JPH01237018A - Controlling method for helper roll of looper device - Google Patents

Abstract

PURPOSE:To bring the tension of strip stock into a stable control by setting the torque generated by motors as a torque reference to a motor controller computing a torque reference value in consideration of mechanical and bending losses and inertias at the time of an acceleration and deceleration. CONSTITUTION:Helper rolls 3, 4 are rotated and driven by motors 6, 7 at a fixed torque to fix the drawing force of strip stock 1 from the inlet side to the outlet side when a fixed operation is performed on the inlet and outlet sides of a looper carriage 8. When the looper is accelerated or decelerated, the combination of an acceleration torque to compensate the inertia of the helper rolls 3, 4 and a mechanical loss and a bending loss originating when the strip stock passes through the helper rolls 3, 4 is a torque reference (electric reference) of the driving motors 6, 7 to drive motors under the control of an electric current. Consequently, the tension of the strip stock can be brought into a stable control.

Description

[Detailed description of the invention] [Industrial field of application] This invention is used in steel process lines, etc.
The present invention relates to a method of controlling a looper device used when storing strip material (giving a deflection or loop to the strip material).

[Conventional technology]

FIG. 2 is a schematic diagram for explaining a helper roll control process of a conventional looper device. In the figure, 1 is a strip material, 2 is an inlet side roll, 3.4 is a helper roll, and 5 is an outlet side roll. , 6.7 is helperol 3.4 times b'g
A motor for performing JAah, 8 is a looper carriage which is made up of a carriage roll 8a and a connecting par 8b, and is displaceable with respect to the helper roll 3.4, 9 is a looper carriage 8.
10 is a support roller that guides the wire 9; 11 is a drum that winds up and unwinds the wire 9; and 12 is a motor that rotates the drum 11.

Next, the operation will be explained. Initially, Loopa Carriage 8
are located a predetermined distance upward from the helper roll 3.4, and the strips l are passed between them alternately as shown, from the left inlet side to the right outlet side. It is designed to be sent out towards the side. The strip material 1 is wound into a coil on the left side of the inlet side, but when the feeding operation approaches the end, its tail end is also pulled and moved to the right.

In order to continue this kind of feeding operation, the tail end of this strip material l should be
At the tip of the other strip material to be fed out next,
It is necessary to connect using a welder or the like. but,
In order to make a connection using a welder or the like, the tail end of the strip 1, that is, the part on the inlet side, must be stopped for a certain period of time, while the part on the outlet side of the strip 1 must be stopped for a certain period of time. As before, it is necessary to continue feeding at a constant speed.

Therefore, in such a case, the motor 12 is rotated in the direction of the arrow at a predetermined speed to lower the looper carriage 8, that is, to bring it closer to the helper roll 3.4. Then, the part of the strip material l to the right of the outlet roll 5 and the part between the inlet roll 2 and the outlet roll 5 are fed out in the same way up to j, but the part on the inlet side Since the roll 2 no longer rotates, the tail end of the strip material 1 can be kept stationary for a certain period of time. Therefore, using this stopping time, it becomes possible to connect the tail end of the strip material 1 to the leading end of the next strip material. Note that after this connection work is completed, the looper carriage 8 is pulled up again to its original position.

By the way, while the looper carriage 8 is descending towards the helper roll 3.4, the strip material l is
The part between the inlet side roll 2 and the outlet side roll 3 is
As the rotation speed of the helper roll 3.4 changes, the mechanical losses and bending losses will vary and the tension applied to the strip material 1 will increase.

Therefore, in order to avoid this increase in tension,
The helper roll 3.4 is rotationally driven by the motor 6.7 to correspond to the feed speed of the strip material l between the inlet side and the outlet side.

In other words, the motor 6.7 is operated as shown in FIG. 3 using the torque standard (or current standard) set based on the mechanical loss and bending loss when the strip material L passes through the helper loaf L+3.4. ing.

[Problem to be solved by the invention]

Since the conventional helper roll control method of the looper device is performed as described above, there are the following problems.

That is, when the looper carriage 8 is accelerating or decelerating (when one or both of the entrance and exit sides of the loop is accelerating or decelerating), the helper rolls 3 and 4 are also being accelerated or decelerated. There is. Therefore, during acceleration/deceleration, part or all of the torque generated by the drive motor 6.7 is consumed as acceleration/deceleration torque1, resulting in a shortage of torque to compensate for the required mechanical loss and bending loss. There was a problem that fluctuations in the tension of the strip material 1 could not be suppressed.

The present invention was made to solve the above-mentioned problems, and provides a helper roll control method for a looper device that can stably control the tension of a strip material even while the looper carriage is accelerating or decelerating. The purpose is to

[Means to solve the problem]

A helper role control method for a looper device according to the present invention includes:
While the looper is accelerating and decelerating, the torque of the drive motor 6.7 is the sum of the acceleration/deceleration torque that compensates for the inertia of the helper roll 3.4 and the mechanical loss and bending loss when the strip material passes through the helper roll. As a reference (current reference), the motor is operated by current control.

[Effect]

In this invention, the torque generated by the motor is set in consideration of the torque required for accelerating and decelerating the helper roll, so the tension of the strip material is adjusted while the looper carriage is accelerating, decelerating, constant speed, and stopped. Regardless, it will always remain constant.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings. 1st
In the figure, 6 is a motor, 13 is a control device, 14 is a power supply device, 15 is a differentiator, and 16 is a proportional genon. It is between. Note that since the overall configuration of the looper device is the same as that shown in FIG. 2, a description thereof will be omitted, but in the following description, the reference numerals of the constituent devices in FIG. 2 will be used as they are.

Next, the control method will be explained. First, in Figure 2,
When both the inlet and outlet sides of the looper carriage 8 are operating at a constant speed, in order to keep the tension of the strip material l from the inlet side to the outlet side constant, the helper roll 3. 4 should be rotated with a constant torque.

At this time, the constant torque is a torque corresponding to mechanical loss (TQM) and bending loss (TQB).

i, e, Tq (kg-m'3= TQM + TQB
u) Tq: Necessary motor generated torque (kg-m) Next, when one or both of the inlet side and outlet side of the looper carriage is accelerating or decelerating, the operating speed vH of the helper roll can be expressed by the following equation.

VuLmpm) am (CI X VE+βXVD)
/ (a+β) (2) However, Vg: Inlet side speed (mp
m) VD = exit side speed Cmp] α: Strip length from the looper carriage entrance to the relevant helper β: Strip length from the looper carriage exit to the relevant helper Therefore, the torque required for accelerating and decelerating the helper roll is, however, GD ”: Moment of inertia of helper roll Ckg
-♂] d/dt: Obtained by time acid content.

Therefore, the required torque generated by the motor during acceleration/deceleration of the helper roll is 'rqTqM + TqB + Tql
(” becomes.

As mentioned above, since the torque reference of the motor 6.7 is calculated as in equation (4), the tension of the strip material 1 can always be kept constant even if the helper roll 3.4 is adjusted.

〔Effect of the invention〕

As described above, the torque reference value is calculated for the torque generated by the motor by taking into account not only the mechanical loss and bending loss but also the inertia force during acceleration and deceleration, and the torque reference value (or current reference ), it is possible to stably control the tension of the strip material even while the looper carriage is operating.

[Brief explanation of the drawing]

FIG. 1 is a block diagram for explaining part of a method for controlling a looper device according to an embodiment of the present invention, FIG. m2 is a schematic diagram for explaining a conventional method for controlling a looper device, and FIG. FIG. 2 is a block diagram for explaining a part of the operation of FIG. 1 is a strip material, 3.4 is a helper roll, 6.7 is a motor, 8 is a looper carriage, and 13 is a control device. In addition, in the figures, the same reference numerals indicate the same or equivalent parts.

Claims (1)

[Claims] The strip material is fed from the inlet side to the outlet side of the looper device through a helper roll of the looper device and a looper carriage displaceable with respect to the helper roller alternately, and the strip material is fed out from the inlet side of the looper device to the outlet side of the looper device. When connecting the end of the strip material to the end of another strip material to be fed out next, the looper carriage is brought close to the helper roll to stop feeding only the strip material on the inlet side, and When the feeding of the strip material on the inlet side is stopped, the motor that rotates the helper roll is operated by current control so that the tension of the strip material between the inlet side and the outlet side is constant. A helper roll control method for a looper device, characterized in that when the looper accelerates or decelerates, a signal is added to a current reference to compensate for an inertial force for accelerating or decelerating the helper roll.