JPH0543098A - Setting torque adjusting device - Google Patents

Abstract

PURPOSE:To provide a setting torque adjusting device possible to safely perform setting and adjustment of torque and an operation coefficient without setting of an elastic material of a wed and the like between two torque generating means. CONSTITUTION:A torque setter 4 for first a torque generating means 3 and a first and a second speed detecting means 9, 10 respectively detecting output speeds of the first and second torque generating means 3, 5 are provided. The device is equipped with an output operation circuit 11 for operating output generated in an elastic member 1 based on detected signals of both speed detecting means 9, 10 an output display 15 for displaying operation result thereof, a reaction operation circuit 12 for generating a signal corresponding to reaction torque for the elastic member 1 based on the operation result of the output operation circuit 11, and a feedback circuit 14 for feeding back the signal to the set signal of the torque setter 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a set torque adjusting device in a drive system such as a web winding or unwinding machine or a belt conveyor via an elastic material. The present invention relates to a device for adjusting and setting a set torque.

[0002]

2. Description of the Related Art A drive system via an elastic material, for example, a drive system of a web winding machine, is shown in a simplified form. As shown in FIG.
A first torque generating means 3 such as a servo motor for driving the winding roll 2, a torque setting device 4 for the first torque generating means 3, and a second torque generating means 5 for transporting a midway portion of the web 1. Is equipped with.

Further, the output side state such as the speed and tension of the web 1 is detected, and an arithmetic circuit 6 which takes in the detection signal and the arithmetic result of this arithmetic circuit 6 are fed back to the torque setting signal. It includes a feedback circuit 7 for controlling and a coefficient setter 8 for setting a calculation coefficient of the calculation circuit 6.

The operation of this drive system is shown in a block diagram using the Laplace transform operator s as shown in FIG. In this figure, needless to say, the reciprocal (1 / s) of the Laplace transform operator s represents integration, and the multiplication of s represents differentiation. Further, τ ₀ is a set torque given from the torque setter 4 to the first torque generating means 3, T is a time constant of the first torque generating means 3, k ₁ is its conversion coefficient, and τ is the first torque generating means. It is the generated torque which is the output from 3. Τ _n is the load torque, which is the resistance on the load side, τ _p
Is the acceleration torque that actually occurs on the winding roll 2, and this acceleration torque τ _p is the generated torque τ minus the load torque τ _n (τ _p = τ−τ _n ).

J is the moment of inertia of the whole driven body such as the winding roll 2. This moment of inertia J gives an angular acceleration from the generated torque τ and integrates the angular acceleration (1 /
By performing s), the angular velocity v is obtained. k ₂ is a conversion coefficient from the angular acceleration to the angular velocity v. Further, k ₂₁ is a conversion coefficient determined by the roll diameter, and v ₀ is the peripheral speed of the winding roll 2. The transfer speed v ₁ by the second torque generating means 5 on the sending side is added to the peripheral speed v ₀ as a disturbance. θ is an angular fluctuation amount obtained by integrating the speed difference (v ₀ −v ₁ ), that is, a fluctuation angle. k ₃ is the elastic coefficient of the web 1, and the output tension F is obtained from the elastic coefficient k ₃ and the variation angle θ.

Further, τ _L is a loss torque, and β (v) is a transfer function of the loss torque, which indicates that the loss torque τ _L depends on the angular velocity v. τ _F is the reaction torque, and the sum of this reaction torque τ _F and loss torque τ _L is
The load torque is τ _n (τ _n = τ _L + τ _F ).

The overall transfer function of this drive system includes the coefficient in the arithmetic circuit 6, and the time constant T and the damping factor ζ also include the coefficient in the arithmetic circuit 6. Therefore, by changing the coefficient of the arithmetic circuit 6 by the coefficient setter 8, the time constant T and the damping factor ζ can be adjusted respectively, and the vibration of the web 1 can be suppressed without lowering the response of the tension control. Occurrence can be suppressed.

[0008]

By the way, in the above-described winding machine, after actually setting the web 1,
While operating the whole, it is necessary to adjust the set torque and the calculation coefficient, but with adjustment immediately after installation, it is difficult to set these values within the range close to the optimum value from the beginning,
If it is out of this range, the machine may be damaged or the operator may be in danger.

On the other hand, if the set torque and the calculation coefficient can be adjusted by operating the web 1 without setting it, that is, by performing the color operation, the machine will not be damaged and the operator's danger can be avoided. However, without the elastic material, the operation of the drive system cannot be completed and the control loop cannot be performed. Therefore, the set torque and the calculation coefficient cannot be determined.

According to the block diagram of FIG. 6, a portion A surrounded by a dotted line, such as a portion to which the feed transfer velocity v ₁ is applied, a portion to generate the tension F, a portion to generate the reaction torque τ _F , etc. It will disappear and the operation will not be completed.

In view of the above problems, the present invention makes it possible to simulate a state in which an elastic material such as a web is set and is in operation, so that the set torque and the calculation coefficient can be adjusted without setting the elastic material. The challenge is to be able to do it safely.

[0012]

In order to achieve the above object, the present invention adjusts the set torque in a drive system in which an elastic material is provided between the first torque generating means and the second torque generating means. And a first and second speed detecting means for respectively detecting output speeds of the first and second torque generating means, and a first and second torque setting means for the first torque generating means. 2 output calculation circuit for calculating outputs such as tension and rotation torque generated in the elastic material based on the detection signals of both speed detection means, an output indicator for displaying the calculation result of the output calculation circuit, and calculation of the output calculation circuit A reaction operation circuit that generates a signal corresponding to the reaction torque applied to the first torque generating means from the elastic material based on the result; a coefficient setting device that sets the operation coefficient of the output operation circuit and the reaction operation circuit; The signal obtained by the use arithmetic circuit is configured to include a feedback circuit for feeding back the setting signal of the torque setter.

[0013]

In the above structure, without setting the elastic material,
When both the first and second torque generating means are operated, the reaction from the elastic material does not act on the first torque generating means, but both the first and second speed detecting means, the output calculation circuit, and the reaction. From the arithmetic circuit, a signal corresponding to the reaction torque that would have occurred when the elastic material was set was obtained,
This signal is returned to the torque setting device, and the control loop is completed in terms of signal. The operator may adjust the set value by the torque setting device and various calculation coefficients by the coefficient setting device while observing the output of the elastic material on the output display.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The details of the present invention will be described based on the embodiments shown in FIGS.

1 and 2 relate to an embodiment of the present invention. FIG. 1 is a block diagram of a web winding machine equipped with a set torque adjusting device, and FIG. 2 shows its operation by a Laplace transform operator s. It is the block diagram shown using.

In FIG. 1, 1 is a web as an elastic material, 2 is a take-up roll thereof, 3 is a take-up roll 2
First torque generating means such as a servo motor for driving the
4 is a torque setting device for the first torque generating means 3 and 5
Is a second torque generating means for transferring a midway portion of the web 1. The conversion coefficient of the first torque generating means 3 is k ₁ ,
The time constant is T.

The set torque adjusting device of this embodiment comprises a first speed detecting means 9, a second speed detecting means 10, and
An output arithmetic circuit 11, a reaction arithmetic circuit 12, a filter 13 for adjusting the time characteristic, a subtractor 14 for feedback, an output indicator 15, and a coefficient setter 16 are provided.

The first speed detecting means 9 is provided on the output side of the first torque generating means 3 and detects the angular speed v of its output. The second speed detecting means 10 is provided at the output part of the second torque generating means 5 and detects the output speed v ₁ of the torque generating means 5.

The output calculation circuit 11 calculates the tension F of the web 1 which is the output based on the detection signals of both the first and second speed detecting means 9 and 10, and detects the first speed detecting means 9. A first matching calculator 17 for multiplying the signal by a required matching gain k ₄ ; a second matching calculator 18 for multiplying a detection signal of the second speed detecting means 10 by a required matching gain k ₅ ; A match subtractor 19 that subtracts the output of the second match calculator 18 from the output of the match calculator 17, and an integrator 20 that integrates the output of the subtracter 19 (division by the Laplace transform operator s). Here, the first matching calculator 17
The butt matching gain k _{4 in FIG. 1} is the conversion coefficient k ₂₁ determined by the roll diameter shown in the conventional example and the elastic coefficient k of the web 1.
_It is a product of ₃ and (k ₄ = k ₂₁ · k ₃ ), and the matching gain k ₅ in the second matching calculator 18 is the elastic coefficient k ₃ of the web 1 (k ₅ = k ₃ ). This output operation circuit 11
The calculation result of is displayed on the output display 15.

The reaction calculation circuit 12 is an output calculation circuit 11
A signal corresponding to the reaction torque applied to the first torque generating means 3 from the web 1 is generated based on the calculation result of the calculation function, and the calculation function includes the conversion coefficient k ₁ of the first torque generating means 3 and α / It is indicated by k ₁ .

The filter 13 is for canceling time characteristics such as response delay of the first torque generating means 3 and is omitted when the time characteristics of the first torque generating means 3 are negligible. It is possible.

The feedback subtractor 14 is provided between the torque setting device 4 and the first torque generating means 3 and outputs the torque setting signal τ ₀ from the torque setting device 4 to the output of the filter 13 or the reaction calculation circuit. By subtracting the output of 12,
A signal corresponding to the reaction torque is fed back to the torque setting signal τ ₀ .

The coefficient setting device 16 is for setting and adjusting the coefficient and gain of the output operation circuit 11 and the reaction operation circuit 12.

In the above structure, when setting the torque and adjusting the various coefficients, do not set the web 1,
The first torque generating means 3 and the second torque generating means 5 are operated, and the operation at that time is shown in a block diagram using the Laplace transform operator s as shown in FIG.

In FIG. 2, the same reference numerals are used for the elements and signals in FIG. 6 described above, and detailed description thereof will be omitted. Since the web 1 is not set, the transfer speed v ₁ by the second torque generating means 5 is not applied to the web 1, and therefore the tension F is not generated,
In the output arithmetic circuit 11, the detection signals from the first and second speed detecting means 9 and 10 are fetched and matched with each other, and the signal corresponding to the speed difference is integrated, whereby the web 1
The tension that would occur in the is calculated.

Then, the calculation result of the output calculation circuit 11 is input to the reaction calculation circuit 12 and subjected to the calculation process of α / k ₁ to generate a signal corresponding to the reaction torque. This signal is fed back to the torque setting signal through the filter 13 and the feedback subtractor 14.

As a result, the torque setting signal obtained by subtracting the signal corresponding to the reaction torque is added to the first torque generating means 3, and therefore the first torque generating means 3 is added.
Operates in the same manner as the reaction torque is applied from the web 1. Further, since the tension that may occur on the web 1 is displayed on the output display unit 15, the operation when the web 1 is set and operated is simulated as a whole.

The operator may adjust the set torque and various calculation coefficients by the torque setting device 4 and the coefficient setting device 16 while observing the tension F on the output display 15.

In the embodiment of FIG. 1, the first speed detecting means 9 detects the angular speed v of the first torque generating means 3,
The peripheral speed v ₀ of the winding roll 2 may be detected. In this case, the matching gain k ₄ in the first matching calculator 17 is equal to the elastic coefficient k ₃ of the web 1 (k
₄ = k ₃ ).

FIGS. 3 and 4 relate to another embodiment of the present invention. FIG. 3 is a block diagram of a web winding machine equipped with a set torque adjusting device, and FIG. 4 shows its operation in the Laplace transform operator s. It is the block diagram shown using.

The set torque adjusting device of this embodiment is different from the embodiment of FIG. 1 in that an inertial calculator 21 is provided in parallel with the reaction calculating circuit 12, and an output of the reaction calculating circuit 12 is provided at the subsequent stage. That is, the adder 22 is provided. The inertial calculator 21 calculates the increase / decrease in the reaction torque due to the increase / decrease in the inertia by differentiating the calculation result of the output calculation circuit 11 and multiplying by the inertia conversion gain k ₆ . This makes it possible to accurately simulate the reaction torque of the take-up roll 2 whose inertial force increases or decreases over time.

Although the present invention is applied to the web winder in the above embodiment, the present invention can also be applied to a web winder. In addition, like the belt conveyor, an elastic material is used. It can also be implemented in a forwarding device.

[0033]

According to the present invention, it is possible to reproduce a state in which an elastic material has been set and is in operation, and it is possible to adjust the set torque and the calculation coefficient without setting the elastic material. Therefore, unlike the conventional case, the machine is not destroyed or the operator is not in danger at the time of adjusting the set torque or the like.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a web winding machine according to an embodiment of the present invention.

FIG. 2 is a block diagram showing the operation of the above embodiment.

FIG. 3 is a configuration diagram of a web winding machine according to another embodiment of the present invention.

FIG. 4 is a block diagram showing the operation of the other embodiment.

FIG. 5 is a configuration diagram of a conventional web winding machine.

FIG. 6 is a block diagram showing an operation of the conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Web 2 Winding roll 3 1st torque generation means 4 Torque setting device 9 1st degree detection means 10 2nd speed detection means 11 Output calculation circuit 12 Reaction calculation circuit 14 Feedback subtracter (feedback circuit) 15 Output indicator

Claims (2)

[Claims] 1. A device for adjusting a set torque in a drive system comprising an elastic material (1) provided between a first torque generating means (3) and a second torque generating means (5), Torque setting device (4) for the first torque generating means (3)
And first and second speed detecting means (9, 10) for detecting the output speeds of the first and second torque generating means (3, 5), respectively, and the first and second speed detecting means (9 , 10), an output arithmetic circuit (11) for arithmetically operating an output such as tension generated in the elastic material (1), and an output indicator (15) for displaying the arithmetic result of the output arithmetic circuit (11). A reaction calculation circuit (12) that generates a signal corresponding to the reaction torque applied to the first torque generating means (3) from the elastic material (1) based on the calculation result of the output calculation circuit (11).
And a coefficient setting device (16) for setting the operation coefficients of the output operation circuit (11) and the reaction operation circuit (12), and the signal obtained by the reaction operation circuit (12) is set by the torque setting device (4). A setting torque adjusting device, comprising: a feedback circuit (14) for feeding back a signal. 2. The set torque adjusting device according to claim 1, wherein the calculation result of the output calculation circuit (11) and the coefficient setting device (1) are set.
6) A set torque adjusting device comprising an inertia calculator (21) for calculating an increase / decrease in reaction torque based on a calculation coefficient given from (6).