JPH09191522A - Cable stringing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance the performance and the operability of a cable stringing apparatus at low costs by a method wherein a driving motor provided at the stringing apparatus is driven so as to be controlled by a vector control-type inverter and by a control device for the inverter. SOLUTION: A vector control-type inverter CNT0 is connected to a driving motor M0 for a master machine HM0 at a stringing apparatus. A vector control- type inverter CNT1 is connected to a driving motor M1 for a slave machine HM1 at the stringing apparatus, and, in the same manner, a vector control-type inverter CNTn is connected to a driving motor Mn for a slave machine HMn . Then, the respective slave machines HM1 to HMn are started simultaneously so as to be interlocked and driven by the master machine HM0 , and a speed which is set by the master machine HM0 is transmitted to the respective slave machines HM1 to HMn so as to be turned and operated. Respective driving motors M0 , M1 ,..., Mn-1 , Mn can output a starting torque at a rated torque or higher by a space (magnetic flux) vector control operation, and the stringing apparatus can be operated at a speed accuracy of within ±1%.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable drawing system which uses a wire drawing device to draw a cable such as a power cable which is difficult to handle manually and can be used for laying in a cave.

[0002]

2. Description of the Related Art FIG. 5 systematically shows an example of a conventional cable drawing system, in which a cable 1 fed from a cable drum 2 is a parent of a caterpillar type drawing device installed on a laying route. Machine HM0 and multiple slaves HM1 ...
-It is pulled by HMn-1 and HMn one after another and used for wire drawing. The drive motor M0 of the master device HM0 of the wire drawing device is electrically connected to the switch-equipped control panel Mg0, and similarly, the drive motor M1 of the slave device HM1 of the wire drawing device is connected to the switch-equipped control panel Mg1. ..Children of wire drawing equipment HMn-1
Drive motor Mn-1 is a control panel with built-in switch Mgn-1
In addition, the drive motors Mn of the slave units HMn of the wire drawing device are electrically connected to the switch-integrated control boards Mgn, respectively, and the switch-integrated control boards Mg0, Mg1 ... Mgn-1, Mn.
The gn is connected to the common power supply line LINE1 and also to the control signal line LINE2.

However, in order to use a long power cable as a cable and to lay it in a cave, the wire drawing devices HM0 and HM1 are spaced at intervals according to the horsepower of the wire drawing device main body.
..HMN-1 and HMn are installed. At that time, drive motors M0, M1 ...
For Mn-1 and Mn, an AC induction motor is generally used.

Control boards Mg0, Mg1 ... With built-in switches prepared to issue control commands to the above-mentioned drive motors.
As operations for Mgn-1 and Mgn, an operation for independently driving the wire drawing device (for fine adjustment), an operation for determining the driving direction of the wire drawing device (fine adjustment such as slack of the cable) 3) of interlocking simultaneous operation when laying cables continuously (when actually laying cables continuously)
It is on the street. Note that the operation of may be limited to the master unit HM0 that sends a command collectively in the wire drawing device.

In the case of FIG. 5, the master unit HM0 is located on the cable feeding side, and a plurality of slave units HM1 ... HMn-1, HMn interspersed along the installation route are provided so as to interlock with each other. ing. It is general that the base unit HM0 is centrally managed by deciding the installation location according to the installation conditions and environment.

[0006]

DISCLOSURE OF THE INVENTION Prior Art: According to FIG. 5, when the cable 1 is extended and laid, all the wire drawing devices must be linked from one direction at a constant speed. However, according to the conventional method, the drive motors M0, M1, ...
In order to turn on and off 1, Mn all at once with a switch etc.,
In many cases, the timings of the orbits of the drive motors do not match, and the abrupt increase in the number of rotations makes fine adjustment difficult and the operability is extremely poor. In addition, since the ON / OFF operation of the switch is frequently repeated, the life of the electric product itself is shortened.

In order to solve the above problems, an inverter system for variably controlling a drive motor in each wire drawing device,
Although a servo system using a special electric motor has been proposed, the former inverter system has a problem in that the torque at startup is insufficient, and the latter servo system has a problem in terms of price and maintainability. In reality, it cannot be said that the cable extension system is sufficient. However, even if the rotational speed of the drive source is increased in these systems, the error does not become zero, and it is theoretically impossible to completely lay the cable. Therefore, in the cable extension in the existing system, when a slack is generated in the cable, there is no choice but to adopt a method of once stopping the whole cable, absorbing the slack, and then restarting. * Therefore, the problem to be solved by the present invention is to provide an improved cable drawing system capable of overcoming the above-mentioned conventional state of the art and improving the performance and workability of the cable drawing device at low cost. To do.

[0008]

A cable drawing system provided by the present invention comprises a basic system in which a drive motor included in a drawing device is controlled and driven by a vector control type inverter and a control device therefor. Become.

Although the inverter system itself has been conventional, in the present invention, the magnetic flux and the torque are calculated from the voltage and the current in the AC induction motor used as the drive motor to perform the inverter control by the space vector control of the vector control type inverter. This made it possible to handle high torque output when the wire drawing device was started up, and did not require a special speed detector for the drive motor.

Further, according to the present invention, in a cable drawing system having a parent device of a wire drawing device and a child device of a plurality of wire drawing devices, a drive motor of the parent device of the wire drawing device and a child of the wire drawing device. A vector control type inverter and a control device therefor are provided for each of the drive motors of the machine, and any of these control devices can be connected to a common control signal line and a common speed signal line to synchronize the wire drawing device. We will provide a concrete system.

In the above concrete system, it is possible to include a control device capable of arbitrarily adjusting the weighting difference applied to each device due to the wire drawing condition and the synchronization deviation due to the accumulated error without stopping each device. Further, a speed compensation circuit may be added to the speed signal line so that the slack of the cable at any place during the cable drawing can be corrected without stopping the wire drawing device. Furthermore, the slack automatic control may be performed by combining a sensor for detecting an arbitrary slack of the cable.

[0012]

1 is a systematic view of a preferred embodiment of a cable drawing system according to the present invention. FIG. 2 is a diagram for explaining the operation of the system. In these figures, the same parts as those in FIG. 5 are designated by the same reference numerals as those in FIG. 5, so please refer to the above description regarding FIG.

In this embodiment, the vector control type inverter CN is used for the drive motor M0 of the master unit HM0 of the wire drawing device.
Similarly, a vector control type inverter CNT1 is connected to the drive motor M1 of the slave unit in the wire drawing device, that is, the drive motor M1 of the slave unit HMn-1. The vector control type inverter CNTn-1 is formed by connecting the vector control type inverter CNTn to the drive motor Mn of the slave unit HMn.

Further, the vector control type inverter CNT0 on the master unit side is accompanied by a control unit PC0 for starting / stopping, and the slave unit side similarly has the control unit PC1 on the vector control type inverter CNT1. , ... The vector control type inverter CNTn-1 has a controller PCn-.
1, the vector control type inverter CNTn is accompanied by a control device PCn. These control devices PC
0, PC1, ..., PCn-1, PCn may be those capable of input / output such as a microcomputer, a sequencer, and a relay sequence circuit.

Each of the above control devices PC0, PC1 ... P
Cn-1 and PCn are connected to the common power supply line LINE1, and also to the common link-shaped common control signal line LINE2 and speed signal line LINE3. In the present embodiment, for ease of explanation, the control signal line LINE2 includes two types of signals, an emergency stop signal and an interlocking start signal, and the speed signal line LINE3 receives the speed signal set by the master unit HM0. It is transmitted as an analog signal. In this case, it is preferable to adopt the DC current signal in consideration of noise countermeasures.

Further, the signals on the speed signal line LINE3 are transmitted to the control boards PC1 ... PCn-1,
Compensation circuits UT1 ... UTn-1, UT in front of PCn
It becomes a speed command through n. The detailed operation by this will be described with reference to FIG.

In FIG. 2, it is assumed that the cable 1 being extended cannot be transported synchronously between the machines due to unpredictable trouble (slip, excessive additional fluctuation, etc.) and the cable 1 is loosened. (In this case, between the child device HM1 and the child device HM2). At this time, in order to absorb the slack in the cable without interrupting the extension of the cable 1,
The cable 1 moving at the drawing speed v0 is used as the base unit
~ It is necessary to operate the slave unit HM2 and the slave unit HM2 to the slave units HMn in two separate systems. That is, the master unit HM0 to the slave unit HM1 are moved at the linear velocity v0, and the subsequent slave unit HM2 and the subsequent units add the slack absorption compensation speed Δv0 to the linear velocity v0.

In this system, the speed signal transferred to the compensation circuit UT2 can be easily adjusted by adjusting the compensation circuit UT2 to amplify the speed signal received from the previous stage on the speed signal line LINE3. This adjustment can be greatly simplified by preparing a volume-like device for each child device. The same can be done when the cable is pulled excessively. Assuming the accuracy of the vector control inverter (± 1%), ± 5% to 10% is sufficient for the speed correction amount of the compensation circuit.

On the above network, the master unit HM
By starting from 0, each slave HM1 ...
HMn-1, HMn are activated all at once, and the speed set by the master unit HM0 is set for each slave unit HM1 ... HMn-1, HM.
n, and tuning operation is performed. Each drive motor M
0, M1, ... Mn−1, Mn enable the starting torque output above the rated torque by the space (magnetic flux) vector control, and each can operate the wire drawing device with a speed accuracy within ± 1%. .

Further, depending on the laying condition, even if a weight unbalance occurs in any space during continuous wire drawing with a speed accuracy of ± 1% and the cable is loosened or pulled, the speed compensation circuit is used. By doing so, it is possible to finely adjust the speed without causing the cable to be extended.

The interlocked synchronous operation has been described above, but the cable drawing system of the present embodiment can perform the reverse rotation direction and the independent operation. Further, by constructing the speed command circuit using the DC current signal, if the total number of input systems is taken into consideration, the number of connected slave units will not be restricted. Further, by incorporating a microcomputer, a sequencer, etc. in the master unit and the slave unit and performing centralized management, it can be applied to the case of constructing a network system and the system can be sufficiently expanded.

The speed compensating circuit in this embodiment described above is
It can also be applied to a control system in which a servo drive motor in a conventional device is subjected to pulse train control for synchronous operation.
The application circuit is shown in FIG. According to this FIG. 3, the analog signal is transmitted in FIG.
What was compensated by S and the amplifier circuit AmP, but this time, as shown in the lower side of FIG.
It will be better if Δf0 is set. In general, pulse rate conversion P
This means that the function called L is applied in this circuit.

FIG. 4 shows an application example of the cable drawing system according to the present invention, in which a cable slack detecting function is added to the system shown in FIGS. That is, as shown in FIG. 2, the slack detection sensors S1 ... Sn are installed in advance in the portion where the slack of the cable 1 is visually confirmed, and the signal detected by this sensor is fed back to the speed compensation circuit. By doing so, cable slack can be automatically detected, and visual work is not required, and automatic wire drawing can be possible. In this case, it goes without saying that in order to prevent the expected self, a backup circuit for the abnormal detection signal etc. in case of damage to the sensor or the sensor itself due to the upper and lower limit operation of the detection sensor is indispensable. Absent.

[0024]

According to the cable drawing system of the present invention as described above, since the vector control type inverter and the control device therefor are used in the control system of the drive motor of the drawing device, the cost of the device itself is reduced. In addition, any induction motor whose drive motor is equal to or less than the inverter capacity can be used, and the versatility and expandability of the system can be significantly improved, and the starting torque can be increased.

Further, since the wire-drawing device is made to have a relationship between the master unit and the slave unit and these are controlled in series by the network, the operation can be performed reliably and easily.

Further, in the speed command system which gives the inverter frequency for determining the number of revolutions of the motor, a special operation such as absorption of cable slack can be performed very easily by adding a compensation circuit in the control device of each slave unit. . Further, by combining the compensating circuit and the cable slack detecting sensor, it is possible to easily apply to labor saving of the monitoring work in the cable drawing work.

It is possible to sufficiently achieve the intended purpose of providing a cable drawing system capable of exhibiting the effects described above and thus improving the performance and workability of the cable drawing apparatus at low cost. You can

[Brief description of the drawings]

FIG. 1 is an explanatory diagram systematically showing a cable drawing system as an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing the operation of the system shown in FIG. 1, particularly the operation of the speed compensation circuit, as an embodiment of the present invention.

FIG. 3 is a schematic diagram showing an application example of a speed compensation circuit according to an embodiment of the present invention.

FIG. 4 is an explanatory diagram systematically showing a cable extension system in which an automatic control system (cable slack control) is added to a speed compensation circuit as an embodiment of the present invention.

FIG. 5 is an explanatory diagram systematically showing a cable extension system as a conventional example.

[Explanation of symbols]

1 cable HM0 wire drawing device: parent device HM1 to HMn wire drawing device: child device M0 drive motor (child device side) M1 to Mn drive motor (child device side) LINE1 common power supply line LINE2 control signal line LINE3 speed signal line CNT0 vector Control type inverter (for master unit) CNT1 to CNTn Vector control type inverter (for slave unit) PC0 control device (for master unit) PC1 to PCn control device (for slave unit) UT1 to UTn Speed compensation circuit IOS insulation circuit AmP amplification circuit S1 to Sn Cable slackness detection sensor VOL Adjustment knob PL Pulse rate converter

Claims (6)

[Claims] 1. A system for extending a cable by a wire drawing device, wherein a drive motor included in the wire drawing device is controlled and driven by a vector control type inverter and a control device therefor. . 2. The cable extension according to claim 1, wherein magnetic flux and torque are calculated from voltage and current in an AC induction motor used as a drive motor to perform inverter control by space vector control of a vector control type inverter. system. 3. A cable drawing system having a parent device of a wire drawing device and a child device of a plurality of wire drawing devices, each of a drive motor of a parent device of the wire drawing device and a drive motor of a child device of the wire drawing device. A vector control type inverter and a control device therefor are provided for each of them, and any of these control devices is connected to a common control signal line and a common speed signal line so that the wire drawing device can be synchronized. Line system. 4. The cable extension according to claim 3, further comprising a control device capable of arbitrarily adjusting a weighting difference applied to each device due to a wire drawing condition and a synchronization deviation due to an accumulated error without stopping each device. Line system. 5. A speed compensating circuit is added to the speed signal line so that slack in the cable at any place during the cable drawing can be corrected without stopping the wire drawing device. Cable extension system. 6. The cable drawing system according to claim 3, wherein automatic slack control can be performed by combining a sensor for detecting an arbitrary slack of the cable.