JPH0231480Y2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a coiler speed control device, and more particularly to a coiler speed control device that incorporates the changing moment of inertia of a load into a control element.

Generally, as schematically shown in FIG. 1, a coiler speed control device includes a winder 2 that winds a material to be wound 1, a motor 3 that drives the winder 2, and a rotation speed N A detector 4 detects and outputs a signal 4a with a corresponding value, a signal 5a of the reference speed N ₀ , a signal 4a serving as a comparison signal, and a signal 5b of the reference current value are input, and based on these, the motor is 3 and a speed control device 5 that outputs a signal 5c for driving the motor.

Next, the operation will be explained. The winder 2 is driven by a motor 3 and rotates at a standby speed synchronized with the advancing speed of the material 1 to be wound. When the material 1 to be wound is wound around the winder 2, it is required that the material 1 to be wound is tightly wound between the finishing rolling mill (not shown) and the winder 2. Tension control to apply a constant tension to the material 1 is performed by controlling the torque of the motor 3 using the speed control device 5. Furthermore, the speed control device 5 controls the material to be wound 1
When the tail end approaches the winder 2, the winder 2 is decelerated, and when the tail end is wound up, the winder 2 is stopped.

A detailed block diagram of the speed control device 5 is shown in FIG. In FIG. 2, signals 4a and 5a are input to a speed controller 6. In FIG. The speed controller 6 is composed of an operational amplifier, and determines the voltage difference between the signal 4a and the signal 5a, and outputs this as a signal 6a.
The signal 6a is adjusted to have a positive value in a steady state, and is connected to a current controller 8 via a diode 7 whose cathode is connected to the speed controller 6.
is input. A signal 5b is also input to the current controller 8, and the current controller 8 outputs a signal 8a controlled so that a current matching the sum of the signals 5b and 6a flows. The signal 8a is input to a voltage controller 9, amplified, and output as a signal 5c for driving the motor 3.

Next, an explanation will be given of the operation when the winding machine 2 in a stopped state reaches a standby speed synchronized with the advancing speed of the material 1 to be wound and winds the material 1 to be wound. When the motor 3 starts to rotate and its rotational speed N is still lower than the reference speed _N0 , which is the standby speed, the signal 6a of the speed controller 6 takes a positive value and is blocked by the diode 7, but the rotation is stopped. Speed N is the reference speed
When it becomes higher than N ₀ , it becomes a negative value and the signal 6 a is inputted to the current controller 8 via the diode 7 . Therefore, a loop for feedback control is formed, and control is performed to cause the rotational speed N to follow the reference speed _N0 .

Next, the material to be wound 1 after the winding machine 2 has reached the standby speed and the tip of the material to be wound 1 has been wound around the winding machine 2.
The operation of tension control will be explained. In order to perform tension control, the torque of the motor 3 is controlled.
The torque is controlled by controlling the armature current or field current of the motor 3, and since the diameter D of the coil increases as the winding progresses, control is performed to increase the motor torque in order to maintain a constant tension. Furthermore, if the speed of the material to be wound 1 is accelerated or decelerated, the rotation of the winder 2 must also be accelerated or decelerated, but the reference speed of the motor 3 is
N ₀ is set to be somewhat higher than the rotational speed N. Therefore, the reference speed N ₀ is the rotation speed N
, the signal 6a takes a positive value and reverse biases the diode 7, so that it is now cut off and not supplied to the current controller 8. Therefore, a loop for feedback control is not formed, and the speed control device 5 performs control to follow only the signal 5b. However, if the signal 6a has a negative value, a loop for feedback control is formed, and the speed control device 5 sets the rotational speed N to the reference speed.
Perform control to follow N ₀ .

Thereafter, the setting of the reference speed N ₀ is gradually lowered as the position approaches the tail end of the material 1 to be wound. Therefore,
In this case, the reference speed N ₀ is lower than the rotational speed N, and the signal 6a is controlled to have a negative value.
Eventually, the winder 2 is decelerated and stopped.

If the speed control performance of the winder 2 is poor in the deceleration state, the material to be wound 1 will become sagging or under excessive tension between the pinch roll and the winder 2, resulting in inconvenience. Further, when the winder 2 stops, it is necessary to stop the tail end of the material to be wound 1 at a predetermined position, and stopping accuracy is required.

Incidentally, it is known that the responsiveness of speed control, that is, the quick response, is approximately inversely proportional to the moment of inertia GD ² of the drive system. Furthermore, the moment of inertia ^GD2 of the drive system in the speed control device shown in FIG. 1 has the following relationship.

GD ² = GD ² _M + 1/(GR) ² (GD ² _O + GD ² _C )...(1) Here, GD ² _M ; Moment of inertia of motor 3 (fixed value) GD ² _O ; Winder 2 Moment of inertia (fixed value) GD ² _C ; Moment of inertia of material 1 wound up by winder 2 (variable value) GR : Reduction ratio between winder 2 and motor 3 (fixed value) At the beginning, when the material 1 to be wound is not yet wound up by the winding machine 2, GD ² _C is zero. On the other hand, as the material to be wound 1 is wound up by the winding machine 2,
GD ² _C has a large value. Therefore, there is a considerable difference in the moment of inertia GD ² between the start of winding and the end of winding, and correspondingly, the controllability in the latter state is considerably lower than in the former.

As is clear from this, in order to obtain good winding, it is desirable to consider changes in the moment of inertia GD ² of the drive system. However, conventional speed control devices do not add the moment of inertia GD ² to the control element, so when decelerating, the moment of inertia
Since GD ² has become large and controllability has deteriorated, sufficient deceleration cannot be obtained, causing slack in the material 1 to be wound, and when the winding machine 2 is stopped, it cannot be stopped quickly. This resulted in an inaccurate stopping position of the material to be wound 1, resulting in a drawback that good winding could not be obtained.

The present invention was developed in order to eliminate the drawbacks of the conventional ones as described above, and improves the stability of the speed control by improving the performance of speed control due to changes in the moment of inertia of the drive system. , and to provide a speed control device with good controllability.

An embodiment of the present invention will be described below with reference to the drawings. FIG. 3 is a block diagram showing the speed control device of the present invention. Here, codes 3, 4, 6,
7 and 8 are as already explained. Reference numeral 10 denotes a measuring device for measuring the diameter D of a coil formed by winding the material 1 to be wound by the winding machine 2. This measuring device 10 generates a signal 10a corresponding to the diameter D of the coil. Output. 11 is an arithmetic device, and this arithmetic device 11 consists of an operational amplifier that calculates the moment of inertia GD ² using the signal 10a.
The calculated result is output as a signal 11a. 12
is a multiplier 12 to which the signal 11a is input. The moment of inertia GD ² is obtained by equation (1), but in this case, GD ² _M , GD ² _O , and GR are fixed values, and
GD ² _C is determined by the following formula (2).

GD ² _C = πρW/δ (D ⁴ - D ⁴ _O ) Here, π is the circumference, ρ is the material density of the material to be wound 1, W is the winding width of the material to be wound 1, and D is the diameter of the coil. , D _O is the diameter of the winder 2 itself, that is, the inner diameter of the coil,
δ is the space factor (winding density) of the coil.

The multiplier 12 has a normal configuration that multiplies the signal 6a and the signal 11a, and outputs the result as a signal 12a to the current controller 8 via the diode 7.
Therefore, the signal 12a corresponds to the product of the signal 6a, which is the difference between the reference speed N0 determined by the speed controller ₆ and the rotational speed N, multiplied by the current moment of inertia ^GD2 of the winder 2. be.

In this way, the speed controller 6, the measuring device 1
0, the arithmetic unit 11, and the multiplier 12 constitute an arithmetic circuit.

Therefore, in operation, the rotational speed N of the motor 3 mechanically coupled to the winder 2 is controlled by feedback by adding to the control element the moment of inertia GD ² which changes as the winding progresses. Become.

It should be noted that the present invention has an arithmetic unit 11 and a multiplier 12.
may be replaced with an arithmetic unit 13 that calculates 1/GD ² and a divider 14 that performs division, as shown in FIG.

Moreover, the present invention also includes a speed controller 6 and a multiplier 12.
may be replaced with a speed controller 15 as shown in FIG. The speed controller 15 includes a divider 17 in a feed back loop 16 constituting an operational amplifier, and supplies the signal 11a of the arithmetic unit 11 to this divider 17.

Moreover, the present invention also includes a speed controller 6 and a multiplier 12.
may be replaced with a speed controller 18 as shown in FIG. The speed controller 18 has a multiplier 19 placed in the feed back loop 16 constituting an operational amplifier, and supplies a signal from the arithmetic unit 13 shown in FIG. 4 to this multiplier 19.

Further, in the present invention, the diode 7 is provided at the output end of the speed control device 6 to block the positive signal 6a, but it is clear to those skilled in the art that the diode 7 is not limited to the diode 7 that can obtain such a function. .

Moreover, although the present invention has shown a winder as an embodiment, it may also be a rewinding machine (payoff reel).

As described above, according to the present invention, since the moment of inertia that changes over time is included in the control element to control the rotation of the coiler, it is possible to maintain appropriate speed control performance and achieve stable and controllability. You can get something good.

[Brief explanation of the drawing]

Fig. 1 is a schematic configuration diagram of a coiler speed control device, Fig. 2 is a block diagram of the conventional speed control device shown in Fig. 1, and Fig. 3 is a block diagram of a speed control device that is an embodiment of the present invention. , and FIGS. 4 to 6 are block diagrams of essential parts showing other embodiments of the present invention. DESCRIPTION OF SYMBOLS 1... Material to be wound, 2... Winder, 3... Motor, 5... Speed control device, 6... Speed controller, 8
...Current controller, 9...Voltage controller, 10...Measuring device, 11... Arithmetic device.

Claims (1)

[Claims for Utility Model Registration] (1) Rotation of the motor based on a signal corresponding to the rotational speed of the motor that drives the winder, a signal corresponding to the reference speed that is the standby speed of the motor, and a reference current value signal. A speed control device for a coiler that controls the speed includes a measuring device that measures the coil diameter of the material to be wound by the winding machine, and a moment of inertia that is calculated based on the output signal of this measuring device and a predetermined function. A coiler speed control comprising: an arithmetic device that outputs a value; and an arithmetic circuit that corrects a difference signal between a signal corresponding to the reference speed of the motor and a signal corresponding to the rotational speed using the moment of inertia. Device. (2) The speed control device for a coiler according to claim 1, wherein the predetermined function value output from the arithmetic device is a value proportional to the moment of inertia, and the arithmetic circuit includes a multiplier. . (3) The coiler speed control according to claim 1 of the utility model registration claim, characterized in that the predetermined function value output from the calculation device is a value inversely proportional to the moment of inertia, and the calculation circuit includes a divider. Device. (4) A speed control device for a coiler according to claim 1 of the utility model registration claim, characterized in that the predetermined function value output from the arithmetic device is a value proportional to the moment of inertia, and the arithmetic circuit includes a divider. . (5) A speed control device for a coiler according to claim 1, wherein the predetermined function value output from the arithmetic device is inversely proportional to the moment of inertia, and the arithmetic circuit includes a multiplier. .