JPH0491820A - Tall end position stop controller - Google Patents

Abstract

PURPOSE:To fully make the best of coiling capacity and to minimize the time necessary for stop control of a tail end position by conducting the stop control of the tail end position through the maximum allowable reduction ratio set based on a detected value of inertia moment of a take-up machine including a coil. CONSTITUTION:The position of the tail end of a material 2 is converted into an angle on the coil and detected from a prescribed position on this side of the take-up machine 3 to form the material 2 into a coil to a target stop position of this take-up machine 3 to stop the tail end of the material 2. When the tail end of the material reaches this target stop position, based on the difference between this tail end position of the material 2 and this target stop position and the reduction ratio of this take-up machine 3, the speed reference to make the difference into zero is calculated. Then, the speed of the take-up machine 3 is controlled in accordance with this speed reference. In this tail end stopping position controller, the allowable maximum reduction ratio is calculated from an inertia moment detecting means 1 7 to detect the inertia moment of this take-up machine 3 including this coil when the tail end of the material 2 reaches a prescribed position on this side of this take-up machine 3 and a detected inertia moment and an output of a motor 6 to drive this take-up machine 3 and a reduction ratio setting means 18 to obtain this allowable maximum reduction ratio from the above-mentioned reduction ratio is provided.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention relates to the control of a winder disposed in a thin plate rolling line for steel, etc. The present invention relates to a tail end position stop control device that controls the speed of a winder so as to stop the winder.

(Prior Art) FIG. 2 is a block diagram showing the configuration of a conventional tail end position stop control device of this type. In the same figure, pinch roll 1
The material 2 that has passed through is used as a winder, and is wound around a mandrel 3 to be formed into a coil. A material detection means 4 for detecting the material 2 is provided on the upstream side of the pinch roll, and a pulse generator 5 is connected to the pinch roll 1.

Furthermore, a pulse generator 7 is coupled to the electric motor 6 that drives the mandrel 3. Timing detection means 1
1 detects that the tail end of the material 2 has passed through the pinch roll 1 based on the material detection signal of the material detection means 4 and the pulse signal of the pulse generator 5, and outputs a tail end detection signal at the time of the passage.

The coil diameter detection means 12 counts the output pulses of the pulse generator 5 and the output pulses of the pulse generator turf, and determines whether the tail end of the material 2 is in a pinch based on the two counts when the tail end detection signal is output. Calculate the coil diameter D [m] when passing through roll 1. The tail end position detection means 13 determines whether the tail end of the material 2 is in a pinch based on the tail end detection signal of the timing detection means II, the coil diameter D [m] of the coil diameter detection means 12, and the output pulse of the pulse generator 7. The position of the tail end from passing through roll 1 until pulling out the coil is determined by the angle θ [degl
It is detected by converting it into . The target stop position setting means 14 sets the target stop position θR[degl of the tail end. The speed reference calculation means 15 calculates this target stop position θR[degl,
According to the difference from the detected tail end position θ[degl, that is, the tail end position deviation Δθ[degl], the speed reference Nl? of the electric motor 6 that drives the mandrel 3 according to the speed reference shown below is determined. Calculate [RPM].

However: Maximum gain of tail end position control system [rpII/deg]
[Kg-m2] β: Deceleration rate at GD2M^X [rpa/5ecl No.: Rated speed of motor 6 [pII] To = Rated torque of motor 6 [Kg-m] α: Overload of motor 6 Resistance ji [-] ωASR' Cutoff frequency of the speed control system of mandrel 3 [r
ad/sec].

The drive device 1B controls the speed of the electric motor 6 according to the speed reference NR [rps] of the mandrel 3 calculated by the speed reference calculation means 15.

Note that GD2 should originally be described as a "flywheel effect," but if it is reduced to 1/4, it becomes a moment of inertia, so GD2 is referred to as a moment of inertia in this specification.

(Problems to be Solved by the Invention) In the conventional tail end position stop control device described above, the speed reference calculation means calculates the speed reference using a fixed deceleration rate based on the load state of the maximum moment of inertia GD2AX. Therefore, in a loaded state where the coil diameter is small and the moment of inertia is small, the ability of the electric motor 6 that drives the mandrel 3 cannot be fully demonstrated, and tail end position stop control takes more time than necessary. , which was an obstacle to improving the rolling pitch.

This invention was made to solve the above problems, and provides a tail end position stop control device that can stop the tail end position at a set point in the shortest time even if the coil diameters are different. The purpose is to

[Structure of the invention]

(Means for Solving the Problems) This invention provides a means for moving the tail end of the material from a predetermined position in front of a winder that forms the material into a coil to a target stop position of the winder that stops the tail end of the material. The position is converted into an angle on the coil and detected, and based on the difference between the tail end position and the target stop position and the deceleration rate of the winder, when the tail end of the material reaches the target stop position, In a tail end position stop control device that calculates a speed standard that becomes zero and controls the speed of the winder according to this speed standard, the tail end of the material reaches a predetermined position in front of the winder (2, a moment of inertia detection means for detecting the moment of inertia of the winding machine including the coil, and calculating a maximum permissible deceleration rate from the detected moment of inertia and the output of the electric motor that drives the winding machine; The present invention is characterized in that it is provided with a deceleration rate setting f stage in which the maximum allowable deceleration rate is the deceleration rate.

(Function) In this invention, the moment of inertia of the winder is detected at the time when the tail end of the material reaches a predetermined position in front of the winder, and this moment of inertia is combined with the output of the electric motor that drives the winder. Express the maximum allowable deceleration rate from 3? L. Since this allowable maximum deceleration rate is used as the deceleration rate, even if the coil diameters are various, the tail end position stop control can be performed in the shortest time.

(Embodiment) FIG. 7 is a block diagram showing the configuration of an embodiment of the present invention. In the figure, the same elements as those in FIG. Here, the timing detection stage 1 of the electric motor 6, the tail end detection number 11, the field current 1. [A] of the electric motor 6, and the electric current I [A] of the electric motor 6.
Based on the detected value of The difference from FIG. 2 is that a corresponding maximum allowable deceleration rate is set [7] and a deceleration rate setting stage 18 that is increased by one in the speed standard calculation means 15 is newly provided.

The operation of this embodiment configured as described above will be explained below, focusing on the elements newly added to FIG. 2.

First, the moment of inertia detection means j7 detects the moment of inertia GD2 with respect to the electric motor 6 at the time when the material 2 passes the tail end or the pinch roll in the order shown in F.

(1) Speed reference N R”” from the speed reference calculation means 15
Output O for only 1 second.

(2) Detect Φ[wbl as a torque constant from the armature current 1 [A] of the electric motor 6.

<3) Based on the armature current 1 [A] of the electric motor 6 and the torque constant detected in (2) and Φ[-Ichiko, the output torque T of the electric motor 6 is detected using the following equation.

ota T − to ΦI /9.8 [Kg −m] −
(4) total a (4) Based on the loss torque curve actually measured off-line, the loss torque T with respect to the speed N [rpm] of the electric motor 6
Detect loss[Kg'''].

(5) From the speed N [rpm] of the electric motor 6, the acceleration dN/
d, detect t[rpai/5ecl.

(B) Moment of inertia GD [Kg-rn2] is calculated using the following equation.

GD = 375 (T − T ) /d
N/dttotal 1oss [Kg-m2] ...(5)
Next, the deceleration rate setting means 18
Using the moment of inertia GD [Kg-m2] when the tail end of the material 2 passes through the pinch roll calculated in step 7, the maximum allowable deceleration rate β is calculated and set using the following formula.

β-375-To・a/GD [rpi/5eel
=lB) Next, the speed standard calculation means L5 uses the set maximum allowable deceleration rate β to calculate the tail end position polarity Δθ [deg]
Speed standard of the electric motor 6 N R [rpm/see]
is calculated and output to the drive device 1G.

...(7) ...(9) however.

NR dual electric motor 6 speed reference [rpH/see] Δθ: Tail end position deviation [deg] K: Maximum gain of tail end position control system [rps/deg] β
Maximum allowable deceleration rate of commandrel 3 [rpII/see] No: Rated speed of electric motor 6 [rpa+] To: Rated torque of electric motor 6 rKg-m] α; Overload weight of electric motor 6 11 [-koωASR' Mandrel 3 The cutoff frequency of the speed control system [r
ad/sec].

Therefore, according to this embodiment, the moment of inertia at the time when tail end position stop control is started is detected, the maximum allowable deceleration rate is set using this moment of inertia, and the speed standard is set according to this maximum allowable deceleration rate. Since we are calculating
The tail end position can be stopped at the set point in the shortest time. [Effects of the Invention] As is clear from the above explanation, according to the present invention,
The moment of inertia of the winder including the coil currently being wound is detected, and this moment of inertia is used to control the tail end position according to the set maximum allowable deceleration rate, so the ability of the electric motor to drive the mandrel 3 is It is possible to make full use of this, and to minimize the time required for tail end position stop control, thereby improving the rolling pitch.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.
FIG. 2 is a block diagram showing the configuration of a conventional tail end position stop control device. 1... pinch roll, 3... mandrel, 4...
Material detection means, 5... Pulse generator, 6...
Electric motor, 7... Pulse generator, 11... Timing detection means, 12... Coil diameter detection means, 13.
...Tail end position detection means, 14.. Target stop position setting means, 15.. Speed reference calculation means, 16.. Drive device, 17.. Moment of inertia detection means, 18.. Deceleration rate setting. means. Applicant's agent Mr. Sato

Claims (1)

[Claims] From a predetermined position in front of the winder that forms the material into a coil,
The tail end position of the material is converted into an angle on the coil and detected until the tail end of the material is stopped at a target stop position of the winding machine, and the difference between this tail end position and the target stop position and the winding machine are detected. A tail end position stop control device that calculates a speed standard that becomes zero when the tail end of the material reaches a target stop position based on the deceleration rate of the machine, and controls the speed of the winding machine according to this speed standard, a moment of inertia detection means for detecting the moment of inertia of the winder including the coil at the time when the tail end of the material reaches a predetermined position in front of the winder; and the detected moment of inertia and the winder. A tail end position stop control device comprising: a deceleration rate setting means that calculates a maximum permissible deceleration rate from the output of an electric motor that drives the deceleration rate, and sets the permissible maximum deceleration rate as the deceleration rate.