JPH02163254A - Device for controlling position of wind-up machine - Google Patents

Abstract

PURPOSE:To obtain an excellent wind-up shape with a low-cost equipment by detecting the displacing speed in the width direction of a band-like object and controlling the moving speed of a wind-up machine with respect to the width direction based on the displacing speed. CONSTITUTION:Position detectors 5, 6 for detecting the edge portion positions on one end portion in the width direction of a band-like object 1 are provided right before the winding position of a wind-up machine 2 and right after a conveying roller 4. The output of the position detector 5 is inputted into an adjuster 7 and converted into the operating quantity of an actuator 3 corresponding to the displacing quantity of the edge portion and inputted into an adder 10. On the other hand, the output of the position detector 6 is inputted into a differentiator 8 and, after being converted into the position changing speed of the edge portion, inputted into an adjuster 9 and converted into the operating quantity of the actuator 3 corresponding to the position changing speed of the edge portion and equally inputted into the adder 10. Thereby, as the result of feedback controlling the position changing speed of the wind-up machine 2, the speed control of the wind-up machine 2 can be carried out with further high accuracy.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention mainly relates to a method for winding a belt-shaped object such as a belt with its edges in the width direction aligned on the same plane, and for unwinding it. The present invention relates to a position control device for a machine.

[Conventional technology]

Generally, when winding a strip, it is best to wind it so that the edges in the width direction are aligned on the same plane on the winding machine to obtain a good winding appearance, and to avoid damaging the product quality in the subsequent handling process. This makes it an important control item in the winding process.

It is conventionally known that the reason why the edges of a strip in the width direction are misaligned when the strip is wound on a winder is the bending of the strip itself and the meandering during the conveyance process.

For this reason, in the past, the amount of displacement in the width direction of the strip, that is, the amount of meandering, was detected at a required distance ahead of the winding position of the winder, and the position of the winder was moved in the meandering direction in response to this. A control method and device have been proposed (Japanese Unexamined Patent Publication No. 5
No. 6-82754, Utility Model Application No. 5592644).

FIG. 5 is a schematic diagram of a conventional device, in which 1 is a strip such as a copper strip, 2 is a winder, 3 is an actuator, and 4 is a winder 2.
A transport roll is shown disposed at a predetermined distance in front of the. The strip 1 passes through a conveyance roll 4 and is wound up by a winding machine 1 while being applied with a predetermined tension.

Immediately before the winding position of the winding machine 2, there is a position detector 5 for detecting the edge position in the width direction of the strip 1, and the detected value is input to the regulator 7. From there, a position control signal for the winder 2 is output to the actuator 3, and the position of the winder 2 is controlled in accordance with the amount of displacement of the edge portion of the strip 1.

By the way, in such a conventional device, the position detector 5
The position detector 5 is installed close to the winder 2 in order to minimize the positional displacement of the strip between the winder 2 and the winder 2, and when the amount of meandering is small, the However, when the amount of meandering becomes large, the position control of the winder 2 is delayed and the edge portions of the strip are unavoidably uneven.

It may be possible to increase the control gain to follow large meanderings, but in this case the control system will become unstable,
On the other hand, hunting occurs in a steady state, making it difficult to align the edges of the strip.

FIG. 6 is a waveform diagram showing the meandering state of the strip and the corresponding control state of the winder, and FIG. Figure (b) shows the change in the meandering speed (■, ) of the strip, Figure 6 (c) shows the change in control output, and Figure 6 (d) shows the change in the winder position ff (S, ). FIG. 6 (E) shows the change in positional deviation (ΔS) between the meandering amount of the strip and the position of the winder, respectively, on the vertical axis. Note that both horizontal axes represent time.

As is clear from Figures 6 (a) and (b), the strip moves from its normal position by S in the width direction at a predetermined speed, stays at that position for a predetermined time, and then returns to its old position again at a predetermined speed. Let's say it meandered like this. On the other hand, the response of the control output to the winding machine is delayed as shown in Figure 6 (c), so the winding machine is Since the positional displacement is performed as shown in Figure 6 (E), the meandering amount of the strip material and the positional displacement of the winding machine are
This results in a difference as shown in the figure below.

As a countermeasure to this problem, a device as shown in FIG. 7 has been proposed (Japanese Patent Laid-Open No. 82754/1983). FIG. 7 is a schematic diagram showing another conventional device. In this conventional device, a speed detector 12 is provided on the conveying roll 4, and an edge portion position of another strip 1 is provided immediately after the conveying roll 4. A position detector 6 is provided to detect the position. Then, the detected value of the position detector 6 is input to the regulator 9 together with the detected value of the speed detector 12 via the time delay 13, and the detected value of the speed detector 12 is also input to the regulator 7. be.

The time delay 13 is the time (l/v, v
: conveyance speed of the belt-shaped object), and outputs to the regulator 9 after delaying the time by an amount equal to the conveyance speed of the belt-shaped object.

The output values of both regulators 7 and 9 are inputted to an adder 10 and added, and an output corresponding to the sum is outputted to the actuator 3, and the winding machine 2 is adjusted to correspond to the widthwise positional deviation of the strip 10. movement is controlled by approximately the same amount in the same direction.

[Problem to be solved by the invention]

However, although this method can solve the problems of control stability and responsiveness, the time delay compensation software for Time Delay 13 becomes complicated, and tracking calculations require high-speed responsiveness. As a result, there was a problem in that the equipment cost increased.

As a result of experiments and research conducted by the present inventor in order to control the position of the winding machine with low equipment cost and excellent responsiveness,
Focusing on the fact that the meandering of the strip occurs starting from the exit side of the conveyor roll, 1. It has been found that highly responsive winder position control is possible by detecting the meandering speed at a position immediately adjacent to the exit side of the conveyance port and synchronizing the position change speed of the winder with this.

The present invention has been made in view of this knowledge, and its purpose is to provide a position control device for a winder that can provide an excellent winding appearance with inexpensive equipment.

[Means to solve the problem]

A position control device for a winder according to the present invention includes means for detecting a displacement position in the width direction of a strip, and means for controlling a moving speed of the winder in the width direction of the strip based on the displacement speed. Be equipped.

[Effect]

According to the present invention, this makes it possible to control the position of the winder with good responsiveness in response to the meandering of the strip.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be specifically described below based on drawings showing embodiments thereof.

FIG. 1 is a block diagram showing a control system of a position control device for a winder according to the present invention (hereinafter referred to as the device of the present invention), in which 1 is a strip-like material such as a steel plate, 2 is a winder, and 3 is a control system for a winder position control device according to the present invention. Actuator 4 indicates a transport roll.

Note that the term "winding machine" herein includes both a winding machine that winds up a strip-shaped object and a rewinding machine that unwinds a strip-shaped object that has already been wound up. In this embodiment, the present invention is used as a winder for winding up a belt-like material.

The strip 1 is rolled in a cold rolling facility (not shown) and conveyed from the direction of the arrow, and after passing through the conveyance roll 4, the conveyance roll 4
The winder 2 is configured to wind the winder 2 while applying appropriate tension. Immediately before the winding position of the winder 2 and immediately after the transport roll 4, position detectors 5 and 6 are installed, respectively, for detecting the edge position of one end of the strip 1 in the width direction. The output of the position detector 5 is input to the adjuster 7, converted into an operation amount of the actuator 3 corresponding to the amount of displacement of the edge portion, and input to the adder 10. On the other hand, the output of the position detector 6 is input to a differentiator 8, where it is converted into a speed of change in the position of the edge portion, and then input to a regulator 9, where it is inputted into the operating amount of the actuator 3 corresponding to the speed of change in position of the edge portion. It is then converted and manually input to the adder 10 as well.

FIG. 2 is a block diagram of a control system showing another embodiment of the present invention. In this embodiment, the output from the adder 10 to the actuator 3 is transmitted to the position change rate detector 11 of the winder 2.
This is converted into a position change speed of the winding machine 2 at the step 2, and is inputted to the regulator 9.

The regulator 9 adjusts the position change speed of the winder 2 based on the position change speed of the edge portion of the strip 1 of the differentiator 8 and the winder position change speed manually inputted from the winder position change speed detector ll. Feedback control is performed.

The other configurations are substantially the same as the embodiment shown in FIG.
Corresponding parts are given the same numbers and their explanations are omitted.

In such an embodiment, as a result of the feedback control of the position change speed of the winder 2, the speed of the winder can be controlled with much higher accuracy.

FIG. 3 is a waveform diagram showing the meandering of the strip in the embodiment shown in FIG.
Figure (a) shows the time course of meandering amount (S), Figure 3 (b) shows the change of meandering speed (■,), Figure 3 (c) shows the change in control output over time, (D) shows the change in the winder position (S*), and Figure 3 (E) shows the deviation (ΔS) between the meandering amount of the strip and the winder position on the vertical axis, and the horizontal axis shows the change in the winder position (S*). Take your time.

As is clear from Figure 3 (a) and (b), the strip is displaced in the width direction by a predetermined amount at a predetermined speed, and after a predetermined amount of time has elapsed at that position, it returns to its old position again at a predetermined speed. If the meandering occurs as shown in FIG. 3(C), a control signal without delay corresponding to the meandering speed (■,) shown in FIG. As shown in Figure (D), the position changes as shown by the solid line in response to the displacement of the belt-like object shown by the broken line, and the deviation from the meandering amount of the belt-like object shown by the broken line is clearly seen in Figure 3 (E). It can be seen that although there is a slight difference, the difference is extremely small.

Figure 4.8 is a graph showing the results of a comparative test when a cold-rolled thin steel plate was wound using the apparatus of the present invention shown in Figure 1 and the conventional apparatus shown in Figure 5. The frequency of occurrence of positional deviation of the edge portion is shown, and the horizontal axis represents the amount of positional deviation (fence) of the edge portion.

The test conditions are as follows.

Cold rolled steel plate dimensions: thickness 0.5mm, width 1000mm Coil diameter after winding: L500mn + winding speed:
800 rpm As is clear from this graph, the amount of positional deviation of the edge part is
When using conventional equipment, positional deviations of around 2.0 mm occur most often, and the maximum positional deviation amount is 5.
．． In contrast, in the device of the present invention, the positional deviation amount is 1,0 m11 or less, which is the most frequent positional deviation, and the maximum positional deviation amount is 2.0 mn1 or less, and the winding I can see that my appearance has improved significantly.

Although the above-mentioned embodiments have been described with reference to the case where the present invention is used as a winder for a strip, the present invention is not limited to this in any way, and may be used as an unwinder for rewinding a strip that has already been wound. Of course, it can also be applied to other cases.

[Effects] As described above, the device of the present invention has excellent effects such as low equipment costs and the ability to move the winder with good response and control its position.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing the control system of the device of the present invention, Fig. 2 is a block diagram showing another embodiment of the invention, and Fig. 3 shows the amount of meandering of a strip in the device of the present invention and the control contents for this. 4 is a graph showing the winding test results of the device of the present invention shown in FIG. 1, FIG. 5.6 is a block diagram of the conventional device, and FIG. FIG. 8 is a graph showing the winding test results of the conventional device shown in FIG. 5. 1... Band-shaped object 2... Winder 3... Actuator 4... Conveyance roll 5, 6... Position detector 7.
...Adjuster 8...Differentiator 9...Adjuster IO...
・Adder 11... Winder position change speed detector special
Applicant Sumitomo Metal Industries Co., Ltd. Agent Patent Attorney
Noboru Kono Himinarai 7 Figure 1.0 2.0 3.0 4.0 5.0 6.0 Edge shift 8 Figure l Figure 1.0 2.0 3.0 4. Q 5.0 6.0 Edge deviation maximum diagram time diagram

Claims (1)

[Claims] 1. Detecting the amount of displacement in the width direction of a strip that is being wound up by or about to be rewound by a winding machine, and controlling the movement of the winding machine in the same direction in response to this. A winding device characterized in that the device comprises means for detecting the displacement speed of the strip in the width direction, and means for controlling the moving speed of the winder in the width direction of the strip based on the displacement speed. Machine position control device. 2. A device that detects the amount of displacement in the width direction of a strip that is being wound up by a winding machine or is about to be rewound, and controls the movement of the winding machine in the same direction in response to this, means for detecting the displacement speed in the width direction of the strip; means for controlling the moving speed of the winding machine in the width direction of the strip based on the displacement speed; and means for detecting the moving speed of the winding machine in the width direction of the strip. and means for controlling the moving speed of the winding machine in the width direction of the strip based on the widthwise displacement speed of the strip and the moving speed of the winding machine in the same direction. Machine position control device.