JP6385379B2 - Dancer control device, dancer control program and slitter device - Google Patents

Description

  The present invention relates to a dancer control device, a dancer control program, and a slitter device.

  As a dancer control device, for example, the one described in Patent Document 1 is known. The dancer control device described in Patent Literature 1 controls a motor of a winder that winds up the web material, and increases or decreases the line speed of the web material from the reference speed to set the dancer roll displaced from the reference position as a reference. Perform dancer control to return to position.

Japanese Patent Laid-Open No. 7-315652

  By the way, driving a winder with one motor requires an excessive torque. Therefore, it is possible to connect a motor to both ends of the winder and drive the winder with two motors. Conceivable. In this configuration, when two motors are rotated simultaneously, the torque of each motor is ½ that when the winder is driven by one motor.

  However, in actual control, even if the two motors have the same configuration and specifications, there may be a delay in rotation between the two motors. In this case, the motors may repel each other. For example, if the limit torque of each motor is 150% torque and the torque required for the rotation of the winder is 30% torque, if a rotation delay occurs between the two motors, 30% torque is generated. In addition, one motor may generate 150% torque and the other motor may generate -120% torque.

  This invention is made | formed in view of the said situation, The place made into the subject provides the dancer control apparatus, dancer control program, and slitter apparatus which can prevent that motors mutually repel each other. There is.

In order to solve the above problems, a dancer control device according to the present invention includes:
A first inverter that drives a first motor connected to one end of a web material unwinder or winder winding shaft based on a first internal command torque generated within a range not exceeding the first limit torque; A second inverter that drives a second motor connected to the other end of the winding shaft based on a second internal command torque generated within a range not exceeding a second limit torque, and controls the line speed of the web material A dancer control device that increases or decreases the speed from a reference speed and returns the dancer roll displaced from the reference position to the reference position,
A tension component torque calculation unit that calculates a tension component torque for maintaining a constant tension generated in the web material when the dancer roll is at the reference position;
A mechanical loss torque calculation unit for calculating a first mechanical loss torque generated between the first motor and the winding shaft and a second mechanical loss torque generated between the second motor and the winding shaft;
An inertial torque calculator for calculating an inertial torque generated when the line speed is increased or decreased; and
A first combined torque is calculated by adding a first tension torque equal to or less than the tension torque, the first mechanical loss torque, and a first inertia torque smaller than the inertia torque, and the first inverter A first torque limit command unit that outputs a first torque limit command for setting the first combined torque as the first limit torque;
A second torque component torque that is equal to or less than the tension component torque and that is a combined torque with the first tension component torque is greater than the tension component torque, the second mechanical loss component torque, and the inertia component torque, and The combined torque of the first inertia torque and the second inertia torque, which is the inertia torque, is added to calculate a second combined torque, and the second inverter limits the second combined torque to the second limit. And a second torque limit command unit that outputs a second torque limit command for setting as a torque.

The dancer control device
A first compensation torque is calculated by adding the first mechanical loss torque and the first inertia torque, and the first inverter is configured to generate the first internal command torque including the first compensation torque. A first torque compensation command unit that outputs a 1 torque compensation command;
A second compensation torque is calculated by adding the second mechanical loss torque and the second inertia torque and causing the second inverter to generate the second internal command torque including the second compensation torque. It is preferable to further include a second torque compensation command unit that outputs a 2 torque compensation command.

In order to solve the above-mentioned problem, a dancer control program according to the present invention is:
A first inverter that drives a first motor connected to one end of a web material unwinder or winder winding shaft based on a first internal command torque generated within a range not exceeding the first limit torque; A second inverter that drives a second motor connected to the other end of the winding shaft based on a second internal command torque generated within a range not exceeding a second limit torque, and controls the line speed of the web material Is a dancer control program for returning the dancer roll displaced from the reference position to the reference position by increasing or decreasing the reference speed from the reference speed.
A tension torque calculation process for calculating a tension torque for maintaining a constant tension generated in the web material when the dancer roll is at the reference position;
A mechanical loss torque calculation process for calculating a first mechanical loss torque generated between the first motor and the winding shaft and a second mechanical loss torque generated between the second motor and the winding shaft;
An inertia torque calculation process for calculating an inertia torque generated when the line speed is increased or decreased;
A first combined torque is calculated by adding a first tension torque equal to or less than the tension torque, the first mechanical loss torque, and a first inertia torque smaller than the inertia torque, and the first inverter A first torque limit command process for outputting a first torque limit command for setting the first combined torque as the first limit torque;
A second torque component torque that is equal to or less than the tension component torque and that is a combined torque with the first tension component torque is greater than the tension component torque, the second mechanical loss component torque, and the inertia component torque, and The combined torque of the first inertia torque and the second inertia torque, which is the inertia torque, is added to calculate a second combined torque, and the second inverter limits the second combined torque to the second limit. And a second torque limit command process for outputting a second torque limit command for setting as a torque.

The dancer control program is
In the computer,
A first compensation torque is calculated by adding the first mechanical loss torque and the first inertia torque, and the first inverter is configured to generate the first internal command torque including the first compensation torque. A first torque compensation command process for outputting a 1 torque compensation command;
A second compensation torque is calculated by adding the second mechanical loss torque and the second inertia torque and causing the second inverter to generate the second internal command torque including the second compensation torque. It is preferable to further execute a second torque compensation command process for outputting a two-torque compensation command.

In order to solve the above problems, the slitter device according to the present invention is:
A web material unwinder,
A web material winder;
A slitter knife for cutting the web material between the unwinder and the winder;
A dancer roll for applying tension to the web material;
A first motor connected to one end of a winding shaft of the unwinder or the winder;
A second motor connected to the other end of the winding shaft;
A first inverter that drives the first motor based on a first internal command torque generated within a range not exceeding the first limit torque;
A second inverter that drives the second motor based on a second internal command torque generated within a range not exceeding the second limit torque;
Dancer control for controlling the first inverter and the second inverter to perform dancer control for returning the dancer roll displaced from the reference position to the reference position by increasing or decreasing the line speed of the web material from the reference speed. Equipment,
A slitter device comprising:
The dancer control device comprises:
A tension component torque calculation unit that calculates a tension component torque for maintaining a constant tension generated in the web material when the dancer roll is at the reference position;
A mechanical loss torque calculation unit for calculating a first mechanical loss torque generated between the first motor and the winding shaft and a second mechanical loss torque generated between the second motor and the winding shaft;
An inertial torque calculator for calculating an inertial torque generated when the line speed is increased or decreased; and
A first combined torque is calculated by adding a first tension torque equal to or less than the tension torque, the first mechanical loss torque, and a first inertia torque smaller than the inertia torque, and the first inverter A first torque limit command unit that outputs a first torque limit command for setting the first combined torque as the first limit torque;
A second torque component torque that is equal to or less than the tension component torque and that is a combined torque with the first tension component torque is greater than the tension component torque, the second mechanical loss component torque, and the inertia component torque, and The combined torque of the first inertia torque and the second inertia torque, which is the inertia torque, is added to calculate a second combined torque, and the second inverter limits the second combined torque to the second limit. And a second torque limit command unit that outputs a second torque limit command for setting as a torque.

In the slitter device,
The dancer control device comprises:
A first compensation torque is calculated by adding the first mechanical loss torque and the first inertia torque, and the first inverter is configured to generate the first internal command torque including the first compensation torque. A first torque compensation command unit that outputs a 1 torque compensation command;
A second compensation torque is calculated by adding the second mechanical loss torque and the second inertia torque and causing the second inverter to generate the second internal command torque including the second compensation torque. It is preferable to further include a second torque compensation command unit that outputs a 2 torque compensation command.

  ADVANTAGE OF THE INVENTION According to this invention, the dancer control apparatus which can prevent that motors mutually repel can be provided.

It is a figure which shows the outline | summary of the slitter apparatus which concerns on this invention. It is a figure which shows the dancer control apparatus which concerns on this invention, and the structure of the periphery. It is a block diagram which shows the structure of a 1st inverter and a 2nd inverter. It is a block diagram which shows the function of the process part in the dancer control apparatus of this invention.

  Hereinafter, embodiments of a dancer control device, a dancer control program, and a slitter device according to the present invention will be described with reference to the accompanying drawings.

[Slitter device]
FIG. 1 shows a slitter device 100 according to the present embodiment. The slitter device 100 includes an unwinder 101, winders 102a and 102b, a pair of upper and lower slitter knives 103, and a dancer roll 104. In the slitter apparatus 100, the web material W such as paper, film, and aluminum foil, which is unwound from the unwinder 101 at a reference speed, is cut by the slitter knife 103 and wound by the winders 102a and 102b.

  The dancer roll 104 is configured to be swingable in the left-right direction around a predetermined reference position. The dancer roll 104 is webbable according to the pressure of an air cylinder provided on an arm that supports the dancer roll 104 so as to be swingable. A tension is applied to the material W. When the dancer roll 104 swings to the left of the reference position, the dancer roll 104 can be returned to the reference position by increasing the line speed of the web material W from a predetermined reference speed. On the other hand, when the dancer roll 104 swings to the right of the reference position, the dancer roll 104 can be returned to the reference position by reducing the line speed of the web material W from the reference speed. The amount of displacement of the dancer roll 104 from the reference position can be detected by a detection means 110 such as an encoder (see FIG. 2). Note that the dancer roll 104 may be fixed at the reference position.

  As shown in FIG. 2, the slitter device 100 is connected to a first motor 105 connected to one end of a winding shaft of the unwinder 101 via a gear or the like, and to the other end of the winding shaft via a gear or the like. The second motor 106, the first inverter 107 that drives the first motor 105, the second inverter 108 that drives the second motor 106, and the common speed command to the first inverter 107 and the second inverter 108 are output. The speed command unit 109, the detection means 110 that detects the amount of displacement of the dancer roll 104 from the reference position, the detection means 111 such as an encoder that detects the rotation speed of the first motor 105, and the rotation speed of the second motor 106 A detection unit 112 such as an encoder for detection and the dancer control device 1 according to the present embodiment are provided. The first motor 105 and the second motor 106 are electric motors having the same configuration and specifications.

  Although the details will be described later, the dancer control device 1 controls the first inverter 107 and the second inverter 108 to increase or decrease the line speed of the web material W from the reference speed, and the dancer roll 104 is displaced from the reference position. Is returned to the reference position (hereinafter referred to as “dancer control”), and the first torque command and the second torque command are sent to the first inverter 107 and the second inverter 108 with the dancer roll 104 fixed at the reference position. The output control (hereinafter referred to as “torque control”) is selectively performed.

  The speed command unit 109 is configured by, for example, a microcomputer, and generates a speed command related to the rotation speeds of the first motor 105 and the second motor 106 according to the displacement amount of the dancer roll 104 detected by the detection unit 110. When the dancer roll 104 is at the reference position, the command value of the speed command is a value corresponding to the reference speed (for example, the number of rotations). When the dancer roll 104 swings to the right or left from the reference position, the command value of the speed command is a value obtained by correcting the value corresponding to the reference speed according to the displacement amount of the dancer roll 104 (for example, the number of rotations). Become. The speed command is output to first inverter 107 and second inverter 108. In the present embodiment, the speed command unit 109 and the dancer control device 1 are arranged separately, but the dancer control device 1 may include the speed command unit 109.

  As shown in FIG. 3, the first inverter 107 and the second inverter 108 have the same configuration, and are respectively speed controllers (ASR) 120 and 130, priority circuits 121 and 131, and speed limit circuits 122 and 132. Limit circuits 123 and 133, control signal generation circuits 124 and 134, and switch circuits 125 and 135.

  The speed controller 120 performs PI control with the command value of the speed command and the first speed feedback value from the detection unit 111 and outputs the deviation to the priority circuit 121 as a current command torque. Similarly, the speed controller 130 performs PI control with the command value of the speed command and the second speed feedback value from the detection means 112, and outputs the deviation as a current command torque to the priority circuit 131.

  The priority circuit 121 compares the input current command torque with the command torque of the first torque command, and outputs the lower value. Similarly, the priority circuit 131 compares the input current command torque with the command torque of the second torque command, and outputs the lower value. At the time of dancer control, the command torques of the first torque command and the second torque command are the maximum torque (150% torque in this embodiment), so the priority circuits 121 and 131 are always supplied from the speed controllers 120 and 130. Outputs current command torque.

  When the first speed feedback value and the second speed feedback value exceed predetermined threshold values (for example, the rotational speeds of the first motor 105 and the second motor 106 due to the web material W being broken). Torque is increased), a torque proportional to the amount exceeding the threshold value is calculated and output as a suppression torque.

  The limit circuit 123 compares the combined torque of the torque from the priority circuit 121, the suppression torque from the speed limit circuit 122, and the first compensation torque of the first torque compensation command with the first limit torque. When the first limit torque is exceeded, the first limit torque is output as the first internal command torque. On the other hand, when the combined torque is equal to or lower than the first limit torque, the combined torque is output as the first internal command torque.

  The limit circuit 133 compares the combined torque of the torque from the priority circuit 131, the suppression torque from the speed limit circuit 132, and the second compensation torque of the second torque compensation command with the second limit torque. When the second limit torque is exceeded, the second limit torque is output as the second internal command torque. On the other hand, when the combined torque is equal to or less than the second limit torque, the combined torque is output as the second internal command torque.

  The first limit torque of the limit circuit 123 is set to 150% torque by default (the rated torque of the first motor 105 and the second motor 106 is set to 100% torque), but the first torque limit command is input. If it is, the torque is changed to the torque of the first torque limit command. Similarly, the second limit torque of the limit circuit 133 is set to 150% torque by default, but is changed to the torque of the second torque limit command when the second torque limit command is input.

  The control signal generation circuit 124 generates and outputs a control signal (for example, a PWM signal) for controlling the switch of the switch circuit 125 based on the input first internal command torque. Similarly, the control signal generation circuit 134 generates and outputs a control signal (for example, a PWM signal) for controlling the switch of the switch circuit 135 based on the input second internal command torque.

  The switch circuit 125 includes a plurality of switches such as transistors and IGBTs, performs a switching operation according to an input control signal, and supplies a current or a voltage according to the control signal to the first motor 105. Similarly, the switch circuit 135 includes a plurality of switches such as transistors and IGBTs, performs a switching operation according to the input control signal, and supplies a current or voltage according to the control signal to the second motor 106.

[Dancer control device]
As shown in FIG. 2, the dancer control device 1 according to the present embodiment includes a communication unit 1a that communicates with the outside in a wired or wireless manner, a processing unit 1b that performs arithmetic processing and generation of various commands, and various data and programs. Are stored, a display unit 1d including a display, and an input unit 1e including a keyboard and a mouse. Note that at least one of the display unit 1d and the input unit 1e can be omitted.

  As shown in FIG. 4, the processing unit 1 b includes a tension torque calculation unit 2, a first mechanical loss torque calculation unit 3 a and a second mechanical loss torque calculation unit 3 b corresponding to the “mechanical torque calculation unit” of the present invention. And a first inertia torque calculation unit 4a and a second inertia torque calculation unit 4b corresponding to the “inertia torque calculation unit” of the present invention, determination units J1 to J6, and calculation units C1 to C8. Yes. These are constituted by software including a dancer control program, for example. In FIG. 4, the switch symbols indicating the determination units J1 to J6 are turned on during dancer control, and the switch symbols are turned off during torque control.

  The determination unit J1 and the calculation units C1 and C2 constitute a first tension torque calculation unit 2a. The determination unit J4 and the calculation units C5 and C6 constitute a second tension torque calculation unit 2b. The calculation unit C3 constitutes the first torque compensation command unit 5. The calculation unit C4 and the determination unit J3 constitute a first torque limit command unit 6. The determination unit J2 constitutes the first torque command unit 7. The calculation unit C7 constitutes a second torque compensation command unit 8. The calculation unit C8 and the determination unit J6 constitute a second torque limit command unit 9. The determination unit J5 constitutes the second torque command unit 10.

The torque calculation unit 2 for the tension is the torque required to keep the tension (for example, 100 [N]) generated in the web material W when the dancer roll 104 is at the reference position, in other words, at the reference position. A torque required to keep the tension (for example, 200 [N]) applied to the web material W by the dancer roll 104 constant is calculated as a tension torque M _REF . Specifically, the tension component torque calculation unit 2 calculates the tension component torque M _REF based on the following equation.
M _REF = F _SET × K × D / 2

Here, F _SET is a set tension [N] set by the operator in the input unit 1e. The operator sets the set tension F _SET according to the tension applied to the web material W by the dancer roll 104 at the reference position, the line speed (reference speed) of the web material W, and the like. K is various correction coefficients (ratio) set by the operator in the input unit 1 e and varies depending on the type of the web material W and the configuration of the slitter device 100. D is the winding diameter [Φm] of the web material W wound around the winding shaft of the unwinding machine 101, and is input from a detecting means for detecting the winding diameter during dancer control.

First tension corresponding torque calculating unit 2a, on the basis of the tension corresponding torque _{M REF,} it calculates a first tension corresponding torque follows tension corresponding torque _{M REF.} Specifically, the first tension torque calculation unit 2a calculates a value obtained by dividing the tension torque M _REF by 1 during dancer control as the first tension torque. During torque control, the first tension torque calculation unit 2a calculates the tension component. A value obtained by dividing the torque M _REF by 2 is calculated as the first tension torque. At the time of dancer control, the tension component torque M _REF and the first tension component torque coincide with each other, so the calculation unit C1 may be omitted.

Second tension corresponding torque calculating unit 2b, on the basis of the tension corresponding torque _{M REF,} it calculates a second tension corresponding torque follows tension corresponding torque _{M REF.} Specifically, the second tension component torque calculation unit 2b calculates a value obtained by dividing the tension component torque _MREF by 2 as the second tension component torque in both the dancer control and the torque control. For this reason, in the 2nd tension | tensile_strength torque calculation part 2b, you may abbreviate | omit any one of calculating part C5, C6 and the determination part J4.

  The first mechanical loss torque calculation unit 3a calculates a mechanical torque loss generated between the first motor 105 and the unwinder 101 due to friction or the like as a first mechanical loss torque. More specifically, the first mechanical loss torque calculation unit 3a receives the rotation speed of the first motor 105 input from the detection unit 111, the rotation speed of the first motor 105 stored in the storage unit 1c in advance, and the torque loss. Based on the first data (for example, a linearly interpolated function) indicating the relationship, the first mechanical loss torque is calculated. The first data is generated by driving the unwinding machine 101 around which the web material W is not wound by only the first motor 105 and appropriately increasing or decreasing the rotation speed of the first motor 105.

  The second mechanical loss torque calculation unit 3b calculates a mechanical torque loss generated between the second motor 106 and the unwinder 101 due to friction or the like as a second mechanical loss torque. Specifically, the second mechanical loss component torque calculation unit 3b receives the rotation speed of the second motor 106 input from the detection unit 112, the rotation speed of the second motor 106 stored in advance in the storage unit 1c, and the torque loss. The second mechanical loss torque is calculated based on the second data (for example, a linearly interpolated function) indicating the relationship. The second data is generated by driving the unwinding machine 101 on which the web material W is not wound only by the second motor 106 and appropriately increasing or decreasing the rotation speed of the second motor 106.

The first inertia torque calculation unit 4a calculates a first inertia torque M ₁ (in this embodiment, a torque that is ½ of the inertia torque generated in the unwinder 101 when the line speed is increased or decreased). To do.

Specifically, the first inertia torque calculation unit 4a first calculates the inertia compensation value GD _T ² based on the following equation.
GD _T ² = GD ² + GD _M ²
GD ² = 1/2 × w × (D ² + d ² )
GD _M ² = GD ² / i ²
Here, w is the weight [kg] of the web material W wound around the unwinding machine 101. D is the diameter [Φm] of the web material W wound around the unwinding machine 101, and d is the diameter [Φm] of the winding shaft of the unwinding machine 101. i is a gear ratio between the first motor 105 (second motor 106) and the winding shaft.

Then, the first inertia corresponding torque calculating section 4a calculates the first inertia corresponding torque M ₁ based on the following equation.
M ₁ = 1/2 × GD _T ² × 1/375 × dN / dT
Here, dN / dT is a change in the number of revolutions per unit time, that is, the acceleration of the first motor 105.

The second inertia corresponding torque calculating section 4b, similarly to the first inertia corresponding torque calculating section 4a, second to calculate the inertia corresponding torque M ₂ on the basis of the inertia compensation value GD _T ^2. In the present embodiment, the second inertia torque M ₂ has a value that is ½ of the inertia torque.

The first torque compensation command unit 5 outputs a combined torque (first compensation torque) obtained by adding the first mechanical loss torque and the first inertia torque M ₁ to the first torque limit command unit 6, and The torque compensation command is output to the first inverter 107.

  The first torque limit command unit 6 calculates the first combined torque by adding the first compensation torque and the first tension torque, and at the time of dancer control, the first combined torque is used as the first torque limit command. The torque is output to the first inverter 107, and at the time of torque control, 150% torque is output to the first inverter 107 as a first torque limit command.

  The first torque command unit 7 outputs 150% torque as a first torque command to the first inverter 107 during dancer control, and first torque as the first torque command as first torque command during torque control. Output to the inverter 107.

The second torque compensation command unit 8 outputs a combined torque (second compensation torque) obtained by adding the second mechanical loss torque and the second inertia torque M ₂ to the second torque limit command unit 9, and The torque compensation command is output to the second inverter 108.

  The second torque limit command unit 9 calculates the second combined torque by adding the second compensation torque and the second tension torque, and uses the second combined torque as the second torque limit command during dancer control. It outputs to the 2nd inverter 108, and at the time of torque control, it outputs 150% torque to the 2nd inverter 108 as a 2nd torque limitation command.

  The second torque command unit 10 outputs 150% torque as the second torque command to the second inverter 108 during dancer control, and second torque as the second torque command as second torque command during torque control. Output to inverter 108.

  Eventually, the dancer control device 1 outputs the first combined torque to the first inverter 107 as the first torque limit command and the second combined torque to the second inverter 108 as the second torque limit command during dancer control. Therefore, the first inverter 107 drives the first motor 105 based on the first internal command torque generated within a range not exceeding the first combined torque, and the second inverter 108 is within a range not exceeding the second combined torque. The second motor 106 is driven based on the generated second internal command torque.

  For example, when the torque required to rotate the winding shaft of the unwinder 101 is 35% while returning the displaced dancer roll 104 to the reference position, the torque for returning the dancer roll 104 to the reference position is 5%. In this embodiment, the maximum torque of the first motor 105 (the first limit torque of the first inverter 107) is about 30% torque, while the maximum torque of the second motor 106 (the second inverter 108). The second limit torque) is about 15% torque, and both are 35% torque or less. Therefore, according to the dancer control device 1 according to the present embodiment, even if a rotation delay occurs between the first motor 105 and the second motor 106, the first motor 105 and the second motor 106 repel each other. Can be prevented.

[Dancer control program]
The dancer control program according to the present embodiment is a program for causing a computer to execute dancer control. Specifically, the dancer control program includes a tension torque calculation process, a mechanical loss torque calculation process, an inertia torque calculation process, a first torque limit command process, a second torque limit command process, and a first torque. The computer executes the compensation command process and the second torque compensation command process.

  The tension component torque calculation process is the same as the process executed by the tension component torque calculation unit 2. The mechanical loss torque calculation processing is the same as the processing executed by the first mechanical loss torque calculation unit 3a and the second mechanical loss torque calculation unit 3b. The inertial torque calculation process is the same as the process executed by the first inertial torque calculator 4a and the second inertial torque calculator 4b.

  The first torque limit command process is the same as the process executed by the first tension torque calculation unit 2a, the first torque compensation command unit 5, and the first torque limit command unit 6 except for the process at the time of torque control. The second torque limit command process is the same as the process executed by the second tension torque calculation unit 2b, the second torque compensation command unit 8, and the second torque limit command unit 9 except for the process during torque control. The first torque compensation command process and the second torque compensation command process are the same as the processes executed by the first torque compensation command unit 5 and the second torque compensation command unit 8.

  Therefore, according to the dancer control program according to the present embodiment, even if a rotation delay occurs between the first motor 105 and the second motor 106, the first motor 105 and the second motor 106 repel each other. Can be prevented.

  The embodiments of the dancer control device, the dancer control program, and the slitter device according to the present invention have been described above, but the present invention is not limited to the above embodiments.

  For example, the dancer control device 1 of the above embodiment performs dancer control on the first motor 105 and the second motor 106 connected to the winding shaft of the unwinding machine 101, but the dancer control device according to the present invention is Dancer control can also be performed on each of the two motors connected to the winding shaft of the winder 102a or the winder 102b.

  If the tension component torque calculation unit 2 and the tension component torque calculation process can calculate the tension component torque for keeping the tension generated in the web material W constant when the dancer roll 104 is at the reference position, The configuration and calculation method can be changed as appropriate.

  As long as the first mechanical loss torque and the second mechanical loss torque can be calculated in the mechanical loss torque calculation units 3a and 3b and the mechanical loss torque calculation process, the configuration and calculation method can be changed as appropriate.

  If the inertial component torque calculation units 4a and 4b and the inertial component torque calculation process can calculate the inertial component torque, its configuration and calculation method can be changed as appropriate.

  The first tension torque calculation unit 2a, the first torque limit command unit 6, and the first torque limit command process are the first combined torque obtained by adding the first tension torque, the first mechanical loss torque, and the first inertia torque. Can be output as the first torque limit command, the configuration and calculation method can be changed as appropriate.

  In the second tension torque calculation unit 2b, the second torque limit command unit 9, and the second torque limit command process, the second combined torque obtained by adding the second tension torque, the second mechanical loss torque, and the second inertia torque. Can be output as the second torque limit command, the configuration and calculation method can be changed as appropriate.

  The first tension torque and the second tension torque can take arbitrary values as long as the respective values are equal to or less than the tension torque and the combined torque of both is greater than the tension torque.

  The first inertia component torque and the second inertia component torque can take arbitrary values as long as the combined torque of the two becomes the inertia component torque.

  The dancer control device according to the present invention is not necessarily required to output the first torque compensation command and the second torque compensation command, and the configuration therefor can be omitted as appropriate. The swing of the roll 104 can be suppressed, and more stable dancer control is possible. The same is true for the dancer control program.

DESCRIPTION OF SYMBOLS 1 Dancer control apparatus 1a Communication part 1b Processing part 1c Storage part 1d Display part 1e Input part 2 Tension part torque calculation part 2a First tension part torque calculation part 2b Second tension part torque calculation part 3a First mechanical loss part torque calculation part 3b Second mechanical loss component torque calculation unit 4a First inertia component torque calculation unit 4b Second inertia component torque calculation unit 5 First torque compensation command unit 6 First torque limit command unit 7 First torque command unit 8 Second torque compensation command unit 9 Second torque limit command unit 10 Second torque command unit 100 Slitter device 101 Unwinder 102a, 102b Winder 103 Slitter knife 104 Dancer roll 105 First motor 106 Second motor 107 First inverter 108 Second inverter 109 Speed Command units 110 to 112 Detecting means 120 and 130 Speed controllers 121 and 131 Priority circuits 122 and 13 Speed limiting circuit 123 and 133 limit circuit 124, 134 control signal generation circuit 125, 135 switches circuits

Claims (6)

A first inverter that drives a first motor connected to one end of a web material unwinder or winder winding shaft based on a first internal command torque generated within a range not exceeding the first limit torque; A second inverter that drives a second motor connected to the other end of the winding shaft based on a second internal command torque generated within a range not exceeding a second limit torque, and controls the line speed of the web material A dancer control device that increases or decreases the speed from a reference speed and returns the dancer roll displaced from the reference position to the reference position,
A tension component torque calculation unit that calculates a tension component torque for maintaining a constant tension generated in the web material when the dancer roll is at the reference position;
A mechanical loss torque calculation unit for calculating a first mechanical loss torque generated between the first motor and the winding shaft and a second mechanical loss torque generated between the second motor and the winding shaft;
An inertial torque calculator for calculating an inertial torque generated when the line speed is increased or decreased; and
A first combined torque is calculated by adding a first tension torque equal to or less than the tension torque, the first mechanical loss torque, and a first inertia torque smaller than the inertia torque, and the first inverter A first torque limit command unit that outputs a first torque limit command for setting the first combined torque as the first limit torque;
A second torque component torque that is equal to or less than the tension component torque and that is a combined torque with the first tension component torque is greater than the tension component torque, the second mechanical loss component torque, and the inertia component torque, and The combined torque of the first inertia torque and the second inertia torque, which is the inertia torque, is added to calculate a second combined torque, and the second inverter limits the second combined torque to the second limit. A dancer control device comprising: a second torque limit command unit that outputs a second torque limit command for setting as a torque. A first compensation torque is calculated by adding the first mechanical loss torque and the first inertia torque, and the first inverter is configured to generate the first internal command torque including the first compensation torque. A first torque compensation command unit that outputs a 1 torque compensation command;
A second compensation torque is calculated by adding the second mechanical loss torque and the second inertia torque and causing the second inverter to generate the second internal command torque including the second compensation torque. The dancer control device according to claim 1, further comprising a second torque compensation command unit that outputs a 2-torque compensation command. A first inverter that drives a first motor connected to one end of a web material unwinder or winder winding shaft based on a first internal command torque generated within a range not exceeding the first limit torque; A second inverter that drives a second motor connected to the other end of the winding shaft based on a second internal command torque generated within a range not exceeding a second limit torque, and controls the line speed of the web material Is a dancer control program for returning the dancer roll displaced from the reference position to the reference position by increasing or decreasing the reference speed from the reference speed.
A tension torque calculation process for calculating a tension torque for maintaining a constant tension generated in the web material when the dancer roll is at the reference position;
A mechanical loss torque calculation process for calculating a first mechanical loss torque generated between the first motor and the winding shaft and a second mechanical loss torque generated between the second motor and the winding shaft;
An inertia torque calculation process for calculating an inertia torque generated when the line speed is increased or decreased;
A first combined torque is calculated by adding a first tension torque equal to or less than the tension torque, the first mechanical loss torque, and a first inertia torque smaller than the inertia torque, and the first inverter A first torque limit command process for outputting a first torque limit command for setting the first combined torque as the first limit torque;
A second torque component torque that is equal to or less than the tension component torque and that is a combined torque with the first tension component torque is greater than the tension component torque, the second mechanical loss component torque, and the inertia component torque, and The combined torque of the first inertia torque and the second inertia torque, which is the inertia torque, is added to calculate a second combined torque, and the second inverter limits the second combined torque to the second limit. A dancer control program for executing a second torque limit command process for outputting a second torque limit command for setting as a torque. In the computer,
A first compensation torque is calculated by adding the first mechanical loss torque and the first inertia torque, and the first inverter is configured to generate the first internal command torque including the first compensation torque. A first torque compensation command process for outputting a 1 torque compensation command;
A second compensation torque is calculated by adding the second mechanical loss torque and the second inertia torque and causing the second inverter to generate the second internal command torque including the second compensation torque. The dancer control program according to claim 3, further executing a second torque compensation command process for outputting a two-torque compensation command. A web material unwinder,
A web material winder;
A slitter knife for cutting the web material between the unwinder and the winder;
A dancer roll for applying tension to the web material;
A first motor connected to one end of a winding shaft of the unwinder or the winder;
A second motor connected to the other end of the winding shaft;
A first inverter that drives the first motor based on a first internal command torque generated within a range not exceeding the first limit torque;
A second inverter that drives the second motor based on a second internal command torque generated within a range not exceeding the second limit torque;
Dancer control for controlling the first inverter and the second inverter to perform dancer control for returning the dancer roll displaced from the reference position to the reference position by increasing or decreasing the line speed of the web material from the reference speed. Equipment,
A slitter device comprising:
The dancer control device comprises:
A tension component torque calculation unit that calculates a tension component torque for maintaining a constant tension generated in the web material when the dancer roll is at the reference position;
A mechanical loss torque calculation unit for calculating a first mechanical loss torque generated between the first motor and the winding shaft and a second mechanical loss torque generated between the second motor and the winding shaft;
An inertial torque calculator for calculating an inertial torque generated when the line speed is increased or decreased; and
A first combined torque is calculated by adding a first tension torque equal to or less than the tension torque, the first mechanical loss torque, and a first inertia torque smaller than the inertia torque, and the first inverter A first torque limit command unit that outputs a first torque limit command for setting the first combined torque as the first limit torque;
A second torque component torque that is equal to or less than the tension component torque and that is a combined torque with the first tension component torque is greater than the tension component torque, the second mechanical loss component torque, and the inertia component torque, and The combined torque of the first inertia torque and the second inertia torque, which is the inertia torque, is added to calculate a second combined torque, and the second inverter limits the second combined torque to the second limit. A slitter device comprising: a second torque limit command unit that outputs a second torque limit command for setting as a torque. The dancer control device comprises:
A first compensation torque is calculated by adding the first mechanical loss torque and the first inertia torque, and the first inverter is configured to generate the first internal command torque including the first compensation torque. A first torque compensation command unit that outputs a 1 torque compensation command;
A second compensation torque is calculated by adding the second mechanical loss torque and the second inertia torque and causing the second inverter to generate the second internal command torque including the second compensation torque. The slitter device according to claim 5, further comprising a second torque compensation command unit that outputs a 2-torque compensation command.

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