JP5123799B2 - Speed tension control device - Google Patents

Description

  The present invention is used, for example, in a yarn gluing device for gluing a yarn conveyed along a conveying line, and used for a yarn conveying device for conveying a yarn from an upstream side to a downstream side along a predetermined conveying line. The present invention relates to a control device.

  A yarn gluing device for textile products applies gluing to a fine yarn while conveying a large number of fine yarns, and includes a yarn conveying device for conveying the yarn. The yarn conveying device includes a delivery beam in which a large number of fine yarns are wound around the outer periphery, and a take-up beam in which a large number of fine yarns fed from the delivery beam are glued and wound around the outer periphery. A plurality of these yarns are rotatably arranged on a conveyance line between the delivery beam and the take-up beam, and are driven to rotate in a state where a large number of fine yarns are suspended, thereby conveying the fine yarns along the conveyance line. And a plurality of transport rolls.

  According to this yarn gluing device, a large number of fine yarns are fed out from a delivery beam, aligned by a scissors, conveyed to a feed roll on the downstream side thereof, and passed through the feed roll for gluing further downstream. It is conveyed toward the sizing roll. A large number of fine yarns are glued by a sizing roll, sent into the hot air drying device, and while passing through the hot air drying device, the glue surface adhering to the fine yarn is dried by hot air.

  Next, the large number of fine yarns that have passed through the hot air drying device are wound and conveyed while being in contact with the outer peripheral surfaces of a plurality of cylinder rolls for drying. These cylinder rolls are heated by steam supplied to the inside thereof, and a large number of glued fine yarns are finished and dried to a predetermined moisture content by these cylinder rolls. The yarn dried by the cylinder roll is then conveyed to a cooling device on the downstream side of the cylinder roll and cooled by passing through the cooling device.

  A large number of fine yarns cooled by the cooling device are conveyed to a take-up beam by take-up rolls arranged on the downstream side thereof, and wound around the outer periphery of the take-up beam. A feed roll, a sizing roll, a cylinder roll, and a take-up roll are provided with a guide roll for bringing a large number of fine yarns into contact with the outer peripheral surface of each roll.

  In the present specification, the sending beam and the winding beam are collectively referred to as “pound beam”, and the feed roll, sizing roll, cylinder roll, and take-up roll are collectively referred to as “conveying roll”.

  In addition, the yarn conveying device of the yarn gluing device includes a plurality of drive servo motors for individually rotating and driving the delivery beam, feed roll, sizing roll, cylinder roll, take-up roll, and take-up beam. Are configured so that a large number of fine yarns are transported from upstream to downstream along the transport line by rotationally driving each bobbin beam and each transport roll by these servo motors. Has been.

  By the way, in a yarn gluing device having such a yarn conveying device, it is required to adjust and maintain the tension acting on the fine yarn (hereinafter referred to as “yarn tension”) as uniformly as possible and is to be conveyed. It is an extremely important issue to adjust the yarn tension acting on a large number of fine yarns to an appropriate value (appropriate target value).

  This is because, if excessive yarn tension acts on the fine yarn, the strength and elongation of the fine yarn decreases, causing thread breakage. On the other hand, if excessive yarn tension acts on the fine yarn, This is because, as a result of the entanglement of the yarns or the bottom shift in the hot air drying apparatus, the fine yarns may fall off or become fuzzy. Moreover, when such a problem occurs in the thin yarn, the operation of the yarn gluing device must be stopped in order to eliminate the problem, and a great deal of labor is required for the recovery. .

  For this reason, various control methods and control methods have been proposed for the yarn conveyance device in order to convey the yarn while adjusting the yarn tension and extension amount of the yarn conveyed along the conveyance line. As one example, a so-called synchronization ratio control method is known.

  Briefly speaking, this synchronization ratio control method is a predetermined control section, for example, between a transmission beam and a feed roll (hereinafter referred to as “transmission section”), or between a take-up roll and a winding roll (hereinafter referred to as “winding roll”). For the section ")", the control section is set to a predetermined value by adjusting the rotation speed ratio between the rotation speed of the bobbin beam or the conveyance roll on the upstream side and the rotation speed of the conveyance roll or the winding roll on the downstream side. It is intended to give a predetermined yarn tension to the yarn moving at a speed of.

For example, according to this synchronization ratio control method, by adjusting the rotation speed of the delivery beam to be smaller than the rotation speed of the feed roll or the rotation speed of the take-up beam to be larger than the rotation speed of the take-up roll, Tension (extension) is applied to the yarn moving in the winding section, and as a result, the necessary thread tension is applied to the yarn moving in the feeding section or the winding section.
Japanese Patent No. 3312664

  However, in the above-described synchronization ratio control method, when calculating the rotational speed command of the bobbin beam, the actual winding diameter value of the bobbin beam may be used, and the winding diameter value of the bobbin beam needs to be known. There is. The winding diameter of the yarn winding beam changes with time as the yarn is sent out from the sending beam and the yarn is taken up by the winding beam, and is not a constant value.

  For this reason, in order to calculate an appropriate rotational speed command of the bobbin beam in order to make the yarn tension coincide with the target yarn tension, the current winding diameter value of the bobbin beam is set as described in Patent Document 1 above. It is necessary to collect in advance a correlation data between the total number of revolutions of the delivery beam and the winding diameter value or to measure it with a measuring instrument in a pre-processing step for winding the yarn.

  In particular, with respect to the former method of collecting correlation data of the total number of rotations and the winding diameter value of the transmission beam, it is necessary to individually collect correlation data for different transmission beams, resulting in extremely complicated operations. There was a problem. For the latter method of measuring the winding diameter value, for example, when the measurement accuracy of the measuring instrument is low or the measurement environment by the measuring instrument is poor, the control performance is reduced due to the measurement error of the winding diameter value. There was a problem that there was a risk of being invited.

  Therefore, in order to solve the above-described problems, the present invention sets the yarn tension acting on the yarn in the control section including the bobbin beam as the target yarn tension even if the current winding diameter value of the bobbin beam is unknown. It is an object of the present invention to provide a speed / tension control device for a yarn conveying device that can be adjusted to match.

In order to achieve this object, the speed tension control device according to claim 1 is provided with a bobbin beam rotatably arranged on a predetermined conveyance line and wound with a yarn around its outer periphery, and a rotation speed command for the bobbin beam. , And a bobbin beam driving means for rotationally driving the pincushion beam so as to realize the input rotation speed command, and a conveyance rotatably disposed on the conveyance line at a predetermined interval from the pincushion beam Control device related to a yarn conveying device including a roll and a conveyance roll driving unit that inputs a rotation number command for the conveyance roll and rotationally drives the conveyance roll so as to realize the input rotation number command The yarn supplied from the bobbin beam or the yarn wound up by the bobbin beam is conveyed at a reference speed V0 in a control section set between the bobbin beam and the conveyance roll. And for adjusting the yarn tension in the control section so as to coincide with the target yarn tension, and generating a rotation speed command for rotating the transport roll at a rotation speed corresponding to the reference speed V0, A conveyance roll rotation speed command means for outputting the rotation speed command to the conveyance roll drive means, and a winding diameter of the bobbin winding beam is a control amount, and the winding diameter is a deviation between a yarn tension and a target yarn tension in the control section. Assuming a virtual control system that adjusts based on the yarn tension deviation, the yarn tension deviation is input as an input amount, and the winding diameter of the bobbin beam is virtually adjusted based on the input amount. Virtual operation amount calculation means for calculating and outputting a virtual operation amount for output, and the virtual operation amount output from the virtual operation amount calculation means as a virtual winding diameter correction value which is a correction value of the virtual winding diameter of the bobbin beam Convert, Is added to the previously used virtual winding diameter of the yarn winding beam, thereby calculating and outputting a new virtual winding diameter, and output from the virtual winding diameter calculating means. When the virtual winding diameter is D1c [m], the circumference is π, and the reference speed of the yarn in the control section is V0 [m / min], the rotational speed command N1 * [rpm ] In the following first equation:
N1 * = V0 / (πD1c) ………………………………………… (Formula 1)
And a bobbin beam rotation speed command means for outputting the rotation speed command N1 * to the bobbin beam driving means ,
The virtual winding diameter calculation means has a virtual winding diameter D1c (k) of the bobbin beam, where k is the time of the discrete time system and ΔMV (k) is the virtual operation amount calculated by the virtual operation amount calculation means. [M] is the following second equation:
D1c (k) = (1 + ΔMV (k)) D1c (k−1) (2nd formula)
Is calculated to satisfy
The yarn winding beam rotation speed command means uses the virtual winding diameter D1c (k) [m] calculated by the virtual winding diameter calculation means and the reference speed V0 [m / min] of the yarn, and also calculates the circumference ratio. When π is set, the rotational speed command N1 * (k) [rpm] to the pincushion beam driving means is expressed by the following third equation:
N1 * (k) = V0 / (πD1c (k)) (3rd formula)
And the rotational speed command N1 * (k) is output to the bobbin beam driving means .

  According to the speed / tension control apparatus of the first aspect, when the yarn in the control section is transported at the reference speed V0, the rotational speed corresponding to the reference speed V0 as the rotational speed command for rotating the transport roll is the transport roll. Calculated by the rotational speed command means and output to the transport roll drive means. By this transport roll driving means, the transport roll is rotationally driven at a rotational speed corresponding to the reference speed V0.

  When the yarn is conveyed through the control section at the reference speed V0 by the conveying roll, in order to apply the target yarn tension to the yarn, the rotation speed of the bobbin beam is set to the rotation speed of the conveying roll (corresponding to the reference speed V0). (The number of revolutions) is reduced by an amount corresponding to the yarn tension deviation in the control section, thereby giving a difference between the amount of yarn fed by the bobbin beam and the amount of yarn transported by the transport roll. It is necessary to stretch the yarn in

  Here, let us consider a case where the bobbin beam is rotated at a rotational speed corresponding to the reference speed V0 as in the case of the transport roll, that is, when the yarn tension is not applied to the yarn in the control section (the yarn tension is zero). Then, the yarn feed speed (yarn feed length per unit time) by the bobbin beam coincides with the reference speed V0.

In such a case, when the rotational speed [rpm] of the bobbin beam that is feeding the yarn at the reference speed V0 is N1 _{V0 = 0} , the rotational speed N1 _{V0 = 0} is expressed by the following equation (1), that is,
N1 _{V0 = 0} = V0 / (πD1) ……………………………………………… (1)
Will be satisfied.

  However, in the above formula (1), V0 is the reference speed [m / min], π is the circumference, D1 is the actual winding diameter of the bobbin beam [m], and πD1 is the circumferential length of the bobbin beam [m]. It is.

On the other hand, when the rotational speed of the bobbin beam (hereinafter referred to as “target rotational speed”) [rpm] when the thread tension in the control section is equal to the target thread tension is N1 _ref , the target rotational speed N1 _ref is The following equation (2):
N1 _ref = κV0 / (πD1)
= V0 / (π (D1 / κ)) …………………………………… (2)
It will satisfy the relationship.

However, in the above formula (2), κ (= N1 _ref / N1 _{V0 = 0} ) is the target rotational speed N1 _ref of the bobbin beam, and the rotational speed of the bobbin beam when the thread is sent out from the bobbin beam at the reference speed V0. N1 is a ratio divided by _{V0 = 0} (hereinafter referred to as “rotational speed ratio”).

  In other words, if the above equation (2) is calculated, the rotational speed command of the bobbin beam is determined so that the yarn tension deviation in the control section is zero.

  However, the actual winding diameter D1 of the bobbin beam is a variable that changes from moment to moment according to the feed amount (length) of the yarn, and must be measured sequentially during yarn conveyance. Moreover, such measurement is extremely complicated and naturally involves measurement errors.

Therefore, in the present invention, the portion of D1 / κ in the above formula (2), that is, the actual winding diameter D1 of the bobbin beam divided by the rotation speed ratio κ is used as the virtual winding diameter of the bobbin beam. The virtual winding diameter D1c [m] is considered, and a method or method for obtaining the rotational speed command N1 ^* of the bobbin beam by virtually adjusting the virtual winding diameter D1c is employed.

Specifically, the pincushion beam rotation speed command N1 ^* [rpm] is calculated by the following expression (3) by the pincushion beam rotation speed command means:
N1 ^* = V0 / (πD1c) ……………………………………………… (3)
It is calculated to satisfy

  Further, the virtual winding diameter D1c of the bobbin beam in the above formula (3) is calculated as follows.

  Here, the means for calculating the virtual winding diameter D1c constitutes a virtual control system in which the virtual winding diameter Dc1 of the yarn winding beam is a virtual control amount, and the virtual winding diameter D1c is used as the yarn tension deviation in the control section. The virtual operation amount calculation means and the virtual winding diameter calculation means are mainly provided.

  The virtual operation amount calculation means calculates a virtual operation amount that is an operation amount (change amount) of the virtual winding diameter D1c of the bobbin beam based on the input amount, and the yarn tension deviation of the control section is input as an input amount. This is output, and corresponds to the controller (control element) of the virtual control system described above.

  The virtual winding diameter calculation means corresponds to the control target (plant) of the above-described virtual control system, and the virtual operation amount output from the virtual operation amount calculation means is set to the virtual winding diameter D1c of the bobbin beam. It is converted into a virtual winding diameter correction value which is a correction value, and the virtual winding diameter correction value is added to the virtual winding diameter D1c of the yarn winding beam used last time, thereby calculating and outputting a new virtual winding diameter D1c. is there.

When a new virtual winding diameter D1c calculated and output by the virtual winding diameter calculating means is input to the bobbin winding beam rotation speed command means, the above-described equation (3) is used to calculate the bobbin beam based on the virtual winding diameter D1c. The rotational speed command N1 ^* is calculated and output to the bobbin beam driving means. By this pincushion beam driving means, the pincushion beam is rotationally driven so as to realize the input pincushion beam rotation speed command N1 ^* .

  Here, the virtual winding diameter calculation means has a virtual winding diameter D1c (k) of the bobbin beam when the time of the discrete time system is k and the virtual operation amount calculated by the virtual operation amount calculation means is ΔMV (k). [M] is the following second equation:
    D1c (k) = (1 + ΔMV (k)) D1c (k−1) (2nd formula)
Calculate to satisfy Thus, since the virtual winding diameter D1c (k) of the bobbin beam is calculated in a discrete time system, the following third formula, namely,
    N1 * (k) = V0 / (πD1c (k)) (3rd formula)
It becomes. For this reason, the yarn winding beam rotation speed command means uses the virtual winding diameter D1c (k) [m] calculated by the virtual winding diameter calculation means and the reference speed V0 [m / min] of the yarn, and the circularity ratio Is a rotational speed command N1 * (k) [rpm] to the pincushion beam driving means,
    N1 * (k) = V0 / (πD1c (k)) (3rd formula)
The rotation speed command N1 * (k) is output to the bobbin beam driving means.

  Then, the rotational speed of the bobbin beam is changed so as to coincide with the rotational speed that is increased or decreased by an amount corresponding to the yarn tension deviation in the control section from the rotational speed corresponding to the reference speed V0, that is, the target rotational speed N1ref. By changing the rotation speed of the bobbin beam, the yarn tension of the yarn conveyed through the control section at the reference speed V0 is controlled so as to match the target yarn tension.

The speed tension control device according to a second aspect is the speed tension control device according to the first aspect , wherein the yarn tension deviation calculating means sets the time of the discrete time system to k and the yarn tension of the yarn moving in the control section to f (k ), When the target yarn tension of the yarn moving in the control section is f0, the yarn tension deviation e (k), which is the deviation between them, is expressed by the following fourth equation:
e (k) = f0−f (k) ………………………………………………… (Formula 4)
Is calculated to satisfy
The virtual manipulated variable calculation means uses the yarn tension deviation e (k) calculated by the yarn tension deviation calculation means, and when the proportional gain is Kp, the differential time is Td, and the integration time is Ti, A virtual operation amount ΔMV (k) with respect to the winding diameter of the bobbin beam is expressed by the following fifth formula, that is,
ΔMV (k) = Kp {e (k) −e (k−1)}
+ KpTd {e (k) -2e (k-1) -e (k-2)}
+ (Kp / Ti) e (k) ……………………………… (Formula 5)
It is calculated so as to satisfy.

A speed tension control device according to a third aspect of the present invention is the speed tension control device according to the first or second aspect , wherein the pincushion beam driving means applies a driving force for rotating the pincushion beam, and a driving servomotor of the driving servomotor. A motor controller for performing rotation control. The motor controller is k for the time of the discrete time system, Δt [sec] for the control cycle, and N1 * (k) for the rotational speed command of the pincushion beam. [Rpm], the transmission ratio of the driving force from the drive servomotor to the pincushion beam is γ1, the circumference is π, the rotation angle of the drive servomotor by the drive pulse for one pulse is δθ1 [rad], and the drive pulse Is set to τ1 [sec], the pulse interval τ1 is expressed by the following sixth equation:
τ1 = δθ1Δt / (2πγ1N1 * (k) Δt) (6th formula)
The drive pulse is generated at the pulse interval τ1 for a time equal to the control period Δt, and the drive servo motor is rotated based on the signal sequence of the drive pulse. It is rotated by command N1 * (k).

  As described above, since the drive servo motor is substantially driven and controlled by pulse control, the control performance is deteriorated due to the inertial force accompanying the rotation of the heavy bobbin beam as in the case of using speed control or torque control. Is prevented.

  In other words, in the case of using a speed control system or a torque control system, the bobbin beam is a heavy object having a weight of approximately 200 kgf or more, so the influence of the inertial force of the bobbin beam is more than that of other elements (damping and elasticity). As a result, if the emphasis is placed on the quick response of the yarn tension or stretch rate, the steady-state deviation increases or the attenuation decreases, whereas conversely, if the emphasis is placed on the steady-state deviation or attenuation of the yarn tension or stretch rate, the rapid response decreases. However, in the case of pulse control, a decrease in these control performances is avoided.

  For this reason, for example, even when about 1000 ultrafine yarns having a yarn thickness of 10 to 30 denier are wound around the bobbin beam, these yarns are stably applied with a yarn tension of about 20 to 50 Nm. Therefore, it can be sufficiently conveyed.

A speed tension control device according to a fourth aspect of the present invention is the speed tension control device according to any one of the first to third aspects, wherein the virtual manipulated variable calculation means receives the yarn tension deviation of the control section, and thereby the bobbin beam It is a process controller such as a PI controller or a PID controller that calculates and outputs a virtual manipulated variable of the winding diameter.

  For this reason, since the virtual manipulated variable calculation means is realized by a process controller widely used in the industry such as a PI controller or a PID controller, the control parameter can be determined relatively easily. And robust stability of the control system can be secured easily.

Incidentally, in any of the speed tension control device of claims 1 4, wherein the conveyor roll rotation speed command means, k time of the discrete-time system, the pi [pi, the outer diameter of the transport roll D2 [m ], Using the reference speed V0 [m / min] of the yarn, the rotation number command N2 * (k) [rpm] of the transport roll is expressed by the following seventh formula,
N2 * (k) = V0 / (πD2) …………………………………… (Formula 7)
The rotation number command N2 * (k) may be output to the transport roll driving unit.

  According to the speed tension control device of the present invention, even when the winding diameter of the bobbin beam changes with time in accordance with the yarn conveyance state, the present position of the bobbin beam is calculated in calculating the rotational speed command of the bobbin beam. Since there is no need to measure the winding diameter value with a measuring instrument, there is an effect that it is possible to avoid a decrease in control performance due to a measurement error. Moreover, in order to estimate the winding diameter of the bobbin beam, it is possible to omit the time and effort to collect the correlation data between the total rotational speed of the bobbin beam and the winding diameter value for each bobbin beam in advance, and the work efficiency can be improved. is there.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a schematic diagram showing a configuration of a fiber yarn gluing device 1 including a control device 20 according to an embodiment of the present invention. This gluing device 1 is a so-called sizer, and is a device for gluing yarn. The conveyance line corresponds to the locus of the yarn λ shown in FIG. 1 and coincides with the yarn λ in FIG.

  As shown in FIG. 1, the gluing device 1 rotates a plurality of rotating bodies 11 to 19 arranged on the yarn λ conveyance line from the upstream side (left side in FIG. 1) along the conveyance line. A transport device 2 that transports a large number of yarns λ to the downstream side (right side in FIG. 1) is provided, and in the process of transporting a large number of yarns λ, these yarns λ are glued, dried and cooled. These yarns λ are wound up and collected.

  The transport device 2 has a structure in which a large number of yarns λ are transported simultaneously in a state where they are aligned in the direction perpendicular to the paper surface of FIG. 1 (not shown).

  The delivery beam 11 is one of the rotators 11 to 19 of the transport device 2 described above, and is rotatably disposed on the most upstream side (left side in FIG. 1) of the transport line of the yarn λ. The delivery beam 11 is formed so that a large number of yarns λ can be wound around the outer periphery thereof, and the wound yarn λ is delivered to the downstream side of the transport line by the rotation of the delivery beam 11.

  Further, on the downstream side of the delivery beam 11, a basket (not shown), a tension roll 17, a feed roll 12, a sizing roll 13, a hot air drying device 3, a plurality of cylinder rolls 14, 14,. The take-up roll 15, the tension roll 18 and the take-up beam 16 are arranged on the conveying line of the gluing device 1 in this order.

  The feed roll 12, the sizing roll 13, the cylinder rolls 14, 14,..., The take-up roll 15 and the tension rolls 17 and 18 are included in the rotating bodies 11 to 19 of the transport device 2. Is also rotatably arranged on the transport line. By the rotation of these rotary bodies 11 to 18, the yarn λ sent from the sending beam 11 is carried along the carrying line.

  The feed roll 12, the sizing roll 13, the first and fifth cylinder rolls 14 and 14, the take-up roll 15, and the tension rolls 17 and 18 have a large number of yarns on their outer peripheral surfaces. The guide rolls 19, 19,... are attached in a rotatable state in order to carry λ in contact. Each guide roll 19 is one of the rotating bodies 11 to 19 of the transport device 2.

  The take-up beam 16 is one of the rotating bodies 11 to 19 of the transfer device 2 described above, and is disposed rotatably on the most downstream side (right side in FIG. 1) of the transfer line. The take-up beam 16 is formed so that a large number of yarns λ can be wound around the outer periphery of the take-up beam 16, and the yarn λ that has undergone the pasting, drying, and cooling processes is accompanied by the rotation of the take-up beam 16. It is wound around the outer periphery of the winding beam 16 and wound.

  The tension roll 17 is disposed in a section (hereinafter referred to as “sending section”) 7 between the feed beam 11 and the feed roll 12 on the transport line. The load cell 5 is connected. The load cell 5 is a tension sensor (tension detecting means) for detecting the yarn tension acting on the yarn λ in the delivery section 7.

  The tension roll 18 is disposed in a section (hereinafter referred to as “winding section”) 8 between the take-up roll 15 and the winding beam 16 on the transport line. Another load cell 6 is connected to the section. The load cell 6 is a tension sensor for detecting the yarn tension acting on the yarn λ in the winding section 8.

  By the way, the feed beam 11, the feed roll 12, the sizing roll 13, the cylinder rolls 14, 14,..., The take-up roll 15 and the take-up beam 16 are all rotated by servo motors M1 to M6. This is a driving type rotating body (hereinafter also referred to as “priming body”) DB that is rotationally driven by force (driving force).

  Specifically, the delivery beam 11 is taken by the servo motor M1, the feed roll 12 is taken by the servo motor M2, the sizing roll 13 is taken by the servo motor M3, and the plurality of cylinder rolls 14, 14,. The up roll 15 is driven to rotate by a servo motor M5, and the take-up beam 16 is driven to rotate by a servo motor M6.

  In the following description, the servo motor M1 is also referred to as a feed motor M1, the servo motor M2 as a feed motor M2, the servo motor M5 as a take-up motor M5, and the servo motor M6 as a take-up motor M6. .

  On the other hand, the tension rolls 17, 18 and the guide rolls 19, 19,... Are driven rotary bodies (hereinafter also referred to as “driven bodies”) that are not directly rotated by the servo motors M1 to M6. The FB is rotated through frictional contact with the yarn λ to be conveyed and moved or frictional contact with any of the prime movers.

  The rotation axis of the prime mover DB (excluding the cylinder roll 14) is connected to each of the servo motors M1 to M3, M4, and M5 via a transmission mechanism (not shown). Further, the rotation shafts of the plurality of cylinder rolls 14, 14,... Are connected to one servo motor M4 via a transmission mechanism (not shown), and the rotational force applied from the servo motor M4. Is synchronously rotated by being transmitted to each cylinder roll 14 in a branched manner.

  Further, pulse encoders (rotary encoders) EN1 to EN6 are connected to the rotation shafts of the servomotors M1 to M6, respectively. The pulse encoders EN1 to EN6 are rotation sensors for detecting the rotational speeds of the rotation shafts of the servo motors M1 to M6. The control device 20 described below is based on the detection results of these pulse encoders EN1 to EN6. The rotation of the moving body DB is controlled, and as a result, the conveyance speed and yarn tension of the yarn λ are adjusted.

  FIG. 2 is a block diagram illustrating an electrical configuration of the gluing device 1 including the control device 20. As shown in FIG. 2, the gluing device 1 includes a control device 20 that controls the operation of each unit, and a CPU 21 that is an arithmetic device is mounted inside the control device 20. The CPU 21 performs a control calculation at a constant control cycle (sampling cycle) Δt [sec] and updates a control command for each part of the gluing device 1.

  The control device 20 includes a conveyance roll drive control unit 40 and a pincushion beam drive control unit 50 described below, and each of the drive control units 40 and 50 includes a continuous time plant by a discrete time controller. A sample value control method is used to control. Therefore, although not shown in FIGS. 3 and 6, these drive control units 40 and 50 actually include a sampler and a hold element (sample hold).

  In addition, the CPU 21 of the control device 20 executes a timer interrupt process for each control cycle Δt and outputs a control command to each part of the gluing device 1. Here, the control period Δt is a time interval from time k (k = 1, 2,...) To time k + 1 in the discrete time system. Therefore, the actual time t is represented by t = kΔt. In this embodiment, for example, approximately 10 μsec can be used as the control period Δt.

  Further, inside the control device 20, a ROM 22 which is a non-rewritable nonvolatile memory storing basic programs and various fixed data, and various data calculated by the CPU 21 are temporarily stored and various programs are developed. RAM 23 which is a rewritable volatile memory serving as a work area for the above, and EEPROM 24 which is a rewritable nonvolatile memory for storing various data whose settings can be changed and various control programs for controlling each part of gluing device 1 It is installed.

  The EEPROM 24 stores, for example, control programs for executing various processes for adjusting the rotational speeds of the prime movers 11 to 16 and the yarn tension of the yarn λ. These control programs are developed on the RAM 23. To be executed. The control program includes a control program that functions as the transport roll drive control unit 40 and the pincushion beam drive control unit 50 in cooperation with hardware constituting the control device 20.

  The EEPROM 24 stores various parameter values necessary for controlling each part of the gluing device 1 to be described later. In particular, various parameter values used in the control by the transport roll drive control unit 40 and the bobbin beam drive control unit 50 are stored. Control parameters (numerical data) are set and stored.

  For example, a set speed Vset of the transfer device 2 described later, acceleration time and deceleration time of each of the prime movers 11 to 16, control period Δt, transmission ratios γ1, γ2, unit pulse rotation angles δθ1, δθ2, circumferential ratio π, proportional gain The EEPROM 24 stores Kpm, target yarn tension f0, proportional gain Kp used in the virtual manipulated variable calculator 53, differential time Td, integration time Ti, and the like.

  Further, the EEPROM 24 also stores numerical data such as a set temperature of the hot air drying device 3, a set temperature of each cylinder roll 14, 14,..., And a set temperature of the cooling device 4.

  In addition to these, the control device 20 includes an operation display panel 25 operated to input various set values, the heating device 3a of the hot air drying device 3, the cylinder rolls 14, 14,. A heating device 14a, a cooling device 4a for the cooling device 4, a temperature sensor TS1 for detecting the temperature in the hot air drying device 3, a temperature sensor TS2 for detecting the temperature in each of the cylinder rolls 14, 14,. A temperature sensor TS3 for detecting the temperature of each is connected.

  The operation display panel 25 is a touch panel having a display function, and various information indicating the operation status of the gluing device 1 can be displayed on the screen. Further, by operating this operation display panel 25, various numerical data stored in the above-described EEPROM 24 are input and set.

  The control device 20 is also connected with the load cells 5 and 6, the six pulse encoders EN1 to EN6, and the six servo motors M1 to M6, respectively. Further, servo amplifiers 31 to 36 are built in the control device 20, and these are individually connected to the servo motors M1 to M6. Each servo motor M1-M6 is rotationally driven according to the three-phase voltage output from each servo amplifier 31-36.

  The servo motor M1 is provided by the servo amplifier 31, the servo motor M2 is provided by the servo amplifier 32, the servo motor M3 is provided by the servo amplifier 33, the servo motor M4 is provided by the servo amplifier 34, the servo motor M5 is provided by the servo amplifier 35, and the servo motor M6. Are driven by servo amplifiers 36, respectively.

  Next, referring to FIG. 3 to FIG. 6, control elements for adjusting the conveyance speed and the yarn tension relating to the yarn λ moving in the delivery section 7 of the gluing device 1, that is, the conveyance roll drive control unit 40, and the bobbin beam drive The control unit 50 will be described.

(A) Transport Roll Drive Control Unit FIG. 3 is a block diagram showing the transport roll drive control unit 40. The transport roll drive control unit 40 is configured inside the control device 20 in order to perform rotation drive control of the feed roll 12.

  As shown in FIG. 3, the transport roll drive unit 40 mainly includes a transport roll controller 41, a feed motor M <b> 2 that applies a driving force for rotating the feed roll 12, and the feed motor M <b> 2 from the transport roll controller 41. And a servo amplifier 32 that is driven based on the above command.

(A-1) Transport Roll Controller The transport roll controller 41 is a controller for controlling the rotational drive of the feed roll 12, and includes a reference speed generator 42, a reference rotation speed command device 43, and pulse generation. Instrument 44.

(A-1-1) Reference Speed Generator The reference speed generator 42 decelerates when the feed roll 12 is accelerated according to a set speed Vset [m / min] that is a set value of the conveyance speed of the yarn λ by the conveyance device 2. A reference speed V0 (k) (acceleration / deceleration curve) [m / min] at the time and during steady operation is generated and output to the reference rotational speed command unit 43.

  According to the reference speed generator 42, the reference speed V 0 (k) of the feed roll 12 is generated based on the set speed Vset, the acceleration time, and the deceleration time of the transport device 2, and is output to the reference rotation speed command device 43. The The feed speed (feed speed) of the yarn λ by the feed roll 12 during steady operation matches the set speed Vset of the transport device 2.

(A-1-2) Reference rotational speed command device The reference rotational speed command device 43 has an input terminal connected to an output terminal of the reference speed generator 42, and a reference speed input from the reference speed generator 42. Based on V0 (k), a reference rotational speed command N2 ^* (k) [rpm] is generated and output to the pulse generator 44. The reference rotational speed command N2 ^* (k) is a rotational speed command value to be output by the feed roll 12 during the control period Δt, and is determined based on the reference speed V0 (k).

Specifically, when the outer diameter (a constant value) of the feed roll 12 is D2 [m] and the circumferential ratio is π, the reference rotational speed command N2 ^* (k) uses the reference speed V0 (k). The calculation is performed to satisfy the following equation (4).
N2 ^* (k) = V0 (k) / (πD2) ……………………………………… (4)

(A-1-4) Pulse generator The pulse generator 44 has its input terminal connected to the output terminal of the reference rotation speed commander 43, and the reference rotation speed commander 43 receives the reference rotation speed command N2 ^* ( k) is entered. The pulse generator 44 is a drive pulse signal train (hereinafter referred to as “reference pulse”) for rotating the feed motor M2, which is the rotational power source, based on the input reference rotation speed command N2 ^* (k) of the feed roll 12. Command ") PL2 ^* (k) is generated and output to the servo amplifier 32 (deviation counter 30a thereof).

FIG. 4 is a conceptual diagram of the drive pulse signal sequence PL ^* (k) in the present embodiment. As shown in FIG. 4, the drive pulse signal sequence PL ^* (k) has a pulse interval τ [sec] during the control period Δt equal to the time interval from time k to time k + 1 in the discrete time system. ] Is a signal sequence that rises every time. “Drive pulse signal sequence PL ^* (k)” means the above-described reference pulse command PL2 ^* (k) or a beam pulse command PL1 ^* (k) described below, and “pulse interval τ”. This means a pulse interval τ2 related to the feed motor M2 and a pulse interval τ1 related to the feed motor M1 described below.

According to this pulse generator 44, in order to rotate the feed roll 12 for a control period Δt at a rotation speed equal to the reference rotation speed command N2 ^* (k), the reference rotation speed command N2 is based on the following equation (5). ^* (K) is converted into a rotation speed command Nm2 ^* (k) [rpm] of the feed motor M2. Here, γ2 is a transmission ratio of the driving force from the feed motor M2 to the feed roll 12.
Nm2 ^* (k) = γ2N2 ^* (k) …………………………………………… (5)

Then, a drive pulse signal sequence including the number of drive pulses corresponding to the rotation speed command Nm2 ^* (k) of the feed motor M2 within the control period Δt is generated as the reference pulse command PL2 ^* (k).

Specifically, first, driving is performed using a control cycle Δt, a reference rotation speed command N2 ^* (k), a circumferential ratio π, and a unit pulse rotation angle δθ2 [rad] of the feed motor M2 by a drive pulse for one pulse. A pulse interval τ2 [sec], which is a pulse generation time interval, is calculated based on the following equation (6).
τ2 = δθ2Δt / (2πγ2N2 ^* (k) Δt) (6)

In this case, until the time equal to the control period Δt has elapsed, the pulse generator 44 repeats the generation of the drive pulse at every pulse interval τ 2, so that the reference pulse command PL 2 ^* (k) is stored in the servo amplifier 32. It is output to the deviation counter 30a.

  The method for deriving the transmission ratio γ2 is exemplified as follows. For example, the reference speed V0 of the yarn λ is equal to the set speed Vset, the set speed Vset = 100 m / min, the maximum rotation speed N2max of the feed motor M2 is 4200 rpm, and the outer diameter of the feed roll 12 is D2 = 0.2 m. In some cases, the required rotation speed N2 of the feed roll 12 is 159.2 rpm (≈100 / (π × 0.2)), and the ratio between this value and the maximum rotation speed of the feed motor M2, that is, the transmission ratio γ2 (= N2max / N2) is 26.4 rpm (≈4200 / 159.2).

(A-2) Servo Amplifier FIG. 5 is a block diagram showing the internal structure of the servo amplifier 30. Here, the servo amplifier 30 described below is used as the servo amplifier 31 for the feed motor M1 and the servo amplifier 32 for the feed motor M2, and the internal structure of the servo amplifier 30 is described below. In essence, the internal structures of the servo amplifier 31 and the servo amplifier 32 are described.

  As shown in FIG. 5, the servo amplifier 30 mainly includes a deviation counter 30a, a position controller 30b, a speed controller 30c, and a current controller 30d. In the following description, “servo motor M” means the delivery motor M1 or feed motor M2, and “pulse encoder EN” means the pulse encoder EN1 for the delivery motor M1 or This means the pulse encoder EN2 for the feed motor M2.

(A-2-1) Deviation Counter The deviation counter 30a has an input end that is an output end of the pulse generator 44 of the transport roll controller 41 (see FIG. 3) and an output end of the pulse encoder EN for the servo motor M. Are connected to the input terminal of the position controller 30b.

According to the deviation counter 30a, the number of pulses of the reference pulse command PL ^* (k) input from the pulse generator 44 (see FIG. 3) of the transport roll controller 41 is counted, and the servo corresponding to the number of pulses is counted. The rotation angle command Δθm ^* (k) of the motor M (= the unit pulse rotation angle δθ2 of the servo motor M × the number of pulses of the reference pulse command PL ^* (k)) is calculated.

Further, according to the deviation counter 30a, the number of pulses of the pulse signal sequence PL (k) input from the pulse encoder EN connected to the servo motor M is counted, and the actual rotation amount of the servo motor M (hereinafter referred to as “detected rotation”). Also referred to as “amount”.) Δθm (k) is detected. Then, a deviation Em (k) (= Δθm ^* (k) −Δθm (k)) between the detected rotation amount Δθm (k) relating to the servo motor M and the rotation amount command Δθm ^* (k) described above is calculated to obtain a position. It is output to the controller 30b.

(A-2-2) Position Controller The position controller 30b is connected at its input end to the output end of the deviation counter 30a, and based on the deviation Em (k) input from the deviation counter 30a The speed command vm ^* (k) of the motor M is calculated based on the following equation (7) and output. However, Kpm is a proportional gain of the position controller 30b.
vm ^* (k) = KpmEm (k) …………………………………………… (7)

(A-2-3) Speed Controller The speed controller 30c has an input terminal connected to the output terminal of the position controller 30b, and the speed command vm ^{* of the} servo motor M input from the position controller 30b ^. Based on (k), the motor current command im ^* (k) is calculated, and this motor current command im ^* (k) is output to the current controller 30d.

  Here, as the speed controller 30c, for example, a PID controller is used, and the proportional control element, the proportional control gain of the integral control element and the differential control element, the integral time, the derivative time, and the like included in the controller are controlled. The parameter value can be input and changed in the EEPROM 24 by operating the operation display panel 25. A PI controller may be used as the speed controller 30c.

(A-2-4) Current Controller The current controller 30d has an input terminal connected to the output terminal of the speed controller 30c, and a motor current command im ^* (k) input from the speed controller 30c. Based on the above, the servo motor M is driven to rotate by applying a predetermined three-phase voltage to the servo motor M.

According to the transport roll drive control unit 40 configured as described above, the reference roll speed command N2 for rotating the feed roll 12 at the speed corresponding to the reference speed V0 (k) by the transport roll controller 41. ^* (K) is generated, and the feed roll 12 is controlled by the servo amplifier 32 so as to rotate at a rotational speed equal to the reference rotational speed command N2 ^* (k). Then, the conveyance speed of the yarn λ by the feed roll 12 is adjusted so as to coincide with the reference speed V0 (k).

(B) Pincushion Beam Drive Control Unit FIG. 6 is a block diagram showing the pincushion beam drive control unit 50. The pincushion beam drive control unit 50 is configured inside the control device 20 in order to perform rotation drive control of the delivery beam 11.

  As shown in FIG. 6, the bobbin beam drive control unit 50 mainly includes a bobbin beam controller 51, a feed motor M <b> 1 for applying a driving force for rotating the feed beam 11, and the feed motor M <b> 1 for the pincushion beam controller 51. And a servo amplifier 31 that is driven based on a command from

(B-1) Pincushion Beam Controller The pincushion beam controller 51 is a controller for controlling the rotational drive of the delivery beam 11, and includes a yarn tension deviation calculator 52, a virtual manipulated variable calculator 53, a virtual A winding diameter calculator 54, a bobbin beam rotation speed command unit 55, and a pulse generator 56 are provided.

(B-1-1) Yarn Tension Deviation Calculator The yarn tension deviation calculator 52 includes a target yarn tension f0 to be applied to the yarn λ that moves in the sending section 7 that is a control section, and a yarn that moves in the sending section 7. Thread tension (hereinafter also referred to as “detected thread tension”) f (k) acting on λ is input. The yarn tension deviation calculator 52 calculates a deviation (hereinafter referred to as “yarn tension deviation”) e (k) between the target yarn tension f0 and the detected yarn tension f (k) based on the following equation (8). ,
e (k) = f0−f (k) ……………………………………………………… (8)
This is output to the virtual operation amount calculator 53.

  Here, the detected yarn tension f (k) in the delivery section 7 is obtained by amplifying a detection signal detected by the load cell 5 disposed in the delivery section 7 by the amplifier 57 and detecting the detected yarn tension by the A / D converter 58. The A / D converter 58 inputs the data value to the yarn tension deviation calculator 52.

(B-1-2) Virtual manipulated variable calculator The virtual manipulated variable calculator 53 has its input end connected to the output end of the yarn tension deviation calculator 52, and the input amount from this yarn tension deviation calculator 52. Is calculated based on the yarn tension deviation e (k), and the virtual operation amount ΔMV (k) is output to the virtual winding diameter calculator 54.

  Here, the virtual operation amount ΔMV (k) has the yarn tension deviation e (k) as an input amount, and the virtual winding diameter (hereinafter referred to as “virtual winding diameter”) D1c (k) of the delivery beam 11. This is an operation amount for virtually adjusting the virtual winding diameter D1c when a virtual control system (hereinafter referred to as “virtual control system”) with [m] as a control amount is assumed.

In this embodiment, a digital PID controller is used as the virtual operation amount calculator 53, and the virtual operation amount ΔMV (k) is proportional to the yarn tension deviation e (k) input from the yarn tension deviation calculator 52. The gain Kp, the differential time Td, and the integration time Ti are used to calculate based on the following equation (9).
ΔMV (k) = Kp {e (k) −e (k−1)}
+ KpTd {e (k) -2e (k-1) -e (k-2)}
+ (Kp / Ti) e (k) ……………………………………… (9)

  However, when the virtual manipulated variable ΔMV (k) is obtained by the virtual manipulated variable calculator 53 for the sending section 7, the proportional gain Kp in the above equation (9) is a positive value (Kp> 0). This is because when the yarn tension deviation e (k) in the delivery section 7 is a positive value, the virtual winding diameter D1c (k) of the virtual delivery beam 11 is increased so that the yarn moving in the delivery section 7 is stretched. From the structural feature of the conveying device 2 that the amount is increased and the yarn tension f (k) in the delivery section 7 is increased to match the target yarn tension f0, the virtual operation amount ΔMV (k) is expressed by the following formula ( This is because it functions as an element to increase the virtual winding diameter D1c (k) in 10).

  In this embodiment, a digital PID controller is used as the virtual manipulated variable calculator 53. However, the virtual manipulated variable calculator 53 is not necessarily limited to this and uses a sample value control method. Different ones may be used, for example, a digital PI controller or other process controller.

(B-1-3) Virtual Winding Diameter Calculator The virtual winding diameter calculator 54 has an input end connected to the output end of the virtual manipulated variable calculator 53, and is input from the virtual manipulated variable calculator 53. The virtual winding diameter D1c (k) is calculated based on the virtual operation amount ΔMV (k), and the virtual winding diameter D1c (k) is output to the bobbin beam rotation speed command unit 55.

According to the virtual winding diameter calculator 54, the virtual winding diameter D1 (k) includes the virtual manipulated variable ΔMV (k) and the virtual winding diameter D1c (k−1) previously calculated by the virtual winding diameter calculator 54. ) Is used to calculate based on the following equation (10).
D1c (k) = (1 + ΔMV (k)) D1c (k−1) (10)

  That is, the new virtual winding diameter D1c (k) calculated this time is the correction value of the virtual winding diameter D1c (k) of the transmission beam 11 that is the virtual operation amount ΔMV (k) input from the virtual operation amount calculator 53. It is calculated by converting to a certain virtual winding diameter correction value ΔMV (k) D1c (k−1), and adding the virtual winding diameter D1c (k−1) of the transmission beam 11 calculated last time to this conversion value.

  By the way, when the time is k = 0, that is, in the initial state, the virtual winding diameter D1c (−1) = 0 m of the previously calculated transmission beam 11 is set to 0 m, so that the virtual winding diameter D1c (0) is previously stored in the EEPROM 24. It is necessary to set a value. Therefore, D1c (0), which is the initial value of the virtual winding diameter, is derived as follows.

  For example, the actual winding diameter D10 of the delivery beam 11 in the initial state (unused state) is measured, and the value obtained by increasing the actual winding diameter D10 by the stretch rate ε corresponding to the target yarn tension f0 is calculated as the virtual winding diameter. The initial value D1c (0) (= (1 + ε) D10) is set.

  Specifically, if the actual winding diameter of the delivery beam 11 in the initial state is D10 = 0.6 m and the stretch rate corresponding to the target yarn tension f0 is ε = 0.01 (= 1%), The initial value of the virtual winding diameter is set to D1c (0) = 0.006 m (= (1 + 0.01) × 0.6).

(B-1-4) Pincushion Beam Rotation Number Commander The pincushion beam rotation number commander 55 has an input end at the output end of the virtual winding diameter calculator 54 and an output end of the reference speed generator 42 at the transport roll controller 41. And connected to each. The bobbin beam rotation speed command unit 55 is based on the virtual winding diameter D1c (k) and the reference speed V0 (k) input from the virtual winding diameter calculator 54 and the reference speed generator 42. The command N1 ^* (k) is generated and output to the pulse generator 56.

Here, the bobbin beam rotational speed command N1 ^* (k) is a command value of the rotational speed [rpm] to which the delivery beam 11 should rotate during the control period Δt, and acts on the yarn λ moving in the delivery section 7. This is a control command for adjusting the thread tension f to be matched with the target thread tension f0 so that the thread tension deviation e (k) becomes zero.

According to this bobbin beam rotation speed command device 55, the bobbin beam rotation speed command N1 ^* (k) is calculated by the virtual winding diameter D1c (k) calculated by the virtual winding diameter calculator 54 and the reference speed V0 (k) of the yarn. The calculation is performed based on the following equation (11) by using the circumference ratio π.
N1 ^* (k) = V0 (k) / (πD1c (k)) (11)

(B-1-5) Pulse generator The pulse generator 55 is connected at its input end to the output end of the bobbin beam rotation speed commander 54. N1 ^* (k) is input. This pulse generator 55, based on the pincushion beam rotation speed command N1 ^* (k) of the input delivery beam 11, inputs a drive pulse signal train (hereinafter referred to as “beam”) for rotating the delivery motor M1, which is the rotational power source. This is referred to as “pulse command”.) PL1 ^* (k) is generated and output to the servo amplifier 31 (deviation counter 30a thereof).

According to the pulse generator 55, the delivery beam 11 is rotated at the number of revolutions equal to the pincushion beam revolution number command N1 ^* (k) for the control period Δt. The command N1 ^* (k) is converted into a rotational speed command Nm1 ^* (k) [rpm] of the delivery motor M1. Here, γ1 is a transmission ratio of the driving force from the delivery motor M1 to the delivery beam 11.
Nm1 ^* (k) = γ1N1 ^* (k) ………………………………………… (12)

Then, a drive pulse signal sequence including the number of drive pulses corresponding to the rotation speed Nm1 (k) in the control period Δt is generated as the beam pulse command PL1 ^* (k).

Specifically, first, using the control cycle Δt, the pincushion beam rotation number command N1 ^* (k), the circumferential ratio π, and the unit pulse rotation angle δθ1 [rad] of the delivery motor M1 by the drive pulse for one pulse, The pulse interval τ1 [sec], which is the drive pulse generation time interval, is calculated based on the following equation (13).
τ1 = δθ1Δt / (2πγ1N1 ^* (k) Δt) (13)

In this case, the pulse generator 55 repeats the generation of the drive pulse at every pulse interval τ1 until a time equal to the control period Δt elapses, so that the beam pulse command PL1 ^* (k) is supplied to the servo amplifier 31. It is output to the deviation counter 30a.

  The method for deriving the transmission ratio γ1 is exemplified as follows. For example, the reference speed V0 of the yarn λ is equal to the set speed Vset, the set speed Vset = 100 m / min, the maximum rotation speed N1max of the feed motor M1 is 3000 rpm, and the body diameter of the feed beam 11 is D1min = 0.2 m. If the flange diameter is D1max = 0.8 m, the required rotational speed N1 of the delivery beam 11 is 159.2 rpm (≈100 / (π × 0.2)), and this value and the maximum revolution of the delivery beam motor M1. The ratio to the number, that is, the transmission ratio γ1 (= N1max / N1) is 18.8 rpm (≈3000 / 159.2).

(B-2) Servo amplifier Since the servo amplifier 31 for the sending motor M1 has already been described using the servo amplifier 30 (see FIG. 5), description thereof is omitted here.

According to the bobbin beam drive control unit 50 configured as described above, the bobbin beam controller 51 causes the yarn tension f (k) acting on the yarn λ moving in the delivery section 7 to coincide with the target yarn tension f0. A bobbin beam rotation speed command N1 ^* (k) for rotating the feed beam 11 is generated, and the feed motor M1 is rotated by the servo amplifier 31 so as to rotate at a rotation speed equal to the bobbin beam rotation speed command N1 ^* (k). Controlled by. Then, the delivery speed of the yarn λ by the delivery beam 11 is decelerated as compared with the reference speed V0 (k) so that the yarn tension deviation e (k) becomes zero, and as a result, the yarn λ moving in the delivery section 7 is reduced. The yarn tension f (k) is adjusted to coincide with the target yarn tension.

  The present invention has been described based on the embodiments. However, the present invention is not limited to the above-described embodiments, and various improvements and modifications can be easily made without departing from the spirit of the present invention. It can be guessed.

  For example, in the present embodiment, the conveyance roll drive control unit 40 and the bobbin beam drive control unit 50 are used to adjust the conveyance speed and the yarn tension of the yarn λ moving in the delivery section 7 between the delivery beam 11 and the feed roll 12. However, the control target and the drive target of each of the units 40 and 50 are not necessarily limited to this, and, for example, move in the winding section 8 between the take-up roll 15 and the winding beam 16. You may use about the case where the conveyance speed and thread | yarn tension | tensile_strength of thread | yarn (lambda) are adjusted.

  In such a case, the description of the above-described transport roll drive control unit 40 and the bobbin beam drive control unit 50 will be given with reference to the transport roll drive control unit for the take-up roll 15 and the bobbin beam drive control unit for the take-up beam 16. We apply mutatis mutandis as explanation.

  In this case, the terms and symbols in the description (specifications paragraphs 0073 to 0124 and FIGS. 3 to 6) of the transport roll drive control unit 40 and the bobbin beam drive control unit 50 described above are referred to as “delivery section” in the specification. 7 is “winding section 8”, “load cell 5” is “load cell 6”, “sending beam 11” is “winding beam 16”, and “feed roll 12”. “Take-up roll 15”, “Sending motor M1” is “Take-up motor M6”, “Feed motor M2” is “Take-up motor M5”, “Servo amplifier 31” “Servo amplifier 36”, “servo amplifier 32” is “servo amplifier 35”, “pulse encoder EN1” is “pulse encoder EN6”. “Pulse encoder EN2” is to be read as “Pulse encoder EN5”. In FIG. 3, “32” is “35”, “M2” is “M5”, “ “EN2” is to be read as “EN5”. In FIG. 6, “(for sending section)” is “(for winding section)”, and “5” is “6”. The code “31” is read as “36”, the code “M1” is read as “M6”, and the code “EN1” is read as “EN6”.

  In particular, the paragraph 0106 in the explanation of the transport roll drive control unit 40 and the bobbin beam drive control unit 50 described above is the same as "however, the virtual manipulated variable ΔMV (k ) Is a negative value (Kp <0) in the above equation (9), which is a virtual value when the yarn tension deviation e (k) in the winding section 8 is a positive value. By reducing the virtual winding diameter D1c (k) of the winding beam 16, the amount of yarn stretched by the yarn moving in the winding section 8 is increased, and the yarn tension f (k) in the winding section 8 becomes the target yarn tension. This is because the virtual operation amount ΔMV (k) is caused to function as an element for reducing the virtual winding diameter D1c (k) in the following equation (10) because of the structural feature of the transfer device 2 that is increased to coincide with f0. . "."

  For the paragraph 0112, the whole sentence is "for example, the actual measurement of the body diameter D1min of the winding beam 16 in the initial state (unused state), and the actual body diameter measured value D1min is the stretch rate ε corresponding to the target yarn tension f0. The value reduced by this amount is set as a virtual winding diameter initial value D1c (0) (= (1-ε) D1min). ”

  Further, for the next paragraph 0113, the whole sentence is “specifically, the actual measurement value of the diameter of the winding beam 12 in the initial state is D1min = 0.2 m, and the stretch rate corresponding to the target yarn tension f0” Is ε = 0.01 (= 1%), the initial value of the virtual winding diameter is set to D1c (0) = 0.198 m (= (1−0.01) × 0.2). "."

  In the present embodiment, the conveyance roll drive control unit 40 and the pincushion beam drive control unit 50 configured in the control device 20 have been described using the sample value control method. The beam drive control unit 50 is not necessarily limited to a controller based on the sample value control method for the purpose of digital control, and an analog controller constituted by an electric circuit may be used.

  In this embodiment, the reference speed V0 (k) calculated and output by the reference speed generator 42 is used as an input to the pincushion beam rotation speed command device 55, but the calculated value of the reference speed V0 (k) is used. Instead, the actual conveyance speed of the yarn λ obtained from the actual rotation speed of the servo motor M detected by the pulse encoder EN is input to the bobbin beam rotation speed command device 55 as the reference speed V0 (k). Also good.

  Moreover, although the present Example demonstrated using the feed roll 12 and the take-up roll 15 as a conveyance roll of this invention, this conveyance roll is not necessarily limited to this, According to the structure of a yarn conveyance apparatus. For example, the sizing roll 13 and the cylinder roll 14 may be used.

It is the schematic which showed the structure of the gluing apparatus for fiber yarn provided with the control apparatus which is one Example of this invention. It is a block diagram which shows the electric constitution of the gluing apparatus provided with the control apparatus. It is the block diagram shown about the conveyance roll drive control unit. It is a conceptual diagram of a drive pulse signal train. It is a block diagram which shows the internal structure of a servo amplifier. It is the block diagram shown about the bobbin beam drive control unit.

Explanation of symbols

1 Gluing device (thread gluing device)
2 Conveying device (yarn conveying device)
7 Sending section (control section)
8 Winding section (control section)
11 Sending beam (pincushion beam)
12 Feed roll (conveyance roll)
15 Take-up roll (conveying roll)
16 Winding beam (pound beam)
31, 36 Servo amplifier (part of motor controller, part of pincushion beam driving means)
32, 35 Servo amplifier (part of transport roll drive means)
40 Conveyance roll drive control unit (part of speed tension control device)
44 Pulse generator (part of transport roll drive means)
50 Pincushion beam drive control unit (part of speed tension controller)
52 Yarn tension deviation calculator (yarn tension deviation calculation means)
53 Virtual Manipulation Unit (Virtual Manipulation Unit)
54 Virtual winding diameter calculator (virtual winding diameter calculation means)
55 Pincushion beam rotation speed command device (cushion beam rotation speed command means)
56 Pulse generator (part of motor controller, part of pincushion beam driving means)
M1 servo motor for delivery beam (drive servo motor, part of bobbin beam drive means)
M2 Servo motor for feed roll (part of transport roll drive means)
Servo motor for M5 take-up roll (part of transport roll drive means)
M6 Servo motor for take-up beam (drive servo motor, part of bobbin beam drive means)

Claims (4)

A bobbin beam that is rotatably arranged on a predetermined conveyance line and on which the yarn is wound around the outer circumference;
A pincushion beam driving means for inputting a rotation speed command for the pincushion beam and rotating the pincushion beam so as to realize the input rotation speed command;
A transport roll rotatably disposed on the transport line at a predetermined interval from the pincushion beam;
A control device relating to a yarn conveying device including a rotation speed command for the conveyance roll, and a conveyance roll driving unit that rotationally drives the conveyance roll so as to realize the input rotation speed command. ,
The yarn supplied from the bobbin beam or the yarn wound by the bobbin beam is transported at a reference speed V0 in a control section set between the bobbin beam and the transport roll, and the yarn tension in the control section is adjusted. In the speed / tension control device for adjusting to match the target thread tension,
A transport roll rotational speed command means for generating a rotational speed command for rotating the transport roll at a rotational speed corresponding to a reference speed V0, and outputting the rotational speed command to the transport roll drive means;
When assuming a virtual control system in which the winding diameter of the bobbin beam is a control amount and the winding diameter is adjusted based on a yarn tension deviation which is a deviation between a yarn tension and a target yarn tension in the control section, The yarn tension deviation is input as an input amount, and a virtual operation amount calculating means for calculating and outputting a virtual operation amount for virtually adjusting the winding diameter of the bobbin beam based on the input amount;
The virtual operation amount output from the virtual operation amount calculation means is converted into a virtual winding diameter correction value that is a correction value of the virtual winding diameter of the bobbin winding beam, and the virtual winding diameter correction value is used for the virtual winding diameter correction value used last time. A virtual winding diameter calculating means for calculating and outputting a new virtual winding diameter by adding to the winding diameter;
When the virtual winding diameter output from the virtual winding diameter calculation means is D1c [m], the circumference is π, and the reference speed of the yarn in the control section is V0 [m / min], the spool winding beam driving means Rotational speed command N1 * [rpm] to the following first formula,
N1 * = V0 / (πD1c) ………………………………………… (Formula 1)
And a bobbin beam rotation speed command means for outputting the rotation speed command N1 * to the bobbin beam driving means ,
The virtual winding diameter calculation means has a virtual winding diameter D1c (k) of the bobbin beam, where k is the time of the discrete time system and ΔMV (k) is the virtual operation amount calculated by the virtual operation amount calculation means. [M] is the following second equation:
D1c (k) = (1 + ΔMV (k)) D1c (k−1) (2nd formula)
Is calculated to satisfy
The yarn winding beam rotation speed command means uses the virtual winding diameter D1c (k) [m] calculated by the virtual winding diameter calculation means and the reference speed V0 [m / min] of the yarn, and also calculates the circumference ratio. When π is set, the rotational speed command N1 * (k) [rpm] to the pincushion beam driving means is expressed by the following third equation:
N1 * (k) = V0 / (πD1c (k)) (3rd formula)
And a rotational speed command N1 * (k) is output to the bobbin beam driving means . The yarn tension deviation calculating means has k as the time of the discrete time system, f (k) as the yarn tension of the yarn moving through the control section, and f0 as the target yarn tension of the yarn moving through the control section. The yarn tension deviation e (k), which is these deviations, is expressed by the following fourth equation:
e (k) = f0−f (k) ………………………………………………… (Formula 4)
Is calculated to satisfy
The virtual manipulated variable calculation means uses the yarn tension deviation e (k) calculated by the yarn tension deviation calculation means, and when the proportional gain is Kp, the differential time is Td, and the integration time is Ti, A virtual operation amount ΔMV (k) with respect to the winding diameter of the bobbin beam is expressed by the following fifth formula, that is,
ΔMV (k) = Kp {e (k) −e (k−1)}
+ KpTd {e (k) -2e (k-1) -e (k-2)}
+ (Kp / Ti) e (k) ……………………………… (Formula 5)
The speed tension control device according to claim 1 , wherein the speed tension control device is calculated so as to satisfy The pincushion beam driving means includes a drive servo motor for applying a driving force for rotating the pincushion beam, and a motor controller for controlling the rotation of the drive servomotor.
The motor controller has a discrete time system time k, a control period Δt [sec], a rotation speed command of the pincushion beam N1 * (k) [rpm], and driving from the drive servo motor to the pincushion beam. The force transmission ratio is γ1, the pi is π, the rotation angle of the drive servomotor by one drive pulse is δθ1 [rad], and the pulse interval that is the time interval at which the drive pulse is generated is τ [sec]. The pulse interval τ1 is expressed by the following sixth equation:
τ = δθ1Δt / (2πγ1N1 * (k) Δt) (6th formula)
The drive pulse is generated at a time equal to the control period Δt at this pulse interval τ, and the drive servo motor is rotated based on the signal sequence of the drive pulse, thereby rotating the pincushion beam at the rotational speed. The speed tension control apparatus according to claim 1 or 2 , wherein the speed tension control apparatus is rotated by a command N1 * (k). The virtual operation amount computing means computes and outputs a virtual operation amount of the winding diameter of the bobbin beam when a yarn tension deviation in the control section is input, and a process controller such as a PI controller or a PID controller The speed tension control device according to any one of claims 1 to 3, wherein

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