JP6865914B1 - Tension control device, tension control program and storage medium - Google Patents

Abstract

The tension control device (10) controls the tension of the object wound around the winding core which is a rotating body. The tension control device (10) is a winding diameter distribution acquisition unit (11), which is an acquisition unit that acquires a winding core diameter distribution representing the diameter of the winding core at each position on the circumference of the winding core centered on the rotation axis of the winding core. ) And the amount of compensation obtained by calculation based on the core diameter distribution, which is the first to compensate for the fluctuation of tension due to the fluctuation of the winding diameter, which is the diameter of the winding body around which the object is wound. The compensation amount obtained by the first compensation amount calculation unit (30) for calculating the compensation amount of 1 and the calculation based on the winding core diameter distribution, and the tension due to the fluctuation of the moment of inertia due to the rotation of the winding body. A second compensation amount calculation unit (31) that calculates a second compensation amount for compensating for fluctuations based on the result of detecting the peripheral speed of the object to be conveyed, and a torque for rotating the winding core. Is provided with a torque control unit (33) that controls based on the first compensation amount and the second compensation amount.

Description

The present disclosure relates to a tension control device, a tension control program, and a storage medium that control the tension of an object wound around a winding core.

For long materials that are the objects to be wound around the core, tension control is performed to prevent material deformation, material breakage, or material sagging when unwinding or winding the material. .. As a tension control method, a torque control method and a speed control method are known. In torque control, the tension is made constant by directly controlling the torque for rotating the winding core. In speed control, the speed of the feed motor that feeds the material and the speed of the winding core are synchronized so that the tension due to the winding core is not applied to the material, and then a constant tension is applied to the material by the tension applying mechanism. In the case of torque control, since the tension applying mechanism is unnecessary, the configuration for tension control can be simplified as compared with the case of speed control. Further, in the case of torque control, it is not necessary to secure a pass line of the material for applying tension, so that the pass line can be shortened as compared with the case of speed control. Since the pass line can be shortened, the torque control is characterized in that the control responsiveness can be improved and the tension can be controlled with high accuracy.

Cylindrical cores are often used for unwinding or winding general materials. In a manufacturing apparatus for manufacturing a power storage element such as a secondary battery or a capacitor, a flat wound body may be formed by winding a material with a flat core. As a method of forming a flat wound body, a method of pressing a cylindrical wound body is also known. When forming a flat wound body by using a flat wound core, there is an advantage that the step of pressing the wound body can be omitted.

Patent Document 1 discloses a device for manufacturing a flat wound body that controls tension by speed control when winding a material by a flat wound core. According to the technique of Patent Document 1, a tension stabilizing mechanism for keeping the tension of the material constant and a rotary cam interlocking with the winder are provided on the moving path of the material from the source of the material to the winding core. The rotary cam relaxes the velocity fluctuation of the material by vibrating the strip in a direction orthogonal to the moving direction of the material.

Patent Document 2 discloses a tension control device that controls tension by torque control by calculating a compensation amount for compensating for fluctuations in tension due to fluctuations in the moment of inertia.

Japanese Unexamined Patent Publication No. 2010-235301 Japanese Unexamined Patent Publication No. 7-148518

In the prior art disclosed in Patent Document 1, the path line of the material is lengthened by the amount that the rotary cam and the tension stabilizing mechanism are arranged on the movement path of the material, and the system configuration for tension control is configured. It gets complicated. When the pass line becomes long, the transmission time from the output of the torque command to the winder to the operation of the tension stabilizing mechanism becomes long, so that the control response becomes poor. In the manufacture of power storage elements such as secondary batteries or capacitors, high-precision tension control may be required to reduce the tension of the material and improve the quality of the product. It is difficult to meet the demand. As described above, according to the prior art disclosed in Patent Document 1, there is a problem that highly accurate tension control is difficult.

In the prior art disclosed in Patent Document 2 described above, the calculation for tension control is performed on the premise that the cross section of the wound body is circular. Therefore, according to the prior art disclosed in Patent Document 2, there is a problem that it is difficult to suppress tension fluctuation when an object is wound around a winding core having a shape other than a circular cross section.

The present disclosure has been made in view of the above, and is a tension control device capable of suppressing tension fluctuations of an object wound around a winding core having a cross section other than a circular shape and enabling highly accurate tension control. The purpose is to obtain.

In order to solve the above-mentioned problems and achieve the object, the tension control device according to the present disclosure controls the tension of an object wound around a winding core which is a rotating body. The tension control device according to the present disclosure is based on an acquisition unit that acquires a winding core diameter distribution representing the winding core diameter at each position on the circumference of the winding core centered on the rotation axis of the winding core, and a winding core diameter distribution. The first compensation amount for calculating the first compensation amount for compensating for the fluctuation of the tension due to the fluctuation of the winding diameter, which is the diameter of the winding body in which the object is wound around the winding core, which is the compensation amount obtained by the above calculation. Compensation amount calculation unit and the compensation amount obtained by calculation based on the winding core diameter distribution, and the second compensation amount for compensating for the fluctuation of tension due to the fluctuation of the moment of inertia due to the rotation of the winding body. , The second compensation amount calculation unit that calculates based on the result of detecting the peripheral speed of the object to be transported, and the torque for rotating the winding core is based on the first compensation amount and the second compensation amount. It is provided with a torque control unit for controlling.

The tension control device according to the present disclosure has an effect that the tension fluctuation of the object wound around the winding core having a shape other than the circular cross section can be suppressed and the tension control can be performed with high accuracy.

The figure which shows the structure of the system including the tension control device which concerns on Embodiment 1. The figure for demonstrating the method of calculating the amount of change of tension due to the change of winding diameter in the tension control device which concerns on Embodiment 1. The first figure for demonstrating the method of calculating the moment of inertia by the tension control device which concerns on Embodiment 1. FIG. 2 for explaining a method of calculating the moment of inertia by the tension control device according to the first embodiment. The figure which shows the functional structure of the tension control device which concerns on Embodiment 1. The figure which shows the functional structure of the tension control device which concerns on Embodiment 2. The figure which shows the structure of the system including the tension control device which concerns on Embodiment 3. The figure which shows the functional structure of the tension control device which concerns on Embodiment 3. The figure which shows the example of the hardware composition which the tension control device which concerns on Embodiment 1 to 3 has.

Hereinafter, the tension control device, the tension control program, and the storage medium according to the embodiment will be described in detail with reference to the drawings.

Embodiment 1.
FIG. 1 is a diagram showing a configuration of a system including a tension control device according to the first embodiment. The system 100 shown in FIG. 1 winds the material 1 around the winding core 6a, which is a rotating body, and controls the tension of the material 1. The system 100 includes the tension control device 10 according to the first embodiment. The tension control device 10 controls the tension of the material 1 which is the object wound around the winding core 6a. The material 1 is a long material that can be freely deformed, and is a strip-shaped sheet material such as paper or film. The material 1 may be a linear material.

The system 100 includes a feed roll 3 for transporting the material 1, a feed motor 2 for driving the feed roll 3, a flat winding core 6a, a shaft drive machine 4 for driving the winding core 6a, and a fixed roll 5. Have. The winding core 6a and the shaft drive machine 4 constitute a winding machine for winding the material 1. The winding body 6 is composed of a winding core 6a, which is the center of the winding body 6, and a material 1 wound around the winding core 6a.

The cross section of the winding core 6a perpendicular to the rotating shaft 6b has a shape other than a circle. The cross section of the winding core 6a has a shape like a crushed circle in a certain radial direction, for example, an elliptical shape. The shaft drive 4 rotates the winding core 6a around the rotating shaft 6b of the winding core 6a. The material 1 fed by the feed roll 3 comes into contact with the fixed roll 5 and then is wound around the winding core 6a. The winding body 6 is formed by winding the material 1 around the winding core 6a.

Further, the system 100 includes an angle detector 7 for detecting the rotation angle of the winding core 6a and a winding diameter detector 8 for detecting the winding core diameter which is the diameter of the winding core 6a or the winding diameter which is the diameter of the winding body 6. A peripheral speed detector 9 for detecting the peripheral speed of the material 1 and a tension control device 10 are provided. The peripheral speed detector 9 detects the peripheral speed of the material 1 delivered from the feed roll 3, that is, the peripheral speed of the object transported by the system 100. Each of the angle detector 7, the winding diameter detector 8, and the peripheral speed detector 9 is connected to the tension control device 10. The tension control device 10 acquires a rotation angle detection result by the angle detector 7, a diameter detection result by the winding diameter detector 8, and a peripheral speed detection result by the peripheral speed detector 9.

The tension control device 10 performs a calculation for tension control, and outputs a torque command value based on the calculation result to the shaft drive machine 4. The tension control device 10 performs tension control by torque control. Compared to the case where tension control is performed by speed control, the tension control device 10 does not require elements such as a rotary cam interlocking with the winder and a mechanism for suppressing tension fluctuations, so that the system 100 is configured. It will be simple. Further, in the case of torque control, since it is not necessary to secure the pass line of the material 1 for applying tension, the tension control device 10 should shorten the pass line as compared with the case of performing tension control by speed control. Can be done. Since the pass line can be shortened, the tension control device 10 can improve the control response and enable highly accurate tension control.

Next, the calculation for tension control in the tension control device 10 will be described. In the following description, the winding diameter of the winding body 6 is the radius of the winding body 6 and is the distance between the position on the outer circumference of the winding body 6 and the rotation center of the winding core 6a. The winding core diameter of the winding core 6a is the radius of the winding core 6a, and is the distance between the position on the outer circumference of the winding core 6a and the rotation center of the winding core 6a. Here, prior to the description of the calculation for tension control according to the first embodiment for the flat winding core 6a, the calculation for tension control according to the prior art for the cylindrical winding core 6a will be described.

The tension applied to the material 1 is "F", the radius of the winding body 6 is "R", the moment of inertia of the winding body 6 is "J", and the angular velocity of the winding body 6 is "ω". The torque "T" for rotation is expressed by the following equation (1). The first term on the right side of the equation (1) represents the winding shaft torque, which is the torque obtained by the tension and the winding diameter. The second term on the right side of the equation (1) represents the inertial torque for compensating for the fluctuation of the moment of inertia. The torque "T" is the load torque of the shaft drive machine 4.

The tension moment is expressed by the following equation (2) using a tension tensor and a winding diameter tensor. In formula (2), the symbol with an arrow above "F" represents a tension tensor. The symbol with an arrow above the "R" represents a tensor with a winding diameter.

When the winding body 6 has a cylindrical shape, the tension tensor and the winding diameter tensor are orthogonal to each other, so that the winding shaft torque can be expressed as "FR" as shown in the above equation (1). However, when the winding body 6 has a flat shape, the angle between the tension tensor and the winding diameter tensor fluctuates during one rotation of the winding body 6. Therefore, the winding shaft torque when the winding body 6 has a flat shape cannot be expressed as "FR".

The second term of the above equation (1) is a differential quantity of the angular velocity quantity “Jω” with respect to the time “t”. The differential amount is expressed by the following equation (3) in consideration of the fact that the calculation result fluctuates when the winding diameter changes due to a winding defect. In addition, "J _in " represents the moment of inertia of the winding core 6a before the start of winding. “J _out ” represents the moment of inertia of the winding body 6 when the winding is completed. "J _m " represents the mechanical moment of inertia of the winder. “V” represents the line reference speed of the material 1. "D" represents the thickness of the material 1. “R” represents the winding diameter.

“J _out ” is expressed by the following equation (4). "J _in " is expressed by the following equation (5). Note that "r _min" represents the winding diameter, i.e. the core diameter at the winding start. “R _th ” represents the winding diameter at the completion of winding. “S” represents the cross-sectional area of the winding body 6. “Ρ” represents the density of the winding body 6.

The above equations (3) to (5) assume that the winding body 6 has a cylindrical shape. Therefore, when the winding body 6 has a flat shape, the differential amount of the angular velocity amount “Jω” cannot be calculated by the calculations of the above equations (3) to (5).

In the first embodiment, the tension control device 10 obtains the winding shaft torque compensation amount in consideration of the fluctuation of the angle between the tension of the material 1 and the winding diameter when the flat winding core 6a is used. .. Further, the tension control device 10 obtains an inertial torque compensation amount in consideration of the shape of the winding body 6. The tension control device 10 applies a torque for rotating the winding core 6a based on a winding shaft torque compensation amount for compensating for fluctuations in the winding diameter and an inertial torque compensation amount for compensating for fluctuations in the moment of inertia. Control. The tension control device 10 simultaneously corrects the winding shaft torque compensation amount and the inertial torque compensation amount, thereby suppressing the tension fluctuation of the material 1 during one rotation of the winding body 6.

Before the start of winding, the system 100 rotates the winding core 6a once. The tension control device 10 acquires the winding core diameter distribution of the winding core 6a based on the detection result of the winding core diameter during one rotation of the winding core 6a. When the winding core 6a has a flat shape, the diameter of the winding core 6a differs depending on the position on the circumference of the winding core 6a centered on the rotating shaft 6b. The winding core diameter distribution of the winding core 6a represents the diameter of the winding core 6a at each position on the circumference of the winding core 6a centered on the rotating shaft 6b. The tension control device 10 obtains a winding shaft torque compensation amount and an inertial torque compensation amount based on the acquired winding core diameter distribution.

Here, a method of calculating the amount of change in tension due to the change in winding diameter will be described. FIG. 2 is a diagram for explaining a method of calculating the amount of change in tension due to a change in winding diameter in the tension control device according to the first embodiment. FIG. 2 shows, among the configurations shown in FIG. 1, a fixed roll 5, a winding body 6, an angle detector 7, and a material 1 between the fixed roll 5 and the winding body 6.

In FIG. 2, the rotation center O is the rotation center of the winding body 6 and represents the position of the rotation shaft 6b. The point P represents the contact point between the winding body 6 and the material 1. The contact point between the winding body 6 and the material 1 is a contact point between a tangent line which is a line segment connecting a point P and a point Q and an outer circumference of the winding body 6. The point Q represents the contact point between the fixed roll 5 and the material 1. The point O'represents the center position of the angle detector 7. The reference line OO'is a line segment connecting the center of rotation O and the point O'. "Φ" is the angle of ∠POO'. “Α” is the angle of ∠QPO. “Δ” is the angle of ∠QOO', which is the angle between the line segment connecting the center of rotation O and the point Q and the reference line. “Γ” is the angle of ∠PQO. “L” is the distance between the point P and the point Q. “L” is the distance between the center of rotation O and the point Q. The line segment OP is the radius of the winding body 6 passing through the point P, and is the winding diameter of the winding body 6. “R _φ ” represents the winding diameter of the winding body 6. Since the winding body 6 has a flat shape, each angle “φ”, “α” and “γ” and the winding diameter “R _φ ” change according to the rotation of the winding body 6.

Winding shaft torque _{"T R"} is represented by the above formula (2). Also, the winding shaft torque "T _R" is represented by the following equation (6).

"Sinα" in the above formula (6) is represented by the following formula (9) from the relationship between the following formulas (7) and (8). Equation (7) expresses a relationship based on the cosine theorem. Equation (8) represents a relationship based on the law of sines.

By substituting the above formula (9) into the equation (6), the winding shaft torque "T _R" can be expressed as the following equation (10).

Here, a method of determining the angle "φ" will be described. _{The point (φ, R φ} ) when the angle “γ” is maximum is the point P which is the contact point. The angle "γ" is expressed by the following equation (12) in relation to the following equation (11). Equation (11) represents a relationship based on the law of sines.

Since each of the tension “F” and the distance “L” is constant, the points (φ, R _φ ) about the angle “φ” when the torque “T” is maximized are the contacts. The angle "φ" is included in the range from the angle "δ" to the angle "δ + π". In order to estimate the angle "φ", information on the winding diameter corresponding to the angle "δ" and the winding diameter corresponding to the angle "δ + π" is required. The tension control device 10 acquires in advance the relationship between the angle between the reference line and the winding diameter and the length of the winding diameter by the angle detector 7 and the winding diameter detector 8. Based on this relationship, the tension control device 10 acquires the winding diameter corresponding to the angle “δ” and the winding diameter corresponding to the angle “δ + π”, and estimates the angle “φ”. Thus, tension control device 10 can calculate the winding shaft torque "T _R" in case of the core 6a of the flat shape is used.

Next, a method of calculating the moment of inertia will be described. FIG. 3 is a first diagram for explaining a method of calculating the moment of inertia by the tension control device according to the first embodiment. FIG. 3 shows the winding body 6 among the configurations shown in FIG.

The moment of inertia "J" of the winding body 6 is expressed by the following equation (13). “W” is the width of the material 1, that is, the length of the material 1 in the direction of the rotation axis 6b. In FIG. 3, it is assumed that the overall density of the winding body 6 is “ρ”.

It is assumed that the radius of the winding body 6 is constant in the angle range “Δφ”. ^{Such a radius shall be "R ·} _φ " represented by the following equation (14).

_{The moment of inertia of area "I φ} " in the angle range "Δφ" is expressed by the following equation (15).

Assuming that Δφ = 2π / n, the radius of the winding body 6 at each of n points, which is every other angle range “Δφ”, is obtained. Each point is a point on the circumference of the winding body 6. The moment of inertia "J" of the winding body 6 is expressed by the following equation (16). In addition, "n" is an arbitrary integer.

If the calculation according to the above equation (16) is constantly performed in order to calculate the moment of inertia "J", the load on the calculation means of the tension control device 10 will increase.

Angle "R _C?" The radius of the core 6a corresponding to "phi" and the second moment in a cross section through the radius and "I _C" wound body corresponding to a winding diameter "R _phi ' The moment of inertia "J" of 6 is expressed by the following equation (17). Equation (17) makes it possible to simplify the calculation of the moment of inertia "J".

In the above formulas (13) to (17), the moment of inertia is calculated assuming that there is no density difference between the winding core 6a and the material 1. In the case where there is a density difference between the winding core 6a and the material 1, the accurate moment of inertia cannot be calculated by the above equations (13) to (17). If there is a density difference between the winding core 6a and the material 1 but does not affect the calculation result of the moment of inertia, it may be considered that there is no such density difference.

Here, a case will be described in which the density difference between the winding core 6a and the material 1 is taken into consideration in the calculation of the moment of inertia of the winding body 6. When the density difference is taken into consideration, the winding body 6 is divided into a winding core 6a and a layer of the material 1, and the moment of inertia is calculated.

FIG. 4 is a second diagram for explaining a method of calculating the moment of inertia by the tension control device according to the first embodiment. FIG. 4 shows the winding body 6 when the winding is completed. Of the winding body 6 shown in FIG. 4, the portion around the winding core 6a is a layer of the material 1.

Here, the calculation of the moment of inertia for the winding core 6a will be described. “ _RCφ ” is the radius of the winding core 6a corresponding to the angle “φ”. “ _RRφ ” is the radius of the winding body 6 corresponding to “φ”, and is the radius of the winding body 6 when the winding is completed. “ _{RC (φ + Δφ)} ” is the radius of the winding core 6a corresponding to the angle “φ + Δφ”. “RR _{(φ + Δφ)} ” is the radius of the winding body 6 corresponding to the angle “φ + Δφ”, and is the radius of the winding body 6 when the winding is completed.

Assuming that Δφ = 2π / n, the radius of the winding core 6a at each of n points, which are points every other angle range “Δφ”, is obtained. Assuming that the radius of the winding core 6a is constant in a certain angle range “Δφ”, the radius is defined as “R ^· _Cn ”. The moment of inertia " _JC " of the winding core 6a is expressed by the following equation (18) by the same calculation as in the above equations (13) to (16). “Ρ _C ” is the density of the winding core 6a.

Next, the calculation of the moment of inertia for the layer of the material 1 will be described. In a certain angle range "Δφ", it is assumed that the radius of the layer of the material 1 at the time of completion of winding is constant, and the radius is defined as "R ^· _Rn ". The second moment of the material of the layers in the angle range "Δφ""I _{M [phi"} is represented by the following equation (19).

It is assumed that the radius of the layer of the material 1 at each of n points, which are points every other angle range “Δφ”, is obtained. Moment of inertia "J _M" of the layer of material 1 is represented by the following equation (20). “Ρ _M ” is the density of the layer of material 1.

The moment of inertia "J" of the winding body 6 is the sum of the _{moment of inertia "J C " of the winding core 6a and the moment of inertia "J M} " of the layer of the material 1. From the above equations (18) and (20), the moment of inertia "J" of the winding body 6 is expressed by the following equation (21).

Next, a method for simplifying the calculation of the moment of inertia "J" when the density difference between the winding core 6a and the material 1 is taken into consideration will be described. Regarding the winding body 6 at the completion of winding, it is assumed that the radius of the winding body 6 is constant in a certain angle range “Δφ”, and the radius is defined as “R ^· _{max_n} ”. _{The moment of inertia "J max} " of the winding body 6 at the time of completion of winding is expressed by the following equation (22).

Further, the moment of inertia "J _max" of the wound body 6 during winding is completed, using the second moment of the wound body 6 "I _max" at the winding completion, as in the following equation (23) Can be expressed in.

The _{moment of inertia "J" of the winding body 6 corresponding to "RRφ} " is expressed by the following equations (24) and (25). “ _RCφ ” is the radius of the winding core 6a corresponding to the angle “φ”. “R _max ” is the radius of the winding core 6a. The tension control device 10 was read out by storing in advance the _{moment of inertia "J max} " calculated by the above formula (23) _{and the moment of inertia "J C} " calculated by the above formula (18). The moments of inertia "J _max " and "J _C " can be used in the calculation. Equations (24) and (25) make it possible to simplify the calculation of the moment of inertia "J".

The formula (1) can be used as the reel torque "T _R" and the moment of inertia "J" is modified as the following equation (26).

The second term "d (Jω) / dt" on the right side of the above equation (26) represents the inertial torque for compensating for the fluctuation of the moment of inertia. Inertial torque "d (Jω) / dt" by obtaining the total derivative of "Jω" using the relationship of ω = V / R, the partial derivative of the peripheral velocity "V" and the partial derivative of the radius "R". Is calculated by the following equation (27). “V” represents the peripheral speed of the winding body 6.

_{The “dR φ} / dt” of the above equation (27) can be expressed as the following equation (28).

The first term on the right side of the above equation (27) represents the amount of increase / decrease in inertial torque due to fluctuations in winding diameter. The second term on the right side of the above equation (27) represents the amount of increase / decrease in inertial torque due to fluctuations in peripheral speed. By substituting the above equation (28) into the above equation (27), the above equation (27) can be expressed as the following equation (29).

In the case where the density difference between the winding core 6a and the material 1 is not taken into consideration, that is, when the moment of inertia "J" is calculated from the above formula (17), "d (J / R _φ ) / dR" in the above formula (29) _“φ ” is expressed by the following equation (30).

In the case where the density difference between the winding core 6a and the material 1 is taken into consideration, that is, when the moment of inertia "J" is calculated from the above formula (23), "d (J / R _φ ) / dR" in the above formula (29) _“φ ” is expressed by the following equation (31).

By substituting the above equations (10) and (29) into the above equation (26), the torque "T" for rotating the winding body 6 is expressed by the following equation (32).

The tension control device 10 can acquire the tension "F" by the target tension setting device described later. The tension control device 10 uses a position setting device described later to set a distance “L” which is the length of a line segment connecting the contact point of the fixed roll 5 and the material 1 and the rotation center of the winding core 6a, and the line segment and the reference line. You can get "δ" which is the angle between and. The tension control device 10 can acquire _{the winding diameter “R φ} ” based on the detection result by the winding diameter detector 8 and the detection result by the angle detector 7. The tension control device 10 can acquire the moment of inertia "J" based on the value acquired by the position setting device, the detection result by the winding diameter detector 8 and the detection result by the angle detector 7. The tension control device 10 can acquire the peripheral speed "V" which is the detection result by the peripheral speed detector 9 from the peripheral speed detector 9. The tension control device 10 can calculate "dV / dt" by differentiating the peripheral velocity "V" with respect to the time "t". The tension control device 10 _{can calculate "dR φ} / dφ" _{by differentiating "R φ} " with an angle "φ". The tension control device 10 can calculate the torque "T" by substituting each of the obtained values into the above equation (32).

Next, the functional configuration of the tension control device 10 will be described. FIG. 5 is a diagram showing a functional configuration of the tension control device according to the first embodiment. FIG. 5 shows an example of a functional configuration in the case where the tension control device 10 performs tension control without taking into account the density difference between the winding core 6a and the material 1. Hereinafter, in the first embodiment, a case where the density difference between the winding core 6a and the material 1 is not taken into consideration will be described.

The tension control device 10 has a winding diameter distribution acquisition unit 11 that acquires the winding core diameter distribution of the winding core 6a. The winding diameter distribution acquisition unit 11 is an acquisition unit that acquires a winding core diameter distribution representing the diameter of the winding core 6a at each position on the circumference of the winding core 6a centered on the rotating shaft 6b. The tension control device 10 includes a winding core density setting device 12 for setting the density of the winding core 6a, a material width setting device 13 for setting the width of the material 1, a position setting device 17 for setting the position of the fixed roll 5. It has a target tension setter 26 for setting a target value of tension applied to the material 1.

The tension control device 10 has a first moment of inertia calculation unit 14 that calculates the moment of inertia of the winding core 6a before the start of winding, and a first moment of inertia storage that stores the moment of inertia of the winding core 6a before the start of winding. It has a part 15.

The tension control device 10 includes a winding diameter distribution torque calculation unit 16 that calculates the winding core diameter distribution of the winding core 6a at the start of winding and the distribution of the winding shaft torque of the winding core 6a at the start of winding, and a winding start. A winding core diameter distribution storage unit 18 that stores the winding core diameter distribution of the winding core 6a at time, and a first winding shaft torque storage unit 19 that stores the distribution of the winding shaft torque of the winding core 6a at the start of winding. Have.

The tension control device 10 obtains the amount of change in the core diameter of the winding core 6a for each angle range, and stores the first change amount distribution calculation unit 20 for calculating the distribution of the change amount and the distribution of the change amount. It has a first change amount distribution storage unit 21.

The tension control device 10 includes an average winding diameter calculation unit 22 for calculating an average winding diameter which is an average value of the winding core diameter of the winding core 6a and an average winding diameter which is an average value of the winding diameter of the winding body 6. Wind ratio calculation for calculating the winding ratio, which is the ratio between the average winding diameter of the winding body 6 and the average winding diameter of the winding core 6a, and the average winding core diameter storage unit 24 that stores the average winding core diameter of the winding core 6a. It has a unit 25, a time measuring instrument 23, and a differential calculation unit 32.

The tension control device 10 has a moment of inertia calculation unit 27 for calculating the moment of inertia of the winding body 6 and a winding diameter distribution calculation unit 28 for calculating the winding diameter distribution of the winding body 6. The tension control device 10 has a change amount distribution calculation unit 29 that obtains a change amount of the winding diameter of the winding body 6 for each angle range and calculates the distribution of the change amount.

The tension control device 10 has a first compensation amount calculation unit 30 for calculating the winding shaft torque compensation amount, and a second compensation amount calculation unit 31 for calculating the inertial torque compensation amount. The winding shaft torque compensation amount is a first compensation amount for compensating for fluctuations in tension due to fluctuations in the winding diameter, which is the diameter of the winding body 6 in which the material 1 is wound around the winding core 6a. The first compensation amount calculation unit 30 calculates the winding shaft torque compensation amount based on the winding core diameter distribution acquired by the winding diameter distribution acquisition unit 11. The inertial torque compensation amount is a second compensation amount for compensating for the fluctuation of tension due to the fluctuation of the moment of inertia accompanying the rotation of the winding body 6. The second compensation amount calculation unit 31 is based on the peripheral speed detected by the peripheral speed detector 9 and the moment of inertia calculated based on the winding core diameter distribution acquired by the winding diameter distribution acquisition unit 11. Calculate the second compensation amount.

The tension control device 10 has a torque control unit 33 that generates a torque command value. The torque control unit 33 generates a torque command value based on the winding shaft torque compensation amount and the inertial torque compensation amount. The torque control unit 33 outputs the generated torque command value to the shaft drive machine 4 to control the torque for rotating the winding core 6a based on the winding shaft torque compensation amount and the inertial torque compensation amount.

Next, a specific example of the calculation in each functional unit of the tension control device 10 according to the first embodiment will be described. In the first embodiment, the tension control device 10 rotates the winding core 6a once under the control of the shaft drive 4 before the start of winding. The angle detector 7 detects the rotation angle “θ” of the winding core 6a in each fixed angle range during one rotation by detecting the angle at a constant interval. The winding diameter detector 8 detects _{the radius “R θ} ” of the winding core 6a in a certain angle range during one rotation. The peripheral speed detector 9 detects the peripheral speed "V _θ " in each fixed angle range during one rotation.

The tension control device 10 acquires each value of the rotation angle “θ”, the radius “R _θ ”, and the peripheral speed “V _θ ”, and each calculated value required for calculating the winding shaft torque and the inertial torque. Ask for. The tension control device 10 uses the winding core diameter distribution “R _core (θ)” of the winding core 6a before the start of winding and the moment of inertia of the winding core 6a at the start of winding as the calculated values at the start of winding. "J _{core ", the core diameter distribution "R φcore} (θ)" about the core diameter passing through the contact point between the material 1 and the core 6a, and _{the change distribution of the core diameter "dR φcore} (θ) / "dφ", the winding shaft torque distribution "T _core (θ)" of the winding core 6a, and the average winding core diameter "R _{core_ave} " of the winding core 6a are calculated.

After calculating each calculated value at the start of winding, the tension control device 10 starts winding the material 1 on the winding core 6a under the control of the shaft drive machine 4. The tension control device 10 calculates the winding shaft torque compensation amount and the inertial torque compensation amount based on the calculated value calculated for the winding body 6 and the average winding diameter of the winding body 6. The tension control device 10 calculates the torque command value by adding the winding shaft torque compensation amount and the inertial torque compensation amount.

Next, a method of calculating each calculated value at the start of winding will be described. The winding diameter distribution acquisition unit 11 acquires the rotation angle “θ” of the winding core 6a from the angle detector 7. The winding diameter distribution acquisition unit 11 acquires the radius “R _θ ” of the winding core 6a from the winding diameter detector 8. The winding diameter distribution acquisition unit 11 links the radius “R _θ ” acquired for each fixed angle range to the rotation angle “θ”, whereby the winding core diameter distribution “R _core (33) shown in the following equation (33) is used. θ) ”is acquired.

Reel diameter distribution torque calculating section 16, based been core size distribution obtained by winding diameter distribution obtaining unit 11, "R _{core (θ)",} the core diameter distribution for the core diameter through the contacts _"R φcore ( θ) ”and the winding shaft torque distribution“ T _core (θ) ”of the winding core 6a are calculated. The winding core diameter distribution storage unit 18 stores the calculated winding core diameter distribution “R _φcore (θ)”. The first winding shaft torque storage unit 19 stores the calculated winding shaft torque distribution “T _core (θ)”. The first change amount distribution calculation unit 20 is based on the core diameter distribution “R _core (θ)” acquired by the winding diameter distribution acquisition unit 11, and the core diameter passing through the contact point between the material 1 and the core 6a. The change amount distribution “dR _φcore (θ) / dφ” of is calculated. The first change amount distribution storage unit 21 stores the calculated change amount distribution “dR _φcore (θ) / dφ”.

_{The first moment of inertia calculation unit 14 calculates the moment of inertia "J core} " of the winding core 6a at the start of winding by the following equation (34). The first moment of inertia calculation unit 14 acquires the radius of the winding core 6a at each of n points, which are points every other angle range “Δθ”, assuming that Δθ = 2π / n, and obtains the moment of inertia “J _core ”. Ask. The first moment of inertia calculation unit 14 acquires the density “ρ” from the core density setter 12. The first moment of inertia calculation unit 14 acquires the width “W” of the material 1 from the material width setter 13. The first moment of inertia storage unit 15 stores the moment of inertia "J _core " calculated by the first moment of inertia calculation unit 14.

The winding diameter distribution torque calculation unit 16 calculates the above-mentioned angle “φ” corresponding to the rotation angle “θ” and “R _φ ” which is a radius corresponding to the angle “φ”. The winding diameter distribution torque calculation unit 16 stores the winding shaft torque "T _{(θ, φ)} " corresponding to the calculated angle "φ" in association with the rotation angle "θ", thereby storing the winding shaft torque distribution. _Find "T core (θ)".

The rotation center and winding of the winding core 6a when the rotation angle of the winding core 6a is "θ" and the rotation angle is "θ" from the state when the winding diameter distribution acquisition unit 11 acquires the winding core diameter distribution. The angle between the line segment connecting the contact points of the body 6 and the material 1 and the reference line is "φ". Assuming that the contact point between the material 1 and the winding core 6a is a point (θ + φ, R _φ ), the winding shaft torque “T _{(θ, φ)} ” corresponding to the rotation angle “θ” is the distance “L” and the angle “δ”. Is expressed by the following equation (35).

Since the target tension of the tension control device 10 may be changed, the tension "F" is temporarily set to 1 (N) in the calculation according to the equation (35), and the tension is temporarily set to 1 (N) in the calculation at the time of winding. The target tension may be divided from the winding shaft torque.

The winding diameter distribution torque calculation unit 16 calculates the winding shaft torque “T _θ ” shown in the following equation (36). From the above equation (12), the winding shaft torque "T _θ " is calculated by finding the angle at which the winding shaft torque "T _{(θ, φ)" is maximized. The winding diameter distribution torque calculation unit 16 calculates the winding shaft torque “T (θ, φ)} ” for each angle range “Δφ” in the range from 0 to 2π of the angle “φ”, and the calculated winding shaft torque. The maximum value of "T _{(θ, φ)} " is acquired as the winding shaft torque "T _{θ". The radius “R φ} ” when the winding shaft torque “T _{(θ, φ)} ” is maximized is the winding core diameter passing through the contact point between the material 1 and the winding core 6a. The winding diameter distribution torque calculation unit 16 also calculates the _{winding core diameter “R φ”.}

Further, the winding diameter distribution torque calculation unit 16 calculates the winding shaft torque “T _θ ” and the winding core diameter “R _φ ” for each Δθ where Δθ = 2π / n. As a result, the winding diameter distribution torque calculation unit 16 has the "T (θ)" representing the winding shaft torque distribution of the winding core 6a and the winding core diameter distribution regarding the winding core diameter passing through the contact point between the material 1 and the winding core 6a. And "R _φ (θ)" representing. The winding shaft torque distribution “T (θ)” is expressed by the following equation (37). The winding diameter distribution “R _φ (θ)” is expressed by the following equation (38).

The winding diameter distribution torque calculation unit 16 acquires the distance “L” and the angle “δ” from the position setter 17, and performs the calculations of the above equations (35) to (38). As a result, the winding diameter distribution torque calculation unit 16 has the winding shaft torque distribution “T _core (θ)” of the winding core 6a and the winding core diameter distribution “T core diameter distribution” regarding the winding core diameter passing through the contact point between the material 1 and the winding core 6a. R _φcore (θ) ”is obtained. The winding core diameter distribution storage unit 18 stores the winding core diameter distribution “R _φcore (θ)”. The first winding shaft torque storage unit 19 stores the winding shaft torque distribution “T _core (θ)”.

_{The first change amount distribution calculation unit 20 is based on "R φ} (θ)" representing the winding core diameter distribution obtained by the winding diameter distribution torque calculation unit 16, and the change amount shown in the following equation (39). Calculate "dR _φ (θ) / dθ". The amount of change "dR _φ (θ) / dθ" is the amount of change _{of "R φ" for each Δθ.}

_{The first change amount distribution calculation unit 20 obtains the change amount distribution “dR φcore} (θ) / dφ” of the winding core diameter passing through the contact point between the material 1 and the winding core 6a by the calculation of the above equation (39). The first change amount distribution storage unit 21 stores the change amount distribution “dR _φcore (θ) / dφ”.

The average winding diameter calculation unit 22 calculates the average winding core diameter of the winding core 6a. The average winding diameter calculation unit 22 acquires the rotation angle “θ” from the angle detector 7. The average winding diameter calculation unit 22 acquires the peripheral speed “V” from the peripheral speed detector 9. The average winding diameter calculation unit 22 acquires the time measurement result by the time measuring instrument 23. The average winding diameter calculation unit 22, a peripheral speed of "V", on the basis of the time required for one revolution of the core 6a, calculates the circumferential length of the core 6a of the "L _C". The average peripheral speed in one rotation of the winding core 6a "V _ave", the time required for one rotation of the winding core 6a as "t", the peripheral length "L _C" is expressed by the following equation (40) To.

Here, assuming that the cross section of the winding core 6a perpendicular to the rotating shaft 6b is circular, the average winding core diameter "R _{core_ave} " is expressed by the following equation (41).

_{The average winding diameter calculation unit 22 calculates the average winding core diameter “R core_ave} ” of the winding core 6a by the above calculations (40) and (41). The average core diameter storage unit 24 stores the average core diameter “R _{core_ave} ”.

As described above, the tension control device 10 has each calculated value at the start of winding, that is, the _core diameter distribution "R core (θ)", the moment of inertia "J _core ", and the _{core diameter distribution "R φ core (R φ core).} θ) ”, the change amount distribution“ dR _φcore (θ) / dφ ”, the winding shaft torque distribution“ T _core (θ) ”, and the average _{winding core diameter“ R core_ave} ”are calculated. Further, the tension control device 10 stores each calculated calculated value.

Next, a method of calculating each calculated value after starting winding will be described. The average winding diameter calculation unit 22 calculates the average winding diameter "R _ave" in current that winding is being performed. Winding-ratio calculation unit 25, the average winding diameter _{"R ave"} in the current, based on the average Makishin径_{"R Core_ave"} stored in the average winding core diameter storage unit 24, by the following equation (42) , Calculate the winding ratio "P _Rave".

The moment of inertia calculation unit 27 acquires the _{moment of inertia "J core} " of the winding core 6a before the start of winding from the first moment of inertia storage unit 15. The moment of inertia calculation unit 27 acquires the _{winding ratio “P Rave” from the winding ratio calculation unit 25.} The moment of inertia calculation unit 27 calculates the moment of inertia "J" of the winding body 6 at the present time when winding is performed by the following equation (43).

_{The winding diameter distribution calculation unit 28 acquires the winding core diameter distribution “R φcore} (θ)” of the winding core 6a before the start of winding from the winding core diameter distribution storage unit 18. The winding diameter distribution calculation unit 28 acquires the _{winding ratio “P Rave” from the winding ratio calculation unit 25. The winding diameter distribution calculation unit 28 calculates “R φ} (θ)” representing the winding diameter distribution of the winding body 6 at the present time when winding is performed by the following equation (44).

The change amount distribution calculation unit 29, from the first change amount distribution storage unit 21, regarding the winding core 6a before the start of winding, the change amount distribution “dR _{φcore” of the winding core diameter passing through the contact point between the material 1 and the winding core 6a.} (Θ) / dφ ”is acquired. The change amount distribution calculation unit 29 acquires the _{winding ratio “P Rave” from the winding ratio calculation unit 25.} The winding diameter distribution calculation unit 28 calculates the amount of change “dR _φ (θ) / dθ” shown in the following equation (45).

The first compensation amount calculation unit 30 acquires the rotation angle “θ” from the angle detector 7. _{The first compensation amount calculation unit 30 acquires the winding shaft torque distribution “T core} (θ)” of the winding core 6a before the start of winding from the first winding shaft torque storage unit 19. The first compensation amount calculation unit 30 acquires the _{winding ratio “P Rave” from the winding ratio calculation unit 25.} The first compensation amount calculation unit 30 acquires the _{target tension “F target” from the target tension setter 26.} First compensation amount calculation unit 30, by the following equation (46), calculates the winding axis torque compensation amount "T _R".

The second compensation amount calculation unit 31 acquires the rotation angle “θ” from the angle detector 7. The second compensation amount calculation unit 31 acquires the peripheral speed “V” from the peripheral speed detector 9. The second compensation amount calculation unit 31 acquires the moment of inertia "J" of the current winding body 6 in which winding is being performed from the moment of inertia calculation unit 27. _{The second compensation amount calculation unit 31 acquires “R φ} (θ)” representing the winding diameter distribution of the winding body 6 at the present time when winding is performed from the winding diameter distribution calculation unit 28. _{The second compensation amount calculation unit 31 acquires the change amount “dR φ} (θ) / dθ” of the current winding body 6 in which winding is performed from the change amount distribution calculation unit 29. The second compensation amount calculation unit 31 acquires "dV / dt", which is a differential amount of the peripheral speed "V", from the differential calculation unit 32.

Second compensation amount calculation unit 31, using the equation (30) and (32), by the following equation (47), to calculate the inertia torque compensation amount _{"T I".} Note that "dV / dt" is the result of the differential calculation unit 32 performing the calculation according to the following equation (48) every "Δt" for a certain period of time.

Torque control unit 33, by adding the winding shaft torque compensation amount as "T _R" and inertia torque compensation amount "T _I", calculates the torque command value. The torque control unit 33 controls the drive of the shaft drive machine 4 by outputting the calculated torque command value to the shaft drive machine 4.

According to the first embodiment, the tension control device 10 has a winding shaft torque compensation amount obtained based on the winding core diameter distribution of the winding core 6a and an inertial torque obtained based on the winding core diameter distribution of the winding core 6a. The torque for rotating the winding core 6a is corrected based on the compensation amount. The tension control device 10 can suppress the tension fluctuation due to the fluctuation of the winding core diameter during one rotation of the winding core 6a. Further, the tension control device 10 can suppress the tension fluctuation due to the fluctuation of the moment of inertia during one rotation of the winding core 6a. As a result, the tension control device 10 has an effect that the tension fluctuation of the object wound around the winding core 6a having a shape other than the circular cross section can be suppressed and the tension control can be performed with high accuracy.

Embodiment 2.
FIG. 6 is a diagram showing a functional configuration of the tension control device according to the second embodiment. In the second embodiment, a case where the tension control device 10A performs tension control in consideration of the density difference between the winding core 6a and the material 1 will be described. In the second embodiment, the same components as those in the first embodiment are designated by the same reference numerals, and the configurations different from those in the first embodiment will be mainly described.

The tension control device 10A according to the second embodiment includes a core diameter distribution storage unit 34 that stores the core diameter distribution of the core 6a acquired by the winding diameter distribution acquisition unit 11, and a material that sets the density of the material 1. It has a density setter 36. The tension control device 10A has a second moment of inertia calculation unit 35 that calculates the moment of inertia of the winding body 6 when the winding is completed, and a second inertia that stores the moment of inertia of the winding body 6 when the winding is completed. It has a moment storage unit 37.

The tension control device 10A has a winding diameter distribution storage unit 38 that stores the winding diameter distribution of the winding body 6 when winding is completed, and a second winding shaft torque distribution that stores the winding shaft torque distribution of the winding body 6 when winding is completed. It has a winding shaft torque storage unit 39, and a second change amount distribution storage unit 40 that stores the distribution of the change amount of the winding diameter in a certain angle range for the winding body 6 when the winding is completed. The tension control device 10A has an average winding diameter storage unit 41 that stores the average winding diameter of the winding body 6 when winding is completed.

In the second embodiment, the winding diameter distribution acquisition unit 11 has a first winding diameter distribution for the winding core 6a in a state where the material 1 is not wound, and the material 1 wound around the winding core 6a and the winding core 6a. The second winding diameter distribution for the winding body 6 having and is obtained. The second compensation amount calculation unit 31 calculates the inertial torque compensation amount based on the moment of inertia calculated based on the first winding diameter distribution and the moment of inertia calculated based on the second winding diameter distribution. calculate.

Next, a specific example of the calculation in each functional unit of the tension control device 10A according to the second embodiment will be described. In the second embodiment, the tension control device 10A rotates the winding core 6a once under the control of the shaft drive 4 before the start of winding, similarly to the tension control device 10 according to the first embodiment. Similar to the tension control device 10 according to the first embodiment, the tension control device 10A has each calculated value before the start of winding, that is, the winding _core diameter distribution “R core (θ)” and the moment of inertia “J _core”. , The core diameter distribution "R _φcore (θ)", the amount of change distribution "dR _φcore (θ) / dφ", the winding shaft torque distribution "T _core (θ)", and the average _{core diameter "R core_ave".} "And calculate.

After the winding is completed, the tension control device 10A rotates the winding body 6 once under the control of the shaft drive machine 4. The angle detector 7 detects the rotation angle “θ” of the winding body 6 in each fixed angle range during one rotation by detecting the angle at a constant interval. The winding diameter detector 8 detects _{the radius “R θ} ” of the winding body 6 in a certain angle range during one rotation. The peripheral speed detector 9 detects the peripheral speed "V _θ " in each fixed angle range during one rotation.

The tension control device 10A acquires each value of the rotation angle “θ”, the radius “R _θ ” and the peripheral speed “V _θ ”, and each calculated value required for calculating the winding shaft torque and the inertial torque. Ask for. _{The tension control device 10A has a winding diameter distribution “R max} (θ)”, which is a second winding diameter distribution for the winding body 6 at the time of winding completion, and winding as each calculated value when winding is completed. _{The moment of inertia "J max} " of the winding body 6 at the time of completion _{, the winding diameter distribution "R φmax} (θ)" about the winding diameter passing through the contact point between the material 1 and the winding body 6, and the amount of change in the winding diameter. The distribution "dR _φmax (θ) / dφ", the winding shaft torque distribution "T _max (θ)" of the winding body 6 at the completion of winding, and the average winding diameter "R" of the winding body 6 at the completion of winding. _{"max_ave} " is calculated.

The tension control device 10A rotates the winding body 6 once after winding by the same method as in the first embodiment, and calculates each calculated value when the winding is completed. Alternatively, the tension control device 10A calculates each calculated value at the time of completion of winding by attaching the winding body 6 in a completed winding state to the winding machine and rotating the winding body 6 once. .. The tension control device 10A calculates each calculated value for the completion of winding when the winding body 6 in the completed winding state can be rotated once. The tension control device 10A is based on each calculated value before the start of winding and each calculated value at the time of completion of winding at the time of winding after each calculated value at the time of completion of winding is calculated. Then, the winding shaft torque compensation amount and the inertial torque compensation amount are calculated.

Since the calculation of each calculated value before the start of winding is the same as that in the first embodiment, the description thereof will be omitted. _{However, in order to calculate the moment of inertia "J max} " of the winding body 6 at the completion of winding _{, the winding core diameter distribution "R core} (θ)" for the winding core 6a before the start of winding is used as the winding core diameter distribution. The point of storing in the storage unit 34 is different from that of the first embodiment.

Next, a method of calculating each calculated value when winding is completed will be described. The winding diameter distribution acquisition unit 11 acquires the rotation angle “θ” of the winding body 6 from the angle detector 7. The winding diameter distribution acquisition unit 11 acquires the radius “R _θ ” of the winding body 6 from the winding diameter detector 8. The winding diameter distribution acquisition unit 11 links the rotation angle “θ” and the radius “R _{θ ” to each other in each fixed angle range, so that the winding diameter distribution “R max} (θ”) shown in the following equation (49) is used. ) ”Is acquired.

The winding diameter distribution torque calculation unit 16 is _{based on the winding diameter distribution “R max (θ)” acquired by the winding diameter distribution acquisition unit 11, and the winding diameter distribution “R φmax} (θ)” for the winding diameter passing through the contact point. And the winding shaft torque distribution “T _max (θ)” of the winding body 6 are calculated. The winding diameter distribution storage unit 38 stores the calculated winding diameter distribution “R _φmax (θ)”. The second winding shaft torque storage unit 39 stores the calculated winding shaft torque distribution “T _max (θ)”. The first change amount distribution calculation unit 20 has a winding diameter passing through the contact point between the material 1 and the winding body 6 based on the winding _{diameter distribution “R max (θ)” acquired by the winding diameter distribution acquisition unit 11.} The amount of change distribution “dR _φmax (θ) / dφ” is calculated. The second change amount distribution storage unit 40 stores the calculated change amount distribution “dR _φmax (θ) / dφ”.

_{The second moment of inertia calculation unit 35 acquires the winding core diameter distribution “R core} (θ)” for the winding core 6a before the start of winding from the winding core diameter distribution storage unit 34. _{The second moment of inertia calculation unit 35 acquires the winding diameter distribution “R max} (θ)” from the winding diameter distribution acquisition unit 11 via the first moment of inertia calculation unit 14. The second moment of inertia calculation unit 35 acquires the _{moment of inertia "J core} " of the winding core 6a before the start of winding from the first moment of inertia storage unit 15. The second moment of inertia calculation unit 35 acquires the width “W” of the material 1 from the material width setter 13 via the first moment of inertia calculation unit 14. _{The second moment of inertia calculation unit 35 acquires the density “ρ M} ” of the material 1 from the material density setter 36 via the first moment of inertia calculation unit 14.

_{The second moment of inertia calculation unit 35 calculates the moment of inertia "J max} " of the winding body 6 at the time of completion of winding by the following equation (50). The second moment of inertia storage unit 37 stores the moment of inertia "J _max " calculated by the second moment of inertia calculation unit 35.

The winding diameter distribution torque calculation unit 16 performs the same calculation as the above equation (38) for _{the winding core diameter distribution “R φcore} (θ)” of the winding core 6a, and performs the winding diameter of the winding body 6 at the time of winding completion. Calculate the distribution “R _φmax (θ)”. The winding diameter distribution storage unit 38 stores the winding diameter distribution “R _φmax (θ)”.

The winding diameter distribution torque calculation unit 16 performs the same calculation as the above equations (35) to (37) for _{the winding shaft torque distribution “T core (θ)” of the winding core 6a, and the winding body 6 at the time of winding completion.} The winding shaft torque distribution “T _max (θ)” of is calculated. The second winding shaft torque storage unit 39 stores the winding shaft torque distribution “T _max (θ)”.

The first change amount distribution calculation unit 20 _{performs the same calculation as the above equation (39) for the change amount distribution “dR φcore} (θ) / dφ” of the winding core 6a, and the winding body 6 at the time of completion of winding The amount of change distribution “dR _φmax (θ) / dφ” is calculated. The second change amount distribution storage unit 40 stores the change amount distribution “dR _φmax (θ) / dφ”.

The average winding diameter calculation unit 22 performs the same calculation as _{the above equations (40) and (41) for the average winding core diameter "R core_ave} " of the winding core 6a, and performs the average winding diameter of the winding body 6 at the time of completion of winding. Calculate "R _{max_ave} ". The average winding diameter storage unit 41 stores the average winding diameter "R _{max_ave} ".

As described above, the tension control device 10A has each calculated value when winding is completed, that is, the winding diameter distribution “R _max (θ)”, the moment of inertia “J _max ”, and the winding diameter distribution “R _φmax (θ)). , The change amount distribution “dR _φmax (θ) / dφ”, the winding shaft torque distribution “T _max (θ)”, and the average winding diameter “R _{max_ave} ”. Further, the tension control device 10A stores each calculated calculated value.

Next, a method of calculating each calculated value after starting winding will be described. The average winding diameter calculation unit 22 calculates the average winding diameter "R _ave" in current that winding is being performed. Winding-ratio calculation unit 25, the average winding diameter _{"R ave"} in the current, the average Makishin径stored in the average winding core diameter storage unit 24 _{"R Core_ave",} stored in the average winding diameter storage unit 41 Based on the average winding diameter "R _{max_ave} ", the winding ratio "P _Rave " is calculated by the following formula (51).

The moment of inertia calculation unit 27 acquires the _{moment of inertia "J core} " of the winding core 6a before the start of winding from the first moment of inertia storage unit 15. The moment of inertia calculation unit 27 acquires the _{moment of inertia "J max} " of the winding body 6 at the time of completion of winding from the second moment of inertia storage unit 37. The moment of inertia calculation unit 27 acquires the _{winding ratio “P Rave” from the winding ratio calculation unit 25.} The moment of inertia calculation unit 27 calculates the moment of inertia "J" of the winding body 6 at the present time when winding is performed by the following equation (52).

_{The winding diameter distribution calculation unit 28 acquires the winding core diameter distribution “R φcore} (θ)” of the winding core 6a before the start of winding from the winding core diameter distribution storage unit 18. _{The winding diameter distribution calculation unit 28 acquires the winding diameter distribution “R φmax} (θ)” of the winding body 6 at the time of completion of winding from the winding diameter distribution storage unit 38. The winding diameter distribution calculation unit 28 acquires the _{winding ratio “P Rave” from the winding ratio calculation unit 25. The winding diameter distribution calculation unit 28 calculates the winding diameter distribution “R φ} (θ)” of the winding body 6 at the present time when winding is performed by the following equation (53).

_{The change amount distribution calculation unit 29 acquires the change amount distribution “dR φcore} (θ) / dφ” of the winding core diameter with respect to the winding core 6a before the start of winding from the first change amount distribution storage unit 21. _{The change amount distribution calculation unit 29 acquires the change amount distribution “dR φmax} (θ) / dφ” of the winding diameter of the winding body 6 when the winding is completed from the second change amount distribution storage unit 40. The change amount distribution calculation unit 29 acquires the _{winding ratio “P Rave” from the winding ratio calculation unit 25. The winding diameter distribution calculation unit 28 calculates the change amount distribution “dR φ} (θ) / dθ” of the winding diameter for the current winding body 6 in which winding is performed by the following equation (54). ..

The first compensation amount calculation unit 30 acquires the rotation angle “θ” from the angle detector 7. _{The first compensation amount calculation unit 30 acquires the winding shaft torque distribution “T core} (θ)” of the winding core 6a before the start of winding from the first winding shaft torque storage unit 19. _{The first compensation amount calculation unit 30 acquires the winding shaft torque distribution “T max} (θ)” of the winding body 6 at the time of completion of winding from the second winding shaft torque storage unit 39. The first compensation amount calculation unit 30 acquires the _{winding ratio “P Rave” from the winding ratio calculation unit 25.} The first compensation amount calculation unit 30 acquires the _{target tension “F target” from the target tension setter 26.} First compensation amount calculation unit 30, by the following equation (55), calculates the winding axis torque compensation amount "T _R".

The second compensation amount calculation unit 31 acquires the rotation angle “θ” from the angle detector 7. The second compensation amount calculation unit 31 acquires the peripheral speed “V” from the peripheral speed detector 9. The second compensation amount calculation unit 31 acquires the moment of inertia "J" of the current winding body 6 in which winding is being performed from the moment of inertia calculation unit 27. _{The second compensation amount calculation unit 31 acquires the winding diameter distribution “R φ} (θ)” of the current winding body 6 in which winding is performed from the winding diameter distribution calculation unit 28. _{The second compensation amount calculation unit 31 acquires the change amount “dR φ} (θ) / dθ” of the current winding body 6 in which winding is performed from the change amount distribution calculation unit 29. The second compensation amount calculation unit 31 acquires "dV / dt", which is a differential amount of the peripheral speed "V", from the differential calculation unit 32. Second compensation amount calculation unit 31, using the equation (31) and (32), by the following equation (56), to calculate the inertia torque compensation amount _{"T I".}

Torque control unit 33, by adding the winding shaft torque compensation amount as "T _R" and inertia torque compensation amount "T _I", calculates the torque command value. The torque control unit 33 controls the drive of the shaft drive machine 4 by outputting the calculated torque command value to the shaft drive machine 4.

According to the second embodiment, the tension control device 10A calculates the amount of inertial torque compensation based on the moment of inertia calculated based on the winding core diameter distribution and the moment of inertia calculated based on the winding diameter distribution. Therefore, the moment of inertia of the winding body 6 can be calculated accurately. Since the tension control device 10A can accurately calculate the moment of inertia of the winding body 6, it is possible to suppress the fluctuation of tension due to the fluctuation of the moment of inertia with high accuracy.

Embodiment 3.
FIG. 7 is a diagram showing a configuration of a system including the tension control device according to the third embodiment. The tension control device 10B according to the third embodiment calculates a tension correction amount based on the result of detecting the tension of the material 1, and corrects a torque command value based on the calculated tension correction amount. Further, the tension control device 10B calculates the inertial torque compensation amount, which is the second compensation amount, based on the moment of inertia calculated based on the result of detecting the tension of the material 1. In the third embodiment, the same components as those in the first or second embodiment are designated by the same reference numerals, and the configurations different from those in the first or second embodiment will be mainly described.

The system 100 of the third embodiment has the same components as the system 100 of the first embodiment and a tension detector 42 for detecting the tension of the material 1. The tension detector 42 detects the tension of the material 1 delivered from the feed roll 3, that is, the tension of the object conveyed by the system 100. The tension control device 10B acquires the tension detection result by the tension detector 42.

Next, the calculation for tension control in the tension control device 10B will be described. The moment of inertia obtained based on the shape of the winding core 6a and the densities of the winding core 6a and the material 1 by the calculation of the above equations (13) to (21) has an error between the actual moment of inertia and the moment of inertia. It can occur. Such an error may occur due to the entrainment of air in the layer of the material 1, the detection error of the winding diameter, or the like.

The tension control device 10B calculates the tension correction amount in addition to the winding shaft torque compensation amount and the inertial torque compensation amount. The tension control device 10B controls the torque for rotating the winding core 6a based on the winding shaft torque compensation amount, the inertia torque compensation amount, and the tension correction amount.

When the thickness of the material 1 is sufficiently small with respect to the radius of the winding body 6, the amount of increase in the amount of inertial torque compensation due to the increase in the moment of inertia becomes minimal. In this case, in the calculation of "d (Jω) / dt" representing the inertial torque compensation amount, the increase amount is considered to be negligible. The inertial torque compensation amount “d (Jω) / dt” in that case is expressed by the following equation (57).

From the above equations (32) and (57), the moment of inertia "J" is expressed by the following equation (58).

The tension control device 10B rotates the winding body 6 once with a constant load torque, and averages the values of the moments of inertia "J" acquired at a plurality of times, thereby causing the moment of inertia "J" due to the fluctuation of the winding diameter. The error of "" can be reduced.

Assuming that Δφ = 2π / n, the radius of the winding body 6 at each of n points, which is every other angle range “Δφ”, is obtained. The moment of inertia "J" of the winding body 6 is expressed by the following equation (59).

The tension control device 10B calculates the moment of inertia "J _{C " of the winding core 6a before the start of winding and the moment of inertia "J max} " of the winding body 6 at the completion of winding by the calculation of the above equation (59). calculate. As a result, the tension control device 10B calculates the moment of inertia "J" by applying the above equation (29).

FIG. 8 is a diagram showing a functional configuration of the tension control device according to the third embodiment. In the tension control device 10B according to the third embodiment, a functional unit for calculating the tension correction amount is added to the same functional unit as the functional unit provided in the tension control device 10A of the second embodiment. Further, the second compensation amount calculation unit 31 has a moment of inertia calculated based on the winding diameter distribution acquired by the winding diameter distribution acquisition unit 11 and the tension detected by the tension detector 42, and a peripheral speed detector. The moment of inertia torque compensation amount, which is the second compensation amount, is calculated based on the peripheral speed detected by 9.

The tension control device 10B according to the third embodiment stores an output torque setting device 43 for setting the torque output from the shaft drive device 4, a peripheral speed distribution storage unit 44 for storing the peripheral speed distribution, and an acceleration distribution. It has an acceleration distribution storage unit 45 and a tension distribution acquisition unit 46 for obtaining a tension distribution. The tension control device 10B includes a moment of inertia calculation unit 47 for calculating the moment of inertia of the winding core 6a before the start of winding and the moment of inertia of the winding body 6 at the completion of winding, and a tension correction amount for calculating the tension correction amount. It has a calculation unit 48.

Next, a specific example of the calculation in each functional unit of the tension control device 10B according to the third embodiment will be described. In the third embodiment, the tension control device 10B rotates the winding core 6a once by the _{torque "T Rot" set in the output torque setter 43.} The tension control device 10B has each calculated value before the start of winding, that is, the _core diameter distribution “R core (θ)”, the moment of inertia “J _core ”, and the _{core diameter distribution “R φ} core (θ)”. , The change amount distribution “dR _φcore (θ) / dφ”, the winding shaft torque distribution “T _core (θ)”, and the average _{winding core diameter “R core_ave} ” are calculated. The tension control device 10B calculates _{the calculated values other than the moment of inertia "J core} " among the calculated values as in the case of the second embodiment.

The tension control device 10B acquires the peripheral velocity distribution and the acceleration distribution when the winding core 6a is further rotated once after the calculated values other than the _{moment of inertia "J core" are calculated.} The tension control device 10B is shown in the following equation (60) by associating the peripheral speed “V” with the rotation angle “θ” in the same manner as in the case of acquiring the _{winding core diameter distribution “R core (θ)”.} Acquire the peripheral velocity distribution "V _core (θ)". The peripheral velocity distribution storage unit 44 stores the peripheral velocity distribution “V _core (θ)”.

_{The tension control device 10B obtains the acceleration “dV φcore} / dt” by the differential calculation of the peripheral speed “V” in the differential calculation unit 32. The tension control device 10B links the _{acceleration “dV φcore} / dt” to the rotation angle “θ” in the same manner as in the case of acquiring the _{winding core} diameter distribution “R core (θ)”, and thus has the following equation (61). _{Acquire the} acceleration distribution "dV / dt φcore (θ)" shown in. The acceleration distribution storage unit 45 stores the acceleration distribution “dV / dt _φcore (θ)”.

The tension distribution acquisition unit 46 acquires the detected tension “F _core ” from the tension detector 42. The tension distribution acquisition unit 46 acquires the tension distribution by associating the tension “F _core ” acquired for each fixed angle range with the rotation angle “θ”.

_{The moment of inertia calculation unit 47 calculates the moment of inertia "J core} " before the start of winding by the calculation based on each of the obtained calculated values and the above equation (35). The moment of inertia "J _core " is expressed by the following equation (62).

The tension control device 10B rotates the winding core 6a once by the _{torque "T Rot} " set in the output torque setting device 43 even when the winding is completed. The tension control device 10B has each calculated value for the completion of winding, that is, the winding diameter distribution “R _max (θ)”, the moment of inertia “J _max ”, and the winding diameter distribution “R _φ max (θ)”. The change amount distribution “dR _φmax (θ) / dφ”, the winding shaft torque distribution “T _max (θ)”, and the average winding diameter “R _{max_ave} ” are calculated. The tension control device 10B calculates _{the calculated values other than the moment of inertia "J max} " among the calculated values as in the case of the second embodiment. The moment of inertia calculation unit 47 calculates the moment of inertia "J _max " in the same _{manner as the moment of inertia "J core".}

Similar to the second embodiment, the tension control device 10B calculates the winding shaft torque compensation amount and the inertial torque compensation amount after the calculation for the completion of winding. The tension correction amount calculation unit 48 acquires the _{target tension “F target” from the target tension setter 26.} The tension correction amount calculation unit 48 acquires the _{detected tension “F detect” from the tension detector 42.} The tension correction amount calculation unit 48 calculates the tension correction amount by comparing _{the target tension “F target} ” with the detected tension “F _detect”. The tension correction amount calculation unit 48 outputs the calculation result of the tension correction amount to the torque control unit 33.

The torque control unit 33 calculates the torque command value by adding the winding shaft torque compensation amount, the inertial torque compensation amount, and the tension correction amount. The torque control unit 33 controls the drive of the shaft drive machine 4 by outputting the calculated torque command value to the shaft drive machine 4.

According to the third embodiment, the tension control device 10B calculates the tension correction amount based on the result of detecting the tension of the material 1, and corrects the torque command value based on the calculated tension correction amount. As a result, the tension control device 10B can perform highly accurate tension control. The calculation of the tension correction amount and the correction of the torque command value based on the calculated tension correction amount in the third embodiment may be applied to the tension control device 10 according to the first embodiment.

In the first embodiment as well, the second compensation amount calculation unit 31 has the winding diameter distribution acquired by the winding diameter distribution acquisition unit 11 and the tension detected by the tension detector 42, as in the third embodiment. The moment of inertia calculated based on the above and the peripheral speed detected by the peripheral speed detector 9 may be used to calculate the inertial torque compensation amount.

Next, the hardware configuration of the tension control devices 10, 10A, 10B according to the first to third embodiments will be described. FIG. 9 is a diagram showing an example of the hardware configuration of the tension control device according to the first to third embodiments. FIG. 9 shows the hardware configuration when the functions of the tension control devices 10, 10A and 10B are realized by using the hardware for executing the program. The tension control devices 10, 10A and 10B are computer systems in which the tension control program is installed. The tension control program is a program for operating the computer as tension control devices 10, 10A, 10B for controlling the tension of the object wound around the winding core 6a. The computer system is a personal computer or a general-purpose computer.

The tension control devices 10, 10A, 10B are input from the processor 51 that executes various processes, the memory 52, which is a built-in memory, and the information input to the tension control devices 10, 10A, 10B, and the tension control devices 10, 10A, 10B. It has an interface circuit 53 for outputting the information of the above, a storage device 54 for storing the information, and an input device 55 for receiving inputs for various settings.

The processor 51 is a CPU (Central Processing Unit). The processor 51 may be a processing device, an arithmetic unit, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor). The memory 52 is a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory) or an EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory).

The storage device 54 is an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The tension control program is stored in the storage device 54. The processor 51 reads the tension control program stored in the storage device 54 into the memory 52 and executes it. The input device 55 is a device such as a keyboard or a mouse.

The tension control program may be stored in a storage medium that can be read by a computer system. The tension control devices 10, 10A and 10B may store the tension control program recorded in the storage medium in the memory 52. The storage medium may be a portable storage medium that is a flexible disk, or a flash memory that is a semiconductor memory. The tension control program may be installed in a computer system from another computer or server device via a communication network.

Each function of the calculation unit, the acquisition unit, the setting unit, the measuring instrument, and the control unit in the tension control devices 10, 10A, and 10B is realized by a combination of the processor 51 and software. Each of the functions may be realized by a combination of the processor 51 and the firmware, or may be realized by a combination of the processor 51, the software and the firmware. The software or firmware is written as a program and stored in the storage device 54. The function of the storage unit in the tension control devices 10, 10A and 10B is realized by using the storage device 54.

In the above-described first to third embodiments, the tension control devices 10, 10A and 10B are applied to the winder for winding the material 1. The tension control devices 10, 10A and 10B may be applied to a unwinder that unwinds the material 1.

The configuration shown in each of the above embodiments shows an example of the contents of the present disclosure. The configurations of each embodiment can be combined with other known techniques. The configurations of the respective embodiments may be combined as appropriate. It is possible to omit or change a part of the configuration of each embodiment without departing from the gist of the present disclosure.

1 Material, 2 Feed Motor, 3 Feed Roll, 4 Axis Driver, 5 Fixed Roll, 6 Winder, 6a Core, 6b Rotating Axis, 7 Angle Detector, 8 Wind Diameter Detector, 9 Moment of Inertia Detector, 10, 10A, 10B Tension control device, 11 winding diameter distribution acquisition unit, 12 core density setting device, 13 material width setting device, 14 first moment of inertia calculation unit, 15 first moment of inertia storage unit, 16 winding diameter Distribution torque calculation unit, 17 position setter, 18,34 core diameter distribution storage unit, 19 first winding shaft torque storage unit, 20 first change amount distribution calculation unit, 21 first change amount distribution storage unit, 22 Average winding diameter calculation unit, 23-hour measuring instrument, 24 Average winding core diameter storage unit, 25 Volume ratio calculation unit, 26 Target tension setting device, 27, 47 Moment of inertia calculation unit, 28 Wind diameter distribution calculation unit, 29 Change amount Distribution calculation unit, 30 first compensation amount calculation unit, 31 second compensation amount calculation unit, 32 differential calculation unit, 33 torque control unit, 35 second moment of inertia calculation unit, 36 material density setter, 37 second Moment of inertia storage unit, 38 winding diameter distribution storage unit, 39 second winding shaft torque storage unit, 40 second change amount distribution storage unit, 41 average winding diameter storage unit, 42 tension detector, 43 output torque setting device , 44 Circumferential velocity distribution storage unit, 45 acceleration distribution storage unit, 46 tension distribution acquisition unit, 48 tension correction amount calculation unit, 51 processor, 52 memory, 53 interface circuit, 54 storage device, 55 input device, 100 system.

Claims (7)

A tension control device that controls the tension of an object wound around a core of a rotating body.
An acquisition unit that acquires a winding core diameter distribution representing the diameter of the winding core at each position on the circumference of the winding core about the rotation axis of the winding core, and an acquisition unit.
It is a compensation amount obtained by calculation based on the winding core diameter distribution, and is for compensating for the fluctuation of the tension due to the fluctuation of the winding diameter which is the diameter of the winding body in which the object is wound around the winding core. The first compensation amount calculation unit that calculates the first compensation amount, and
A second compensation amount for compensating for the fluctuation of the tension due to the fluctuation of the moment of inertia accompanying the rotation of the winding body, which is the compensation amount obtained by the calculation based on the winding core diameter distribution, is conveyed. A second compensation amount calculation unit that calculates based on the result of detecting the peripheral speed of the object, and
A tension control device including a torque control unit that controls a torque for rotating the winding core based on the first compensation amount and the second compensation amount. The tension control device according to claim 1, wherein the second compensation amount calculation unit calculates the second compensation amount based on the moment of inertia calculated based on the winding core diameter distribution. .. The acquisition unit further acquires the winding diameter distribution, which is the distribution of the winding diameter, and obtains the winding diameter distribution.
The second compensation amount calculation unit calculates the second compensation amount based on the moment of inertia calculated based on the winding core diameter distribution and the moment of inertia calculated based on the winding diameter distribution. The tension control device according to claim 1, wherein the tension control device is characterized. The second compensation amount calculation unit calculates the second compensation amount based on the moment of inertia calculated based on the result of detecting the tension of the object to be conveyed. Item 2. The tension control device according to any one of Items 1 to 3. It is provided with a tension correction amount calculation unit that calculates the tension correction amount based on the tension detection result of the object.
The tension control device according to any one of claims 1 to 4, wherein the torque control unit corrects the torque for rotating the winding core based on the tension correction amount. A tension control program that causes a computer to function as a tension control device that controls the tension of an object wound around a winding core that is a rotating body.
A step of acquiring a winding core diameter distribution representing the diameter of the winding core at each position on the circumference of the winding core about the rotation axis of the winding core, and
It is a compensation amount obtained by calculation based on the winding core diameter distribution, and is for compensating for the fluctuation of the tension due to the fluctuation of the winding diameter which is the diameter of the winding body in which the object is wound around the winding core. The step of calculating the first compensation amount and
A second compensation amount for compensating for the fluctuation of the tension due to the fluctuation of the moment of inertia accompanying the rotation of the winding body, which is the compensation amount obtained by the calculation based on the winding core diameter distribution, is conveyed. Steps to calculate based on the detection result of the peripheral velocity of the object, and
A step of controlling the torque for rotating the winding core based on the first compensation amount and the second compensation amount, and
A tension control program, characterized in that the computer is executed. A storage medium in which the tension control program according to claim 6 is stored and can be read by a computer.

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