JP4687156B2 - Winding device speed control method and speed control device - Google Patents

Description

  The present invention relates to a speed control method and a speed control device for a winding device such as a high-speed spinning winding device, and in particular, uses an inverter as a power supply device for an electric motor that drives a winding bobbin, and outputs the rotational speed of the motor to the output of the inverter. The present invention relates to a stable linear velocity control method for a winding device that makes the linear velocity constant control of the winding device variable by frequency.

  As a conventional control method used for linear speed constant control of a high-speed spinning winder or the like, a general method using an inverter which is a power supply device of an electric motor is used so that a feedback linear speed follows a given linear speed command. What performs PID (proportional integral derivative) control is known.

  FIG. 6 shows a main configuration of a speed control unit of an inverter (INV) used in a conventional winding device. In the example of FIG. 6, the inverter is used as a power supply device of an electric motor (M) 11 that rotationally drives a winding bobbin of a winding device (not shown). This inverter functionally adds a predetermined acceleration / deceleration gradient to the frequency command FR [Hz] corresponding to the linear velocity command from the controller 42 and outputs a frequency command value Fin [Hz] corresponding to the linear velocity command value. The speed reduction unit 50 and a speed control unit that variably controls the rotation speed [rpm] of the electric motor 11 by the output frequency Fout [Hz] obtained by PID calculation.

  The speed control unit corresponds to the frequency command value Fin from the acceleration / deceleration unit 50 and the linear velocity detection value detected by the speed sensor 10 including a pulse generator (PG) mechanically coupled to the drive shaft of the electric motor 11. The subtractor 51 that calculates the deviation ΔF from the frequency detection value Fb [Hz], and PID calculation so that the deviation ΔF from the subtractor 51 is always 0, and the electric motor 11 uses the PID calculation result as the output frequency Fout of the inverter. And a PID calculation unit 52 for outputting to the computer. Thereby, the linear velocity constant control of the winding device is performed by controlling the rotational velocity of the electric motor 11 so that the feedback linear velocity follows the given linear velocity command.

As a prior art related to this, in a device for winding or rewinding a wire or sheet material from one supply device to another deformed bobbin, a comparison value between a tension reference value and a tension detection value is PID-calculated, and feedback by the PID calculation output The speed is controlled so that a constant tension is maintained even with a deformed bobbin by correcting the speed change to be minimal by the control and the feedforward control in which the shape correction and the diameter correction are performed so that the output is reduced. A winding / rewinding device is known (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 08-188309

  However, when general PID control is used for linear speed constant control of the above-described conventional high-speed spinning and winding device, vibration may occur in the linear speed due to disturbance of the load even during steady operation. .

  That is, even with general PID control, constant control of the linear velocity of the winding device is possible. However, when the linear velocity becomes high (3000 m / min or more), the linear velocity during winding may vibrate. In a high-speed spinning winder, the linear velocity stability is often required to be ± 0.1% or less, and it is very difficult to adjust the PID gain in normal PID control. For example, if the PID gain is set large in order to improve responsiveness, the PID calculation result changes greatly and the linear velocity tends to hunt. If the PID gain is set small, the hunting decreases, but the transient There is a problem that it takes a very long time to return to the stable state when the load state is changed or when the linear velocity detection value is changed due to noise or the like.

  Such a change in the linear velocity during the winding operation is greatly reflected in the quality of the product, so that highly accurate and stable linear velocity control is required.

  The present invention has been made in view of the above, and the purpose thereof is to achieve stable linear velocity constant control in a winding device that performs constant linear velocity control, such as a high-speed spinning winding device, and to demand control accuracy. It is an object of the present invention to provide a speed control method and a speed control device for a winding device that can satisfy the above requirements.

In order to solve the above-mentioned problem, a speed control method for a winding device according to a first aspect of the present invention includes an electric motor that drives a bobbin that winds up a wire, and a speed detector that detects the wire speed of the wire. A speed control method that is used in a winding device and that performs feedback control of the rotational speed of the electric motor based on a detection value of the speed detector to perform constant control of the linear velocity of the wire rod, the detection value of the speed detector And a calculation step for performing PID calculation so that the given linear velocity command value becomes substantially the same, and output to the motor so that the PID calculation result becomes smaller as the rotational speed of the motor becomes lower. The correction PID calculation result is corrected depending on the magnitude of the output frequency to be converted, the corrected PID calculation result is converted into an output frequency to be output to the motor, and output to the motor at a predetermined cycle. Tsu possess a flop, said correction step, the PID calculation result of the calculating step and PID output, the output frequency at the current period of the output frequency is Fout (n), Fout output frequency in the previous cycle When the frequency command value corresponding to the linear velocity command value is Fin, the PID calculation value deviation is calculated using the PID output and the output frequency Fout (n-1) in the previous period. = Calculating the PID calculation value deviation by the equation of PID output−Fout (n−1), the PID calculation value deviation, the output frequency Fout (n−1) in the previous period, and the frequency command value Fin A step of calculating a frequency-dependent calculated value by an expression of frequency-dependent calculated value = PID calculated value deviation × (Fout (n−1) / Fin), and setting the frequency-dependent calculated value to a limit frequency. , A step of adding the frequency-dependent calculated value subjected to the limit processing and the output frequency Fout (n−1) in the previous cycle, and outputting the added result in the current cycle. And outputting to the electric motor as the frequency Fout (n).

A speed control device for a winding device according to a second aspect of the invention is used in a winding device including an electric motor that drives a bobbin that winds up a wire, and a speed detector that detects the linear velocity of the wire. A speed control device that performs feedback control on the rotational speed of the electric motor based on a detection value of the speed detector to perform constant control of the linear velocity of the wire, and the detection value of the speed detector and a given linear velocity The calculation means for performing PID calculation so that the command value is substantially the same, and the magnitude of the output frequency output to the motor so that the PID calculation result becomes smaller as the rotational speed of the motor becomes lower. depending on correcting the PID operation result to convert the PID operation result after correction in the output frequency to be output to the electric motor have a correction means for output to the electric motor at a predetermined period, the correction means The PID calculation result by the calculation means is set as a PID output, the output frequency in the current cycle of the output frequencies is Fout (n), the output frequency in the previous cycle is Fout (n−1), and the linear velocity command When the frequency command value corresponding to the value is Fin, the PID calculation value deviation = PID output−Fout (n−1) using the PID output and the output frequency Fout (n−1) in the previous period.
Using the subtractor for calculating the PID calculation value deviation by the equation: the PID calculation value deviation, the output frequency Fout (n−1) in the previous period, and the frequency command value Fin, the frequency-dependent calculation value = PID A calculation unit that calculates a frequency-dependent calculation value by an equation of calculation value deviation × (Fout (n−1) / Fin), a limiter unit that limits the frequency-dependent calculation value based on a limit frequency, and the limit processing An adder that adds the frequency-dependent calculation value and the output frequency Fout (n−1) in the previous cycle, and the addition result is output to the motor as the output frequency Fout (n) in the current cycle. It is characterized by outputting.

According to the first and second aspects of the invention, the PID calculation result is corrected and controlled by the magnitude of the output frequency output to the electric motor, thereby suppressing a steep change in the PID calculation result and satisfying the control accuracy requirement. This makes it possible to stably control the linear velocity of the winding device.

Further, in addition to the above effect, by limiting the maximum change by the limit processing, the linear velocity stability can be further improved and the winding state can be further stabilized.

  BEST MODE FOR CARRYING OUT THE INVENTION A best mode for carrying out a speed control method and a speed control apparatus for a winding device according to the present invention will be described below with reference to the drawings.

  FIG. 1 is an overall configuration diagram of a high-speed spinning winding device (hereinafter simply referred to as “winding device”) according to an embodiment of the present invention.

  The winding device 1 of the present embodiment shown in FIG. 1 is a source yarn (“yarn”) that is a linear member wound around, for example, a plurality of cylindrical bobbins B1 to Bn (n = 5 in the example in the figure). “) S1 to Sn are wound at high speed, and the cylindrical winding bobbin 2 is arranged at a predetermined position (“ winding position ”). The winding bobbin 2 simultaneously winds the yarns S1 to S5 from the respective cylindrical bobbins B1 to B5.

  A guide bobbin 3 is supported on the take-up bobbin 2 so as to be freely contacted and separated. The guide bobbin 3 guides the yarns S1 to S5 while rotating integrally with the winding bobbin 2 at a predetermined contact pressure when winding the yarns S1 to S5 by the winding bobbin 2.

  For replacement of the take-up bobbin 2, the replacement bobbin 4 is disposed at a predetermined position ("standby position"). The replacement bobbin 4 includes the same number of bobbins as the winding bobbin 2.

  The winding bobbin 2 and the exchange bobbin 4 are supported by a support mechanism 5 so as to be detachable and rotatable. The support mechanism 5 drives the winding bobbin 2 to move to the standby position and the replacement bobbin 4 to move to the winding position.

  The drive shaft of the electric motor (M) 11 is connected to the rotation shaft of the winding bobbin 2. The electric motor 11 drives the winding bobbin 2 to rotate at a predetermined rotational speed. Similarly, the drive shaft of the electric motor (M) 12 is connected to the rotating shaft of the replacement bobbin 4. The electric motor 12 drives the replacement bobbin 4 to rotate at a predetermined rotational speed.

  A full-wind sensor 35 is installed in the vicinity of the winding position of the winding bobbin 2. The full winding sensor 35 is, for example, a state in which a predetermined ratio (for example, 70%) with respect to the full winding state has been reached, as a winding state including the full winding state of the winding bobbin 2 or the exchange bobbin 4 rotating at the winding position. A state where the winding state is reached (at the time of full winding) is detected and output as a pulse before full winding and a full winding pulse, respectively.

  A speed sensor 10 composed of a pulse generator (“PG”) is directly or indirectly attached to the rotating shaft of the induction bobbin 3. The speed sensor 10 detects the rotation speed of the guide bobbin 3 as a pulse output.

  The speed sensor 10 and the electric motor 11 are electrically connected to an inverter (INV) 21 that is equipped with a speed control device that is a power supply device that drives the electric motor 11 and that variably controls the rotational speed of the electric motor 11. The inverter 21 controls the rotation speed of the electric motor 11 by variably controlling the output voltage and the output frequency supplied to the electric motor 11.

  Similarly, the speed sensor 10 and the electric motor 12 are also electrically connected to an inverter (INV) 22 that is equipped with a speed control device that variably controls the rotational speed of the electric motor 12 that drives the electric motor 12. . The inverter 22 controls the rotational speed of the electric motor 12 by variably controlling the output voltage and the output frequency supplied to the electric motor 12.

  Both inverters 21 and 22 include, as hardware configurations, a rectifying element such as a diode (not shown), a smoothing element such as a capacitor, a plurality of switching elements such as transistors, a microprocessor with a built-in memory, and the like.

  A resistor R31 is electrically connected to the inverter 21. The resistor R31 consumes the regenerative energy of the electric motor 11 (electrical energy generated by the generator operation of the electric motor 11) as thermal energy based on the inertial energy when the winding bobbin 2 is fully wound.

  Similarly, the resistor R32 is also electrically connected to the inverter 22. The resistor R32 consumes the regenerative energy of the motor 12 as heat energy based on the inertial energy when the exchange bobbin 4 is fully wound.

  A controller 42 is electrically connected to the inverter 21, the inverter 22 and the full sensor 35. The controller 42 outputs a drive control signal including a frequency command to the inverter 21 and the inverter 22 in accordance with the pre-full pulse and full pulse output from the full sensor 35.

  The winding device 1 shown in FIG. 1 is equipped with two winding bobbins, and automatically switches to the other bobbin after one bobbin has been wound. In this system, an inverter is used to perform PID control on the output frequency. Since the inverter is a power supply device that outputs a frequency and a voltage and drives the motor, the PID control controls the frequency as an input element.

  FIG. 2 shows a PID control configuration in the speed control device of the inverter 21. FIG. 2 is obtained by adding a pulse / frequency conversion unit 53 and a PID calculation result correction unit 54 to the inverter of FIG. Since the inverter 22 is similar to this, the description thereof is omitted.

  The guide bobbin 3 has a function of guiding the yarns S1 to S5 by rotating according to the rotation of the winding bobbin 2 when the yarns S1 to S5 of the winding bobbin 2 are wound, and the yarn S1 itself. Since the operation of winding up ~ S5 is not performed, a linear velocity increase due to expansion (winding thickening) due to yarn winding does not occur. Therefore, in this embodiment, the rotational speed of the guide bobbin 3 is detected by the speed sensor 10, and the rotational speed of the take-up bobbin 2 is controlled by the inverter 21 so as to keep the rotational speed constant, whereby the take-up bobbin 2 The linear velocity of the yarn wound on the wire is kept constant.

  In order to perform feedback control of the electric motor 11 via the speed sensor 10, the inverter 21 has a speed control unit that controls the rotational speed of the electric motor 11 (the rotational speed of the winding bobbin 2) as shown in FIG. 2. .

  The speed control unit receives an acceleration / deceleration unit 50 that receives a frequency command FR [Hz] corresponding to the linear velocity command from the controller 42, and a frequency detection value Fb [that corresponds to the linear velocity detection value from the pulse / frequency conversion unit 53. Hz] and a frequency command value Fin [Hz] corresponding to the linear velocity command value from the acceleration / deceleration unit 50, and a PID calculation unit 52 connected to the output side of the subtraction unit 51.

  The acceleration / deceleration unit 50 sets an acceleration / deceleration time constant of the frequency command FR [Hz] supplied from the controller 42. The acceleration time constant means a time until the motor 11 in a stopped state reaches a maximum frequency (for example, 300 [Hz]) set based on V (voltage) / F (frequency) constant control, and a deceleration time constant. The term “time” means that the electric motor 11 is in the operation stop state of 0 [Hz] from the operation state of the maximum frequency 300 [Hz].

  The subtraction unit 51 subtracts the frequency detection value Fb from the frequency command value Fin for which the acceleration / deceleration time constant has been set by the acceleration / deceleration unit 50 to obtain the deviation ΔF.

  The PID calculation unit 52 performs PID calculation so that the deviation ΔF is always 0, and includes a proportional calculation unit, an integral calculation unit, a differential calculation unit, and an addition unit.

  The proportional calculation unit multiplies the deviation ΔF by a predetermined proportional gain P to obtain a proportional calculation value P * ΔF. The integral calculation unit multiplies the deviation ΔF by a predetermined integral gain I and integrates the calculated value I * ΔF over time to obtain an integral calculated value. The differential calculation unit multiplies the deviation ΔF by a predetermined differential gain D, and temporally differentiates the calculated value D * ΔF to obtain a differential calculated value. The addition unit adds the proportional calculation value, the integral calculation value, and the differential calculation value, and outputs the addition value (PID calculation result) to the PID calculation result correction unit 54.

  As shown in FIG. 3, the pulse / frequency conversion unit 53 performs gain adjustment (× G) after converting the pulse output [rad / s] detected by the speed sensor 10 into the rotation speed [rpm], and gain adjustment is performed. The number of rotations converted into a frequency [Hz] is converted and output to the subtraction unit 51 as a frequency detection value Fb (for example, Fb = 300 [Hz]).

  In the present embodiment, in addition to the PID control configuration of the inverter shown in FIG. 6, two types of control are performed on the output of the PID calculation result, that is, (1) the calculation of correcting the output of the PID calculation result by the output frequency is performed ( 2) A configuration in which a limiter is added to the calculation result is added.

  In general, the motor rotation speed of the high-speed winding device is high at the beginning of winding, but gradually decreases as the winding time elapses. Therefore, the output frequency of the inverter is also gradually controlled to a low frequency. That is, as the output frequency of the inverter decreases, the PID calculation result is greatly reflected in the change in the output frequency of the inverter. Therefore, in the present embodiment, the inverter 21 includes a PID calculation result correction unit (correction unit) 54 for performing correction control so that the PID calculation result decreases as the output frequency decreases.

  The PID calculation result correction unit 54 outputs the output frequency Fout (n−1) in the previous cycle (the previous frequency output from the inverter 21 to the electric motor 11) and the PID calculation unit 52. The subtraction unit 61 that subtracts the output frequency Fout (n−1) in the previous cycle output from the previous frequency input unit 60 from the PID calculation result in the current cycle to obtain the deviation, and the output side of the subtraction unit 61 , A frequency dependent calculation unit 62, a limiter unit 63, and an addition unit 64, which are sequentially connected to each other.

  Here, a calculation example by the PID calculation result correcting unit 54 will be described.

  In general, PID control is repeatedly calculated at a constant cycle, the output frequency in the previous cycle is Fout (n-1), the output frequency in the current cycle is Fout (n), and the frequency command value is Fin. .

  The PID calculation result (PID output) output from the PID calculation unit 52 is the output frequency in the conventional example, but in this embodiment, the output frequency is not output to the motor 11 as it is, and is subtracted by the subtraction unit 61 according to the following formula: The deviation between the PID output and the output frequency Fout (n−1) in the previous cycle is calculated.

PID calculation value deviation = PID output−Fout (n−1) (Expression 1)
In this case, if the PID calculation value deviation, which is the calculation result of Equation 1, is large, the PID output changes sharply and the linear velocity is hunted.

  Therefore, the frequency dependent calculation unit 62 performs a calculation depending on the magnitude of the output frequency based on the result of the above expression 1 as in the following expression.

Frequency dependent calculation value = PID calculation value deviation × (Fout (n−1) / Fin) (Expression 2)
The calculation of Equation 2 above is equivalent to reducing the PID calculation value deviation by the ratio of the magnitude of the frequency command value Fin and the output frequency Fout (n−1) in the previous cycle.

  In order to further suppress the steep change in the PID output after the calculation of Equation 2, the calculated frequency-dependent calculation value is set by the limiter unit 63 according to the limit frequency of the resolution set in advance with a predetermined setting resolution. Apply limit processing with positive and negative. At this time, the limit frequency can be arbitrarily set by the user in units of frequency, for example. In order to improve the limit accuracy, the setting resolution is preferably 0.01 Hz, for example.

  The adder 64 finally adds the frequency-dependent calculation value subjected to the limit processing as described above to the output frequency Fout (n−1) in the previous cycle, and the addition result is obtained in the current cycle. The output frequency Fout (n) is output to the electric motor 11.

  FIG. 4 is a graph showing the motor rotation speed-winding time characteristic of the winding device based on the experimental result of this embodiment, and FIG. 5 is a graph showing the motor rotation speed-winding time characteristic of the winding device based on the experimental result of the conventional example. It is shown. In this experiment, when the linear velocity of the winding device is 3200 m / min and the output frequency Fout of the inverter 21 is variably controlled from 120 [Hz] to 30 [Hz] in 60 minutes, the motor rotational speed of the winding device minus the winding The time characteristics are examined. According to the results of both experiments, in the conventional example, a rotation ripple was generated when the motor rotation speed of the winding device was high. In this example, it was confirmed that the generation of such a rotation ripple was greatly suppressed. It was done. As a result, in this embodiment, the PID calculation result can be corrected and controlled by the magnitude of the output frequency, and the maximum change can be limited by the limit processing. As a result, a steep change in the PID output (PID calculation result) can be achieved. It was found that the linear velocity constant control of the high-speed spinning and winding device can be suppressed and stabilized.

  Therefore, according to the present embodiment, the linear velocity constant control uses a velocity sensor or the like that detects the linear velocity, and gives this linear velocity detection information to the inverter that is a power supply device for driving the electric motor. In the configuration in which the PID linear velocity constant control is performed so that the linear velocity detection value and the linear velocity command value are substantially the same, a change is given to the PID calculation result when the motor rotation speed is high and the calculation result when the motor rotation speed is low. Since the PID calculation result is corrected smaller as the speed is lower, the high-speed winding state can be stabilized. In addition, since the limiter mechanism restricts the PID calculation result from being excessively output, the high-speed winding state can be further stabilized. In this way, in the present embodiment, it is possible to realize high-precision linear velocity constant control of the high-speed spinning apparatus with an inexpensive system configuration that is easy to adjust and does not require additional peripheral devices.

  Note that the present invention is not limited to the above-described embodiment, and the above-described embodiment can be variously modified and implemented within the scope belonging to the present invention.

It is a schematic block diagram which shows the whole structure of the winding apparatus which concerns on embodiment of this invention. It is a schematic block diagram which shows the PID control structure in the speed control apparatus of the inverter shown in FIG. It is a schematic block diagram which shows the pulse / frequency conversion part shown in FIG. It is a graph which shows the motor rotational speed-winding time characteristic of the winding apparatus by the experimental result at the time of using the PID control structure shown in FIG. 2 (Example). It is a graph which shows the motor rotational speed-winding time characteristic of the winding apparatus by the experimental result at the time of using the PID control structure shown in FIG. 6 (conventional example). It is a schematic block diagram which shows the PID control structure of a prior art example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Winding device 2 ... Winding bobbin 3 ... Guidance bobbin 4 ... Replacement bobbin 5 ... Support mechanism 10 ... Speed sensor (PG)
21, 22 ... Inverter (INV)
35 ... Full winding sensor 42 ... Controller 50 ... Acceleration / deceleration unit 51 ... Subtraction unit 52 ... PID calculation unit 53 ... Pulse / frequency conversion unit 54 ... PID calculation result correction unit 60 ... Previous frequency input unit 61 ... Subtraction unit 62 ... Frequency dependence Calculation unit 63 ... Limiter unit 64 ... Adder unit

Claims (2)

Used in a winding device including an electric motor that drives a bobbin that winds up a wire, and a speed detector that detects a linear velocity of the wire, and the rotational speed of the electric motor is fed back based on a detection value of the speed detector A speed control method for controlling and performing a constant linear velocity control of the wire,
A calculation step of performing a PID calculation so that a detection value of the speed detector and a given linear velocity command value are substantially the same;
The PID calculation result is corrected depending on the output frequency output to the motor so that the PID calculation result becomes smaller as the rotation speed of the motor becomes lower, and the corrected PID calculation result is calculated as is converted into the output frequency to be output to the motor have a correction step of outputting to the motor at a predetermined period,
The correction step includes
The PID calculation result in the calculation step is set as a PID output, the output frequency in the current cycle of the output frequencies is Fout (n), the output frequency in the previous cycle is Fout (n−1), and the linear velocity command value When the frequency command value corresponding to is Fin,
Using the PID output and the output frequency Fout (n−1) in the previous period,
PID calculation value deviation = PID output−Fout (n−1)
A step of calculating a PID calculation value deviation by the following formula:
Using the PID calculation value deviation, the output frequency Fout (n−1) in the previous period, and the frequency command value Fin,
Frequency-dependent calculation value = PID calculation value deviation × (Fout (n−1) / Fin)
A step of calculating a frequency-dependent calculation value by the following formula:
Limiting the frequency-dependent calculation value based on a limit frequency;
Adding the frequency-dependent calculated value subjected to the limit processing and the output frequency Fout (n−1) in the previous period;
And a step of outputting the added result to the electric motor as the output frequency Fout (n) in the current cycle. Used in a winding device including an electric motor that drives a bobbin that winds up a wire, and a speed detector that detects a linear velocity of the wire, and the rotational speed of the electric motor is fed back based on a detection value of the speed detector A speed control device for controlling and performing a constant control of the linear velocity of the wire,
  A calculation means for performing a PID calculation so that a detection value of the speed detector and a given linear velocity command value are substantially the same;
  The PID calculation result is corrected depending on the output frequency output to the motor so that the PID calculation result becomes smaller as the rotation speed of the motor becomes lower, and the corrected PID calculation result is calculated as Correction means for converting to an output frequency to be output to the electric motor and outputting to the electric motor at a predetermined cycle,
  The correction means includes
  The PID calculation result by the calculation means is set as a PID output, the output frequency in the current cycle of the output frequencies is Fout (n), the output frequency in the previous cycle is Fout (n−1), and the linear velocity command value When the frequency command value corresponding to is Fin,
  Using the PID output and the output frequency Fout (n−1) in the previous period,
  PID calculation value deviation = PID output−Fout (n−1)
A subtraction unit for calculating a PID calculation value deviation by the formula:
  Using the PID calculation value deviation, the output frequency Fout (n−1) in the previous period, and the frequency command value Fin,
  Frequency-dependent calculation value = PID calculation value deviation × (Fout (n−1) / Fin)
A calculation unit for calculating a frequency-dependent calculation value with the formula of
  A limiter unit for limiting the frequency-dependent calculation value based on a limit frequency;
  An adder for adding the frequency-dependent calculated value subjected to the limit process and the output frequency Fout (n−1) in the previous period;
  A speed control device for a winding device, wherein the summed result is output to the electric motor as the output frequency Fout (n) in the current cycle.

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