic pole 211 and each S magnetic pole 212 on the rotor side arranged at equal pitch dimensions. The phases do not necessarily coincide with each other, and some are arranged in different phases. For example, when the stator portion pair 22 and the N magnetic pole 211 at a certain location are arranged so that their phases coincide with each other, the phase between the stator portion pair 22 at another location and the N magnetic pole 211 or each S magnetic pole 212. If you look at, there will be something different.
[0034]
Here, the stator portion pair 22 on the stator side is arranged at equal intervals, and the phase of the stator portion pair 22 and the phases of the N magnetic pole 211 and the S magnetic pole 212 on the rotor side are matched to constitute a traverse motor. In this case, the turn position when the traverse guide 15 is reversed is as follows.
That is, when the N magnetic pole 211 and the S magnetic pole 212 are located at a position corresponding to the arrangement position of the stator part pair 22 at the time of reversal, between the stator part pair 22 and the N magnetic pole 211 and the S magnetic pole 212. Therefore, the positioning force is surely accurately positioned at the set turn position.
On the other hand, at the time of reversal, when the N magnetic pole 211 and the S magnetic pole 212 are located at a position deviated from the position corresponding to the arrangement position of the stator part pair 22 (that is, apart from a certain stator part pair 22 by one pitch). When the N magnetic pole 211 or the S magnetic pole 212 is positioned at an intermediate position with respect to another stator part pair 22), the stator part pair 22 on one side from the set turn position, or the stator part pair on the other side 22, the N magnetic pole 211 or S magnetic pole 212 at the intermediate position is attracted and positioned at a position deviated from the set turn position, resulting in variations in positioning accuracy.
Therefore, when performing taper end winding in which the set turn position moves depending on the package diameter (slowly toward the center of the package), the accuracy varies depending on the turn position and the portion that is accurately reversed at the set turn position. There is a risk that the taper portion at the end of the winding package 3 will have a stepped shape due to a mixture of the portions.
Thus, at the time of reversal, the package shape is affected by the cogging torque that is the torque fluctuation of the traverse motor.
[0035]
However, like the traverse motor 11 of the present invention, the phase of the stator portion pair 22 on the stator side and the phases of the N magnetic pole 211 and the S magnetic pole 212 on the rotor side are different from each other. At the time of reversal, the positions of all the stator portion pairs 22 and the positions of the N magnetic pole 211 and the S magnetic pole 212 do not coincide with each other or do not deviate from each other. Even in such a case, the overall attractive force between the stator portion pair 22 and the N magnetic pole 211 and the S magnetic pole 212 is not extremely different, and the cogging torque can be reduced.
[0036]
As described above, in order to make the phase of the stator portion pair 22 on the stator side different from the phase of the N magnetic pole 211 and the S magnetic pole 212 on the rotor side, the N magnetic pole 211 and the S magnetic pole 212 on the rotor side are equiangular. The stator-side stator portion pairs 22 are arranged at unequal intervals, and the stator-side stator portion pairs 22 are arranged at unequal intervals while the rotor-side N magnetic pole 211 and S magnetic pole 212 are arranged at unequal intervals. May be arranged at equal intervals, but the stator-side stator portion pairs 22 are arranged at unequal intervals rather than magnetizing the rotor-side N magnetic pole 211 and S magnetic pole 212 at unequal intervals. Therefore, as described above, by arranging the stator-side stator portion pairs 22 at unequal intervals, the traverse motor 11 can be manufactured easily and at low cost.
[0037]
Further, since the rotor of the traverse motor 11 is constituted by the rotor disk 21c that is a thin disk-shaped member, the inertia of the rotor can be extremely reduced, and the reverse speed at the traverse end of the traverse guide 15 is increased. As a result, the traverse speed can be increased as a whole.
Further, the traverse motor 11 is configured such that the U-shaped stator portions 22a and 22b are arranged to face both sides of the rotor disk 21c, and a pair of stator portions 22a and 22b that can be formed with a small gap 35 are magnetic. Since the circuit is formed, a very short magnetic circuit can be formed, and the loss of magnetic energy can be minimized. Thereby, the torque of the traverse motor 11 can be increased, and the reverse speed of the traverse guide 15 can be increased.
[0038]
Moreover, the traverse motor 11 can also be configured like a traverse motor 111 according to another embodiment shown in FIG.
The traverse motor 111 has a common drive shaft 20, and a plurality of (in this embodiment, two) rotor disks 21c and 21c are attached to the same drive shaft 20 as a rotor so as to be integrally rotatable, with respect to each rotor disk 21c. The stator part pair 22 is arranged as a stator.
That is, the traverse motor 111 has the same configuration as that in which the traverse motor 11 is arranged in a plurality of stages in the direction of the drive shaft 20 (each member of the traverse motor 111 is assigned the same symbol as the member of the traverse motor 11). Shows the same components).
[0039]
Thus, by providing the plurality of rotor disks 21c and 21c on the drive shaft 20, the drive torque of the drive shaft 20 can be increased compared to the traverse motor 11 provided with only one rotor disk 21c. The reversing speed of the guide 15 can be further increased.
[0040]
【The invention's effect】
  Since the present invention is configured as described above, the following effects can be obtained. That is, as described in claim 1ConstituteThis makes it possible to increase the turn speed at the end of the traverse because it is configured as a disk rotor type motor with high torque and high torque control as well as high-precision position control. To do.
[0041]
Also, on the stator side, the gap between the pair of stator parts can be made small, so the magnetic circuit configured in this gap can be made very short and the loss of magnetic energy can be minimized. Can do. Thereby, the torque of the traverse motor can be increased, and the reverse speed of the traverse guide can be increased.
[0042]
  As described in claim 2ConstituteAs a result, highly accurate position control is possible and the turn speed at the traverse end can be increased.
[0043]
  As described in claim 3ConstituteAs a result, it is possible to perform advance angle control in which energization control of the motor coil is performed with respect to the actual rotor position at a timing advanced by a predetermined angle with respect to the rotor position.
[Brief description of the drawings]
FIG. 1 is a diagram showing an overall configuration of a traverse apparatus according to the present invention.
FIG. 2 is a block diagram showing a configuration of a motor driver for vector control and advance angle control of a traverse motor.
FIG. 3 is a side sectional view showing a traverse motor.
FIG. 4 is a partial plan view showing a stator portion of a traverse motor.
FIG. 5 is a partial plan view showing a rotor portion of a traverse motor.
FIG. 6 is a side sectional view showing a traverse motor provided with a plurality of rotor disks.
[Explanation of symbols]
1 Traverse device
3 Winding package
5 Motor controller
6 Central control unit (host computer)
11 Traverse motor
15 Traverse Guide
20 Drive shaft
21c Rotor disc
22a, 22b Stator part
35 gap
52 Drive pattern generator
52a Package diameter calculation means
52b Command signal generating means

Claims (3)

A traverse control device that transmits the motion of a rotor of a traverse motor to a traverse guide and controls the forward / reverse rotation drive of the traverse motor to reciprocate the traverse guide, wherein the motor is constituted by a disk-shaped member. And a stator composed of a pair of stator portions that are arranged opposite to each other on both sides of the rotor, and a pair of stator portions that form a magnetic circuit with the pair of stator portions. calculates a current command value with respect to the stator, and a motor driver for controlling the excitation, and a position detecting means for detecting the current position of the rotor, the motor driver includes a torque current controller, the torque current control unit, output and the torque current command signal based on the detected current position of the position detecting means, and the actual torque current, a torque voltage command signal based on Traverse control apparatus, characterized in that the. The motor driver includes a magnetic flux current control unit, and the magnetic flux current control unit outputs a magnetic flux voltage command signal based on a magnetic flux current command signal serving as a target current and an actual magnetic flux current. The traverse control device according to claim 1. Before SL motor driver, based on the current position detected by said position detecting means, calculates an advance angle excitation position having a predetermined advance amount for the current position of the rotor, based on the current command signal, Susumu The traverse control device according to claim 1, further comprising an advance angle excitation position calculation unit that determines a magnitude of the current command signal after the angle is given.

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