JP5149646B2 - Rotary cutter control device - Google Patents

Description

  The present invention relates to a control device for a rotary cutter, and more particularly to a device that controls a positional deviation between an upper blade and a lower blade of a rotary cutter to be a preset clearance.

  2. Description of the Related Art Conventionally, a rotary cutter is known as an apparatus for cutting a sheet-like material such as a steel plate, an aluminum plate, paper, or cardboard that is continuously fed at a high speed into a predetermined cutting length. The rotary cutter is a device that cuts the material with the upper blade and the lower blade by causing the rotation of the upper blade and the lower blade attached to the upper and lower cylinders to follow the feed rate of the material.

  As an example of a rotary cutter, it is composed of a pair of an upper blade rotary cutter provided with an upper blade for cutting material from the upper part and a lower blade rotary cutter provided with a lower blade for cutting from the lower part. A rotary cutter is known (see Patent Document 1). The rotary cutter operates synchronously in a state where the upper blade rotary cutter and the lower blade rotary cutter are mechanically connected by a gear. The gear is driven by one or a plurality of motors.

  In such a rotary cutter, it is necessary to adjust the degree of engagement of the upper blade and the lower blade in order to obtain a predetermined cutting accuracy even if the material or thickness of the material to be cut changes. Specifically, the difference between the position (rotation angle) of the upper blade in the rotary cutter for the upper blade and the position (rotation angle) of the lower blade in the rotary cutter for the lower blade according to changes in the material and thickness of the material. It is necessary to adjust the clearance, which is the amount.

  In the rotary cutter described above, since the rotary cutter for the upper blade and the rotary cutter for the lower blade rotate synchronously by mechanical engagement with the gear, the backlash of the gear or the pressing degree of the upper and lower blades can be changed. The clearance was adjusted by changing the mechanical meshing position. For this reason, skill is required for adjusting the clearance, which takes time and effort.

  As an example of a rotary cutter that solves such a problem, there is known a rotary cutter in which an upper blade rotary cutter and a lower blade rotary cutter operate synchronously by independent motors (see Patent Document 2). In order to maintain a preset clearance, not only the upper blade rotary cutter but also the lower blade rotary cutter is rotationally controlled to adjust the clearance electrically rather than mechanically.

  FIG. 6 is a block diagram showing a configuration of a conventional rotary cutter control device. The conventional control device 310 controls the motor 4 that rotates the rotary cutter 2 for the upper blade and the motor 5 that rotates the rotary cutter 3 for the lower blade, thereby setting the speed command ω <b> 1 set by the speed setter 311. The position deviation of the upper blade and the lower blade is made to coincide with the clearance Δθ set by the clearance setter 330 by rotating at a speed of *.

  The control device 310 includes a master-side control unit and a slave-side control unit, and the slave-side control unit generates a torque command generated by the master-side control unit (a master for controlling the rotation of the upper blade rotary cutter 2). A slave torque command τR2 is generated based on the torque command τR1), and the rotation of the motor 5 of the lower blade rotary cutter 3 is controlled.

  The master torque command τR1 is subtracted by the speed command ω1 *, the position θ1 indicating the rotation angle of the upper blade input from the pulse generator 6, and the speed ω1 converted by differentiating the position θ1 by the speed converter 314. These commands are generated via the devices 317 and 319, the speed controller 312, the corrected speed estimator 315, the corrected speed controller 316 and the adder 318. The master torque command τR1 is supplied as a motor drive signal to the motor 4 through the notch filter 313 and is output to the slave side control means. The slave-side control means inverts the master torque command τR1 by the inverter 332. The slave-side control means reverses the position θ1 of the upper blade from the pulse generator 6 by the inverter 331.

  The slave torque command τR2 includes a master torque command τR1 from the master side control means, a position θ1 of the upper blade from the master side control means, a position θ2 indicating the rotation angle of the lower blade input from the pulse generator 7, and this position. Subtracters 333, 327, 329, position controller 321, speed controller 322, corrected speed are calculated based on speed ω2 obtained by differentiating θ2 by speed converter 324 and clearance Δθ set by clearance setter 330. This is a command generated via the estimator 325, the correction speed controller 326, and the adder 328. The slave torque command τR2 is supplied to the motor 5 as a motor drive signal via the notch filter 323.

  Thus, according to the control device 310 shown in FIG. 6, when the rotary cutter 1 is cutting the material, the deviation between the upper blade position θ1 and the lower blade position θ2 (upper blade and lower blade). The upper blade rotary cutter and the lower blade rotary cutter are rotationally controlled based on the master torque command τR1 so that the blade position deviation matches the clearance Δθ. Therefore, the clearance Δθ can be adjusted electrically rather than mechanically.

JP 2001-162586 A JP 2007-319992 A

  In the control device 310 described above, the slave side control means generates the slave torque command τR2 based on the master torque command τR1 generated by the master side control means, and controls the rotation of the lower blade rotary cutter 3. However, since the rotation control of the lower blade rotary cutter 3 is performed based on the torque command generated by the master side control means, the followability and stability of the rotation control in the lower blade rotary cutter 3 are impaired. There was a case. That is, during the cutting of the material by the rotary cutter 1, it may be difficult to maintain the preset clearance Δθ due to load fluctuations of the motors 4 and 5.

  In the control device 310 described above, there is no mention of the initialization process when starting the cutting process with the new clearance Δθ. The control during the cutting process is different from the control in the initialization process. Therefore, the control device 310 that does not perform the initialization process may not be able to start a new material cutting process smoothly.

  Accordingly, the present invention has been made to solve the above-described problems, and an object of the present invention is to control a rotary cutter that can reliably adjust the clearance between the upper blade and the lower blade of the rotary cutter. Is to provide.

  In order to achieve the above object, the rotary cutter control device according to the present invention is an apparatus for controlling a rotary cutter that cuts material with an upper blade and a lower blade in synchronization with a traveling material, and an upper blade is provided. Master side control means for controlling the rotation of the first rotary cutter and a slave for controlling the rotation of the second rotary cutter provided with the lower blade to maintain the position of the lower blade with respect to the upper blade in a preset clearance. The master side control means uses the rotational speed command of the rotary cutter as a master speed command, and multiplies the difference between the master speed command and the rotational speed of the upper blade by a predetermined gain to obtain a master torque command. A master speed controller for controlling the rotation of the first rotary cutter according to the master torque command, and the slave-side control means is configured to adjust the position of the upper blade and the lower blade. The difference between the deviation and the clearance is multiplied by a predetermined gain to generate a position deviation speed command, and between the master speed command and the position deviation speed command generated by the position controller. The difference between the first slave subtractor that calculates the difference between the slave speed command and the slave speed command output by the first slave subtractor and the rotational speed of the lower blade is a predetermined gain. And a first slave speed controller for generating a first slave torque command, and the second rotary cutter is rotationally controlled by the first slave torque command.

  The control apparatus for a rotary cutter according to the present invention further comprises selection means for selecting one of a speed control method and a torque control method, and the slave-side control means is output by the first slave subtractor. A second slave speed controller that multiplies the slave speed command by a predetermined gain to generate a position deviation torque command, a master torque command generated by the master speed controller, and the second slave speed control. A second slave subtractor that calculates a difference from the position deviation torque command generated by the controller and outputs a second slave torque command, and when the speed control method is selected by the selection unit, When the second rotary cutter is rotationally controlled by the first slave torque command and the torque control method is selected, the second slave torque is selected. Characterized in that it controls the rotation of the second rotary cutter in accordance with a command.

  In the rotary cutter control device according to the present invention, the slave side control means includes a ramp circuit that changes the clearance in a ramp shape, and the position controller of the slave side control means includes an upper blade and a lower blade. A difference between the blade position deviation and the clearance changed into a ramp shape by the ramp circuit is multiplied by a predetermined gain to generate a position deviation speed command.

  Further, in the rotary cutter control device according to the present invention, the slave side control means determines the polarity of the position deviation speed command generated by the position controller before starting the cutting of the material, A speed limiter that limits the upper limit of the position deviation speed command in the case of the positive electrode and outputs the lower limit of the position deviation speed command in the case of the negative electrode according to the polarity determined by the polarity discriminator, A ramp circuit that changes the position deviation speed command output by the speed limiter into a ramp shape, and as an initialization process before starting cutting of the material, the position deviation of the upper blade and the lower blade is zero. The rotation control of the first rotary cutter is performed by the master torque command, and the rotation control of the second rotary cutter is performed by the slave torque command. And butterflies.

  As described above, according to the present invention, the slave-side control means generates the position deviation speed command based on the position deviation of the upper blade and the lower blade and the preset clearance, and the master speed command and the position deviation speed. The slave speed command is generated based on the command. That is, the first rotary cutter provided with the upper blade and the second rotary cutter provided with the lower blade are both rotationally controlled based on the master speed command. As a result, the positional deviation between the upper and lower blades of the rotary cutter is maintained at a preset clearance, so that the clearance can be adjusted reliably.

The best mode for carrying out the present invention will be described below with reference to the drawings.
[Rotary cutter]
FIG. 1 is an overall configuration diagram showing an object to be controlled in which a rotary cutter control device according to an embodiment of the present invention is used. The rotary cutter 1 is an upper cutter rotary cutter 2 provided with a cutter (upper cutter) for cutting material from the upper part, and a lower cutter rotary cutter provided with a cutter (lower cutter) for cutting from the lower part. 3 and a pair.

  The motor 4 is an electric motor for rotating the rotary cutter 2 for the upper blade, and the motor 5 is an electric motor for rotating the rotary cutter 3 for the lower blade. The pulse generator 6 is a pulse generator for detecting the position of the rotation angle of the main shaft in the rotary cutter 2 for the upper blade as an absolute angle position with respect to a predetermined origin. This is a pulse generator for detecting the position of the main shaft in the rotary cutter 3. In the rotary cutter 1, an upper blade rotary cutter 2 and a lower blade rotary cutter 3 rotate independently of each other. Here, a material (not shown) to be cut to a predetermined cutting length is inserted between the upper blade rotary cutter 2 and the lower blade rotary cutter 3 from the front.

  FIG. 2 is a view for explaining the clearance between the upper blade and the lower blade in the rotary cutter 1 shown in FIG. 1. The material 8 travels in the direction of the arrow, and the upper blade rotary cutter 2 and the lower blade rotary cutter 3 follow the travel of the material 8 and rotate in the directions of R1 and R2, respectively. Then, the material 8 is cut into a predetermined cutting length by the upper blade and the lower blade. Here, when the angle of the upper blade is the absolute position θ1 with respect to the predetermined origin, and the angle of the lower blade is the absolute position θ2 = θ1 + Δθ with respect to the predetermined origin corresponding to the origin of the upper blade, Δθ is the clearance .

  The rotary cutter 2 for the upper blade and the rotary cutter 3 for the lower blade rotate in the direction of R2 corresponding to R1 while maintaining the clearance of Δθ between the lower blade and the upper blade, and the material 8 is cut. .

〔Control device〕
FIG. 3 is a block diagram illustrating a configuration of the control device of the rotary cutter 1 illustrated in FIGS. 1 and 2. The control device 10 of the rotary cutter 1 includes the motor 4 while maintaining the positional deviation between the upper blade of the upper blade rotary cutter 2 and the lower blade of the lower blade rotary cutter 3 at a preset clearance Δθ. Rotate the rotary cutter 2 for the upper blade in the direction R1, and rotate the rotary cutter 3 for the lower blade in the direction R2 by the motor 5, thereby cutting the material 8 (not shown) with a preset cutting length. It is a device to do.

  The control device 10 includes a controller 11 and inverters 12 and 13. The controller 11 inputs a rotation amount corresponding to the actual travel length of the material 8 from the pulse generator 16 as a material length, and sets a cutting length that defines a length for cutting the material 8 as a cutting length setting device (not shown). The clearance Δθ corresponding to the material and thickness of the material 8 to be cut is input from a clearance setting device (not shown). The material length is a value obtained by counting and converting the pulses generated by the pulse generator 16 by a measuring ring (not shown) that has contacted the material 8. When the material 8 is being cut, a speed setting to be described later is set. A device 101 is used to generate a speed command ω1 *. The cutting length and the clearance Δθ are values set in advance for each material 8 to be cut in a predetermined lot unit.

  The controller 11 functions as a master-side control means and a slave-side control means. The master-side control means inputs the upper blade position θ1 and speed (rotational speed) ω1 from the inverter 12, and the slave-side control means serves as the inverter 13. The position [theta] 2 and speed [omega] 2 of the lower blade are input. Then, the master side control means generates a speed command ω1 * and a torque command τ1 * for controlling the motor 4 that rotationally drives the upper blade rotary cutter 2, and outputs it to the inverter 12. The slave side control means A speed command ω 2 * and a torque command τ 2 * for controlling the motor 5 that rotationally drives the lower blade rotary cutter 3 are generated and output to the inverter 13.

  Here, the control device 10 controls the motors 4 and 5 by any one of a preset speed control method and torque control method. In the case of the speed control method, the speed command ω1 * and the speed command ω2 * are used, and in the case of the torque control method, the torque command τ1 * and the torque command τ2 * are used. The controller 11 inputs a method selection signal and selects a control method.

  The speed command ω2 * output by the slave-side control means is a command generated so as to maintain a preset clearance Δθ, and the speed command ω1 * from the master-side control means, the position of the upper blade and the lower blade It is generated based on the deviation and a preset clearance Δθ. The torque command τ2 * output by the slave-side control means is also a command generated so as to maintain a preset clearance Δθ. The torque command τ1 *, the position deviation and the clearance Δθ from the master-side control means are also generated. Is generated based on Details will be described later.

  Further, the controller 11 performs a synchronization determination as to whether or not the synchronization is normally performed based on the positional deviation between the upper blade and the lower blade, and outputs a synchronization normal signal or a synchronization abnormality signal. Further, the controller 11 inputs an initialization signal, and performs the initialization process prior to the start of the material 8 cutting process for the next lot. Moreover, the controller 11 inputs a synchronous control signal, and performs the switching process of whether to perform synchronous operation. Details of the synchronization determination process, the initialization process, and the synchronization switching process will be described later.

  The inverter 12 functions together with the master-side control means of the controller 11, receives the upper blade position θ 1 from the pulse generator 6, generates the speed ω 1, and outputs the upper blade position θ 1 and the speed ω 1 to the controller 11. Further, the inverter 12 receives the speed command ω1 * and the torque command τ1 * from the controller 11 and generates a motor drive signal based on the speed command ω1 * in the case of the speed control method by the control method according to the method selection signal. In the case of the torque control method, a motor drive signal is generated based on the torque command τ 1 * and supplied to the motor 4.

  The inverter 13 functions together with the slave-side control means of the controller 11 and, similarly to the inverter 12, inputs the lower blade position θ2 from the pulse generator 7, generates the speed ω2, and generates the lower blade position θ2 and the speed ω2. Output to the controller 11. Further, the inverter 13 receives the speed command ω2 * and the torque command τ2 * from the controller 11 and generates a motor drive signal based on the speed command ω2 * in the case of the speed control method by the control method according to the method selection signal. In the case of the torque control method, a motor drive signal is generated based on the torque command τ 2 * and supplied to the motor 5.

〔controller〕
FIG. 4 is a block diagram showing a configuration of the controller 11 shown in FIG. The controller 11 controls the rotation of the rotary cutter 2 for the upper blade via the inverter 12 and the motor 4, and controls the rotation of the rotary cutter 3 for the lower blade via the inverter 13 and the motor 5. It is comprised by the slave side control means. Here, the slave side control means follows the rotation of the upper blade rotary cutter 2 and the speed command ω1 * or torque command from the master side control means so that the lower blade rotary cutter 3 rotates in the opposite direction. Based on τ1 (*), a speed command ω2 * or a torque command τ2 * for controlling the rotation of the lower blade rotary cutter 3 is generated so as to maintain a preset clearance Δθ.

(Master side control means)
First, the master side control means will be described. The master side control means includes a speed setter 101, a subtracter 102, a speed controller 103, a speed corrector 104, an adder 105, a notch filter 106, and a current limiter 107.

  The speed setting device 101 sets the rotation speeds of the rotary cutter 2 for the upper blade and the rotary cutter 3 for the lower blade, and the material length from the pulse generator 16, the cutting length from the cutting length setting device (not shown), and the inverter 12. From the above, the position θ1 of the upper blade is input, and a speed command ω1 * corresponding to a preset cutting length of the material is calculated. The speed command ω1 * calculated by the speed setter 101 is output to the subtractor 102, the slave side control means, and the inverter 12.

  The speed setting device 101 is provided in the master side control means in the controller 11 for convenience of explanation, but may be provided separately from the master side control means and the slave side control means.

  A subtractor 102, a speed controller 103, a speed corrector 104, an adder 105, a notch filter 106, and a current limiter 107 described below function when a control method to be described later is selected as a torque control method.

  The subtracter 102 receives the speed command ω1 * from the speed setter 101, receives the speed ω1 from the inverter 12, and subtracts the speed ω1 from the speed command ω1 * to calculate a speed deviation. The speed controller 103 receives the speed deviation from the subtractor 102 and calculates a torque command using the proportional gain and the acceleration gain. The torque command calculated by the speed controller 103 is output to the speed corrector 104 and the adder 105.

  The speed corrector 104 has a function of performing feedforward compensation with respect to the motor 4 load, and suppresses disturbances such as speed fluctuation accompanying the motor 4 load fluctuation. First, in order to estimate the corrected speed, the speed corrector 104 receives the torque command from the speed controller 103, multiplies the reciprocal of J ^, performs integration processing, and calculates the estimated speed. Here, J ^ is the moment of inertia obtained by adding the value obtained by converting the rotary cutter 2 for the upper blade around the motor 4 and the moment of inertia of the motor 4. Then, in order to control the correction speed, the speed corrector 104 calculates a correction speed by subtracting the speed ω1 from the inverter 12 from the calculated estimated speed, and multiplies the correction speed by a gain (disturbance gain). To calculate a corrected torque command.

  Adder 105 adds the torque command from speed controller 103 and the corrected torque command from speed corrector 104. The torque command τ1 (*) as the addition result is output to the notch filter 106 and the slave side control means.

  The notch filter 106 receives the master torque command τ1 (*) from the adder 105, and attenuates only a specific notch frequency by Q setting. The current limiter 107 receives the master torque command τ1 (*) from the notch filter 106 and outputs a command limited by the positive limit value and the negative limit value to the inverter 12 as the torque command τ1 *.

  Thus, the speed command ω1 * and torque command τ1 (*) calculated by the master side control means are output to the slave side control means, and the speed command ω1 * and torque command τ1 * are output to the inverter 12. The speed command ω1 * and the torque command τ1 * are used for controlling the motor 4 that drives the rotary cutter 2 for the upper blade.

(Slave side control means)
Next, the slave side control means will be described. The slave side control means includes a ramp circuit 111, a subtractor 112, an adder 113, a position controller 114, a polarity discriminator 115, a speed limiter 116, a ramp circuit 117, a comparator 118, a switch 119, a subtractor 120, and a speed control. Device 121, speed corrector 122, adder 123, adder 124, notch filter 125, and current limiter 126.

  The subtractor 112 receives the upper blade position θ1 from the inverter 12, receives the lower blade position θ2 from the inverter 13, and subtracts the lower blade position θ2 from the upper blade position θ1 to calculate a position deviation. The position deviation calculated by the subtractor 112 is output to the adder 113 and the comparator 118.

  The comparator 118 receives the position deviation from the subtractor 112 and compares the preset threshold value with the inputted position deviation. When the position deviation is within the threshold range, it is determined that the synchronous operation of the motors 4 and 5 is normal, and a synchronous normal signal is output to the outside. On the other hand, when the position deviation is not within the threshold range, it is determined that the synchronous operation of the motors 4 and 5 is abnormal, and a synchronous abnormality signal is output to the outside.

  The ramp circuit 111 inputs a clearance Δθ from a clearance setter (not shown), and calculates an output clearance Δθ so as to change in a ramp shape with respect to the input change of the clearance Δθ according to a preset ramp constant. To do. Thereby, a rapid change of the clearance Δθ can be avoided.

  The adder 113 inputs the position deviation from the subtractor 112, inputs the clearance Δθ from the ramp circuit 111, and adds them. The position controller 114 receives the addition result from the adder 113 and multiplies the gain K to calculate a position deviation speed command.

  The polarity discriminator 115 receives a position deviation speed command as a multiplication result from the position controller 114, receives the upper blade position θ1 from the inverter 12, and inputs an initialization signal. The initialize signal is input when performing the initialization process. The polarity discriminator 115 is for the upper blade rotary cutter 2 and the lower blade rotating in the directions of R1 and R2 based on the input polarity of the position deviation speed command and the input polarity of the upper blade position θ1. In the rotary cutter 3, it is determined whether or not the lower blade is positioned before the upper blade (rotated in advance). For example, when the polarity of the position deviation speed command is positive and the polarity of the upper blade position θ1 is positive, the lower blade is not positioned before the upper blade (the upper blade rotates ahead of the lower blade). If the polarity of the position deviation speed command is negative and the polarity of the upper blade position θ1 is positive, the lower blade is positioned before the upper blade (the lower blade is ahead of the upper blade). It is rotating). When the lower blade is positioned before the upper blade, it is necessary to reduce the rotational speed of the rotary cutter 3 for the lower blade. Therefore, the speed command ω2 * output from the subtracter 120 described later is the speed command ω1 *. Or the torque command output by the adder 124 described later must be smaller than the torque command τ1 (*). On the other hand, when the lower blade is not positioned ahead of the upper blade, it is necessary to increase the rotation speed of the rotary cutter 3 for the lower blade. Therefore, the speed command ω2 * output by the subtractor 120 described later is a speed command. It must be larger than ω1 *, or the torque command output by the adder 124 described later must be larger than the torque command τ1 (*). For this reason, the polarity discriminator 115 discriminates the polarity, and when it is determined that the lower blade is positioned before the upper blade, the polarity of the input position deviation speed command is added and output. On the other hand, if it is determined that the lower blade is not positioned ahead of the upper blade, the polarity of the input position deviation speed command is made negative and output.

  By this initialization process, the motor 5 that rotationally drives the rotary cutter 3 for the lower blade moves the position of the lower blade with respect to the upper blade in a direction in which the cutters of the upper blade and the lower blade are close to each other, and θ1 = Θ2 is controlled. It is assumed that the adder 113 receives a zero signal (clearance Δθ is 0) from the ramp circuit 111 during the initialization process.

  Here, the initialization process means that the upper blade and the lower blade are moved to a predetermined position (θ1 = θ2), that is, a position where the clearance Δθ becomes zero (as shown in FIG. 3) before the actual cutting process is started. This refers to a process of aligning (phase alignment) so that the blade is directly above the upper blade rotary cutter 2 and the lower blade is directly below the lower blade rotary cutter 3. This is because the upper blade rotary cutter 2 and the lower blade rotary cutter 3 are not mechanically connected, and therefore it is necessary to align the upper blade and the lower blade before starting the actual cutting process. . That is, by the initialization process, the upper blade and the lower blade are respectively rotated at a speed according to the predetermined speed command ω1 * so that the clearance Δθ becomes zero. After such a state, the actual cutting process is started.

  The speed limiter 116 receives the position deviation speed command whose polarity has been determined by the polarity determiner 115 and inputs an initialization signal. When it is determined from the initialization signal that the control device 10 is performing the initialization process (when the initialization signal is ON), the input position deviation speed command is compared with a preset initialization speed setting, When the deviation speed command is below the initialization speed setting, the position deviation speed command is output. On the other hand, when the position deviation speed command exceeds the initialization speed setting, the initialization speed setting is output as a position deviation speed command.

  When the speed limiter 116 determines from the initialization signal that the control device 10 has not performed initialization processing and is performing normal cutting processing (when the initialization signal is OFF), the input position deviation speed command And a preset normal speed setting, and when the position deviation speed command is equal to or less than the normal speed setting, the position deviation speed command is output. On the other hand, when the position deviation speed command exceeds the normal speed setting, the normal speed setting is output as the position deviation speed command. Note that the initialization speed setting is set at an arbitrary speed among values equal to or lower than the normal speed setting.

  The ramp circuit 117 inputs a position deviation speed command whose speed is limited from the speed limiter 116, and inputs an initialization signal and a synchronization control signal. Then, when it is determined from the initialization signal that the control device 10 is performing the initialization process, the position changes so as to change in a ramp shape with respect to the input change of the position deviation speed command in accordance with a preset ramp constant. Deviation speed command Δω * is calculated. This ramp constant is used to set the maximum acceleration time in the initialization process.

  If the ramp circuit 117 determines from the initialization signal that the control device 10 has not performed the initialization process and is performing the normal cutting process, the input position deviation speed command is set as the position deviation speed command Δω *. , Output as it is. The ramp circuit 117 outputs the position deviation speed command Δω * when the input synchronization control signal is on, and stops outputting the position deviation speed command Δω * when the synchronization control signal is off (position deviation speed command). The command Δω * is not output. Here, the synchronous control signal is a signal that is turned on when the synchronous operation is performed between the master side control unit and the slave side control unit, and is turned off when the synchronous operation is not performed. For example, in the case of an emergency stop, the synchronization control signal is turned off, and the ramp circuit 117 receives the off synchronization control signal and stops outputting the position deviation speed command Δω *. As a result, the motors 4 and 5 are limited in current and cannot be controlled in speed and position. However, the motors 4 and 5 are stopped in steps (regenerative stop), and can be stopped in the maximum torque and in the shortest time. On the other hand, in the case of an emergency stop, if synchronous operation is performed while the synchronous control signal is on, the position deviation becomes large and hunting is performed until it is stabilized. That is, the motors 4 and 5 cannot be stopped with the maximum torque and the shortest time.

  Thus, during the cutting process, the position deviation speed command Δω * uses the upper blade position θ1, the lower blade position θ2, and the clearance Δθ so that the upper blade and lower blade position deviations coincide with the clearance Δθ. The ramp circuit 111, the subtractor 112, the adder 113, the position controller 114, and the speed limiter 116 are used for calculation. Further, during the initialization process, the position deviation speed command Δω * is determined by using the upper blade position θ1, the lower blade position θ2, the clearance Δθ, and the like so that the upper blade and lower blade position deviations become zero. Calculation is performed by the circuit 111, the subtractor 112, the adder 113, the position controller 114, the polarity discriminator 115, the speed limiter 116, and the ramp circuit 117.

  The switch 119 functions as a selection unit, inputs a method selection signal for selecting one of the speed control method and the torque control method, and receives a speed command ω1 * and a zero command from the speed setter 101. Each signal is input, and the output signal is switched according to the method selection signal. Specifically, when the method selection signal is a speed control method, the input speed command ω1 * is output. On the other hand, when the method selection signal is a torque control method, an input zero signal is output.

  The subtractor 120 inputs the speed command ω1 * or zero signal from the switch 119, inputs the position deviation speed command Δω * from the ramp circuit 117, and subtracts the position deviation speed command Δω * from the speed command or zero signal. To do. That is, in the case of the speed control method, the subtracter 120 subtracts the position deviation speed command Δω * from the speed command ω1 * calculated by the master side control means, and outputs it to the inverter 13 as the speed command ω2 *. On the other hand, in the case of the torque control method, the subtracter 120 subtracts the position deviation speed command Δω * from the zero signal and outputs it to the speed controller 121 as the speed command ω2 *. In this case, the speed command ω2 * is a command corresponding to the position deviation speed command Δω *.

  The speed controller 121, the speed corrector 122, the adder 123, the adder 124, the notch filter 125, and the current limiter 126 described below function when the control method is selected as the torque control method.

  The speed controller 121 receives a speed command ω2 * (which functions in the case of the torque control method, and this speed command ω2 * becomes a signal corresponding to the position deviation speed command Δω *) from the subtractor 120, and is proportional. A torque command is calculated using the gain and the acceleration gain. The torque command calculated by the speed controller 121 is output to the speed corrector 122 and the adder 123.

  Similar to the speed corrector 104, the speed corrector 122 has a function of performing feedforward compensation with respect to the motor 5 load, and suppresses disturbances such as speed fluctuation caused by the motor 5 load fluctuation. First, in order to estimate the corrected speed, the speed corrector 122 receives a torque command from the speed controller 121, multiplies the reciprocal of J ^, performs integration processing, and calculates an estimated speed. Here, J ^ is the moment of inertia obtained by adding the value obtained by converting the rotary cutter 3 for the lower blade around the motor 5 and the moment of inertia of the motor 5. Then, in order to control the correction speed, the speed corrector 122 calculates the correction speed by subtracting the speed ω2 from the inverter 13 from the calculated estimated speed, and multiplies the correction speed by a gain (disturbance gain). To calculate a corrected torque command. The adder 123 adds the torque command from the speed controller 121 and the correction torque command from the speed corrector 122, and outputs the result as a position deviation torque command Δτ *.

  The adder 124 receives the torque command τ1 (*) from the adder 105 of the master side control means, and receives the position deviation torque command Δτ * from the adder 123, and performs a subtraction process.

  The notch filter 125 receives a torque command as a subtraction result from the adder 124, and attenuates only a specific notch frequency by Q setting. The current limiter 126 receives a torque command from the notch filter 125 and outputs a command limited by the positive limit value and the negative limit value to the inverter 12 as a torque command τ2 *.

  As described above, the speed command ω2 * and the torque command τ2 * calculated by the slave-side control means are output to the inverter 13 and used for controlling the motor 5 that drives the rotary cutter 3 for the lower blade.

[Inverter]
FIG. 5 is a block diagram showing a configuration of inverter 12 shown in FIG. This inverter 12 corresponds to the master side control means of the controller 11 shown in FIG. A filter 207, a current limiter 208, a speed converter 209, a low-pass filter and an averaging circuit 210 are provided.

  The speed converter 209 inputs the position θ1 of the upper blade from the pulse generator 6, performs a differentiation process, and calculates the speed of the upper blade. The low-pass filter and averaging circuit 210 inputs the speed of the upper blade from the speed converter 209, performs a low-pass filter process with a preset low-pass frequency, further performs an averaging process, and calculates the upper blade speed ω1. . The upper blade speed ω <b> 1 is output to the subtractor 201, the speed corrector 203, and the controller 11. Further, the position θ1 of the upper blade from the pulse generator 6 is output to the controller 11 as it is.

  A subtractor 201, a speed controller 202, a speed corrector 203, and an adder 204 described below function when the control method is selected as the speed control method.

  The subtractor 201 receives the speed command ω1 * from the controller 11, receives the speed ω1 from the low-pass filter and averaging circuit 210, and subtracts the speed ω1 from the speed command ω1 * to calculate a speed deviation. The speed controller 202 receives the speed deviation from the subtractor 201 and calculates a torque command using the proportional gain, the integral gain, and the acceleration gain. The torque command calculated by the speed controller 202 is output to the speed corrector 203 and the adder 204.

  Similar to the speed corrector 104, the speed corrector 203 has a function of performing feedforward compensation with respect to the motor 4 load, and suppresses disturbances such as speed fluctuation accompanying the motor 4 load fluctuation. The speed corrector 203 receives the torque command from the speed controller 202 and the speed ω1 from the low-pass filter and averaging circuit 210, and calculates the corrected torque command by the same processing as the speed corrector 104.

  The adder 204 adds the torque command from the speed controller 202 and the corrected torque command from the speed corrector 203. The torque command as the addition result is output to the switch 205.

  The switch 205 functions as a selection unit, and receives a method selection signal for selecting one of the speed control method and the torque control method (see FIG. 3), and receives a torque command τ1 * from the controller 11. The torque command is input from the adder 204, and the output signal is switched according to the method selection signal. Specifically, when the method selection signal is a speed control method, the torque command input from the adder 204 is output. On the other hand, when the method selection signal is the torque control method, the torque command τ1 * input from the controller 11 is output.

  The low-pass filter 206 receives a torque command (or torque command τ1 *) from the switch 205, and performs a low-pass filter process with a preset low-pass frequency. The notch filter 207 receives a torque command from the low-pass filter 206 and attenuates only a specific notch frequency by Q setting. The current limiter 208 receives a torque command from the notch filter 207 and supplies a command limited by the positive limit value and the negative limit value to the motor 4 as a motor drive signal.

  The inverter 13 shown in FIG. 3 corresponds to the slave side control means of the controller 11 shown in FIG. 4 and has the same configuration as the inverter 12 shown in FIG. Omitted.

〔control method〕
As described above, there are two control methods, the speed control method and the torque control method, which are selected by the method selection signal shown in FIG. The speed control method is for driving the motor 4 and the lower blade rotary cutter 3 for driving the upper blade rotary cutter 2 on the basis of the speed command ω1 * calculated by the master side control means of the controller 11. Thus, the positional deviation between the upper blade and the lower blade is maintained so as to be the clearance Δθ. Specifically, the position of the upper blade is controlled by the speed command ω1 *. The position of the lower blade was calculated by the ramp circuit 111, the subtractor 112, the adder 113, the position controller 114, the polarity discriminator 115, the speed limiter 116, and the ramp circuit 117 using the position deviation of the upper blade and the lower blade. It is controlled by a position deviation speed command Δω * and a speed command ω1 *. That is, the position of the lower blade is controlled by the speed command ω2 * obtained by summing the position deviation speed command Δω * to the speed command ω1 *. This summing is performed in the subtractor 120 shown in FIG.

  That is, the speed control method is the same as that of the controller 11 shown in FIG. 4 except that the speed setter 101, ramp circuit 111, subtractor 112, adder 113, position controller 114, polarity discriminator 115, speed limiter 116, ramp circuit 117. In the inverter 12, the subtractor 201, the speed controller 202, the speed corrector 203, the adder 204, the switch 205, the low pass filter 206, the notch filter 207, the current limiter 208, This is realized by the speed converter 209, the low-pass filter and the averaging circuit 210. Since the inverter 13 is the same as the inverter 12, the description thereof is omitted.

  On the other hand, the torque control method uses the motor 4 and the lower blade rotary cutter 3 for driving the upper blade rotary cutter 2 on the basis of the torque command τ1 (*) calculated by the master side control means of the controller 11. In this method, the motor 5 for driving is controlled, and thereby the positional deviation between the upper blade and the lower blade is maintained to be the clearance Δθ. Specifically, the position of the upper blade is controlled by a torque command τ1 * calculated from the torque command τ1 (*). The position of the lower blade is as follows: ramp circuit 111, subtractor 112, adder 113, position controller 114, polarity discriminator 115, speed limiter 116, ramp circuit 117, subtractor 120, speed controller 121, speed corrector 122, The adder 123 controls the position deviation torque command Δτ * calculated using the upper blade and lower blade position deviations and the clearance Δθ, and the torque command τ1 (*). That is, the position of the lower blade is controlled by the torque command τ2 * obtained by summing the position deviation torque command Δτ * to the torque command τ1 (*). This summing is performed in the adder 124 shown in FIG.

  That is, the torque control method is the same as that of the controller 11 shown in FIG. 4 except that the speed setter 101, the subtracter 102, the speed controller 103, the speed corrector 104, the adder 105, the notch filter 106, the current limiter 107, and the ramp circuit 111. Subtractor 112, adder 113, position controller 114, polarity discriminator 115, speed limiter 116, ramp circuit 117, switch 119, subtractor 120, speed controller 121, speed corrector 122, adder 123, addition The inverter 124, the notch filter 125 and the current limiter 126, and in the inverter 12, the switch 205, the low pass filter 206, the notch filter 207, the current limiter 208, the speed converter 209, the low pass filter and the averaging circuit 210. . Since the inverter 13 is the same as the inverter 12, the description thereof is omitted.

  As described above, according to the control device 10 of the rotary cutter 1 according to the embodiment of the present invention, during the cutting process of the material 8 by the rotary cutter 1, the positional deviation between the upper blade and the lower blade is set to the preset clearance Δθ. Thus, the rotary cutter 2 for the upper blade and the rotary cutter 3 for the lower blade are rotationally controlled not mechanically but electrically. Specifically, the speed command ω1 * is used to control the rotation of the rotary cutter 2 for the upper blade based on the speed command ω1 * calculated by the master side control means of the controller 11 by the speed control method. Further, in order to control the rotation of the lower blade rotary cutter 3, the position deviation speed command Δω * calculated based on the position deviation of the upper blade and the lower blade and the clearance Δθ is summed with the speed command ω1 *, and the speed command ω2 * is summed. This speed command ω2 * is used. Thereby, the rotary cutter 3 for the lower blade is controlled to rotate in cascade with respect to the rotary cutter 2 for the upper blade, so that the clearance Δθ is maintained without being delayed by the rotational operation of the rotary cutter 2 for the upper blade. The following control can be realized with certainty. Therefore, even if the material and thickness of the material 8 change, the clearance Δθ desired by the user can be set arbitrarily and finely. Further, the gear for connecting the upper blade and the lower blade is not necessary, and it is only necessary to set the clearance Δθ, so that the clearance adjustment operation can be simplified.

  In addition, according to the simulation by the inventor of the present application, it was possible to obtain a result that the speed control method is superior in followability and stability compared to the torque control method. In the case of the torque control method, the torque command τ1 (*) is obtained from the torque command τ1 (*) in order to control the rotation of the upper blade rotary cutter 2 on the basis of the torque command τ1 (*) generated by the master side control means of the controller 11. Torque command τ1 * is used. In addition, in order to control the rotation of the rotary cutter 3 for the lower blade, the position deviation torque command Δτ * calculated based on the position deviation of the upper blade and the lower blade and the clearance Δθ is summed to the torque command τ1 (*) to generate a torque command. τ2 * is obtained and this torque command τ2 * is used.

  In general, the motors 4 and 5 have the same mechanical elements, but are different loads from the viewpoint of control elements. That is, in the torque control method, the motors 4 and 5 are controlled based on the torque command τ1 (*) generated by the master side control means of the controller 11, but the motors 4 and 5 are regarded as different loads in terms of control. be able to. Therefore, in the torque control method, the same control result cannot be obtained for the motors 4 and 5, and the positional deviation between the upper blade and the lower blade may remain. That is, the tracking and stability of the control may be impaired as compared with the speed control method.

  In addition, according to the control device 10 of the rotary cutter 1 according to the embodiment of the present invention, either the speed control method or the torque control method is selected by the switches 119 and 205 that receive the method selection signal. The positional deviation between the upper blade and the lower blade was maintained at the clearance Δθ. In other words, by selecting the control method according to the characteristics accompanying the load fluctuations of the motors 4 and 5, the load fluctuations of the motors 4 and 5 are not affected even during the cutting process of the material 8. The clearance Δθ can be adjusted reliably.

  Further, according to the control device 10 of the rotary cutter 1 according to the embodiment of the present invention, the upper blade and the lower blade are moved to a predetermined position (θ1 = θ2), that is, the clearance by the initialization process before the actual cutting process is started. Positioning is performed so that Δθ is at a zero position. Thereby, an actual cutting process can be performed smoothly. Further, the initialization process is performed using the same circuit (the controller 11 and the inverters 12 and 13 shown in FIGS. 3 to 5) as in the actual cutting process. Thereby, since it is not necessary to provide a new circuit for the initialization process, the control device 10 as a whole can realize cost reduction and downsizing.

  The present invention has been described with reference to the embodiment. However, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the technical idea thereof. For example, in the above embodiment, the master side control means and the inverter 12 of the controller 11 control the rotation of the upper blade rotary cutter 2, and the slave side control means and the inverter 13 of the controller 11 rotate the lower blade rotary cutter 3. Although the control is performed, the master side control unit may control the rotation of the lower blade rotary cutter 3, and the slave side control unit may control the rotation of the upper blade rotary cutter 2.

It is a whole block diagram which shows the control object in which the control apparatus of the rotary cutter by embodiment of this invention is used. It is a figure explaining the clearance between the upper blade and lower blade in a rotary cutter. It is a block diagram which shows the structure of the control apparatus of the rotary cutter by embodiment of this invention. It is a block diagram which shows the structure of the controller of FIG. It is a block diagram which shows the structure of the inverter of FIG. It is a block diagram which shows the structure of the control apparatus of the conventional rotary cutter.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Rotary cutter 2 Rotary cutter for upper blades 3 Rotary cutter for lower blades 4, 5, Motor 6, 7, 16 Pulse generator 8 Material 10, 310 Controller 11 Controller 12, 13 Inverter 101, 311 Speed setting device 102, 112, 120, 201, 317, 319, 333, 327, 329 Subtractor 103, 121, 202, 312, 322 Speed controller 104, 122, 203 Speed corrector 105, 113, 123, 124, 204, 318, 328 Adder 106, 125, 207, 313, 323 Notch filter 107, 126, 208 Current limiter 111, 117 Ramp circuit 114 Position controller 115 Polarity discriminator 116 Speed limiter 118 Comparator 119, 205 Switch 206 Low pass filter 209, 314, 324 Speed Converter 210 Low pass filter and averaging circuit 315, 325 Correction speed estimator 316, 326 Correction speed controller 321 Position controller 331, 332 Inverter Δθ Clearance θ1, θ2 Blade position ω1, ω2 Blade speed ω1 *, ω2 * Speed command τ1 *, τ2 *, τ1 (*) Torque command Δω * Position deviation speed command Δτ * Position deviation torque command

Claims (4)

In the device that controls the rotary cutter that cuts the material with the upper blade and the lower blade in synchronization with the traveling material,
Master-side control means for controlling the rotation of the first rotary cutter provided with the upper blade and the second rotary cutter provided with the lower blade are controlled to rotate, and the lower blade relative to the upper blade is set at a preset clearance. Slave-side control means for maintaining the position of
Master side control means
The rotation speed command of the rotary cutter is used as a master speed command, and a master speed controller that generates a master torque command by multiplying a difference between the master speed command and the rotation speed of the upper blade by a predetermined gain,
The first rotary cutter is rotationally controlled by the master torque command,
Slave side control means
A position controller that multiplies the difference between the position deviation of the upper blade and the lower blade and the clearance by a predetermined gain to generate a position deviation speed command;
A first slave subtractor that calculates a difference between the master speed command and the position deviation speed command generated by the position controller and outputs the difference as a slave speed command;
A first slave speed controller that multiplies the difference between the slave speed command output by the first slave subtractor and the rotational speed of the lower blade by a predetermined gain to generate a first slave torque command. And
The rotary cutter control device controls rotation of the second rotary cutter in accordance with the first slave torque command. The control device according to claim 1,
A selection means for selecting one of the speed control method and the torque control method;
The slave side control means
A second slave speed controller that multiplies the slave speed command output by the first slave subtractor by a predetermined gain to generate a position deviation torque command;
The second slave that calculates the difference between the master torque command generated by the master speed controller and the position deviation torque command generated by the second slave speed controller and outputs the second slave torque command And a subtractor
When the speed control method is selected by the selection means, the second rotary cutter is rotationally controlled by the first slave torque command, and when the torque control method is selected, the second slave torque command A rotary cutter control device that controls rotation of a second rotary cutter. The control device according to claim 1 or 2,
The slave side control means
A ramp circuit that changes the clearance change into a ramp shape;
The position controller of the slave-side control means multiplies a difference between the position deviation of the upper blade and the lower blade and the clearance changed into a ramp shape by the ramp circuit by a predetermined gain, and a position deviation speed command A control device for a rotary cutter, characterized in that In the control device according to any one of claims 1 to 3,
The slave side control means
A polarity discriminator for discriminating the polarity of the position deviation speed command generated by the position controller before starting the cutting of the material;
A speed limiter that limits the upper limit of the position deviation speed command in the case of the positive electrode and outputs the lower limit of the position deviation speed command in the case of the negative electrode according to the polarity determined by the polarity discriminator,
A ramp circuit that changes a change in the position deviation speed command output by the speed limiter into a ramp shape;
As an initialization process before starting the cutting of the material, the first rotary cutter is rotationally controlled by the master torque command so that the positional deviation between the upper blade and the lower blade becomes zero, and the second torque by the slave torque command. A rotary cutter control device that controls the rotation of a rotary cutter.

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