JPH07312888A - Twisting vibration suppressing method for motor speed and torque control system - Google Patents

Abstract

PURPOSE:To control to suppress a twisting vibration in all speed and torque control modes by switching an accelerating torque command signal in synchronization with the speed and torque control modes, and calculating a torque command compensation for cancelling the load torque of a motor. CONSTITUTION:The sum of the output signal TRFA of a speed controller 9 and an acceleration/deceleration torque compensation signal (Tcomp) is used as the acceleration torque command signal (TRFAX) of a twisting vibration suppressing controller (BC) 10A at the time of a speed control mode. The difference between the Tcomp and the torque command compensation signal TRFL of a torque compensator (TC) 13A is used as the TRFAX of a BC 10A at the time of a torque control mode. The difference signal between the signals TMAFB and TRFAX obtained by multiplying a signal differentiated from a real speed by the mechanical time constant of a motor is input to the TC 13A, and a torque command compensation signal (TRFL) for cancelling a load torque to become a disturbance torque for the torque command signal is calculated. The signal obtained by adding the TRFL to the signal TRFMX to the motor is used as the final torque command signal TRFM.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a facility for continuously transporting and processing web materials such as paper, film and metal from an electric motor via a drive shaft of low torsional rigidity provided on the load side of the electric motor. The present invention relates to a method for suppressing torsional vibration of a drive controller capable of automatically switching a machine having a mechanism for transmitting a drive torque to a load to either a speed control mode or a torque control mode while the equipment is in operation.

[0002]

2. Description of the Related Art Conventionally, the torsional vibration suppressing method has been premised on the speed control of a drive control device as previously proposed in Japanese Patent Application No. 3-14517. FIG. 5 shows the principle thereof. In the figure, 1 is a web such as paper, film and metal strip, 2 and 2A are web transport rolls, 3 and 3A are drive shafts, 4 and 4A are drive motors and 5,
5A is a speed detector, 6 is a power converter, 7 is a drive controller, 8 is an absolute minimum priority circuit, 9 is a speed controller, and 10 is a speed controller.
Is a torsional vibration suppression controller, 12 is an acceleration torque calculator, 1
3 is a torque compensation calculator, and 20 is an adjacent roll drive control device. The torsional vibration suppression control in FIG. 5 is performed as follows. That is, the output signal (T
The sum of _RFA ) and acceleration / deceleration torque compensation signal (T _comp ) is used as the acceleration torque command signal (T _RFAX ) which is an input command to the torsional vibration suppression control unit, and the mechanical time constant of the electric motor is converted to the signal obtained by differentiating the actual speed. The difference signal between the multiplied signal (T _MAFB ) and the acceleration torque command signal (T _RFAX ) is input to a torsional vibration suppression controller having a proportional gain and an integrator, and a disturbance torque is _{generated in} response to the torque command signal to the electric motor. The torque command compensation signal (T _RFL ) for canceling the load torque of the electric motor is calculated, and the final torque command is obtained by adding the torque command compensation signal (T _RFL ) and the torque command signal (T _RFMX ) to the electric motor. The electric motor was controlled as a signal ( _TRFM ).

[0003]

However, in the prior art, since the method for suppressing torsional vibration is a method for a speed control system, a web material such as paper, film and metal is continuously conveyed and processed. Regarding drive control of equipment, there is a problem that the above-mentioned torsional vibration suppressing method cannot be used when performing torque control in a drive control system that requires a torque control mode or a speed / torque two control mode. The reason for this is as shown in FIG.
Since the torsional vibration suppression controller originally has an integration function, an offset signal (torque signal for generating tension, mechanical loss) is _{added to the} acceleration torque command signal (T _RFAX ) which is an input signal to the torsional vibration suppression controller. If a constant torque signal for compensating the torque is included), a steady error is _generated between the acceleration torque command signal (T _RFAX ) and the acceleration torque calculation signal (T _MAFB ) obtained by processing the actual speed signal. Is generated, and as a result, the output signal of the torsional vibration suppression controller diverges. Further, even if the torsional vibration suppression controller has only proportional control, the acceleration torque command signal (T
_RFAX ) and the final torque command signal (T _RFM ) are deviated by the signal amount obtained by multiplying the steady-state error between the acceleration torque calculation signal (T _MAFB ) obtained by processing the actual speed signal by the proportional gain. Therefore, torque control cannot be performed with the target torque command signal (T _ref ). Therefore, an object of the present invention is to provide a torsional vibration suppressing method that can exert its effect regardless of the speed control mode or the torque control mode.

[0004]

In order to solve the above problems, the present invention provides an electric motor for driving a roll for continuously transferring a web material such as paper, film and metal via a drive shaft having a low torsional rigidity. During operation, in the torsional vibration suppression method of the drive control device that can switch to either the speed control mode or the torque control mode depending on the state, in the speed control mode or the torque control mode, the speed is determined based on the automatic determination signal. In the control mode, the sum of the output signal (T _RFA ) from the speed controller and the acceleration / deceleration torque compensation signal (T _comp ) is used as the acceleration torque command signal (T _RFAX ) which is the input command to the torsional vibration suppression control unit, and the torque In the control mode, the acceleration / deceleration torque compensation signal (T _comp ) and the torque command compensation signal (T _comp.
RFL ) is the acceleration torque command signal (T _RFAX ) which is the input command to the torsional vibration suppression control unit, and the signal that differentiates the actual speed by the mechanical time constant of the motor (T _MAFB )
The difference signal between the acceleration torque command signal (T _RFAX ) and the acceleration torque command signal (T _RFAX ) is input to a torsional vibration suppression controller having a proportional gain and an integrator, and the load torque of the motor, which is the disturbance torque with respect to the torque command signal to the motor, is input. The torque command compensation signal (T _RFL ) to be canceled is calculated, and this torque command compensation signal (T _RFL ) is calculated.
_RFL ) and the torque command signal (T _RFMX ) to the motor are added to control the motor as a final torque command signal (T _RFM ), thereby suppressing the torsional vibration.

[0005]

By the above means, the control mode can be determined by _TRFA
= T _{RFAY determines} the speed control mode, and when T _ref = T _RFAY determines the torque control mode, the acceleration torque command signal (T _RFAX ) is synchronized with the control mode switching.
In the speed control mode, the sum signal of the output signal (T _RFA ) of the speed controller and the acceleration / deceleration torque compensation (T _comp ) is input to the torsional vibration suppressor 10 as the acceleration torque command signal (T _RFAX ). In the torque control mode, the difference signal between the acceleration / deceleration torque compensation (T _comp ) and the output signal (T _RFL ) from the torsional vibration suppression controller is the torsional vibration suppressor 10 as the acceleration torque command signal (T _RFAX ). In each control mode, the offset component does not remain in the acceleration torque command signal (T _RFAX ) in the steady state. Therefore, the torsional vibration suppression control is performed in both the speed control and torque control modes. Is possible.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a drive control arrangement for a section of paper, film and metalworking equipment. In FIG. 1, 10A is a torsional vibration suppression controller, 1
1 is an acceleration torque command signal selection switch, 12A is an acceleration torque calculator, and 13A is a torque compensation calculator, and the others are the same as in FIG. The drive roll that carries the web material is connected to the electric motor via a drive shaft with low torsional rigidity.
During operation, the electric motor is automatically operated in the speed control mode or the torque control mode depending on the operating conditions of the equipment.
In the speed control mode, the line speed command is given as V _ref , and the torque command (usually 100 to 200% or less) is given as T _ref . Therefore, the magnitude relationship between the output signal (T _RFA ) from the speed controller 9 and the absolute value of the torque command (T _ref ) is | T _RFA | <| T _ref |, and the output T _{RFAY of the} absolute value minimum priority circuit 8 is _Becomes T _RFAY = T _RFA .
_Acceleration / deceleration torque compensation (T _comp ) is added to this signal,
It becomes the final torque command (T _RFMX ). Further, in the torque control mode, since the speed controller has the speed limiting function, _Vref is given by a value obtained by adding the actual line speed command and the speed limiting bias (5 to 10%) to the torque command. Is given as T _ref . Therefore, in this case, the output signal (T _RFA ) from the speed controller has a very large absolute value, and the magnitude relationship with the torque command is | T _RFA |> | T _ref | The output T _RFAY of the absolute value minimum priority circuit 8 is T _RFAY = T _ref . _Acceleration / deceleration torque compensation (T _comp ) is added to this signal to form the final torque command (T _RFMX ). These final torque commands (T
_RFMX ) is a drive controller 7 specific to the drive device (for example, a vector controller in an AC vector control inverter).
And the electric motor is driven via the power converter 6. The above is the description of the control configuration when the torsional vibration suppression control unit 10A is omitted. At this time, since the drive roll and the electric motor are connected through low torsional rigidity when accelerating or decelerating the line or changing the torque command during torque control,
Torsional vibration is generated as shown in FIG. When a torque signal for compensating the phase shift difference torque (disturbance torque) between the acceleration torque command and the actual acceleration torque calculation value is added to the final torque command signal from the torsional vibration suppression control unit 10 for this drive control system, the torsional vibration suppression is suppressed. It becomes possible to do.
14A is a control mode determination circuit, which automatically recognizes the current control mode by finding the relationship of equal signals among the three torque commands T _RFA , T _ref , and T _RFAY in FIG. 1, and selects the acceleration torque command signal. This is a part that issues a command to switch the switch 11 to the target side. In FIG. 1, the acceleration torque command signal selection switch is selected to the upper side for speed control and the lower side for torque control. Therefore, the acceleration torque command signal T _RFAX is given as T _RFAX = T _RFAY + T _comp during speed control and T _RFAX = T _comp −T _RFL during torque control. In 12A, the acceleration torque signal T _MAFB is calculated by differentiating the actual speed with the acceleration torque calculator and multiplying it by the mechanical time constant τ _M of the electric motor. This acceleration torque command signal T _RFAX and the acceleration torque signal T
The difference signal from _MAFB is input to the torque compensation calculator 13A, and the torque command compensation signal _TRFL is calculated by the proportional and integral calculation functions in this torque compensation calculator. This torque command compensation signal T _RFL is added to the original torque command signal T _RFMX to the electric motor and is given to the drive control unit as the final torque command signal T _RFM . Recently, the drive control system is digitally controlled by the application of a microprocessor, but the entire drive control system including the torsional vibration suppression control unit in this case is represented as shown in FIG. Figure 1
10A, 12A, 13A, and 14A of FIG.
It corresponds to 0B, 12B, 13B, and 14B, and both corresponding models have the same model. FIG. 4 shows the characteristics when the torque command is changed during line acceleration / deceleration and torque control when the torsional vibration suppression method of the present invention is used, but it can be seen that the torsional vibration is suppressed well.

[0007]

As described above, according to the present invention, the torsional vibration can be suppressed in any control mode of speed control and torque control. Furthermore, it is possible to suppress torsional vibration even when the control mode is switched during operation. As a result, the present invention can be applied to all drive control systems in paper, film and metalworking equipment to which either speed control, torque control or a combination thereof is applied.

[Brief description of drawings]

FIG. 1 is a specific example of the present invention.

FIG. 2 is another embodiment of the present invention.

[Fig. 3] Characteristics during torque control (without torsional vibration suppression control)

[Fig. 4] Characteristics during torque control (with torsional vibration suppression control)

FIG. 5 Conventional example

[Explanation of symbols]

 1 web material 2, 2A web transport roll 3, 3A drive shaft 4, 4A drive motor 5, 5A speed detector 6 power converter 7 drive controller 8 absolute minimum priority circuit 9 speed controller 10, 10A, 10B torsional vibration Suppression controller 11 Acceleration torque command signal selection switch 12, 12A, 12B Acceleration torque calculator 13, 13A, 13B Torque compensation calculator 14 Control mode determination circuit 20 Adjacent roll drive control device

Claims (1)

[Claims] 1. A motor for driving a roll for continuously transporting a web material such as paper, film and metal via a drive shaft having a low torsional rigidity during operation. Either speed control or torque control is performed according to its state. In the method for suppressing the torsional vibration of the drive control device capable of switching to the control mode of the drive control device, the output signal (T) from the speed controller is set in the speed control mode based on the automatic determination signal of the speed control mode or the torque control mode.
The sum of _RFA ) and the acceleration / deceleration torque compensation signal (T _comp ) is used as the acceleration torque command signal (T _RFAX ) which is an input command to the torsional vibration suppression control unit. In the torque control mode, the acceleration / deceleration torque compensation signal (T _RFAX )
_comp ) and the torque command compensation signal (T _RFL ) that is the output of the torsional vibration suppression control unit is the acceleration torque command signal (T _RFAX ) that is an input command to the torsional vibration suppression control unit, and the actual speed is differentiated. The difference signal between the signal (T _MAFB ) multiplied by the mechanical time constant of the electric motor and the acceleration torque command signal (T _RFAX ) is input to the torsional vibration suppression controller having a proportional gain and an integrator, and is then _sent to the electric motor. The torque command compensation signal (T _RFL ) for canceling the load torque of the electric motor, which is the disturbance torque, is calculated with _respect to the torque command signal of T, and the torque command compensation signal (T _RFL ) and the torque command signal (T _RFL ) to the electric motor (T _RFL ) are calculated.
_RFMX ) is added to the final torque command signal (T
_A method for controlling torsional vibration in a motor speed / torque control system, characterized in that the motor is controlled as _RFM ).