JP4091020B2 - Roll control device - Google Patents

Description

  The present invention relates to a tension control device for an electric motor that keeps the tension of a sheet material, for example, paper, film, metal, etc. constant and suppresses the tension fluctuation caused by the load fluctuation, and in particular, uniform speed performance at the time of acceleration / deceleration. The present invention relates to a roll control device that improves the quality.

  As a roll control device that uses a tension detector to feed and convey a sheet material, the one described in Patent Document 1 is known. FIG. 14 is a diagram illustrating a configuration of the delivery roll conveyance control device described in Patent Document 1. This apparatus includes a load amount detection circuit 14 that outputs a signal corresponding to an actual load amount value of the transport roll driving device 9 that drives the transport roll 8, and a predetermined load amount set value and a load actual measurement from the load amount detection circuit 14. A load fluctuation detection circuit 15 that compares the values and outputs a correction signal corresponding to a load fluctuation amount equal to or greater than an allowable change amount, and a tension correction circuit 18 that corrects the tension control signal by the correction signal are provided.

  In FIG. 14, the delivery roll 2 is a device that delivers the sheet material 1, and the delivered sheet material 1 is conveyed by the conveyance roll 8. The tension setting device 5 is a device that predetermines the tension acting on the sheet material 1, and the tension detector 6 is a device that detects the tension acting on the sheet material 1.

  The tension control circuit 7 is connected to the tension setting device 5 and the tension detector 6, and compares the tension detection value detected by the tension detector 6 with the tension setting value set by the tension setting device 5 to compare the tension. This circuit outputs a control signal.

  A transport roll control device 10 that controls the transport roll drive device 9 is controlled by a speed control circuit 13, and the speed control circuit 13 detects a speed signal and a speed from a speed detector 12 that detects the rotational speed of the transport roll drive device 9. The speed setting value from the setting device 11 is compared and a speed control signal is output to the transport roll control device 10.

  The load fluctuation detection circuit 15 includes an allowable change amount setting circuit 16 and a comparison circuit 17, and the allowable change amount setting circuit 16 is a circuit that predetermines the load amount setting value of the transport roll driving device 9. Compares the load amount set value output from the allowable change amount setting circuit 16 with the actual load amount value output from the load amount detection circuit 14, and outputs a correction signal corresponding to the load fluctuation amount equal to or greater than the allowable change amount. To do.

  The tension correction circuit 18 corrects the tension control signal output from the tension control circuit 7 by the correction signal output from the comparison circuit 17. The delivery roll control device 4 controls the roll drive device 3 based on the tension correction signal output from the tension correction circuit 18, and the roll drive device 3 drives the delivery roll 2. The delivery roll driving device 3 is a device that is mechanically connected to the delivery roll 2 and rotates the delivery roll 2. The delivery roll control device 4 controls the tension of the sheet material 1 by controlling the rotation of the delivery roll drive device 3.

  That is, a load amount detection circuit 14 that detects a load change of the transport roll 8 and outputs a signal corresponding to the load, and an output signal of the load amount detection circuit 14 receives a load change value that is equal to or greater than a predetermined allowable change amount. Corresponding to the load fluctuation detection circuit 15 that outputs a signal to the tension correction circuit 18 in the next stage, the output signal of the load fluctuation detection circuit 15 and the tension reference signal of the delivery roll 2 are matched, and the tension reference signal of the delivery roll 2 is matched. Is provided with a tension correction circuit 18 that corrects the value according to the load fluctuation value of the transport roll 8. Then, the tension control circuit 7 compares the setting signal of the tension setting device 5 with the output signal of the tension detector 6, outputs the calculated tension reference signal to the delivery roll control device 4, and sends it out by the delivery roll control device 4. The rotation of the roll driving device 3 is controlled, and the tension of the sheet material 1 fed out through the feed roll 2 is controlled to the feed tension determined by the tension setting device 5.

  Moreover, the thing of patent document 2 is known as a speed control apparatus using the speed command which has an acceleration / deceleration rate. FIG. 15 is a control block diagram of the speed control device described in Patent Document 2, and FIG. 16 is a control block diagram showing the speed control device of FIG. 15 as a transfer function.

As shown in FIGS. 15 and 16, the speed control device includes a reference model setting unit 11, an acceleration feedforward compensation unit 12, a subtractor 13, a speed controller 14, an adder 15, and an estimated load disturbance feedforward compensation unit 18. The inertia identifying means 19 is used. According to this speed control device, a speed control means for changing the speed command signal ω ^* to a reference speed command ω _m having a first order delay element and a speed control loop for feeding back the speed signal ω detected from the inertia load are configured. Then, an acceleration feedforward compensation unit 12, an estimated load disturbance feedforward compensation unit 18 and an inertia identification unit 19 are added to the speed control loop, and a special inertia for identifying the inertia which is a control parameter characterizing the operation characteristics of the controlled object. A specific mode, for example, without providing a simulation mode or an auto-tuning mode.

In the speed control apparatus using the speed command omega ^* with acceleration and deceleration rate, a reference model setting means 11 for converting the speed command omega ^* norms speed command omega _m having a primary delay element, the norm speed command omega _m, steady The speed control means 14 for controlling the inertia load with a small viscous resistance having the load fluctuation and the speed detection means ω from the means for detecting the speed of the inertia load is obtained and fed back, and from the speed detection value ω and the reference speed command ω _m Speed control loop means for obtaining and controlling the speed error, inertia identification means 19 for outputting the identified inertia model value from the torque command obtained from the speed control loop means and the detected speed value of the inertia load, and the reference speed command and identification The inertia model value is multiplied and differentiated to obtain the acceleration feedforward control amount to compensate for acceleration feedforward. 12, the acceleration torque correction value that is the output of the speed control means and the acceleration feedforward control amount are added together, and the acceleration torque command means that outputs the acceleration torque control amount; and the inertia model value that identifies the acceleration torque control amount Means 18 for calculating an estimated speed by dividing and integrating to obtain an estimated speed, and for obtaining an estimated load disturbance feedforward control amount resulting from a speed difference between the estimated speed and a speed detection value detected from the inertia load, and compensating the estimated load disturbance feedforward; And providing to the means 12 for compensating the acceleration feedforward and the means 18 for compensating the estimated load disturbance feedforward without providing a special mode for inertia identification, which is a control parameter characterizing the operation characteristics of the controlled object.

This eliminates the overshoot that occurs when shifting from the acceleration / deceleration rate conversion area to the constant speed area, suppresses speed fluctuation due to load fluctuation, and matches the target response with the reference model response.
Japanese Patent Laid-Open No. 9-309652 JP 2001-242904 A

  However, an object of the present invention is to provide a roll control device that can suppress a change in tension of a sheet material when the line speed is constant or when the line speed is accelerated or decelerated. It is another object of the present invention to provide a roll control device that can estimate the tension even when the tension detector is not provided, can keep the tension of the sheet material constant, and can suppress the tension variation of the sheet material even when there is a load variation.

  In order to achieve the above object, the present invention provides a first electric motor connected to a transport roll that feeds a sheet material unwound from a feed roll obtained by winding a long sheet material into a cylindrical shape to the next process, and a feed roll A roll speed control device for controlling the speed and tension of the sheet material to respective target values by driving and controlling a second electric motor connected to the line motor, a line speed command value setting means for setting the line speed command value of the sheet material, First inertia compensation means for compensating a first inertial acceleration torque for accelerating a first motor having a moment of inertia; and a second inertial acceleration torque for accelerating a second motor having a second moment of inertia. And a first angular velocity command corresponding to the angular velocity of the first motor according to the line speed command value so that the velocity of the first motor cooperates with the velocity of the second motor. To the line speed command value so that the speed of the second electric motor cooperates with the speed of the first electric motor. In response, the second reference model speed cooperative control means for inputting the second angular speed command value corresponding to the angular speed of the second motor and outputting the second reference model angular speed command value; and the first reference model angular speed command value And a torque value output in accordance with a speed deviation between the first angular velocity detection value detected by the first angular velocity detection means connected to the first motor and a control signal as a control signal, and a first motor for controlling the angular velocity of the first motor. And a first torque correction value for correcting the first torque command value, using as input a first torque command value for adding a torque value to be output according to a speed deviation to the first inertial acceleration torque. The first negative to output A tension value output in accordance with a speed deviation between the feedforward compensation means, the second reference model angular velocity command value, and the second angular velocity detection value detected by the second angular velocity detection means connected to the second electric motor. And a second speed control means for controlling the angular speed of the second electric motor as a control signal. Thereby, when the line speed of the sheet material is accelerated and decelerated, fluctuations in the tension of the sheet material can be suppressed.

  More preferably, the first normative model speed cooperative control means receives the first angular speed command value as input, compensates with a first-order lag element, and the first motor has a response angular frequency and the second motor. The first reference model angular velocity command value is output so as to cooperate, the second reference model velocity cooperative control means receives the second angular velocity command value, compensates with a first-order lag element, and second The second reference model angular velocity command value is output so that the electric motor cooperates with the first electric motor at the same response angular frequency as the response angular frequency.

  More preferably, the first load feedforward compensation means adds the first torque command value to the first control target, receives the obtained first estimated speed and first angular velocity detection value, and inputs the first Subtracting means for outputting a first estimated speed deviation between the estimated speed and the first detected angular speed value, the first estimated speed deviation as an input, and multiplying the first estimated speed deviation by a gain constant, And a first feedforward control means for outputting a torque correction value.

  More preferably, a tension output means for outputting a tension output value applied in the conveying direction of the sheet material, a tension command value setting means for setting a tension command value of the sheet material, and a tension deviation between the tension command value and the tension output value And a tension control means for controlling the tension of the sheet material by using the torque value as a control signal in accordance with the control signal. Thus, when the line speed of the sheet material is accelerated and decelerated, fluctuations in the tension of the sheet material can be further suppressed.

  More preferably, the tension output means has a tension detector or a tension estimator.

  More preferably, the tension estimator receives a torque command value of the first motor and outputs a first primary delay compensation torque command value that is compensated by a primary delay component. Means, a second primary delay element compensation means for inputting a torque command value of the second electric motor and outputting a second primary delay compensation torque command value to be compensated by the primary delay element, and a first angular velocity The first inertia torque obtained by multiplying the first moment of inertia converted to around the first motor by the time differential value of the first angular velocity detection value and the obtained first inertia torque and the viscosity of the first motor A first constant that multiplies the resistance constant by the first angular velocity detection value, adds the obtained first viscosity component torque, and outputs the first inertia / viscosity component torque compensated by the first-order lag element to the obtained torque. From the inertia / viscosity compensation means and the first primary delay compensation torque command value The first subtracting means for subtracting the inertia / viscous component torque of 1 and outputting the obtained first tension estimated torque and the second angular velocity detection value as input, and the second subtracting the second motor to be converted around the second motor Is multiplied by the time differential value of the second angular velocity detection value, and the second inertia torque obtained and the viscosity resistance constant of the second motor are multiplied by the second angular velocity detection value. And a second inertia / viscous compensation means for outputting a second inertia / viscous component torque compensated with a first-order lag to the obtained torque, and a second first-order lag compensation torque command A second subtraction means for subtracting the second inertia / viscous component torque from the value and outputting the obtained second tension estimated torque; and subtracting the second tension estimated torque from the first tension estimated torque And a third subtracting means for outputting the obtained estimated torque deviation for the tension The first-order lag compensation tension estimated torque deviation, and the first-order lag-compensated tension-compensated means for outputting the estimated first-order lag-compensated tension deviation and the first-order lag-compensated tension deviation. And a function unit that adds the radius of the transport roll and the radius of the feed roll to the estimated torque deviation for the first-order lag compensation tension, multiplies the reciprocal of the obtained total radius, and outputs the obtained estimated tension. It is characterized by that.

  More preferably, the tension control means comprises a proportional integral control means having a gain proportional to the square of the tension deviation.

  More preferably, the second load feedforward compensation that outputs the second torque correction value that corrects the second torque command value with the second torque command value and the tension output value applied to the second electric motor as inputs. It has the means. Thereby, the speed fluctuation | variation of the sheet material 1 accompanying a load fluctuation | variation can be suppressed.

  More preferably, the second load feedforward compensation means receives the tension output value and outputs a feed roll radius compensation means for outputting a torque corresponding to the tension output value applied to the feed roll, and the second torque command value and tension. An adding means for inputting the torque corresponding to the output value, adding the torque corresponding to the tension output value to the second torque command value, and outputting the obtained second estimated torque command value; and a second estimated torque command value To the second control object, the second estimated speed and the second angular velocity detection value obtained as inputs are input, and the second estimated speed obtained by subtracting the second angular velocity detection value from the second estimated speed. Subtracting means for outputting a deviation, second feedforward control means for inputting a second estimated speed deviation, multiplying the second estimated speed deviation by a gain constant, and outputting a corrected tension value, and inputting a corrected tension value age, The roll radius multiplied feeding a positive tension value, characterized by having a roll radius compensation delivery means for outputting the second torque correction value obtained.

  In addition, the first electric motor that connects the sheet material unwound from the feed roll in which the long sheet material is wound into a cylindrical shape to a transport roll that sends the sheet material to the next process, and the second motor that is connected to the feed roll are driven and controlled. Then, in the roll control device that controls the tension of the sheet material to the target value, the line speed command value setting means for setting the line speed command value of the sheet material and the first electric motor having the first moment of inertia are accelerated. A first inertia compensation means for compensating the first inertial acceleration torque; a second inertia compensation means for compensating a second inertial acceleration torque for accelerating the second motor having the second moment of inertia; The first angular speed command value of the first motor converted based on the line speed command value is input so that the speed of the second motor cooperates with the speed of the second motor, and the first reference model angular speed command value is output. And the second angular speed command value of the second motor converted based on the line speed command value so that the speed of the second motor cooperates with the speed of the first motor. The second reference model speed coordinate control means for outputting the second reference model angular speed command value, the first reference model angular speed command value, and the first angular speed detection means connected to the first motor First torque control means for controlling the speed of the first motor using a torque value output according to a speed deviation from the detected first angular speed detection value as a control signal, a second reference model angular speed command value, A tension value output according to a speed deviation from the second angular velocity detection value detected by the second angular velocity detection means connected to the second motor is used as a control signal, and the second is used to control the speed of the second motor. Speed control means, and First output is a tension output means for outputting a tension output value of the first material and a first torque correction value for correcting the first torque instruction value, with a first torque command value applied to the first electric motor as an input. The load feedforward compensation means, the second torque command value applied to the second electric motor, the torque corresponding to the tension value of the sheet material, and the torque corresponding to the tension output value are input, and the second torque command value is corrected. And a second load feedforward compensation means for outputting a torque correction value.

  More preferably, the first load feedforward compensation means adds the first torque command value to the first control target, receives the obtained first estimated speed and first angular velocity detection value, and inputs the first Subtracting means for outputting a first estimated speed deviation between the estimated speed and the first detected angular speed value, the first estimated speed deviation as an input, and multiplying the first estimated speed deviation by a gain constant, The first feedforward control means for outputting the torque correction value of the second load feedforward compensation means, and the second load feedforward compensation means receives the tension output value and outputs torque corresponding to the tension output value applied to the feed roll. The roll radius compensation means, the second torque command value and the torque corresponding to the tension output value are input, the torque corresponding to the tension output value is added to the second torque command value, and the resulting second estimated torque command value is output. Adder to do Then, the second estimated torque command value is added to the second control target, the obtained second estimated speed and the second detected angular speed value are input, and the second estimated angular speed value is subtracted from the second estimated speed. A second subtractor that outputs the obtained second estimated speed deviation, and a second feedforward that receives the second estimated speed deviation and multiplies the second estimated speed deviation by a gain constant and outputs a corrected tension value. The present invention is characterized by comprising a control means and a delivery roll radius compensation means for receiving the corrected tension value as input, multiplying the corrected tension value by the delivery roll radius, and outputting the obtained second torque correction value.

  As described above, according to the present invention, when the line speed of the sheet material is constant or when the line speed is accelerated or decelerated by cooperatively controlling the speeds of the first and second motors with the reference model speed. Moreover, fluctuations in the tension of the sheet material can be suppressed. Furthermore, the tension of the sheet material can be made constant by controlling the adaptive tension. Furthermore, speed fluctuation accompanying load fluctuation can be suppressed by performing load feedforward control. Further, even when a tension detector that detects the actual tension of the sheet material is not provided, the tension can be estimated, the tension can be made constant, and fluctuations in the tension can be suppressed.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a control block diagram showing a first embodiment of a roll control device according to the present invention, and FIG. 2 is a control block diagram showing the roll control device shown in FIG. 1 as a transfer function. The roll control device according to the first embodiment is a roll control device of a tension open loop control system and has a function of normative model speed cooperative control.

  1 includes a feed roll 2, a transport roll 8, a first electric motor (M) 20, a second electric motor (M) 21, a line speed setting device 25, a tension setting device (not shown), A first angular velocity detector (SS) 22, a second angular velocity detector (SS) 23, a velocity controller 26, a velocity / tension controller (A) 27-1, and a feed roll radius compensator 45 are provided.

In this roll control device, a sheet material 1 is disposed between a feed roll 2 for unwinding the sheet material 1 and a transport roll 8 for transporting the sheet material 1, and the transport roll 8 is wound around the feed roll 2. The material 1 is conveyed to the next process, and the first and second electric motors 20 and 21 mechanically coupled to the rotation shafts of the conveyance roll 8 and the delivery roll 2 are used to set the line speed V of the sheet material 1 to the line speed command. The speed is controlled so as to coincide with the value V ^*, and the tension command value T ^* is input as the tension to perform open loop control.

  The delivery roll 2 has a long sheet material 1 wound in a cylindrical shape, and the transport roll 8 cooperates with a rotating body, such as a pinch roll P, which is crimped via the sheet material 1. The sheet material 1 unwound from is sent to the next process.

  The first electric motor 20 is connected to the transport roll 8, and the second electric motor 21 is connected to the delivery roll 2.

The line speed command value setting unit 25 sets the line speed command value V ^* of the sheet material 1. A tension command value setter (not shown) sets a tension command value T ^* to be applied in the conveyance direction of the sheet material 1.

  The first angular velocity detector 22 is, for example, a pulse encoder, a DC tacho generator, or the like, and is mechanically connected to the first electric motor 20 to detect a first angular velocity detection value of the first electric motor 20.

  The second angular velocity detector 23 is equivalent to the first angular velocity detector 22, is mechanically connected to the second electric motor 21, and detects a second angular velocity detection value of the second electric motor 21.

The delivery roll radius compensator 45 receives the tension command value T ^* with a negative sign as input, multiplies the tension command value T ^* by the delivery roll radius r ₂ ^, and obtains a torque command value torque τε. (With a negative sign) is output to the speed / tension control unit (A) 27-1.

  FIG. 3 is a control block diagram of the speed control unit 26. As shown in FIG. 3, the speed control unit 26 includes a reciprocal compensator 28 for the transport roll radius, a first inertial acceleration compensator 29, a first reference model speed cooperative controller 30, a first speed controller 32, A first load feedforward compensation unit 34, a subtractor 31, and adders 33 and 38 are provided.

Conveying roll radius reciprocal compensator 28 inputs the line speed command value V ^*, multiplied by the radius r ₁ ^ reciprocal of transport rollers 8 to the line speed command value V ^*, the first obtained in the angular velocity command value ω ₁ ^* is output to the first inertial acceleration compensator 29 and the first reference model speed coordination controller 30. Here, the radius r ₁ ^ is a transporting roll 8, the radius r ₁ ^ opposing conveying roll and a pinch roll, is constant relative to elapsed time. The symbol “^” represents that a characteristic value consisting of an alphabetic character or an alphanumeric character immediately before the symbol is a set value.

The first inertial acceleration compensator 29 receives the first angular velocity command value ω ₁ ^* as an input, and converts the first angular velocity command value ω ₁ ^* into the acceleration value obtained by time differentiation, and the inertia moment of the transport roll 8. Multiplying the value converted around the first motor 20 and the inertia moment of the first motor 20 by the first inertia moment J ₁ ^, the resulting acceleration torque is multiplied by the response angle in the gain characteristic curve. The first inertial acceleration torque s3 compensated by the first-order lag element having the time constant of the reciprocal of the frequency ω _C is output to the adder 33. That is, the first inertia acceleration torque s3 indicates a required torque for accelerating the first electric motor 20 having the first inertia moment J ₁ ^.

The first reference model speed coordination controller 30 is a compensator for a first order lag element whose time constant is the reciprocal of the response angular frequency ω _C in the gain characteristic curve of the Bode diagram whose transfer function has a first order lag element. Yes, the first angular velocity command value ω ₁ ^* is input, and the first angular velocity coordination command value ω _m1 ^* compensated by the first-order lag element is output to the subtractor 31. Response angular frequency omega _C is practically, for example determined by 10 / T _a radians per second. For example, in the case of paper, if _Ta is approximately 1 second, the response angular frequency ω _C is 10 radians per second. Here, T _a denotes the line acceleration time or line deceleration time of the sheet 1, i.e., to accelerate the first electric motor 20, the time required for the line speed is from zero to a constant speed, or the first The time required until the electric motor 20 is decelerated and the line speed becomes zero from the constant speed is shown. In this case, the response angular frequency ω _C must be reduced because if the response angular frequency ω _C is increased, the signal-to-noise ratio of the speed command signal compensated by the normative model speed cooperative control deteriorates, and the uniform speed control becomes impossible. This is because it may become unstable and eventually the tension of the sheet material 1 may fluctuate.

The subtractor 31 receives the first angular velocity coordination command value ω _m1 ^* and the first angular velocity detection value ω ₁ as inputs, and subtracts the _first velocity detection value ω ₁ from the first angular velocity coordination command value ω _m1 ^* . The obtained first speed deviation value s1 is output to the first speed controller 32.

The first speed controller 32 receives the first speed deviation value s1, and multiplies the first speed deviation value s1 by a first speed gain constant K _V1 as a speed amplifier gain constant. The speed deviation torque s2 is output to the adder 33. That is, in order to control the speed so that the first speed deviation value s1 becomes zero, the first speed deviation torque s2 is output to the adder 33 as a control signal.

  The adder 33 adds the first inertial acceleration component torque s3 and the first speed deviation component torque s2, and obtains the first basic torque command value s4 obtained by the first load feedforward compensation unit 34 and the adder 38. Output to.

  As shown in FIG. 3, the first load feedforward compensation unit 34 includes a first control object 35, a first feedforward controller 37, and a subtracter 36.

When the first basic torque command value s4 is added to the first control object 35, the first electric motor 20 multiplies the first basic torque command value s4 by the reciprocal of the _first moment of inertia J ₁ ^ The first estimated angular velocity s5 is obtained by time-integrating the obtained acceleration, and the first estimated angular velocity s5 is output to the subtractor 36.

Subtractor 36, the first estimated angular velocity s5 the first speed detection value omega ₁ as input, from the first estimated angular velocity s5 subtracts the first speed detection value omega _1, first obtained the estimated speed The deviation s6 is output to the first feedforward controller 37.

First feedforward control 37 includes a gain constant K _1, the first estimated angular deviation s6 as input, the first estimated angular deviation s6 to speed control the first electric motor 20 to be zero in order to output the first correction torque value s7 consisting s6 × K ₁ as a control signal to the adder 38.

The adder 38 receives the first basic torque command value s4 and the first correction torque value s7, adds the first basic torque command value s4 and the first correction torque value s7, and obtains the first obtained The torque command value τ ₁ ^{* is applied} to the first electric motor 20. Then, the first electric motor 20 gives the first torque command value τ ₁ ^* to the load of the _first moment of inertia J ₁ to become the first angular velocity ω ₁ .

Therefore, the speed control unit 26 inputs the line speed command value V ^* to the first electric motor 20, performs the first inertia acceleration torque compensation and the first load feedforward compensation, and the first angular speed. The detected value ω ₁ is used as a velocity feedback signal, and the first angular velocity detection value ω ₁ is subtracted from the first angular velocity coordination command value ω _m1 ^* , so that the first velocity deviation value s1 obtained becomes zero. The speed of the first electric motor 20 is controlled by using the speed deviation torque s2 as a control signal. At this time, the first angular velocity detection value ω ₁ is obtained by adding the first torque command value τ ₁ ^* obtained by correcting the first basic torque command value s 4 with the first correction torque value to the first control object 75. Obtained. Thus, the first electric motor 20 can suppress the speed fluctuation caused by the load fluctuation when the line speed of the sheet material 1 is constant or when the line speed of the sheet material 1 is accelerated and decelerated.

  FIG. 4 is a control block diagram of the speed / tension control unit (A) 27-1. As shown in FIG. 4, the speed / tension control unit (A) 27-1 includes a reciprocal compensator 39 of the feed roll radius, a second inertial acceleration compensator 40, a second reference model speed cooperative controller 41, a subtraction. 42, a second speed controller 43, a delivery roll radius compensator 44, a viscous resistance compensator 47, a torque gain compensator 50, and adders 46, 48, 49.

Roll radius reciprocal compensator 39 feeding inputs the line speed command value V ^*, multiplied by the radius r ₂ ^ inverse of the roll 2 feed in line speed command value V ^*, the second angular velocity command value obtained ω ₂ ^* is output to the second reference model speed cooperative controller 41. Here, for example, the delivery roll radius r ₂ ^ is brought into contact with the outer periphery of the delivery roll 2 by a touch roller (not shown) disposed on the rotating arm, and the position of the arm is detected by a position sensor (not shown). ).

The second inertial acceleration compensator 40 receives the second angular velocity command value ω ₂ ^* as an input, and converts the second angular velocity command value ω ₂ ^* into an acceleration value obtained by time differentiation. The value converted around the second motor 21 and the moment of inertia of the second motor 21 are multiplied by the _second moment of inertia J ₂ ^, and the resulting torque is the reciprocal of the response angular frequency ω _C. Is output to the adder 46 as the second inertia acceleration torque s10 compensated by a first-order lag element having a time constant as. That is, the second inertial acceleration compensator 40 gives a required torque of the second electric motor 21 for accelerating the second electric motor 21 having the second moment of inertia J ₂ ^.

Similar to the first reference model speed cooperative controller 30, the second reference model speed cooperative controller 41 has the response angular frequency ω _C in the gain characteristic curve in the Bode diagram whose transfer function has a first-order lag element. It is a compensator for a first-order lag element having a time constant as an inverse, and receives a _second angular velocity command value ω ₂ ^* as an input, and subtracts a second angular velocity coordination command value ω _m2 ^* compensated by the first-order lag element. Output to. The response angular frequency omega _C in this case is the same as the response angular frequency omega _C in the first reference model speed cooperative controller 30.

The subtractor 42 receives the second angular velocity cooperative command value ω _m2 ^* and the second angular velocity detected value ω ₂ as inputs, and subtracts the _second detected velocity value ω ₂ from the second angular velocity cooperative command value ω _m2 ^* . The obtained second speed deviation value s8 is output to the second speed controller 43.

The second speed controller 43 receives the second speed deviation value s8 and multiplies the second speed deviation value s8 by a second speed gain constant K _V2 as a speed amplifier gain constant. The tension s9 corresponding to the speed deviation is sent out and output to the roll radius compensator 44. That is, in order to control the speed so that the second speed deviation value s8 becomes zero, the second speed deviation tension s9 is output as a control signal and output to the roll radius compensator 44.

The delivery roll radius compensator 44 receives the second speed deviation tension s9 as input, and multiplies the second speed deviation tension s9 by the delivery roll radius r ₂ ^ to obtain the obtained second speed deviation torque s11. The result is output to the adder 49.

The adder 46 generates the second inertia acceleration torque s10 and the tension command value torque τε from the feed roll radius compensator 45. (With a negative sign) as input, and from the second inertia acceleration torque s10 to the tension command value torque τε And the resulting torque s12 is output to the adder 49.

The viscous resistance compensator 47 receives the second angular velocity detection value ω ₂ as input, and multiplies the second angular velocity detection value ω ₂ by the viscous resistance constant D ₂ ^ of the second electric motor 21 to obtain the resultant viscous resistance torque. Is output to the adder 48. Here, it is assumed that the viscous resistance of the second electric motor 21 is proportional to the speed, and the proportional constant of the viscous resistance at that time is D ₂ ^.

The adder 48 adds the viscous resistance component torque and the mechanical loss component torque τ _L2 ^ and outputs the obtained loss torque s13 to the adder 49.

  Adder 49 receives loss torque s13, torque s12 and second speed deviation torque s11, adds loss torque s13, torque s12 and second speed deviation torque s11, and obtains a second basic torque command value obtained. s14 is output to the gain compensator 50.

Gain compensator 50, the second basic torque command value s14 input, the second basic torque command value s14 is multiplied by a gain constant 1 / K _T, the second torque command value tau ₂ ^* obtained second Is added to the motor 21. Here, K _T represents the torque constant of the second electric motor 21. In order to achieve constant output by field weakening control as drive control of the second electric motor 21, the gain constant 1 / K _T is set to automatically change according to the change of the radius r ₂ ^ of the feed roll 2. When the second torque command value τ ₂ ^* is added to the second controlled object 76, the second torque command value τ ₂ ^* is given to the load of the _second moment of inertia J ₂ and the second angular velocity ω ₂ is obtained. Become.

Therefore, the speed / tension control unit (A) 27-1 inputs the line speed command value V ^* and the tension command value T ^* to the second electric motor 21, and performs inertia acceleration compensation torque compensation, mechanical loss torque compensation, and The second angular velocity obtained by subtracting the second angular velocity detection value ω ₂ from the second angular velocity coordination command value ω _m2 ^* by performing viscous torque compensation and using the second angular velocity detection value ω ₂ as a velocity feedback signal. The speed of the second electric motor 21 is controlled using the second speed deviation tension s9 as a control signal so that the deviation value s8 becomes zero. At this time, a torque command value torque τε is obtained from the torque obtained by adding the second speed deviation torque s11 and the second inertia torque s10. The subtracted, multiplied by a gain constant 1 / K _T in the second basic torque command value s14 obtained by adding the mechanical loss corresponding torque tau _L2 ^ and viscosity resistance corresponding torque to the second basic torque correction before command value obtained, resulting To obtain a _second torque command value τ ₂ ^* . The second torque command value τ ₂ ^* is output to the second controlled object 76.

As an example, the first speed gain constant K _V1 is between the response angular frequency ω _C and the first moment of inertia J ₁ ^.

[Equation 1]
J ₁ ^ / K _V1 = 1 / ω _C
Make sure that That is, according to Equation 1, the first velocity gain constant K _V1 is obtained by multiplying the _first moment of inertia J ₁ ^ by the response angular frequency ω _C. Here, the first moment of inertia J ₁ ^ is constant with respect to the change in elapsed time since it is the moment of inertia on the transport roll side, so the first speed gain constant K _V1 is also constant with respect to the change in time. is there.

On the other hand, the second speed gain constant K _V2 is between the response angular frequency ω _C , the second moment of inertia J ₂ ^ and the feed roll radius r ₂ ^.

[Equation 2]
(J ₂ ^ / r ₂ ^ K _V2 ) = 1 / ω _C
Make sure that That is, the second speed gain constant K _V2 is obtained by multiplying the second moment of inertia J ₂ ^ by the response angular frequency ω _C and the reciprocal of the feed roll radius r ₂ ^ by the formula ₂ .

Therefore, the second speed gain constant K _V2 changes with respect to the elapsed time because the radius r ₂ ^ of the feed roll and the second moment of inertia J ₂ ^ change with respect to the elapsed time. With these relationships, the line speed V of the sheet material 1 can be controlled so that the first electric motor 20 and the second electric motor 21 become the line speed command value V ^* while cooperating with the response angular frequency ω _C. That is, it is possible to improve the alignment speed when accelerating and decelerating by coordinating the speeds so that the delivery roll 2 and the transport roll 8 have a standard model response.

  Next, a second embodiment of the roll control device according to the present invention will be described. FIG. 5 is a control block diagram showing a second embodiment of the roll control device according to the present invention. The roll control apparatus according to the second embodiment is a roll control apparatus of the tension open loop control system described above, and further includes functions of tension estimation, adaptive estimation tension control, and load feedforward control in addition to the normative model speed cooperative control. Is provided.

  In FIG. 5, the blocks and components having the same numbers as those in FIG.

  The roll control device shown in FIG. 5 includes a feed roll 2, a transport roll 8, a first electric motor (M) 20, a second electric motor (M) 21, a line speed command value setter 25, a tension command value setter (FIG. Not shown), first angular velocity detector (SS) 22, second angular velocity detector (SS) 23, velocity control unit 26, velocity / tension control unit (B) 27-2, tension estimation unit 51, adaptive estimation A tension control unit 52 is provided.

FIG. 6 is a control block diagram showing the configuration of the tension estimation unit 51, and FIG. 7 is a control block diagram showing the tension estimation unit 51 as a transfer function. As shown in FIGS. 6 and 7, the tension estimation unit 51 includes first and second torque command values τ ₁ ^* , τ ₂ ^* applied to the first and second electric motors 20, 21, The first first-order lag element compensator 61 and the first inertia so that the second angular velocity detection values ω ₁ and ω ₂ are input and an estimated tension value T ^ to be described later is output to the adaptive estimated tension control unit 52. / Viscous compensator 62, second primary delay element compensator 63, second inertia / viscous compensator 64, subtractors 65, 66, 67, other primary delay element compensator 68, and function unit 69. .

The first first-order lag element compensator 61 and the second first-order lag element compensator 63 are filter circuits, and are used to reduce AC components mainly caused by noise superimposed on the torque command value. The denominator of the transfer function is a linear expression with respect to the Laplace calculation factor S, and the filter time constant is τ _f . The first primary delay element compensator 61 receives the first torque command value τ ₁ ^* and outputs the first torque command τ ₁ ^* compensated with the first delay element to the subtractor 65. The second primary delay element compensator 63 receives the second torque command value τ ₂ ^* and outputs the second torque command τ ₂ ^* compensated with the first delay element to the subtractor 66.

The first inertia / viscosity compensator 62 receives the first angular velocity detection value ω ₁ as input, and compensates with the first-order lag element in the same manner as when the first first-order lag element compensator 61 compensates. The estimated load torque s25 is output to the subtractor 65. That is, the first estimated load torque s25 is obtained by differentiating the first angular velocity detection value ω ₁ with respect to time, multiplying the obtained acceleration value by the first moment of inertia J ₁ ^, and the obtained first acceleration load torque. The torque obtained by multiplying the first angular velocity detection value ω ₁ by the first viscous resistance constant D ₁ ^ and adding the obtained first viscous load torque with the first-order lag element. Here, the first viscous resistance constant D ₁ ^ indicates a proportional constant of the viscous resistance proportional to the speed.

The second inertia / viscosity compensator 64 receives the second detected angular velocity value ω ₂ and inputs the second compensated with the first-order lag element in the same manner as when the second first-order lag element compensator 63 compensates. The estimated load torque s26 is output to the subtractor 66. That is, the second estimated load torque s26 is obtained by differentiating the second angular velocity detection value ω ₂ with respect to time, multiplying the obtained acceleration value by the second moment of inertia J ₂ ^, and the obtained second acceleration load torque and The second angular velocity detection value ω ₂ is multiplied by the _second viscous resistance constant D ₂ ^ and the resulting second viscous load torque is added to the torque compensated by the first-order lag element. Here, the second viscous resistance constant D ₂ ^ indicates a proportional constant of the viscous resistance proportional to the speed.

The subtractor 65 receives the first torque command value τ ₁ ^* compensated by the first-order lag element and the first estimated load torque s25, and receives the first torque command value τ ₁ ^* compensated by the first-order lag element ^. Is subtracted from the first estimated load torque s25, and the obtained first estimated generated torque τ _d1 ^ is output to the subtractor 67.

The subtractor 66 receives the second torque command value τ ₂ ^* compensated by the first-order lag element and the second estimated load torque s26, and receives the second torque command value τ ₂ ^* compensated by the first-order lag element ^. Is subtracted from the second estimated load torque s26, and the second estimated generated torque τ _d2 ^ obtained is output to the subtractor 67.

Subtractor 67, the first and the estimated generated torque tau _d1 ^ and second estimated generated torque tau _d2 ^ input, a second estimate generated torque tau _d2 ^ was subtracted from the ^ first estimated generated torque tau _d1 The obtained estimated torque difference s27 is output to another first-order lag element compensator 68 having another first-order lag element.

The other first-order lag element compensator 68 is a filter circuit, the denominator of the transfer function is a linear expression with respect to the Laplace operation factor S, the filter constant is composed of τ _OBS , and the estimated generated torque difference s27 is input. The estimated generated torque difference s28 compensated by the other first-order lag element is output to the function unit 69.

As shown in FIG. 7, the function unit 69 receives the estimated generated torque difference s28 compensated by the other first-order lag element and adds the transport roll radius r ₁ ^ and the feed roll radius r ₂ ^ to obtain the function unit 69. The reciprocal of the total radius is multiplied by the estimated generated torque difference s28, and the obtained estimated tension T ^ is output to the adaptive estimated tension control unit 52.

On the other hand, the first estimated generated torque τ _d1 ^ corresponds to the sum of the actual mechanical loss torque applied to the first electric motor 20 and the tension component torque of the sheet material 1.

[Equation 3]
τ _d1 ^ = r ₁ × T + τ _L1
Is established. Here, τ _L1 is an actual mechanical loss torque of the first electric motor 20, and r ₁ is an actual roll radius of the transport roll 8.

On the other hand, the second estimated generated torque τ _d2 ^ corresponds to the value obtained by subtracting the torque corresponding to the tension of the sheet material 1 from the actual mechanical loss torque of the second electric motor 21.

[Equation 4]
τ _d2 ^ = − r ₂ × T + τ _L2
Is established. Here, τ _L2 is an actual mechanical loss torque of the second electric motor 21, and r ₂ is an actual roll radius of the feed roll 2.

  From Equation 3 and Equation 4,

[Equation 5]
τ _d1 ^ −τ _d2 ^ = (r ₁ + r ₂ ) × T + (τ _L1 −τ _L2 )
It becomes.

Furthermore, here, τ _L1 and τ _L2 are the steady load torques of the electric motors 20 and 21, and if they are equal,

[Equation 6]
τ _d1 ^ −τ _d2 ^ = (r ₁ + r ₂ ) × T
It becomes.

  Therefore, rewriting equation (6)

[Equation 7]
T = (τ _d1 ^ −τ _d2 ^) / (r ₁ + r ₂ )
It becomes. Here, even if the actual tension T in the equations 3 and 4 is replaced with the estimated tension T ^, and r ₁ and r ₂ are replaced with the estimated radii r ₁ ^ and r ₂ ^, the present invention does not contradict each other.

FIG. 8 is a control block diagram showing the configuration of the adaptive estimated tension control unit 52, and FIG. 9 is a control block diagram showing the adaptive estimated tension control unit 52 as a transfer function. As shown in FIGS. 8 and 9, the adaptive estimated tension control unit 52 receives the tension command value T ^* and the estimated tension value T ^ as input, and uses the second torque command value τ ₂ ^* to be applied to the second electric motor 21. Correction torque τε to be corrected Is provided with a subtractor 70, a multiplier 71, a gain adaptive controller 72, and a proportional-integral controller 73.

The subtractor 70 receives the tension command value T ^* from the tension setter (not shown) and the estimated tension T ^ from the tension estimation unit 51 as input, and subtracts the tension command value T ^* from the estimated tension T ^ to obtain The tension deviation ε is output to the multiplier 71 and the proportional integration controller 73.

The multiplier 71 receives the tension deviation ε, calculates the square of the tension deviation ε, and outputs the obtained ε ² to the gain adaptive controller 72.

The gain adaptive controller 72 receives the square ε ² of the tension deviation ε as an input, and the tension gain band ε ² , for example, radians per second, and the response angular frequency ω _D , for example, 0.005 per second, to the square ε ² of the tension deviation ε. The DC tension gain constant K determined from radians is multiplied, and the obtained tension proportional gain constant K _P is output to the proportional integral controller 73. Thereby, tension fluctuation can be suppressed. Further, when the DC tension gain constant K is compensated by the first order lag element, a stable tension proportional gain constant K _P is obtained, and the tension fluctuation of the sheet material 1 can be further suppressed.

The proportional integration controller 73 receives the tension deviation ε, multiplies the tension deviation ε by the tension proportional gain constant K _P , and time-integrates the product of the tension deviation ε and the gain constant K _P to obtain the obtained result. The corrected torque τε obtained as a result of the operation Is output to the adder 46 of the speed / tension control unit (B) 27-2.

  As described above, the tension can be estimated without a tension detector, and the tension of the sheet material 1 can be controlled to be constant by automatically varying the tension proportional gain and performing adaptive estimated tension control.

  FIG. 10 is a control block diagram showing the configuration of the speed / tension control unit (B) 27-2, and FIG. 11 is a control block diagram showing the speed / tension control unit (B) 27-2 by a transfer function. is there. Referring to FIG. 5, FIG. 10, and FIG. 11, in addition to the first and second normative model speed cooperative controllers 30, 41, the tension estimating unit 51, and the adaptive estimated tension control unit 52 described above, the second The roll control device having the load feedforward compensation unit 53 will be further described.

  The second load feedforward compensation unit 53 includes feed roll radius compensators 54 and 59, an adder 55, a second control target 56, a subtractor 57, and a second feedforward controller 58.

The feed roll radius compensator 54 receives the estimated tension T ^ as input, multiplies the estimated tension T ^ by the feed roll radius r ₂ ^ and outputs the obtained estimated tension torque s16 to the adder 55.

The adder 55 receives the estimated tension component torque s16 and the third basic torque pre-correction command value s15, adds the estimated tension component torque s16 and the third basic torque pre-correction command value s15, and obtains the obtained tension correction component. The torque command value s17 is output to the second controlled object 56. When the tension correction torque command value s17 is added to the second controlled object 56, the estimated speed s18 of the second electric motor 21 is output to the subtractor 57 by the tension correction torque command value s17. That is, the estimated speed s18 is obtained by multiplying the tension correction torque command value s17 by the reciprocal of the _second moment of inertia J ₂ ^ and integrating the obtained result with time.

Subtractor 57 receives as input the estimated speed s18 the second speed detection value omega _2, the second speed detection value omega ₂ is subtracted from the estimated speed s18, the estimated speed deviation s19 obtained second feedforward control Output to the device 58.

Second feedforward controller 58 is composed of a gain constant K _2, and inputs the estimated speed deviation s19, the second electric motor 21 and the speed control so that the estimated speed deviation s19 becomes zero, the correction tension as the control signal s20 is sent out and output to the roll radius compensator 59.

The delivery roll radius compensator 59 receives the corrected tension s20 as input, multiplies the corrected tension s20 by the delivery roll radius r ₂ ^, and outputs the obtained corrected torque value s21 to the adder 60.

  The adder 60 inputs the third basic torque pre-correction command value s15 and the correction torque value s21, adds the third basic torque pre-correction command value s15 and the correction torque value s21, and obtains the obtained third basic torque. The command value s22 is output to the gain compensator 50.

The gain compensator 50 receives the third basic torque command value s22, multiplies the third basic torque command value s22 by the gain constant 1 / K _T, and uses the obtained second torque command value τ ₂ ^* as the first value. 2 to the control object 76. Here, K _T represents the torque constant of the second electric motor 21.

  The roll control device of the present invention can suppress the speed fluctuation due to the load fluctuation by the load feedforward compensation of the second load feedforward compensation unit 53 and can suppress the tension fluctuation of the sheet material 1. Further, a dancer roll that absorbs fluctuations in the tension of the sheet material 1 becomes unnecessary. Further, in practice, speed fluctuation due to load fluctuation can be suppressed by load feedforward compensation of the first load feedforward compensation unit 34 instead of mechanical loss compensation and viscous resistance compensation in FIG.

  FIG. 12 shows a sheet material 1 when functions of a reference model speed cooperative control, an estimated tension feedback control, an adaptive estimated tension control, and a load feedforward control are added based on a roll control device of a tension open loop control system. It is a figure which shows the simulation result of the tension | tensile_strength fluctuation | variation. The horizontal axis indicates the elapsed time t, which is 2 seconds / 1 scale. The vertical axis indicates the voltage V of the linear velocity V of the transport roll 8 and the feed roll 2 and the tension T of the sheet material 1, and the 10 scale on the vertical axis is 100%. CH1 is the linear speed of the transport roll 8, CH2 is the linear speed of the feed roll 2, that is, the line speed of the sheet material 1, and CH3 is the tension of the sheet material 1. The CH1 zero volt position is the 20% position on the vertical axis, the CH2 zero volt position is the 30% position on the vertical axis, and the CH3 zero volt position is the 50% position on the vertical axis.

  In the graph (A), the tension control of the sheet material 1 is open loop control, and the inertia compensation is performed for the first and second electric motors 20 and 21, and the load is applied only to the first electric motor 20. The tension T of the sheet material 1 and the linear velocity V of the transport roll 8 and the feed roll 2 with respect to the elapsed time t in the case of using a roll control device with feedforward compensation are shown.

  The graph (B) shows the tension T of the sheet material 1 and the linear speed V of the transport roll 8 and the feed roll 2 with respect to the elapsed time t when using a roll control device having further reference model speed cooperative control.

  The graph (C) further shows the tension T of the sheet material 1 with respect to the elapsed time t and the linear velocity V of the transport roll 8 and the delivery roll 2 when using a roll control device having estimated tension feedback control and adaptive estimated tension control. Indicates.

  The graph (D) further shows the tension T of the sheet material 1 and the linear velocity V of the transport roll 8 and the feed roll 2 with respect to the elapsed time t when using a roll control device having load feedforward control.

  The graph (E) shows the tension T of the sheet material 1 with respect to the elapsed time t, the transport roll 8 and the feed roll 2 when using a roll control device having a normative model speed cooperative control, an estimated tension feedback control, and a load feedforward control. The linear velocity V is shown.

  The graph (A) shows the tension control of the sheet material 1 in the roll control device that performs tension open loop control as the reference state of the simulation, first and second inertia compensation, and load feedforward compensation that is applied only to the first motor 20. The tension setting value is 2.7 scale, and the tension deviation is approximately 1.7 scale on one side at the maximum. Therefore, the tension fluctuation rate is approximately 63%.

  Graph (B) shows a case where the normative model speed coordinated control is further added to the reference state, and the tension deviation is about 0.4 on one side maximum. Therefore, the tension fluctuation rate is approximately 15%.

  Graph (C) is a case where estimated tension feedback control and adaptive estimated tension control are further added, and the tension deviation is approximately 0.05 scale on one side maximum. Therefore, the tension fluctuation rate is approximately 2%.

  Graph (D) shows a case where load feedforward control is further added, and the tension deviation is about 0.05 scale on one side at the maximum. Therefore, the tension fluctuation rate is approximately 2%. The frequency of tension fluctuation is less than that of graph (C).

  Graph (E) shows the case where the normative model speed cooperative control, the estimated tension feedback control, and the load feedforward control are added to the reference state, and the tension deviation is about 0.2 scale. Therefore, the tension fluctuation rate is approximately 7%.

  According to the above simulation results, by adopting the normative model speed cooperative control, the tension fluctuation can be improved by about 75% compared to the tension open loop control, and further, by adding the estimated tension feedback control and the adaptive estimated tension control, Compared to the tension open loop control, it can be improved by about 97%, and the frequency of tension fluctuation can be further reduced by adding the load feedforward control. It can also be seen that the tension variation can be improved by about 90% compared to the tension open loop control by the normative model speed cooperative control, the estimated tension feedback control and the load feedforward control.

The above description is a case of a roll control device that is not equipped with a tension detector that detects the tension T of the sheet material 1. In the roll control apparatus according to the present invention, as shown in the control block diagram having the tension detector 24 shown in FIG. 13, the estimated tension unit 51 in the control block diagram of the roll control apparatus shown in FIG. It goes without saying that the tension T of the sheet material 1 can be controlled to the tension command value T ^* by replacing the output T of the tension detector 24 instead of the output T ^. Here, in order to reduce noise on the output signal of the tension detector 24, the tension T is obtained through a first-order lag filter 74 having _a filter time constant, for example, 10 / Ta radians per second.

  In the embodiment according to the present invention, the sheet material 1 unwound from the delivery roll 2 is conveyed to the next step by the conveyance roll 8, that is, the sheet material 1 is conveyed from the delivery roll 2 toward the conveyance roll 8. Although it is an example of the unwinding control applied to the roll control device, conversely, a roll control device that transports the sheet material 1 from the transport roll 8 in the direction of the feed roll 2, in other words, the sheet material fed from the transport roll 8 The present invention can also be applied to a roll control device that winds 1 with a winding roll, that is, winding control.

It is a control block diagram which shows 1st Embodiment of the roll control apparatus which concerns on this invention. It is the control block diagram which represented the roll control apparatus shown in FIG. 1 with the transfer function. It is a control block diagram of a speed control unit in the roll control device according to the present invention. It is a control block diagram of the speed / tension control unit (A) in the roll control device according to the present invention. It is a control block diagram which shows 2nd Embodiment of the roll control apparatus which concerns on this invention. It is a control block diagram of a tension estimating unit in the roll control device according to the present invention. It is the control block diagram which represented the tension estimation part with the transmission function. It is a control block diagram of an adaptive estimated tension controller in the roll control device according to the present invention. It is a control block diagram showing an adaptive estimation tension controller by a transmission function. It is a control block diagram of the speed / tension control part (B) in the roll control apparatus which concerns on this invention. It is the control block diagram which represented the speed / tension control part (B) with the transmission function. Shows the simulation results of the tension fluctuation of the sheet material when the roll control device of the tension open loop control system is added with the functions of standard model speed coordinated control, estimated tension feedback control, adaptive estimated tension control, and load feedforward control. FIG. It is a control block diagram showing an embodiment of a roll control device using a tension detector. It is a figure which shows the structure of the conventional sending-out roll conveyance control apparatus. It is a control block diagram of the conventional speed control apparatus. FIG. 16 is a control block diagram representing the speed control device of FIG. 15 by a transfer function.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Sheet material 2 Delivery roll 3 Delivery roll drive device 4 Delivery roll control device 5 Tension setting device 8 Conveyance roll 9 Conveyance roll drive device 10 Conveyance roll control device 11 Speed setting device 12 Speed detector 20 1st electric motor 21 2nd electric motor Electric motor 22 First angular velocity detector 23 Second angular velocity detector 24 Tension detector 25 Line speed command value setter 26 Speed controller 27-1 Speed / tension controller (A)
27-2 Speed / Tension Control Unit (B)
28 Reciprocal Compensator for Transport Roll Radius 29 First Inertia Acceleration Compensator 30 First Reference Model Speed Coordinating Controller 32 First Speed Controller 34 First Load Feedforward Compensator 37 First Feedforward Controller 39 Reciprocal Compensator for Feed Roll Radius 40 Second Inertia Acceleration Compensator 41 Second Reference Model Speed Coordinating Controller 43 Second Speed Controller 44, 45, 54, 59 Feed Roll Radius Compensator 47 Viscous Resistance Compensator DESCRIPTION OF SYMBOLS 50 Gain compensator 51 Tension estimation part 52 Adaptive estimation tension controller 53 2nd load feedforward compensation part 58 2nd feedforward controller 61 1st primary delay element compensator 62 1st inertia / viscosity compensator 63 Second primary delay element compensator 64 Second inertia / viscosity compensator 68 Other first delay element compensator 69 Function unit 71 Multiplier 2 gain adaptive controller 73 Mekarosutoruku the PI controller tau ₁ ^* first torque command value tau ₂ ^* second torque command value tau _L1 ^ first motor tau _L2 ^ Mekarosutoruku D ₁ of the second electric motor ^ Viscosity resistance constant on the first motor side D ₂ ^ Viscosity resistance constant on the second motor side V ^* Line speed command value of the sheet material J ₁ ^ Inertia moment setting value of the first control object J ₂ ^ Second actual moment of inertia J ₂ second actual moment of inertia omega ₁ first speed detection value omega ₂ second speed detection value K DC tension control object moment of inertia of the controlled object set value J ₁ first control object Gain constant ω _{C reference} model Response angular frequency of speed coordinated control ω _D Response angular frequency of tension control 1 / _Ti integral gain

Claims (11)

Drive control of a first electric motor that is connected to a conveying roll that sends out the sheet material that has been unwound from a feed roll obtained by winding a long sheet material into a cylindrical shape to a next process, and a second motor that is connected to the feed roll In the roll control device that controls the speed and tension of the sheet material to each target value,
A line speed command value setting means for setting a line speed command value of the sheet material;
First inertia compensation means for compensating a first inertial acceleration torque for accelerating the first motor having a first moment of inertia;
Second inertia compensation means for compensating a second inertia acceleration torque for accelerating the second motor having a second moment of inertia;
The first angular velocity command value corresponding to the angular velocity of the first motor is input according to the line speed command value so that the speed of the first motor cooperates with the speed of the second motor, and the first First reference model speed cooperative control means for outputting a reference model angular speed command value;
The second angular velocity command value corresponding to the angular velocity of the second motor is input according to the line speed command value so that the speed of the second motor cooperates with the speed of the first motor, and the second Second reference model speed cooperative control means for outputting a reference model angular speed command value;
A torque value output according to a speed deviation between the first reference model angular velocity command value and a first angular velocity detection value detected by a first angular velocity detection means connected to the first motor is used as a control signal. First speed control means for controlling the angular speed of the first motor;
A first torque command value for adding a torque value to be output according to the speed deviation to the first inertial acceleration torque is input, and a first torque correction value for correcting the first torque command value is output. 1 load feedforward compensation means;
The tension value output according to the speed deviation between the second reference model angular velocity command value and the second angular velocity detection value detected by the second angular velocity detection means connected to the second motor is used as a control signal. Second speed control means for controlling the angular speed of the second electric motor;
A roll control device comprising: The first reference model speed cooperative control means includes:
The first angular velocity command value is input, compensated by a first-order lag element, and the first reference model angular velocity command value is output so that the first motor cooperates with the second motor at a response angular frequency. And
The second normative model speed cooperative control means includes:
The second angular velocity command value is input and compensated with a first-order lag element, and the second motor is coordinated with the first motor at the same response angular frequency as the response angular frequency. The roll control apparatus according to claim 1, wherein a reference model angular velocity command value is output. The first load feedforward compensation means includes:
The first torque command value is added to the first control target, and the obtained first estimated speed and the first angular velocity detection value are input, and the first estimated speed and the first angular velocity detection value are Subtracting means for outputting the first estimated speed deviation of
First feedforward control means for receiving the first estimated speed deviation, multiplying the first estimated speed deviation by a gain constant, and outputting the first torque correction value;
The roll control device according to claim 1, wherein: Tension output means for outputting a tension output value applied in the conveying direction of the sheet material;
Tension command value setting means for setting the tension command value of the sheet material;
A torque value output according to a tension deviation between the tension command value and the tension output value as a control signal, tension control means for controlling the tension of the sheet material,
The roll control device according to claim 1, further comprising:   The roll control device according to claim 4, wherein the tension output unit includes a tension detector or a tension estimator. The tension estimator is
First primary delay element compensation means for inputting a torque command value of the first motor and outputting a first primary delay compensation torque command value for compensation with a primary delay element;
Second primary delay element compensation means for inputting a torque command value of the second electric motor and outputting a second primary delay compensation torque command value to be compensated by a primary delay element;
The first inertia torque obtained by multiplying the first moment of inertia converted to the circumference of the first motor by the time differential value of the first angular velocity detection value, using the first angular velocity detection value as input. , Multiplying the viscosity resistance constant of the first motor by the first angular velocity detection value, adding the obtained first viscosity component torque, and compensating the obtained torque with the first-order lag element. First inertia / viscosity compensation means for outputting an inertia / viscosity torque;
First subtracting means for subtracting the first inertia / viscous component torque from the first primary delay compensation torque command value and outputting a first estimated tension component torque;
Using the second angular velocity detection value as an input, a second inertia moment obtained by multiplying a second moment of inertia converted to around the second motor by a time differential value of the second angular velocity detection value, and The second inertia obtained by multiplying the viscosity resistance constant of the second electric motor by the second angular velocity detection value, adding the obtained second viscosity component torque, and compensating the obtained torque with the first-order lag. / Second inertia / viscosity compensation means for outputting a viscosity component torque;
Second subtracting means for subtracting the second inertia / viscous component torque from the second primary delay compensation torque command value and outputting a second estimated tension component torque,
Third subtracting means for subtracting the second tension estimated torque from the first tension estimated torque and outputting an obtained tension estimated torque deviation;
The other primary delay element compensation means for outputting the estimated torque deviation for the primary delay compensation tension that receives the estimated torque deviation for the tension and compensates with another primary delay element;
The estimated torque deviation for the primary delay compensation tension is input, the radius of the transport roll and the radius of the feed roll are added to the estimated torque deviation of the primary delay compensation tension, and the reciprocal of the total radius obtained is multiplied. A function unit for outputting the obtained estimated tension;
The roll control device according to claim 5, comprising:   The roll control device according to any one of claims 4 to 6, wherein the tension control unit includes a proportional-integral control unit having a gain proportional to the square of the tension deviation.   A second load feedforward compensation means for inputting a second torque command value and a tension output value to be applied to the second electric motor and outputting a second torque correction value for correcting the second torque command value; It has, The roll control apparatus in any one of Claims 4-7 characterized by the above-mentioned. The second load feedforward compensation means includes:
Feeding roll radius compensation means for receiving the tension output value as input and outputting torque corresponding to the tension output value applied to the feeding roll;
The second torque command value and the torque corresponding to the tension output value are input, the torque corresponding to the tension output value is added to the second torque command value, and a second estimated torque command value obtained is output. Adding means for
The second estimated torque command value is added to the second control target, the obtained second estimated speed and the second angular velocity detection value are input, and the second angular velocity detection value is calculated from the second estimated speed. Subtracting means for subtracting and outputting the resulting second estimated speed deviation;
Second feedforward control means for taking the second estimated speed deviation as an input, multiplying the second estimated speed deviation by a gain constant, and outputting a corrected tension value;
Sending roll radius compensation means for taking the corrected tension value as an input, multiplying the corrected tension value by the feeding roll radius, and outputting the obtained second torque correction value;
The roll control device according to claim 8, comprising: Drive control of a first electric motor that is connected to a conveying roll that sends out the sheet material that has been unwound from a feed roll obtained by winding a long sheet material into a cylindrical shape to a next process, and a second motor that is connected to the feed roll In the roll control device that controls the tension of the sheet material to a target value,
A line speed command value setting means for setting a line speed command value of the sheet material;
First inertia compensation means for compensating a first inertial acceleration torque for accelerating the first motor having a first moment of inertia;
Second inertia compensation means for compensating a second inertia acceleration torque for accelerating the second motor having a second moment of inertia;
The first normative model is inputted with the first angular speed command value of the first motor converted based on the line speed command value so that the speed of the first motor cooperates with the speed of the second motor. First reference model speed cooperative control means for outputting an angular speed command value;
The second normative model is inputted with the second angular speed command value of the second motor converted based on the line speed command value so that the speed of the second motor cooperates with the speed of the first motor. Second reference model speed cooperative control means for outputting an angular speed command value;
A torque value output according to a speed deviation between the first reference model angular velocity command value and a first angular velocity detection value detected by a first angular velocity detection means connected to the first motor is used as a control signal. First speed control means for controlling the speed of the first electric motor;
The tension value output according to the speed deviation between the second reference model angular velocity command value and the second angular velocity detection value detected by the second angular velocity detection means connected to the second motor is used as a control signal. Second speed control means for controlling the speed of the second electric motor;
Tension output means for outputting the tension output value of the sheet material;
First load feedforward compensation means for inputting a first torque command value to be applied to the first motor and outputting a first torque correction value for correcting the first torque command value;
The second torque command value to be applied to the second motor, the torque corresponding to the tension value of the sheet material, and the torque corresponding to the tension output value are input, and a second torque correction value for correcting the second torque command value is output. Second load feedforward compensation means for
A roll control device comprising: The first load feedforward compensation means includes:
The first torque command value is added to the first control target, and the obtained first estimated speed and the first angular velocity detection value are input, and the first estimated speed and the first angular velocity detection value are Subtracting means for outputting the first estimated speed deviation of
A first feedforward control means for receiving the first estimated speed deviation, multiplying the first estimated speed deviation by a gain constant, and outputting the first torque correction value;
And the second load feedforward compensation means includes:
Feeding roll radius compensation means for receiving the tension output value as input and outputting torque for the tension output value applied to the feeding roll;
Addition that takes the second torque command value and the torque corresponding to the tension output value as inputs, adds the torque corresponding to the tension output value to the second torque command value, and outputs the resulting second estimated torque command value Means,
The second estimated torque command value is added to the second control target, the obtained second estimated speed and the second angular velocity detection value are input, and the second angular velocity detection value is calculated from the second estimated speed. Subtracting means for subtracting and outputting the resulting second estimated speed deviation;
Second feedforward control means for taking the second estimated speed deviation as an input, multiplying the second estimated speed deviation by a gain constant, and outputting a corrected tension value;
11. The roll control according to claim 10, further comprising: a feed roll radius compensation unit that takes the corrected tension value as an input, multiplies the corrected tension value by a feed roll radius, and outputs a second torque correction value obtained. apparatus.

Images