JP5377137B2 - Control device for traverse device - Google Patents

Description

  The present invention relates to a control device for a traverse device for traversing a yarn.

  As this kind of technology, Patent Document 1 discloses a method that enables accurate position control of a yarn guide of a traverse device. Specifically, the current position of the thread guide is monitored, the current position of the thread guide is compared with a predetermined target position, and the traveling speed of the thread guide is adjusted so as to eliminate the difference. Yes. If necessary, refer to claims 1 and 2 and paragraphs 0005, 0009, and 0011 of Patent Document 1.

Japanese Patent No. 4155705

  However, in the technique of the above-mentioned patent document 1, since the traveling speed of the yarn guide is used as a so-called adjusting function so that the yarn guide passes a predetermined position at a predetermined time, the current position of the yarn guide is set as desired. The running speed of the thread guide will increase and decrease to some extent. This fluctuation in the traveling speed of the yarn guide particularly adversely affects the stability of the position where the yarn guide actually turns back (hereinafter also referred to as “actual turning point”). This is because when the yarn guide reaches a predetermined position in order to form a package having a predetermined width, the traveling direction of the yarn guide is reversed, but the configuration for driving the yarn guide itself or the yarn guide (hereinafter referred to as the yarn guide) , Also referred to as “yarn guide etc.”) due to the inertia of the actual fold point and the target fold point of the yarn guide (hereinafter also referred to as “target fold point”). Even if the existence of the deviation itself is unavoidable, the degree of the deviation (hereinafter also referred to as “the amount of deviation”) is determined so that the yarn guide approaches the target turning point. This is because it is governed by the kinetic energy of the yarn guide or the like (hereinafter also referred to as “entry kinetic energy”).

  In short, the technique of Patent Document 1 described above is a technique in which the yarn guide passes a predetermined position at a predetermined time by using the traveling speed of the yarn guide as an adjustment (hereinafter also simply referred to as “time-position control”). Therefore, the approach kinetic energy is unlikely to be constant every time, and therefore the amount of deviation is unlikely to be constant every time, and as a result, a package is produced in which the actual turning point varies in the axial direction of the package. .

  Therefore, instead of the “time-position control” described above, “position-speed control” is cited as a next candidate. This “position-speed control” is a technique in which the yarn guide attempts to pass a predetermined position at a predetermined speed. Since this “position-speed control” does not use the traveling speed of the yarn guide as an adjustment role, but rather as a subject of control, the approach kinetic energy is stable compared to the above “time-position control”. There are advantages in terms. However, the traveling speed of the yarn guide when the yarn guide reaches the target turning point is set to zero, as can be understood from a little consideration. In other words, when the yarn guide reaches the target turning point, the yarn guide may not move any further.

  An object of the present invention is to provide a technique for aligning actual folding points in the axial direction of a package.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

  According to an aspect of the present invention, there is provided a yarn guide capable of guiding a traveling yarn and a yarn guide driving means for reciprocating the yarn guide, and for traversing the yarn wound on a bobbin. The control device for the traverse apparatus is configured as follows. That is, the control device of the traverse device displays an entry pattern that is a relationship between the time after the yarn guide enters the vicinity of the target turning point and the target traveling speed of the yarn guide at that time. An entry pattern supply means for supplying; a time supply means for supplying time; an entry pattern supplied by the entry pattern supply means; and a time supplied by the time supply means; An approach target speed calculation means for calculating a travel speed to be performed; and an approach drive control means for controlling the operation of the yarn guide drive means based on the travel speed calculated by the approach target speed calculation means. In the approach pattern, the target traveling speed of the yarn guide is set to be constant in a period immediately before arrival, which is a period immediately before the time when the yarn guide is scheduled to reach the target turning point.

  That is, the above-mentioned yarn guide travels at a predetermined traveling speed at a predetermined time (hereinafter simply referred to as “time”) by the above-described approach pattern supply means, time supply means, approach target speed calculation means, and approach drive control means. -Also referred to as "speed control"). Since this “time-speed control” is the target of control as the main role rather than the adjustment speed of the yarn guide traveling speed as in the above-mentioned “position-speed control”, the “time-position control” described above. Compared to, it contributes to the stabilization of approach kinetic energy. In addition, since the target traveling speed of the yarn guide in the period immediately before reaching is set to be constant, variations in approach kinetic energy due to the influence of response delay can be eliminated. By the above two unique controls, the approach kinetic energy is stabilized at a high level, so that the actual turning point can be aligned in the axial direction of the package. Note that the above-described technique is embodied, for example, as shown by a solid line in the period of symbols b to c in FIG. In other words, the idea of setting the target traveling speed of the yarn guide to be constant in the period immediately before the arrival is not disclosed in Patent Document 1 at all.

The control device for the traverse device is further configured as follows. That is, in the approach pattern, the absolute value of the target traveling speed of the yarn guide is set to decrease in the period before the period just before arrival. According to the above configuration, the approach kinetic energy can be kept low, so that the above-described deviation amount can be reduced. Note that the above-described technique is embodied, for example, as shown by the solid line in the period of symbols a and b in FIG.
The control device for the traverse device is further configured as follows. That is, it further comprises steady target speed calculation means for calculating a target traveling speed of the yarn guide until the yarn guide enters the vicinity of the target turn-back point, and the constant guide speed within the period immediately before reaching the target. The absolute value of the traveling speed is smaller than the absolute value of the traveling speed calculated by the steady target speed calculating means.

  The control device for the traverse device is further configured as follows. That is, the control device of the traverse device supplies an escape pattern that is a relationship between the time after the yarn guide reaches the target turning point and the target traveling speed of the yarn guide at that time. An escape target speed calculating means for calculating a target traveling speed of the yarn guide based on an escape pattern supply means, an escape pattern supplied by the escape pattern supply means, and a time supplied by the time supply means. And escape drive control means for controlling the operation of the yarn guide drive means based on the traveling speed calculated by the escape target speed calculation means. In the escape pattern, the target traveling speed of the yarn guide is set to be constant in a period immediately after arrival as a period immediately after the time when the yarn guide reaches the target turn-back point.

  That is, the above speed command for making the target traveling speed of the yarn guide constant is generally the simplest speed command. Therefore, compared with the case where a complicated speed command is adopted, the mode of change in the traveling speed of the yarn guide in the period immediately after the time when the yarn guide reaches the target turning point (reference c in FIG. 5). And a repetitive reproducibility of a broken line trajectory sandwiched between e and e. Therefore, the reproducibility of the above-described misalignment (corresponding to the area shown by the oblique lines in FIG. 5) is similarly achieved at a high level, so that the actual turning points can be more reliably aligned in the axial direction of the package. . Here, “time-speed control” is adopted, but the effect of this adoption is as described above, and the explanation thereof is omitted. Further, the above technique is embodied as shown by a solid line in a period indicated by symbols df in FIG.

The control device for the traverse device is further configured as follows. That is, the period immediately after reaching is ensured to be equal to or longer than the period from when the yarn guide reaches the target turning point until it stops. That is, the mode of change in the traveling speed of the yarn guide (broken line between the symbols c and e in FIG. 5) is repeatedly reproduced in the period immediately after the time when the yarn guide reaches the target turning point. In order to achieve high performance at a high level, as described above, it is necessary to ensure that the period immediately after the arrival is equal to or longer than the period from when the yarn guide reaches the target turning point until it stops. Especially important.
The control device for the traverse device is further configured as follows. That is, it further includes a steady target speed calculating means for calculating a target traveling speed of the yarn guide until the yarn guide enters the vicinity of the target turn-back point, and the constant guide speed within the period immediately after reaching the target. The absolute value of the traveling speed is smaller than the absolute value of the traveling speed calculated by the steady target speed calculating means.

Schematic diagram of drawing false twister Front view of the traverse device It is a figure similar to FIG. 2, Comprising: The figure for demonstrating the positional relationship in the axial direction of a package Functional block diagram of the control unit of the traverse device A graph showing the relationship between time and travel speed for each of the entry and exit patterns A graph showing the relationship between position and travel speed in each of the entry pattern and the escape pattern Functional block diagram of the control unit of the traverse device according to the first modification Front view of a traverse device according to a second modification Front view of a traverse device according to a third modification

  Hereinafter, as an example, an embodiment in which a control unit of a traverse device according to the present invention is applied to a winding unit of a drawing false twister will be described with reference to FIGS.

  As shown in FIG. 1, the drawing false twisting machine 100 includes a yarn supplying unit 101 that supplies a yarn Y, a processing unit 102 that applies a drawing false twisting process to the yarn Y, and a processed yarn Y. A plurality of processing units 104 (also referred to as weights) including a winding unit 103 that winds up to form a package are provided. The processing units 104 are arranged side by side in a direction perpendicular to the paper surface of FIG. However, the yarn supplying unit 101 and the winding unit 103 are arranged so as to overlap each other by 2 to 4 spindles in order to save space.

  The yarn feeding unit 101 is provided with pegs 106 that hold the yarn feeding package 105, and each peg 106 is attached to a common creel stand 107.

  The processing unit 102 includes a first feed roller 108, a primary heater 109, a cooler 110, a false twisting device 111, a second feed roller 112, 2 and 2 in order from the upstream side to the downstream side of the yarn Y. The secondary heater 113 and the third feed roller 114 are included. The yarn feeding speed by the first feed roller 108 is lower than the yarn feeding speed by the second feed roller 112, and the yarn feeding speed by the second feed roller 112 is higher than the yarn feeding speed of the third feed roller 114. Thus, the yarn Y is stretched between the first feed roller 108 and the second feed roller 112, and is relaxed between the second feed roller 112 and the third feed roller 114. Yes.

  Further, since the twist imparted to the yarn Y by the false twisting device 111 goes up to the first feed roller 108, the yarn Y is stretched and twisted to the primary heater 109. The heat is set by the cooler 110. The twist imparted to the yarn Y disappears when the yarn Y passes through the second feed roller 112. The yarn Y thus stretched false twisted is subjected to an appropriate heat treatment by the secondary heater 113 in a relaxed state, wound on a bobbin by the winding unit 103, and finally forms a package. .

  Specifically, as shown in FIG. 2, the winding unit 103 rotates a cradle 115 that rotatably supports a bobbin (not shown) and a bobbin (or package P) supported by the cradle 115. A traverse device 34 that traverses the yarn Y with respect to the bobbin (or package P) by reciprocating the yarn guide 33. It has. In this configuration, the traveling yarn Y is wound on the bobbin while being traversed by the yarn guide 33 that reciprocates at a high speed, for example, about 700 to 800 times per minute in the traverse device 34. Has been produced.

  The traverse device 34 is configured as a so-called belt type in the present embodiment. That is, the belt-type traverse device 34 supports the endless belt 42 to which the yarn guide 33 is attached and the endless belt 42 so that a part of the endless belt 42 is parallel to the longitudinal direction of the contact roller 116. And a pair of support units 43 and an AC servo motor 44 that drives the endless belt 42. The belt-type traverse device 34 reciprocates the endless belt 42 via a drive pulley 45 provided on the output shaft of the AC servo motor 44 so that the yarn guide 33 is parallel to the longitudinal direction of the contact roller 116. Can be reciprocated. The support unit 43 and the AC servo motor 44 are attached to a plate-like base 46. A rail 47 that linearly guides the yarn guide 33 is extended between the pair of support units 43 so that the yarn guide 33 does not flutter when the endless belt 42 reciprocates. In the present embodiment, a timing belt is employed as the endless belt 42, and the endless belt 42 is wound around the pulley 48 of the pair of support units 43 and the drive pulley 45 of the AC servo motor 44, thereby forming an isosceles triangular track. Drive on. The AC servo motor 44 is provided with an encoder 49 that can transmit a pulse signal corresponding to the rotation of the output shaft.

  In the above configuration, in the present embodiment, the yarn guide driving means for reciprocating the yarn guide 33 includes the AC servo motor 44, the endless belt 42, and the support unit 43.

  The contact roller 116 is provided between the traverse device 34 and the bobbin gripping portion 115a of the cradle 115, and rotates the package P at a desired rotational speed.

  Here, the “target folding point” of the yarn guide 33 corresponds to the symbols B and E in FIG. Similarly, the “actual turning point” of the yarn guide 33 corresponds to the symbols A and F. The “steady region” corresponds to between code C and code D. “Near the target turn-back point (hereinafter, referred to as a neighborhood region)” corresponds to between code A and code C or between code D and code F. Further, “when entering” means when going from the code C to the code B, or when going from the code D to the code E, and “when exiting” means going from the code B through the codes A and B. It means when going to the code C, or when going from the code E to the code D via the code F and the code E.

  The performance required for the traverse device 34 is generally that a predetermined speed is stably maintained in a steady region (approximately 250 [mm]), while an extremely accurate rapid reversal is realized in a nearby region. Is done.

  Next, the traverse control unit 80 (control device) of the traverse device 34 will be described. The traverse control unit 80 shown in FIG. 4 includes a CPU (Central Processing Unit) that is an arithmetic processing unit, a ROM (Read Only Memory) that stores a control program executed by the CPU and data used for the control program, And a RAM (Random Access Memory) for temporarily storing data during program execution. Then, the control program stored in the ROM is read by the CPU and executed on the CPU, so that the control program executes hardware such as the CPU, the steady pattern generation unit 60, the stroke cycle correction unit 61, the steady target speed. Calculation unit 62, command switching unit 63 (speed command switching means), speed control unit 64, current control unit 65, speed signal and position signal processing unit 68, origin detection unit 69, stroke cycle calculation unit 70, storage unit 71, entry Pattern generation unit 72 (entry pattern supply means), approach target speed calculation unit 73 (entry target speed calculation means), time supply unit 74 (time supply means), escape pattern generation unit 75 (escape pattern supply means), escape target speed It is made to function as the calculation part 76 (escape target speed calculation means). The traverse control unit 80 includes a PWM inverter 66 and a current detector 67.

  The storage unit 71 stores package rotation speed, winding speed, and winding control parameters. Here, “package rotation speed” means the rotation speed of the package, “winding speed” means the peripheral speed of the package, and “winding control parameter” means a package shape such as cheese or cone. Means type.

  The speed signal and position signal processing unit 68 acquires the current position and traveling speed of the yarn guide 33 based on the pulse signal received from the encoder 49, and based on the acquired current position and traveling speed of the yarn guide 33. A position signal and a velocity signal are generated, and the position signal and the velocity signal are transmitted to the steady target velocity calculator 62 and the like.

  The steady pattern generation unit 60 reads the package rotation speed, winding speed, and winding control parameters from the storage unit 71, and creates a position-speed pattern for one stroke for each stroke (each time the yarn guide 33 reciprocates once). Is generated, the pattern information is transmitted to the stroke cycle correction unit 61, and the pattern information corrected by the stroke cycle correction unit 61 as described later is the steady target speed. It is transmitted to the calculation unit 62. The position-speed pattern is a pattern that realizes the above-described “position-speed control”, and expresses the correspondence between the position of the yarn guide 33 and the traveling speed in a table format, for example. This means information on how much traveling speed the yarn guide 33 should be at which position.

  The steady target speed calculator 62 is based on the steady pattern Pt received from the steady pattern generator 60 via the stroke period corrector 61 and the position signal received from the speed signal and position signal processor 68 based on the yarn guide 33. The target travel speed is calculated, and the calculated travel speed is transmitted to the command switching unit 63 as a speed command.

  The approach pattern generation unit 72 reads the package rotational speed, the winding speed, and the winding control parameter from the storage unit 71, and enters the entry pattern Ps that is a time-speed pattern at the time of entering one turn per turn (see FIG. 5). ) And the pattern information is transmitted to the approach target speed calculation unit 73. The time-speed pattern is a pattern that realizes the above-mentioned “time-speed control”, and expresses the correspondence between the time and the traveling speed of the yarn guide 33 in, for example, a table format. This means information on when and how fast the yarn guide 33 should be.

  The approach target speed calculation unit 73 calculates a target travel speed when the yarn guide 33 enters, based on the approach pattern Ps received from the approach pattern generation unit 72 and the time received from the time supply unit 74, The calculated traveling speed is transmitted to the command switching unit 63 as a speed command.

  The escape pattern generation unit 75 reads the package rotation speed, the winding speed, and the winding control parameter from the storage unit 71, and the escape pattern Pd that is a time-speed pattern at the time of escape for one turn every turn (see FIG. 5). ) And the pattern information is transmitted to the escape target speed calculator 76.

  The escape target speed calculation unit 76 calculates a target traveling speed when the yarn guide 33 escapes based on the escape pattern Pd received from the escape pattern generation unit 75 and the time received from the time supply unit 74. The calculated traveling speed is transmitted to the command switching unit 63 as a speed command.

  The command switching unit 63 selectively receives a speed command from each of the steady target speed calculation unit 62, the approach target speed calculation unit 73, and the escape target speed calculation unit 76, and transmits the received speed command to the speed control unit 64. It is configured to be possible. Specifically, when the command switching unit 63 determines that the yarn guide 33 is traveling in the steady region based on the speed signal and the position signal received from the position signal processing unit 68, the steady target speed calculation unit 62. The speed command received from is transmitted to the speed control unit 64. Then, when it is determined that the yarn guide 33 has moved from the steady region to the neighboring region based on the speed signal and the position signal received from the position signal processing unit 68, the command switching unit 63 determines from the approach target speed calculation unit 73. The received speed command is transmitted to the speed control unit 64. Further, when it is determined that the yarn guide 33 has reached the target turning point B (or E, see FIG. 3) based on the speed signal and the position signal received from the position signal processing unit 68, the command switching unit 63 determines the escape target. The speed command received from the speed calculation unit 76 is transmitted to the speed control unit 64. And the command switching part 63 will transmit the speed command received from the steady target speed calculation part 62 to the speed control part 64, if the escape pattern mentioned later is complete | finished.

  The speed control unit 64 calculates a target torque of the AC servo motor 44 based on the speed command received from the command switching unit 63, and transmits the calculated torque to the current control unit 65 as a torque command.

  The current control unit 65 controls the pulse width of the pulse voltage generated by the PWM inverter 66 based on the torque command received from the speed control unit 64. When the pulse voltage generated by the PWM inverter 66 is applied to the AC servomotor 44, the AC servomotor 44 rotates at a predetermined rotation speed in a predetermined direction, and the yarn guide 33 reciprocates. Become.

  The current detector 67 detects the current in the AC servo motor 44 and generates a current signal corresponding to this current.

  With this configuration, the torque command transmitted from the speed control unit 64 to the current control unit 65 is adjusted based on the position signal received from the speed signal and position signal processing unit 68 and the current signal received from the current detector 67. Thus, feedback control (current loop control) of the current control unit 65 by the speed control unit 64 is realized. Similarly, the speed command transmitted from the command switching unit 63 to the speed control unit 64 is adjusted based on the speed signal received from the speed signal and the position signal processing unit 68, and thus the speed control by the steady target speed calculation unit 62 and the like. Feedback control (speed loop control) of the unit 64 is realized.

  In the present embodiment, the operation of the yarn guide driving means (AC servo motor 44, etc.) based on the target traveling speed calculated by the steady target speed calculating section 62, the approach target speed calculating section 73, and the escape target speed calculating section 76. The drive control means (steady drive control means, approach drive control means, escape drive control means) for controlling the speed control unit 64 includes a speed control unit 64, a current control unit 65, and a PWM inverter 66.

  The origin detecting unit 69 detects that the yarn guide 33 has passed a predetermined origin position based on the position signal received from the speed signal and the position signal processing unit 68, and strokes the origin position passing signal every time it is detected. It transmits to the period calculation part 70.

  The stroke cycle calculation unit 70 calculates the actual cycle of the reciprocating travel of the yarn guide 33 based on the origin position passage signal received from the origin detection unit 69, and uses the calculated actual cycle as a cycle signal to the stroke cycle correction unit 61. Send.

  The stroke cycle correction unit 61 is based on the steady pattern Pt received from the steady pattern generation unit 60, and is a cycle (hereinafter simply referred to as "target cycle") of the yarn guide 33 that is uniquely determined by the steady pattern Pt. And the periodic signal received from the stroke period calculation unit 70, that is, the actual period of reciprocating travel of the yarn guide 33 (hereinafter also simply referred to as “actual period”). Then, the stroke cycle correction unit 61 corrects the steady pattern Pt so that they match, and transmits the corrected steady pattern Pt to the steady target speed calculation unit 62. Specifically, if the actual cycle is less than the target cycle, the stroke cycle correction unit 61 causes the steady pattern Pt to be lowered uniformly regardless of whether the yarn guide 33 travels forward or backward. to correct. On the other hand, when the actual cycle exceeds the target cycle, the stroke cycle correction unit 61 corrects the steady pattern Pt so that the traveling speed of the yarn guide 33 is uniformly increased regardless of the forward or backward path. In short, it is correction that adjusts the reciprocating cycle of the yarn guide 33 to the target cycle by increasing or decreasing the traveling speed of the yarn guide 33. Then, by the operation of the stroke cycle correction unit 61, feedback control for cycle shift correction is realized. In other words, as described above, the stroke cycle correction unit 61 corrects the steady pattern Pt so that the traveling speed of the yarn guide 33 increases and decreases evenly regardless of the forward path and the backward path. This is because the stability of the traveling speed of the yarn guide 33 in the steady region is not impaired.

  Hereinafter, the above-described steady pattern Pt, approach pattern Ps, and escape pattern Pd will be described in detail with reference to FIGS. The horizontal axis in FIG. 5 is the time supplied by the time supply unit 74, and the vertical axis in FIG. 5 is the traveling speed Vt of the yarn guide 33. However, the vertical axis in FIG. 5 is positive in the traveling speed Vt of the yarn guide 33 leftward in FIG. On the other hand, the horizontal axis of FIG. 6 is the position r in the axial direction of the package, and the vertical axis of FIG. 6 is the traveling speed Vt of the yarn guide 33. However, the horizontal axis in FIG. 6 is positive in the position r of the yarn guide 33 in the right direction in FIG. Further, the vertical axis in FIG. 6 is positive in the traveling speed Vt of the yarn guide 33 leftward in FIG. 5 and 6, the solid line indicates the target travel speed Vt1 (that is, the speed command) that is the target travel speed Vt of the yarn guide 33, and the broken line indicates the actual travel speed Vt2 that is the actual travel speed of the yarn guide 33. Show. Also, the symbols a to g, x, and y in FIG. 5 and the symbols a to g, x, and y in FIG. 6 are in a corresponding relationship. Similarly, the symbols A to C in FIG. Since C is in a correspondence relationship, it should be compared and referenced as necessary.

<Stationary pattern Pt>
The steady pattern Pt is a pattern in which the target travel speed Vt1 is set to be constant at all positions, as indicated by the symbols x and y in FIG.

<Entry pattern Ps>
In the approach pattern Ps, as indicated by reference signs a to c in FIG. 5, the absolute value of the target travel speed Vt1 decreases as much as possible in the first half of the approach, and the target travel speed Vt1 is set constant in the second half of the approach. It is what is done.

<Escape pattern Pd>
In the escape pattern Pd, as indicated by symbols d to g in FIG. 5, the target travel speed Vt1 is set constant in the first half of the escape, and the absolute value of the target travel speed Vt1 increases as much as possible in the second half of the escape. It is set to do.

<Comparison between the entry pattern Ps and the escape pattern Pd>
The target travel speed Vt1 in the latter half of the entry pattern Ps indicated by reference signs b to c in FIG. 5 and the target travel speed Vt1 in the first half of the escape pattern Pd also indicated by reference signs d to f have the same absolute value but opposite signs. ing. Also, the change rate of the traveling speed Vt in the first half of the entry pattern Ps indicated by reference signs a and b in FIG. 5 and the change rate of the traveling speed Vt in the second half of the escape pattern Pd also indicated by reference signs f to g are absolute. The value and sign are equal. Therefore, for example, when switching from the entry pattern Ps to the escape pattern Pd, the absolute value of the traveling speed Vt does not change and only the sign is inverted.

<~ Time t (a)>
First, the steady pattern Pt when the yarn guide 33 is traveling from the center in the axial direction of the package P toward the left side of the page (the direction of the symbol C as viewed from the symbol D) in FIG. 3 will be described. As described above, the steady pattern Pt in the present embodiment is a position-speed pattern, and the target travel speed Vt1 is set to be constant at all positions as indicated by the symbol x in FIG.

<Time t (a) to Time t (b)>
When the yarn guide 33 reaches the position indicated by the symbol C in FIG. 6, the command switching unit 63 switches from the steady pattern Pt that is the position-speed pattern to the entry pattern Ps that is the time-speed pattern as shown in FIG. It is done. As shown in FIG. 5, the absolute value of the target travel speed Vt1 decreases in proportion to the passage of time t. Note that the absolute value of the acceleration at this time of the target travel speed Vt1 is set as large as possible. The maximum value of the acceleration can be grasped in advance at the time of design or manufacture by examining the load, the performance of the AC servo motor 44, and the traverse control unit 80. On the other hand, the absolute value of the actual traveling speed Vt2 decreases with a delay of the change in the target traveling speed Vt1 due to the influence of the response delay.

<Time t (b) to Time t (c, d)>
In the approach pattern Ps, the target travel speed Vt1 is set to be constant in the period immediately before arrival as the period immediately before the time when the yarn guide 33 is scheduled to reach the target turning point B. This period immediately before reaching is set to approximately 0.5 to 2 [msec] in the present embodiment. Strictly speaking, the time when the yarn guide 33 is scheduled to reach the target turning point B and the time when the command switching unit 63 detects that the yarn guide 33 has actually reached the target turning point B are strictly speaking. Although different, if it says without fear of misunderstanding, it can be said that said period immediately before arrival corresponds to the period between time t (b) and time t (c, d). The time at which the yarn guide 33 is scheduled to reach the target turning point B is uniquely determined based on the distance between the symbol B and the symbol C in FIG. 3 and the entry pattern Ps shown in FIG. Is.

  As described above, since the target travel speed Vt1 is set constant in the period between the time t (b) and the time t (c, d), the time between the time t (a) and the time t (b). The generated response delay disappears before reaching the target turning point B. Due to the disappearance of the response delay, the approach kinetic energy, which is uniquely determined based on the actual traveling speed Vt2 at time t (c, d), seems to be extremely stable immediately before reaching time t (c, d). It has become.

<Time t (c, d) to Time t (f)>
Eventually, when the yarn guide 33 reaches the target turning point B, the command switching unit 63 switches from the entry pattern Ps that is the time-speed pattern to the escape pattern Pd that is also the time-speed pattern.

  In the escape pattern Pd, in a period immediately after arrival (time t (c, d) to time t (f)) as a period immediately after time t (c, d) when the yarn guide 33 reaches the target turning point B. The target travel speed Vt1 of the yarn guide 33 is set to be constant. The period immediately after the arrival is ensured to be longer than the period (time t (c, d) to time t (e)) from when the yarn guide 33 reaches the target turning point B until it stops. Specifically, in this embodiment, it is set to approximately 0.5 to 2 [msec]. In the present embodiment, the target travel speed Vt1 in the period immediately before arrival (time t (b) to time t (c, d)) and the period immediately after arrival (time t (c, d) to time t (f) )) And the target traveling speed Vt1 have the same absolute value and the opposite sign. On the other hand, a response delay occurs in the actual traveling speed Vt2 due to the presence of approach kinetic energy, and the idle traveling time Δt (= t (e) −t (c, d)) elapses until the actual traveling speed Vt2 becomes zero. . The time when the actual traveling speed Vt2 becomes zero coincides with the time when the yarn guide 33 reaches the actual turning point A, and both are time t (e). Then, due to the presence of the idle time Δt, a shift amount corresponding to the area shown by hatching in FIG. 5 occurs. This amount of deviation is indicated by the symbol Δr in FIG.

  Then, after the time t (e), the response delay of the actual travel speed Vt2 will eventually disappear, and the actual travel speed Vt2 will coincide with the target travel speed Vt1.

<Time t (f) to Time t (g)>
In the period between time t (f) and time t (g), the absolute value of the target travel speed Vt1 is set to increase. Specifically, as shown in FIG. 5, the absolute value of the target travel speed Vt1 is set to increase in proportion to the passage of time t. The absolute value of the acceleration at this time of the target travel speed Vt1 is set to a value as large as possible, as is the acceleration from time t (a) to time t (b). On the other hand, the absolute value of the actual traveling speed Vt2 increases with a delay from the change in the target traveling speed Vt1 due to the influence of the response delay.

<Time t (g) ~>
When the escape pattern Pd is completed, the command switching unit 63 switches the escape pattern Pd to the steady pattern Pt again as shown in FIG. That is, the timing for switching from the escape pattern Pd to the steady pattern Pt can be set separately from the position in the axial direction of the package, unlike the timing for switching from the steady pattern Pt to the entry pattern Ps. Note that the response delay of the actual traveling speed Vt2 generated between the time t (f) and the time t (g) will disappear relatively early.

  As shown in FIG. 5, since the target travel speed Vt1 (entry speed and escape speed) before and after sandwiching the target turning point detection time t (c, d) is constant, the actual turning point is set to the package axis. It can be aligned in the direction.

(Summary)
(Claim 1)
As described above, in the present embodiment, the traverse control unit 80 (control device) of the traverse device 34 is configured as follows. That is, the traverse control unit 80 of the traverse device 34 has a time t after the yarn guide 33 enters the vicinity of the target turning point C (or D), and a target travel of the yarn guide 33 at the time t. An entry pattern generation unit 72 that supplies an entry pattern Ps that is related to the speed Vt1, a time supply unit 74 that supplies time t, an entry pattern Ps supplied by the entry pattern generation unit 72, and the time supply An approach target speed calculation unit 73 that calculates a target travel speed Vt1 of the yarn guide 33 based on the time t supplied by the unit 74, and a target travel speed Vt1 calculated by the approach target speed calculation unit 73. And an approach drive control means for controlling the operation of the yarn guide drive means. Of the approach pattern Ps, in the immediately preceding period (time t (b) to time t (c, d)) as the period immediately before the time t at which the yarn guide 33 is scheduled to reach the target turning point B, The target travel speed Vt1 of the yarn guide 33 is set constant.

  That is, the time-speed control is established by the approach pattern generation section 72, the time supply section 74, the approach target speed calculation section 73, and the approach drive control means. This “time-speed control” is not intended to adjust the traveling speed Vt of the yarn guide 33, but rather as the main subject, as in the above “position-speed control”. Compared with control, it contributes to the stabilization of approach kinetic energy. In addition, since the target traveling speed Vt1 of the yarn guide 33 in the period immediately before reaching is set to be constant, variations in approach kinetic energy due to the influence of response delay can be eliminated. By the above two unique controls, the approach kinetic energy is stabilized at a high level, so that the actual turning point A can be aligned in the axial direction of the package. Note that the above-described technique is embodied, for example, as shown by a solid line in the period of symbols b to c in FIG.

(Claim 2)
The traverse control unit 80 of the traverse device 34 is further configured as follows. That is, in the approach pattern Ps, the absolute value of the target travel speed Vt1 of the yarn guide 33 is set to decrease in a period before the period just before arrival. According to the above configuration, the above approach kinetic energy can be kept low, so that the above-described deviation amount Δr can be reduced. Note that the above-described technique is embodied, for example, as shown by the solid line in the period of symbols a and b in FIG.

(Claim 3)
The traverse control unit 80 of the traverse device 34 is further configured as follows. That is, the traverse control unit 80 of the traverse device 34 has a relationship between the time t after the yarn guide 33 reaches the target turning point B and the target traveling speed Vt1 of the yarn guide 33 at the time t. Of the yarn guide 33 based on the escape pattern generation unit 75 for supplying the escape pattern Pd, the escape pattern Pd supplied by the escape pattern generation unit 75, and the time supplied by the time supply unit 74. An escape target speed calculator 76 for calculating the target travel speed Vt1, and an escape drive control means for controlling the operation of the yarn guide drive means based on the target travel speed Vt1 calculated by the escape target speed calculator 76. In addition. In the escape pattern Pd, the target travel speed Vt1 of the yarn guide 33 is set to be constant in a period immediately after arrival as a period immediately after the time when the yarn guide 33 reaches the target turning point B.

  That is, the above speed command for making the target traveling speed Vt1 of the yarn guide 33 constant is generally the simplest speed command. Therefore, compared with the case where a complicated speed command is adopted, the actual traveling speed Vt2 of the yarn guide 33 in the period immediately after the time t (c) when the yarn guide 33 reaches the target turning point B. The repetitive reproducibility of the mode of change (the broken line trajectory sandwiched between the symbols c and e in FIG. 5) is realized at a high level. Accordingly, the reproducibility of the above-described deviation amount Δr (corresponding to the area shown by the hatching in FIG. 5) is similarly achieved at a high level, so that the actual turning point A can be more reliably aligned in the axial direction of the package. Can do. Here, “time-speed control” is adopted, but the effect of this adoption is as described above, and the explanation thereof is omitted. Further, the above technique is embodied as shown by a solid line in a period indicated by symbols df in FIG.

(Claim 4)
The traverse control unit 80 of the traverse device 34 is further configured as follows. That is, the period immediately after reaching is ensured to be equal to or longer than the period from when the yarn guide 33 reaches the target turning point B until it stops. That is, the mode of change in the actual traveling speed Vt2 of the yarn guide 33 in the period immediately after the time t (c) when the yarn guide 33 reaches the target turning point B (indicated by reference symbols c and e in FIG. 5). In order to realize a high level of reproducibility of the trajectory between the broken lines), as described above, during the period immediately after reaching, once the yarn guide 33 reaches the target turning point B until it stops once. It is particularly important to ensure that the period is equal to or longer than this period.

  Although the preferred embodiment of the present invention has been described above, the above embodiment can be implemented with the following modifications.

<First modification>
That is, in the above-described embodiment, the application target of the present invention is the traverse control unit 80 of the traverse device 34 of the winding unit 103 of the drawing false twisting machine 100. However, the present invention is not limited to this. For example, a large number of spun yarns The present invention can also be applied to a traverse device mounted on a yarn winding device of a spinning winder that simultaneously winds a strip to form a large number of packages with high productivity.

<Second modification>
In the above embodiment, the AC servo motor 44 is employed as a motor for driving the endless belt 42. However, instead of this, other types of motors may be used. In general, the AC servo motor 44 is suitable for high-speed rotation of the output shaft as compared with the stepping motor disclosed in Patent Document 1. In this respect, the number of reciprocations of the yarn guide 33 per minute is the same as that of the above-described embodiment. In the case of a considerable number, it is preferable to positively employ the AC servo motor 44.

<Third modification>
In the above embodiment, the position-velocity pattern is adopted as the steady pattern Pt. However, instead of this, the above-described time-position pattern may be adopted. In this case, since the functional blocks shown in FIG. 7 instead of FIG. 4 are to be implemented, FIG. 7 will be briefly described. In addition, here, it demonstrates centering on a different point from FIG. 4, and omits the description about the overlapping part.

  The traverse control unit 80, instead of the stroke cycle correction unit 61, the steady target speed calculation unit 62, the origin detection unit 69, and the stroke cycle calculation unit 70 of FIG. 4, a steady target position calculation unit 81, a position control unit 82, Is provided. Then, the steady pattern generation unit 60 generates a steady pattern that is a time-position pattern, and transmits the generated steady pattern to the steady target position calculation unit 81. The steady target position calculation unit 81 calculates the target position of the yarn guide 33 at the present time based on the steady pattern received from the steady pattern generation unit 60 and the time received from the time supply unit 74, and the calculated position Is transmitted to the position control unit 82 as a position command. The position controller 82 calculates the target traveling speed of the yarn guide 33 at the present time based on the position command received from the steady target position calculator 81 and the position signal received from the speed signal and position signal processor 68. The calculated travel speed is transmitted to the command switching unit 63 as a speed command.

<Fourth modification>
In the above-described embodiment, the traverse device 34 is a so-called belt type. However, instead of this, a linear motion motor traverse device or an arm swinging traverse device may be used. As shown in FIG. 8, the linear motor type traverse device 34 includes a guide rail 50 that guides the reciprocating motion of the yarn guide 33, a drive source 51 that reciprocates the yarn guide 33, and the position of the reciprocating motion of the yarn guide 33. And an encoder 52 for detecting the traveling speed. The drive source 51 corresponds to the AC servo motor 44 in the above embodiment, and the encoder 52 corresponds to the encoder 49.

<Fifth modification>
As shown in FIG. 9, the arm swinging traverse device 34 includes an arm 53 having a thread guide 33 at the tip, a drive source 54 that swings the arm 53, and an encoder 55 that detects the rotation angle of the arm 53. And comprising. The drive source 54 corresponds to the AC servo motor 44 in the above embodiment, and the encoder 55 corresponds to the encoder 49.

Ps entry pattern Pd escape pattern

Claims (6)

A thread guide capable of guiding the traveling yarn,
Thread guide driving means for reciprocating the thread guide, and
A traverse device control device for traversing the yarn wound on a bobbin,
An entry pattern supply means for supplying an entry pattern that is a relationship between the time after the yarn guide enters the vicinity of the target turn-around point and the target traveling speed of the yarn guide at that time;
Time supply means for supplying time;
An approach target speed calculation means for calculating a target traveling speed of the yarn guide based on the approach pattern supplied by the approach pattern supply means and the time supplied by the time supply means;
An approach drive control means for controlling the operation of the yarn guide drive means based on the traveling speed calculated by the approach target speed calculation means,
In the traverse device, the target traveling speed of the yarn guide is set to be constant in a period immediately before the arrival pattern as a period immediately before the time at which the yarn guide is scheduled to reach the target turn-around point. Control device. A control device for a traverse device according to claim 1,
The traverse device control apparatus, wherein the absolute value of the target traveling speed of the yarn guide is set to decrease in the period before the arrival period in the approach pattern. A control device for a traverse device according to claim 1 or 2,
A steady target speed calculating means for calculating a target traveling speed of the yarn guide until the yarn guide enters the vicinity of the target turning point;
A control device for a traverse device, wherein an absolute value of the constant traveling speed within the period immediately before reaching is smaller than an absolute value of the traveling speed calculated by the steady target speed calculating means. A control device for a traverse device according to any one of claims 1 to 3 ,
An escape pattern supply means for supplying an escape pattern that is a relationship between the time after the yarn guide reaches the target turning point and the target traveling speed of the yarn guide at that time;
An escape target speed calculation means for calculating a target traveling speed of the yarn guide based on the escape pattern supplied by the escape pattern supply means and the time supplied by the time supply means;
Escape drive control means for controlling the operation of the yarn guide drive means based on the running speed calculated by the escape target speed calculation means,
In the escape pattern, the target travel speed of the yarn guide is set to be constant in the immediately following period as the period immediately after the time when the yarn guide reaches the target turning point. . The control device for the traverse device according to claim 4 , wherein the period immediately after the arrival is ensured to be equal to or longer than a period from when the yarn guide reaches a target turning point until it is temporarily stopped. A control device for a traverse device according to claim 4 or 5,
A steady target speed calculating means for calculating a target traveling speed of the yarn guide until the yarn guide enters the vicinity of the target turning point;
A control device for a traverse device, wherein an absolute value of the constant traveling speed within a period immediately after the arrival is smaller than an absolute value of the traveling speed calculated by the steady target speed calculating means.

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