JP7179242B1 - Tension controller and tension control system - Google Patents

Abstract

A tension control device (100) controls a web material (5 ) and the winding diameter of the web material (5) wound on the roller shaft (6), a first mechanical loss coefficient estimating unit for estimating the mechanical loss coefficient that varies with the winding diameter; and a calculation unit that generates a control command to rotate the roller shaft (6) by performing correction using the mechanical loss coefficient.

Description

TECHNICAL FIELD The present disclosure relates to a tension control device and a tension control system that correct tension fluctuations of an object when winding or unwinding the object wound around a core.

When the web (object) such as paper, film, thread, wire, metal foil, etc. is subjected to processing such as printing, molding, etc., and the web is unwound from or wound around the core. There is When unwinding or winding an object, it is necessary to control the tension applied to the web within a certain range in order to prevent deformation and breakage of the object. On the other hand, mechanical loss and moment of inertia of machines and winding shafts become disturbances to tension control, causing tension fluctuations. Therefore, in order to control the tension with high accuracy and stability, it is necessary to correct the mechanical loss and moment of inertia of the machine and the winding shaft.

At the actual site, the correction values for the mechanical loss and the moment of inertia are determined by the coordinator repeatedly changing the correction values and performing trial runs. If the correction value is not suitable, high-precision and stable tension control cannot be performed, and if a suitable correction value is to be obtained, the number of test runs increases, and there is a problem that many man-hours are required. In addition, when theoretically calculating correction values from design drawings and materials used, there are factors due to manufacturing errors such as deviations from the theoretical values of the equipment, and in the case of adjustments by coordinators, there are human factors such as incorrect settings and individual differences. There is a problem that the correction value may deviate from the optimum value for some reason. To address the above problem, Patent Document 1 controls the rotational speed of the winding core, estimates correction values for the mechanical loss and moment of inertia, and corrects tension fluctuations based on the estimated correction values.

JP-A-58-202243

In Patent Document 1, the correction value is estimated by controlling the rotation speed of the core, so the actuator that drives the core needs to be compatible with speed control. However, there are also actuators dedicated to torque control that cannot control the speed, and in such cases there is a problem that the correction value cannot be estimated.

The present disclosure has been made in view of the above, and an object thereof is to obtain a tension control device capable of estimating a correction value and performing tension control even when the rotational speed of the winding core cannot be controlled. .

In order to solve the above-described problems and achieve the object, a tension control device according to the present disclosure is a winding or winding device wound around a winding core when the winding core, which is a rotating body, rotates. A first mechanical loss coefficient estimator for estimating a mechanical loss coefficient that varies with the winding diameter based on the tension of the object to be pulled out and the winding diameter of the object wound around the winding core, and a mechanical loss coefficient that varies with the winding diameter and a calculation unit that generates a control command to rotate the winding core by performing correction using .

Advantageous Effects of Invention According to the present disclosure, it is possible to obtain an effect of obtaining a tension control device capable of estimating a correction value and performing tension control even when the rotational speed of the winding core cannot be controlled.

1 is a diagram showing a configuration example of a tension control system according to a first embodiment; FIG. 1 is a diagram showing a configuration example of a tension control device according to a first embodiment; FIG. The figure which shows the structural example of the tension control system concerning Embodiment 2. The figure which shows the structural example of the tension|tensile_strength control apparatus concerning Embodiment 2. The figure which shows the structural example of the tension|tensile_strength control system concerning Embodiment 3 A diagram showing a configuration example of a tension control device according to a third embodiment A diagram showing a configuration example of a tension control system according to a fourth embodiment The figure which shows the structural example of the tension|tensile_strength control apparatus concerning Embodiment 4 A diagram showing an example of a hardware configuration of a tension control device according to Embodiments 1 to 4.

A tension control device and a tension control system according to embodiments of the present disclosure will be described below in detail with reference to the drawings.

Embodiment 1.
<System configuration>
FIG. 1 is a diagram showing a configuration example of a tension control system according to Embodiment 1. FIG. The tension control system includes a tension data output device (tension output unit) 1 that outputs data corresponding to tension to the tension control device 100, and a winding diameter data output device (winding diameter output portion) 2, a web material 5 wound around a roller shaft 6 as a winding core and an object to control the tension during transportation, a roller shaft 6 connected to an actuator 7 for winding the web material 5, and a roller shaft 6. , an actuator control device 8 for controlling the actuator 7, and a tension control device 100 for controlling the tension of the web material 5 and estimating and correcting the correction value.

The web material 5 wound on the roller shaft 6 is called a winding shaft material, and the roller shaft 6 and the web material 5 wound around the roller shaft 6 are collectively called a winding shaft. The tension control system of Embodiment 1 continuously unwinds (unwinds) the web material 5 from the winding shaft in the case of an unwinder, and continuously winds the web material 5 around the winding shaft in the case of a winder. take. The web material 5 is a freely deformable elongated material, and may be a strip-shaped sheet material such as paper or film, or may be a linear material.

<Configuration of tension control device 100>
FIG. 2 is a diagram showing a configuration example of the tension control device according to the first embodiment. As shown in FIG. 2, the tension control device 100 includes a tension data input unit 111 for inputting tension data from outside the tension control device 100, and a winding diameter data input unit 112 for inputting winding diameter data from outside the tension control device 100. , a mechanical loss coefficient estimating unit (first mechanical loss coefficient estimating unit) 121 of the winding material for estimating the mechanical loss coefficient of the winding material which is the correction value, and a winding which stores the mechanical loss coefficient of the winding material which is the estimated correction value A material mechanical loss coefficient storage unit 131, a winding shaft material mechanical loss coefficient torque conversion unit 141 that converts the mechanical loss coefficient of the winding shaft material into a unit of torque, actually performs tension control, and outputs a command for the actuator 7 to the actuator control device 8. A tension control calculation unit 150 is provided.

<Estimation of correction value>
[System behavior during estimation]
When estimating the mechanical loss coefficient of the winding shaft material, tension data and winding diameter data that satisfy the following two conditions are input to the tension control device 100 . For estimation, two points of tension data and winding diameter data that satisfy the conditions are required. More specifically, data at different points in time during the winding or unwinding process of the web material 5 . Also, the tension data and the winding diameter data must be different between the two points.

The tension data is output from the tension data output device 1 . Since there are a plurality of methods for obtaining tension data by the tension data output device 1 and for inputting the tension data to the tension control device 100, there is no limit to the method as long as data corresponding to tension can be input to the tension control device 100.

As an example of a method of obtaining tension data, in addition to a method of directly measuring tension using a tension detector, data different from tension (position of the dancer, slackness of the web material 5, frequency of vibration, etc.) or signals (such as the There is a method of calculating the tension using a pulse signal, etc., and a method of estimating a value corresponding to the tension using a simulator, AI, or the like.

As an example of the method of inputting the tension data to the tension control device 100, other than the method of inputting the tension data directly from the tension data output device 1 to the tension control device 100, such as converting the tension data into a voltage value and inputting it, the tension data output device 1 A method of manually inputting the tension data value read by a person from the output of . In the case of direct input from a tension detector or the like, the tension detector serves as the tension output section.

The winding diameter data is output from the winding diameter data output device 2 . Since there are a plurality of methods for obtaining the winding diameter data by the winding diameter data output device 2 and inputting it to the tension control device 100, the method is not limited as long as the data corresponding to the winding diameter can be input to the tension control device 100.

For example, in addition to the method of directly measuring the winding diameter using an ultrasonic sensor, etc., it is possible to use data (line speed, material thickness, etc.) or signals (pulse signal of the winding shaft, operation start signal, etc.) that are different from the winding diameter. There are a method of calculating the diameter and a method of estimating a value corresponding to the winding diameter by a simulator, AI, or the like.

As an example of the method of inputting the winding diameter data, in addition to the method of converting the winding diameter data into a voltage value and inputting it directly from the winding diameter data output device 2 to the tension control device 100, the winding diameter data value can be manually input. There are a method of manually inputting directly to the tension control device 100, a method of inputting directly to the tension control device 100 from an ultrasonic sensor or the like without going through the winding diameter data output device 2, and the like.

The first condition is that the torque of the actuator 7 is constant. The first condition can be satisfied by the actuator control device 8 controlling the torque output by the actuator 7 . Further, in the case of the actuator 7 in which the current for driving the actuator 7 and the torque of the actuator 7 are one-to-one, it is possible to satisfy the first condition by making the actuator current constant.

The second condition is that the angular acceleration of the winding shaft is zero. If the web material 5 is not extremely thick, even if the line speed is set to a constant speed and the line acceleration is set to 0, the same conditions apply. The line speed is proportional to the product of the winding diameter and the rotation speed. If the web material 5 is not extremely thick, the change in winding diameter during the period of acquiring the data for estimation is almost zero, ie the winding diameter can be regarded as constant. In this case, since the line speed is proportional to the rotation speed, when the line acceleration is 0, the condition is the same as when the angular acceleration of the winding shaft is 0.

[Estimation method]
"F" is the tension applied to the web material 5 _; "D" is the winding diameter that increases or decreases depending on the number of turns of the web material 5 on the winding shaft; If the mechanical loss torque is “T _mr ”, the mechanical loss torque that does not change with the winding diameter is “T _mo ”, the inertia torque that changes with the winding diameter is “T _lr ”, and the inertia torque that does not change with the winding diameter is “T _lo ”, the tension , and the relationship between the torque and the winding diameter, the relationship of formula (1) holds.

The mechanical loss torque “T _mr ” that varies with the winding diameter is represented by the mechanical loss coefficient “X _mr ” of the winding shaft material, which is the coefficient of the mechanical loss that varies with the winding diameter, and the winding diameter “D”, as shown in Equation (2). can be done. The mechanical loss coefficient “X _mr ” of the winding shaft material is a coefficient determined by the web material 5 and the mechanical configuration such as the friction of the bearing provided in the rotating part such as the winding shaft, the density of the web material 5 , and the width of the web.

The mechanical loss torque “T _mo ” that does not change with the winding diameter can be expressed as the mechanical loss coefficient “X _mo ”, which is the coefficient of the mechanical loss that does not change with the winding diameter, as shown in Equation (3). The mechanical loss coefficient “X _mo ” of the machine is a coefficient determined by the mechanical configuration such as gear driving loss and bearing friction.

Inertia torque “T _lr ” that changes with the winding diameter is expressed by Equation (4), where the inertia moment coefficient “X _lr ” of the winding shaft material, which is the moment of inertia coefficient that changes with the winding diameter, the winding diameter “D”, and the winding shaft can be represented by the angular acceleration "α" of The moment of inertia coefficient “X _lr ” of the roll material is a coefficient determined by the web material 5 such as the density of the web material 5 and the web width.

Inertia torque “T _lo ” that does not change with the winding diameter is expressed by Equation (5), where the inertia moment coefficient “X _lo ” of the winding material, which is the moment of inertia coefficient that does not change with the winding diameter, and the angular acceleration “α” of the winding shaft can be represented by The moment of inertia coefficient “X _lo ” of the material of the winding shaft is determined by the mechanical configuration such as the moment of inertia of the gear and actuator 7 and the weight of the core of the winding shaft.

Substituting equations (2) to (5) into equation (1) yields equation (6).

From equation (6), the tension at the first point is "F ₁ ", the winding diameter at the first point is "D ₁ ", the tension at the second point is "F ₂ ", and the winding diameter at the second point is "D ₂ , and the angular acceleration “α” of the winding shaft is set to 0 from the conditions at the time of data acquisition, the mechanical loss coefficient “X _mr ” of the winding shaft material is expressed as shown in Equation (7).

[Movement of tension control device 100 at the time of estimation]
Two points of tension data satisfying the conditions are input from the tension data input unit 111 to the tension control device 100 shown in FIG. The mechanical loss coefficient "X _mr " of the winding shaft material is estimated by inputting and calculating the equation (7) in the mechanical loss coefficient estimating unit 121 of the winding shaft material. The estimated mechanical loss coefficient “X _mr ” of the winding shaft material is stored in the mechanical loss coefficient storage unit 131 of the winding shaft material.

<Correction>
[Movement of tension control device 100 during correction]
When the tension is actually controlled, the mechanical loss coefficient “X _mr ” of the winding shaft material stored in the winding shaft material mechanical loss coefficient storage unit 131 is calculated using the equation (2) in the winding shaft material mechanical loss coefficient torque conversion unit 141 . and the winding diameter data input from the winding diameter data input unit 112, the correction value of the mechanical loss of the winding shaft material in units of torque is calculated.

The tension control calculation unit 150 performs calculations for controlling the tension of the web material 5 and outputs a corrected actuator control command to the actuator control device 8 by adding or subtracting the torque correction value to or from the calculation value.

Whether the correction value is added or subtracted depends on the system configuration such as unwinding, winding, and control method. Also, the actuator control command may be any command as long as the torque can be corrected. For example, in addition to the method of correcting the torque correction value by directly adding or subtracting the torque command to the actuator 7 of the winding shaft, the torque correction value is converted into a current using the torque vs. current characteristic of the actuator 7 of the winding shaft, and the current command If the tension is controlled by the rotational speed difference between the winding shaft and the drive shaft of the front and rear stages (the latter stage for the unwinding shaft and the former stage for the winding shaft), the torque correction amount is the rotational speed There is a method of converting it into a difference, and correcting it by adding or subtracting a rotation speed command for the actuator 7 of the winding shaft.

[Movement of the tension control system during correction]
The actuator control device 8 controls the actuator 7 based on the received actuator control command. The actuator 7 is directly or indirectly connected to the winding shaft by means of gears, belts, or the like, and by driving the winding shaft, it is possible to control the tension of the web material 5 while correcting it. Since the winding diameter changes in the actual unwinding/winding machine, by inputting the winding diameter data from the winding diameter data output device 2 to the tension control device 100 in accordance with the change in the winding diameter, correction is possible.

According to the tension control system described above, it is possible to theoretically calculate the correction value of the mechanical loss of the reel shaft material suitable for the unwinding/winding machine from design drawings and material usage, etc., estimate the correction value, and theoretically Adjustment of the deviation from the value eliminates the need for the adjuster to repeat the change of the correction value and the test run, and the man-hours required for adjustment can be reduced.

In addition, since it is possible to calculate the correction value of the mechanical loss of the winding shaft material suitable for the unwinding / winding machine, the calculated correction value may be affected by factors such as manufacturing errors such as deviation from the theoretical value of the device and the adjustment staff. Human factors such as individual differences and incorrect settings can be eliminated. Further, by performing correction based on the estimated mechanical loss coefficient of the winding shaft material, there is an effect that tension fluctuation due to the mechanical loss of the winding shaft material during actual tension control can be suppressed.

In addition, the first condition for estimating the mechanical loss coefficient of the winding shaft material is that the torque of the actuator 7 is constant. Therefore, tension control can be performed even with the actuator 7 whose rotational speed cannot be controlled. As described above, the actuator applicable to the first embodiment can be applied not only to the actuator 7 dedicated to rotational speed control, but also to the actuator 7 dedicated to torque control, so that it can be adapted to various tension control systems. Become. Further, if the actuator 7 can switch between rotation speed control and torque control, it becomes possible to adapt to a wider range of tension control systems by switching the control method of the actuator 7 between estimation and correction.

Embodiment 2.
<System configuration>
In the second embodiment, a configuration different from that of the first embodiment will be mainly described. FIG. 3 is a diagram showing a configuration example of a tension control system according to a second embodiment. The tension control system according to the second embodiment includes an angular acceleration data output device (angular acceleration output section) 3 that outputs data corresponding to angular acceleration to the tension control device 100 in addition to the tension control system according to the first embodiment.

<Configuration of tension control device 100>
FIG. 4 is a diagram showing a configuration example of a tension control device according to a second embodiment. As shown in FIG. 4, the tension control device 100 includes an angular acceleration data input unit 114 for inputting angular acceleration data from the outside of the tension control device 100, and an inertia of the winding shaft material as a correction value. A moment of inertia coefficient estimating unit (first moment of inertia coefficient estimating unit) 123 of the winding shaft material for estimating the moment coefficient, a machine moment of inertia coefficient estimating unit (second inertia moment coefficient estimating unit) 124, the moment of inertia coefficient storage unit 133 for storing the moment of inertia coefficient of the winding shaft material which is the estimated correction value, the moment of inertia coefficient storage unit 133 for storing the moment of inertia coefficient of the machine which is the estimated correction value Moment of inertia coefficient storage unit 134, moment of inertia coefficient torque conversion unit 143 for converting the moment of inertia coefficient of the winding shaft material into units of torque, moment of inertia coefficient torque conversion unit 143 for converting the moment of inertia coefficient of the machine into units of torque A conversion unit 144 is provided.

<Estimation of mechanical loss coefficient of winding shaft material>
The method for estimating the mechanical loss coefficient of the winding shaft material is the same as in the first embodiment.

<Estimation of Moment of Inertia Coefficient of Roller Material>
[Behavior of the system when estimating the moment of inertia coefficient of the winding shaft material]
When estimating the moment of inertia coefficient of the winding shaft material, tension data, winding diameter data, and angular acceleration data that satisfy the following two conditions are input to the tension control device 100 . For the estimation, two points of tension data and winding diameter data satisfying the conditions, one point of angular acceleration data, and a mechanical loss coefficient of the winding shaft material are required.

The method of outputting the tension data and winding diameter data is the same as in the first embodiment. Angular acceleration data is output from the angular acceleration data output device 3 . Since there are a plurality of methods for obtaining angular acceleration data from the angular acceleration data output device 3 and inputting it to the tension control device 100 , any method can be used as long as data corresponding to angular acceleration can be input to the tension control device 100 . For example, in addition to the method of directly measuring angular acceleration using an angular acceleration sensor or the like, data different from angular acceleration (line speed, line acceleration, winding diameter, material thickness, winding shaft position, winding shaft rotation speed, etc.) or There are a method of calculating angular acceleration from a signal (pulse signal of reel rotation, line encoder signal, etc.), and a method of estimating a value corresponding to angular acceleration by a simulator, AI, or the like.

As an example of the method of inputting the angular acceleration data, in addition to the method of converting the angular acceleration data into a voltage value and inputting it directly from the angular acceleration data output device 3 to the tension control device 100, the angular acceleration data output device 3 There are a method in which a person directly inputs the angular acceleration data value read from the output to the tension control device 100 manually, and a method in which a person inputs directly from an angular acceleration sensor or the like to the tension control device 100 without going through the angular acceleration data output device 3. .

The first condition is that the torque of the actuator 7 is constant. The first condition can be satisfied by the actuator control device 8 controlling the torque output by the actuator 7 . Further, in the case of the actuator 7 in which the current for driving the actuator 7 and the torque of the actuator 7 are one-to-one, it is possible to satisfy the first condition by making the actuator current constant.

The second condition is that the angular acceleration of the winding shaft is constant other than 0, and that the angular acceleration values when acquiring the tension data and winding diameter data for two points are the same. Also, if the web material 5 is not extremely thick, the second condition can be satisfied even if the line acceleration is constant other than zero. The line speed is proportional to the product of the winding diameter and the rotation speed. If the web material 5 is not extremely thick, the change in winding diameter during the period of acquiring the data for estimation is almost zero, ie the winding diameter can be regarded as constant. In this case, since the line speed is proportional to the rotation speed, the second condition that the angular acceleration of the winding shaft is constant other than 0 can be satisfied when the line acceleration is constant other than 0. Note that the angular acceleration "α" of the winding shaft can be expressed by the equation (8) from the line acceleration "a" and the winding diameter "D".

[Method for estimating moment of inertia coefficient of winding shaft material]
From equation (6), the tension at the first point is "F ₁ ", the winding diameter at the first point is "D ₁ ", the tension at the second point is "F ₂ ", and the winding diameter at the second point is "D ₂ , and the angular acceleration of the winding shaft is “α”, the moment of inertia coefficient of the winding shaft material, “X _lr ”, is expressed as shown in Equation (9).

[Movement of the tension control device 100 when estimating the moment of inertia coefficient of the winding shaft material]
In the tension control device 100 shown in FIG. 4, two points of tension data satisfying the conditions are input from the tension data input unit 111, two points of winding diameter data satisfying the conditions are input from the winding diameter data input unit 112, and one point is input. is input from the angular acceleration data input unit 114, and using the mechanical loss coefficient "X _mr " of the winding shaft material stored in the mechanical loss coefficient storage unit 131 of the winding shaft material, the moment of inertia coefficient of the winding shaft material By calculating the equation (9) in the estimation unit 123, the inertia moment coefficient “X _lr ” of the winding shaft material is estimated. The estimated inertia moment coefficient “X _lr ” of the winding shaft material is stored in the winding shaft material inertia moment coefficient storage unit 133 .

<Estimation of Moment of Inertia Coefficient of Machine>
[System movement when estimating the moment of inertia coefficient of the machine]
When estimating the moment of inertia coefficient of the machine, the tension data, winding diameter data, and angular acceleration data that satisfy the following two conditions are input to the tension control device 100 . For the estimation, two points of tension data and winding diameter data satisfying the conditions, two points of angular acceleration data, a mechanical loss coefficient of the winding shaft material, and a moment of inertia coefficient of the machine are required. The method of outputting the tension data, winding diameter data, and angular acceleration data is the same as that for estimating the moment of inertia coefficient of the winding shaft material.

The first condition is that the torque of the actuator 7 is constant. This is possible because the actuator control device 8 controls the torque output by the actuator 7 . In the case of the actuator 7 in which the current for driving the actuator 7 and the torque of the actuator 7 are one-to-one, the first condition can also be satisfied by making the actuator current constant.

The second condition is that the angular acceleration of the winding shaft is constant other than 0, and the values of the angular acceleration when acquiring the tension data and the winding diameter data for two points are different. Also, line velocity or line acceleration may be used instead of angular acceleration, as in estimating the moment of inertia coefficient of the winding shaft material.

[Method for estimating moment of inertia coefficient of machine]
From equation (6), the tension at the first point is "F ₁ ", the winding diameter at the first point is "D ₁ ", the angular acceleration at the first point is "α ₁ ", and the tension at the second point is "F ₂ ', the winding diameter of the second point is "D ₂ ", and the angular acceleration of the second point is "α ₂ ", then the moment of inertia coefficient of the machine "X _lo " is expressed as shown in Equation (10).

[Movement of the tension control device 100 when estimating the moment of inertia coefficient of the machine]
In the tension control device 100 shown in FIG. 4, two points of tension data satisfying the conditions are input from the tension data input unit 111, two points of reel diameter data satisfying the conditions are input from the reel diameter data input unit 112, and the conditions are input. Angular acceleration data at two points satisfying the requirements are input from the angular acceleration data input unit 114, and the mechanical loss coefficient “X _mr ” of the winding shaft material stored in the mechanical loss coefficient storage unit 131 of the winding shaft material and the mechanical loss coefficient storage unit 132 and the moment of inertia coefficient "X _lr " of the material of the winding shaft stored in 132, the moment of inertia coefficient of the machine "X _lo ” is estimated. The estimated moment of inertia coefficient “X _lo ” of the machine is stored in the moment of inertia coefficient storage unit 134 of the machine.

<Correction>
[Movement of tension control device 100 during correction]
When the tension is actually controlled, the mechanical loss coefficient "X _mr ” and the winding diameter data input from the winding diameter data input unit 112, the correction value of the mechanical loss of the winding shaft material in units of torque is calculated.

In the moment-of-inertia-coefficient-of-inertia-torque conversion section 143 of the winding material, the moment of inertia coefficient of the winding material stored in the moment-of-inertia-coefficient storage section 133 of the winding material is calculated using the equation (4) and the winding _diameter Based on the winding diameter data input from the data input unit 112 and the angular acceleration data input from the angular acceleration data input unit 114, the correction value of the moment of inertia of the winding shaft material in units of torque is calculated.

In the machine inertia moment coefficient torque conversion unit 144, the machine inertia moment coefficient “X _lo ” stored in the machine inertia moment coefficient storage unit 134 is input from the angular acceleration data input unit 114 using Equation (5). With the angular acceleration data obtained, a correction value for the moment of inertia of the machine in units of torque is calculated.

The tension control calculation unit 150 performs calculations for controlling the tension of the web material 5, and adds or subtracts a torque correction value obtained by combining the mechanical loss of the winding shaft material, the moment of inertia of the winding shaft material, and the moment of inertia of the machine to the calculated value. Then, the corrected actuator control command is output to the actuator control device 8 .

Whether the correction value is added or subtracted depends on the system configuration such as unwinding, winding, and control method. Further, as in the first embodiment, any actuator control command may be used as long as the torque can be corrected.

[Movement of the tension control system during correction]
The actuator control device 8 controls the actuator 7 based on the received actuator control command. The actuator 7 is directly connected to the winding shaft or indirectly connected by a gear, a belt, or the like, and by driving the winding shaft, it is possible to control the tension of the web material 5 while correcting it. Since the winding diameter and the angular acceleration change in an actual unwinding/winding machine, the winding diameter data is input to the tension control device 100 from the winding diameter data output device 2 in accordance with the changes in the winding diameter and the angular acceleration. By inputting the angular acceleration data from the angular acceleration data output device 3, it is possible to make corrections in accordance with the winding diameter and the angular acceleration.

In addition to the mechanical loss of the roll material, the moment of inertia of the roll material and the moment of inertia of the machine can be estimated and corrected. As a result, the number of elements to be estimated and corrected increases, so tension fluctuations can be further suppressed.

Further, as in the first embodiment, the first condition for estimating the various coefficients is that the torque of the actuator 7 is constant. Tension control can be performed even with the actuator 7 whose rotational speed cannot be controlled. In this way, the actuator applicable to the second embodiment can be applied not only to the actuator 7 dedicated to rotational speed control, but also to the actuator 7 dedicated to torque control, so that it can be adapted to various tension control systems. Become. Further, if the actuator 7 can switch between rotation speed control and torque control, it becomes possible to adapt to a wider range of tension control systems by switching the control method of the actuator 7 between estimation and correction.

Embodiment 3.
<System configuration>
In the third embodiment, a configuration different from that of the first embodiment will be mainly described. FIG. 5 is a diagram showing a configuration example of a tension control system according to a third embodiment. The tension control system according to Embodiment 3 includes, in addition to Embodiment 1, a torque data output device (torque output section) 4 that outputs data corresponding to torque to the tension control device 100 .

<Configuration of tension control device 100>
FIG. 6 is a diagram showing a configuration example of a tension control device according to a third embodiment. As shown in FIG. 6, the tension control device 100 has a torque data input unit 113 for inputting torque data from the outside of the tension control device 100 and a mechanical loss coefficient of the machine as a correction value in addition to the first embodiment. A machine mechanical loss coefficient estimating unit (second mechanical loss coefficient estimating unit) 122, a mechanical mechanical loss coefficient storage unit 132 that stores the mechanical mechanical loss coefficient that is the estimated correction value, and a machine mechanical loss coefficient that converts the mechanical mechanical loss coefficient into torque units. A mechanical loss coefficient torque conversion unit 142 is provided.

<Estimation of Mechanical Loss Coefficient of Winding Shaft Material and Machine Mechanical Loss Coefficient>
[Behavior of the system when estimating the mechanical loss coefficient of the winding shaft material and the mechanical loss coefficient of the machine]
When estimating the mechanical loss coefficient of the winding shaft material and the mechanical loss coefficient of the machine, the tension data, the winding diameter data, and the torque data that satisfy one of the following conditions are input to the tension control device 100 . For estimation, two or more points of tension data, reel diameter data, and torque data that satisfy the conditions are required.

The method of outputting the tension data and winding diameter data is the same as in the first embodiment. Torque data is output from the torque data output device 4 . Since there are a plurality of methods for the torque data output device 4 to obtain the torque data and input it to the tension control device 100, any method can be used as long as the data corresponding to the torque can be input to the tension control device 100. For example, in addition to the method of directly measuring torque using a torque sensor, etc., torque can be calculated from data (current of actuator 7, amount of distortion of drive shaft, etc.) or signal (pulse signal of winding shaft rotation, etc.) different from torque. and a method of estimating a value corresponding to the torque using a simulator, AI, or the like.

As an example of the method of inputting the torque data, in addition to the method of converting the torque data into a voltage value and inputting it directly from the torque data output device 4 to the tension control device 100, the output of the torque data output device 4 can be manually input. There are a method of directly inputting the read torque data value to the tension control device 100 manually, a method of directly inputting the read torque data value to the tension control device 100 from a torque sensor or the like without going through the torque data output device 4, and the like.

One condition is that the angular acceleration of the winding shaft is zero. Also, as in the first embodiment, the line speed may be set to a constant speed and the line acceleration may be set to zero.

[Method for estimating the mechanical loss coefficient of the winding shaft material and the mechanical loss coefficient of the machine]
From equation (6), the tension at the first point is “F ₁ ”, the winding diameter at the first point is “D ₁ ”, the torque at the first point is “T _b1 ”, and the tension at the second point is “F ₂ ”. , the winding diameter at the second point is “D ₂ ”, the torque at the second point is “T _b2 ”, and the angular acceleration “α” of the winding shaft is 0 from the conditions at the time of data acquisition. Equations (formula (11) and formula (12)) are obtained.

Two variables (mechanical loss coefficient X _mr of the winding shaft material and mechanical loss coefficient X _mo of the machine) are obtained from the two linear equations with two dimensions. Since there are multiple ways to find it, the method does not matter. However, depending on the acquired data, there is a case where the solution of variables cannot be obtained. In that case, the third tension, winding diameter, and torque data are obtained, and two variables (mechanical loss coefficient X _mr of the winding shaft material, mechanical loss coefficient X _mo ). If it is still not found, obtain additional tension, winding diameter, and torque data until the solution for the two variables (mechanical loss coefficient X _mr of the winding shaft material, mechanical loss coefficient X _mo of the machine) is found, and create an equation. to find the solution.

[Movement of the tension control device 100 when estimating the mechanical loss coefficient of the winding shaft material and the mechanical loss coefficient of the machine]
In the tension control device 100 shown in FIG. 6, two points of tension data satisfying the conditions are input from the tension data input unit 111, two points of reel diameter data satisfying the conditions are input from the reel diameter data input unit 112, and the conditions are input. Two points of torque data satisfying the requirements are input from the torque data input unit 113, and the above calculations are performed by the mechanical loss coefficient estimating unit 121 of the winding shaft material and the mechanical loss coefficient estimating unit 122 of the machine. mechanical loss coefficient X _mr , mechanical mechanical loss coefficient X _mo ) are estimated. The estimated mechanical loss coefficient “X _mr ” of the winding shaft material is stored in the mechanical loss coefficient storage unit 131 of the winding shaft material, and the mechanical mechanical loss coefficient “X _mo ” is stored in the mechanical mechanical loss coefficient storage unit 132 .

<Correction>
[Movement of tension control device 100 during correction]
When the tension is actually controlled, the mechanical loss coefficient "X _mr ” and the winding diameter data input from the winding diameter data input unit 112, the correction value of the mechanical loss of the winding shaft material in units of torque is calculated.

In the mechanical mechanical loss coefficient torque conversion unit 142, the correction value of the mechanical mechanical loss in units of torque is calculated using the mechanical mechanical loss coefficient " _Xmo " stored in the mechanical mechanical loss coefficient storage unit 132 using the equation (3). Calculated. The tension control calculation unit 150 performs calculations for controlling the tension of the web material 5, and adds or subtracts a torque correction value, which is a combination of the mechanical loss of the winding shaft material and the mechanical loss of the machine, to the calculated value to generate a corrected actuator control command. is output to the actuator control device 8 .

Whether the correction value is added or subtracted depends on the system configuration such as unwinding, winding, and control method. Further, as in the first embodiment, any actuator control command may be used as long as the torque can be corrected.

[Movement of the tension control system during correction]
The actuator control device 8 controls the actuator 7 based on the received actuator control command. The actuator 7 is directly connected to the winding shaft or indirectly connected by a gear and a belt or the like, and by driving the winding shaft, the tension of the web material 5 can be controlled while being corrected. Since the winding diameter changes in the actual unwinding/winding machine, by inputting the winding diameter data from the winding diameter data output device 2 to the tension control device 100 in accordance with the change in the winding diameter, correction is possible.

In addition to the mechanical loss of the winding shaft material, the mechanical loss of the machine can be estimated and corrected. As a result, the number of elements to be estimated and corrected increases, so tension fluctuations can be further suppressed. Moreover, unlike the first embodiment, there is no condition for controlling the torque of the actuator 7 to be constant when estimating the correction value.

In embodiment 3, the conditions for correction value estimation can be met during the actual tension control. If the operation pattern during tension control satisfies the conditions, it is possible to eliminate the adjustment work for estimating the correction value, and it is possible to reduce the man-hours for the adjustment. Further, the correction values for the mechanical loss of the material of the winding shaft and the mechanical loss of the machine change depending on the ambient environment of the machine, maintenance status, aging deterioration, and the like. Correction can be performed without appropriately adjusting the changing correction value.

Further, in the third embodiment, unlike the first embodiment, the condition that the torque of the actuator 7 is constant is not required, so the restrictions on the control method of the actuator 7 are reduced, and the tension control system can be applied to a wider range of applications. It is possible to adapt.

Embodiment 4.
<System configuration>
In the fourth embodiment, a configuration different from that of the third embodiment will be mainly described. FIG. 7 is a diagram showing a configuration example of a tension control system according to a fourth embodiment. The tension control system according to the fourth embodiment includes an angular acceleration data output device 3 that outputs data corresponding to angular acceleration to the tension control device 100 in addition to the tension control system according to the third embodiment.

<Configuration of tension control device 100>
FIG. 8 is a diagram showing a configuration example of a tension control device according to a fourth embodiment. As shown in FIG. 8, the tension control device 100 has an angular acceleration data input unit 114 for inputting angular acceleration data from the outside of the tension control device 100, and an inertia of the winding shaft material as a correction value in addition to the third embodiment. A moment of inertia coefficient estimating unit 123 of the winding shaft material for estimating the moment coefficient, a machine moment of inertia coefficient estimating unit 124 for estimating the moment of inertia coefficient of the machine which is the correction value, and the moment of inertia coefficient of the winding shaft material which is the estimated correction value , a machine inertia moment coefficient storage unit 134 that stores the machine inertia moment coefficient that is the estimated correction value, and the inertia moment coefficient of the winding shaft material that is converted into torque units A winding shaft material inertia moment coefficient torque conversion unit 143 and a winding machine inertia moment coefficient torque conversion unit 144 for converting the moment of inertia coefficient of the machine into units of torque are provided.

<Estimation of Mechanical Loss Coefficient of Winding Shaft Material and Machine Mechanical Loss Coefficient>
The estimation of the mechanical loss coefficient of the winding shaft material and the mechanical loss coefficient of the machine is the same as in the third embodiment.

<Estimation of Moment of Inertia Coefficient of Winding Shaft Material and Moment of Inertia of Machine>
[Moment of inertia coefficient of the winding shaft material and movement of the system when estimating the moment of inertia coefficient of the machine]
When estimating the moment of inertia coefficient of the winding shaft material and the moment of inertia coefficient of the machine, the tension data, winding diameter data, torque data, and angular acceleration data that satisfy one of the following conditions are input to the tension control device 100 . In order to estimate the moment of inertia coefficient of the winding shaft material and the moment of inertia coefficient of the machine, the tension data, winding diameter data, torque data, and angular acceleration data that satisfy the conditions must be two or more points, and the mechanical loss coefficient of the winding shaft material and the mechanical loss of the machine. A coefficient is required.

The method of outputting the tension data and winding diameter data is the same as in the first embodiment. The torque data output method is the same as in the third embodiment. The angular acceleration data output method is the same as in the second embodiment.

One condition is that the angular acceleration of the winding shaft is constant other than 0, and that the angular acceleration values differ when acquiring the tension data, the winding diameter data, the torque data, and the angular acceleration data for the points. Also, as in the second embodiment, line velocity or line acceleration may be used instead of angular acceleration.

[Method for estimating the moment of inertia coefficient of the winding shaft material and the moment of inertia coefficient of the machine]
From the equation (6), the tension at the first point is "F ₁ ", the winding diameter at the first point is "D ₁ ", the torque at the first point is "T _b1 ", and the angular acceleration at the first point is "α ₁ ”, the tension at the second point is “F ₂ ”, the winding diameter at the second point is “D ₂ ”, the torque at the second point is “T _b2 ”, and the angular acceleration at the second point is “α ₂ ”, Two binary linear equations (formula (13) and formula (14)) are obtained.

Two variables (inertia moment coefficient X _lr of the winding shaft material, inertia moment coefficient X _lo of the machine) are obtained from the two linear equations with two dimensions. Since there are multiple ways to find it, the method does not matter. However, depending on the acquired data, there is a case where the solution of variables cannot be obtained. In that case, the tension data, winding diameter data, torque data, and acceleration/deceleration data of the third point are acquired, and by issuing the third binary linear equation, two variables (the moment of inertia coefficient X _lr of the winding shaft material , the machine moment of inertia coefficient X _lo ). If it is still not found, the tension data, winding diameter data, torque data, and angular addition/decrement data are kept until the solutions for the two variables (the moment of inertia coefficient X _lr of the reel material and the moment of inertia coefficient X _lo of the machine) are found. , and iteratively construct the equations to find the solution.

[Motion of the tension control device 100 when estimating the moment of inertia coefficient of the winding shaft material and the moment of inertia coefficient of the machine]
In the tension control device 100 shown in FIG. 8, two or more tension data satisfying the conditions are inputted from the tension data input section 111, two or more winding diameter data satisfying the conditions are inputted from the winding diameter data input section 112, Two or more points of torque data satisfying the conditions are input from the torque data input unit 113, two or more points of angular acceleration data satisfying the conditions are input from the angular acceleration data input unit 114, and stored in the mechanical loss coefficient storage unit 131 of the winding shaft material. Using the memorized mechanical loss coefficient "X _mr " of the winding material and the mechanical mechanical loss coefficient "X _mo " stored in the mechanical mechanical loss coefficient storage unit 132, the moment of inertia coefficient estimating unit 123 of the winding material and the machine moment of inertia coefficient estimator 124, two variables (the moment of inertia coefficient X _lr of the winding shaft material and the moment of inertia coefficient X _lo of the machine) are estimated. The estimated moment of inertia coefficient _Xlr of the winding shaft material is stored in the moment of inertia coefficient storage unit 133 of the winding shaft material, and the moment of inertia coefficient _Xlo of the machine is stored in the storage unit 134 of the moment of inertia coefficient of the machine.

<Correction>
[Movement of tension control device 100 during correction]
When the tension is actually controlled, the mechanical loss coefficient “X _mr ” of the winding shaft material stored in the winding shaft material mechanical loss coefficient storage unit 131 is calculated using the equation (2) in the winding shaft material mechanical loss coefficient torque conversion unit 141 . and the winding diameter data input from the winding diameter data input unit 112, the correction value of the mechanical loss of the winding shaft material in units of torque is calculated.

In the mechanical mechanical loss coefficient torque conversion unit 142, the correction value of the mechanical mechanical loss in units of torque is calculated using the mechanical mechanical loss coefficient " _Xmo " stored in the mechanical mechanical loss coefficient storage unit 132 using the equation (3). Calculated.

In the moment-of-inertia-coefficient-of-inertia-torque conversion section 143 of the winding material, the moment of inertia coefficient of the winding material stored in the moment-of-inertia-coefficient storage section 133 of the winding material is calculated using the equation (4) and the winding _diameter Based on the winding diameter data input from the data input unit 112 and the angular acceleration data input from the angular acceleration data input unit 114, the correction value of the moment of inertia of the winding shaft material in units of torque is calculated.

In the machine inertia moment coefficient torque conversion unit 144, the machine inertia moment coefficient “X _lo ” stored in the machine inertia moment coefficient storage unit 134 is input from the angular acceleration data input unit 114 using Equation (5). With the angular acceleration data obtained, a correction value for the moment of inertia of the machine in units of torque is calculated.

The tension control calculation unit 150 performs calculations for controlling the tension of the web material 5, and a torque correction value obtained by combining the calculation value with the mechanical loss of the winding shaft material, the mechanical loss of the machine, the moment of inertia of the winding shaft material, and the moment of inertia of the machine. The corrected actuator control command is output to the actuator control device 8 by adding or subtracting the minutes.

Whether the correction value is added or subtracted depends on the system configuration such as unwinding, winding, and control method. Further, as in the first embodiment, any actuator control command may be used as long as the torque can be corrected.

[Movement of the tension control system during correction]
The actuator control device 8 controls the actuator 7 based on the received actuator control command. The actuator 7 is directly or indirectly connected to the winding shaft by means of gears, belts, or the like, and by driving the winding shaft, it is possible to control the tension of the web material 5 while correcting it. In an actual unwinding/winding machine, the winding diameter and the angular acceleration change. By inputting the angular acceleration data from the data output device, it is possible to make corrections in accordance with the winding diameter and the angular acceleration.

According to the tension control system according to the fourth embodiment, in addition to the mechanical loss of the winding material and the mechanical loss of the machine, the moment of inertia of the winding material and the moment of inertia of the machine can be estimated and corrected. As compared with the third embodiment, therefore, the tension variation can be suppressed even more than the elements to be estimated and corrected.

Further, in the fourth embodiment, as in the third embodiment, the condition that the torque of the actuator 7 is constant as in the first embodiment is not required. , making it possible to adapt to a wider range of tension control systems.

FIG. 9 is a diagram showing an example of the hardware configuration of the tension control devices according to the first to fourth embodiments. The tension control device 100 includes a processor 101 that executes various processes, and a memory 102 that stores information. Processor 101 and memory 102 can transmit and receive information to and from each other via bus 103 .

The memory 102 implements the mechanical loss coefficient storage unit 131 of the winding shaft material, the mechanical loss coefficient storage unit 132 of the winding shaft material, the inertia moment coefficient storage unit 133 of the winding shaft material, and the inertia moment coefficient storage unit 134 of the machine.

The processor 101 reads out and executes the programs stored in the memory 102 to obtain a winding shaft material mechanical loss coefficient estimating unit 121, a machine mechanical loss coefficient estimating unit 122, a winding shaft material inertia moment coefficient estimating unit 123, and a mechanical loss coefficient estimating unit 123. moment of inertia coefficient estimator 124, mechanical loss coefficient torque converter 141 for winding shaft material, mechanical mechanical loss coefficient torque converter 142, moment of inertia coefficient torque converter for winding shaft material 143, mechanical moment of inertia coefficient torque converter 144, and It functions as the tension control calculation section 150 .

The processor 101 is an example of a processing circuit, for example, and includes one or more of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a system LSI (Large Scale Integration).

The memory 102 includes at least one of RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory). include. The memory 102 also includes a recording medium in which a computer-readable program is recorded. Such recording media include one or more of nonvolatile or volatile semiconductor memories, magnetic disks, flexible memories, optical disks, compact disks, and DVDs (Digital Versatile Discs). The processing units 12 and 43 may include integrated circuits such as ASIC (Application Specific Integrated Circuit) and FPGA (Field Programmable Gate Array).

The configurations shown in the above embodiments are only examples, and can be combined with other known techniques, or can be combined with other embodiments, without departing from the scope of the invention. It is also possible to omit or change part of the configuration.

1 tension data output device 2 winding diameter data output device 3 angular acceleration data output device 4 torque data output device 5 web material 6 roller shaft 7 actuator 8 actuator control device 100 tension control device 101 processor, 102 memory, 103 bus, 111 tension data input unit, 112 winding diameter data input unit, 113 torque data input unit, 114 angular acceleration data input unit, 121 winding shaft material mechanical loss coefficient estimating unit, 122 mechanical mechanical loss coefficient estimating unit, 123 Inertia moment coefficient estimator of winding shaft material 124 Moment of inertia coefficient estimator of machine 131 Mechanical loss coefficient storage unit of winding shaft material 132 Mechanical loss coefficient storage unit 133 Moment of inertia coefficient storage unit of winding shaft material 134 Machine moment of inertia coefficient storage unit 141 Winding shaft material mechanical loss coefficient torque conversion unit 142 Machine mechanical loss coefficient torque conversion unit 143 Rolling shaft material inertia moment coefficient torque conversion unit 144 Machine inertia moment coefficient torque conversion unit 150 tension control calculator;

Claims (8)

When the core, which is a rotating body, rotates, the tension of the object wound around the core and wound or unwound by the rotation of the core, and the winding diameter of the object wound around the core a first mechanical loss coefficient estimating unit for estimating a mechanical loss coefficient that varies depending on the winding diameter, based on
and a calculation unit that generates a control command for rotating the winding core by performing correction using a mechanical loss coefficient that varies depending on the winding diameter. a first moment-of-inertia-coefficient estimator for estimating a moment-of-inertia coefficient that changes with the winding diameter based on the tension, the winding diameter, and the angular acceleration of the winding core when the winding core rotates;
a second moment-of-inertia coefficient estimating unit that estimates a moment-of-inertia coefficient that does not change with the winding diameter based on the tension and the angular acceleration when the winding core rotates,
The calculation unit rotates the winding core by performing correction using a mechanical loss coefficient that varies with the winding diameter, an inertia moment coefficient that varies with the winding diameter, and an inertia moment coefficient that does not vary with the winding diameter. 2. The tension control device of claim 1, wherein the tension control device generates control commands. The first mechanical loss coefficient estimating unit estimates a mechanical loss coefficient that changes depending on the winding diameter based on the tension, the winding diameter, and the torque of the winding core when the winding core rotates,
a second mechanical loss coefficient estimating unit that estimates a mechanical loss coefficient that does not change with the winding diameter based on the tension, the winding diameter, and the torque when the winding core rotates,
2. The calculation unit generates a control command for rotating the winding core by performing correction using a mechanical loss coefficient that varies with the winding diameter and a mechanical loss coefficient that does not vary with the winding diameter. The tension control device according to . The first mechanical loss coefficient estimator estimates a mechanical loss coefficient that changes with the winding diameter based on the tension, the winding diameter, the torque, and the angular acceleration of the winding core when the winding core rotates. ,
The second mechanical loss coefficient estimating unit estimates a mechanical loss coefficient that does not change with the winding diameter based on the tension, the winding diameter, the torque, and the angular acceleration when the winding core rotates,
a first moment-of-inertia-coefficient estimator that estimates a moment-of-inertia coefficient that changes with the winding diameter based on the tension, the winding diameter, the torque, and the angular acceleration when the winding core rotates;
a second moment-of-inertia-coefficient estimator that estimates a moment-of-inertia coefficient that does not change with the winding diameter, based on the tension, the winding diameter, the torque, and the angular acceleration when the winding core rotates. prepared,
The calculation unit corrects using a mechanical loss coefficient that varies with the winding diameter, a mechanical loss coefficient that does not vary with the winding diameter, a moment of inertia coefficient that varies with the winding diameter, and a moment of inertia coefficient that does not vary with the winding diameter. 4. The tension control device according to claim 3, wherein the control command for rotating the winding core is generated by performing A tension control device according to claim 1;
a tension output unit that outputs information indicating the tension to the tension control device;
and a winding diameter output section that outputs information indicating the winding diameter to the tension control device. a tension control device according to claim 2;
a tension output unit that outputs information indicating the tension to the tension control device;
A winding diameter output unit that outputs information indicating the winding diameter to the tension control device;
and an angular acceleration output unit that outputs information indicating the angular acceleration to the tension control device. a tension control device according to claim 3;
a tension output unit that outputs information indicating the tension to the tension control device;
A winding diameter output unit that outputs information indicating the winding diameter to the tension control device;
and a torque output unit that outputs information indicating the torque to the tension control device. a tension control device according to claim 4;
a tension output unit that outputs information indicating the tension to the tension control device;
A winding diameter output unit that outputs information indicating the winding diameter to the tension control device;
an angular acceleration output unit that outputs information indicating the angular acceleration to the tension control device;
and a torque output unit that outputs information indicating the torque to the tension control device.

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