JPH1045331A - Tension control device in textile machinery - Google Patents

Abstract

PROBLEM TO BE SOLVED: To optimumly control a driving motor for driving a thread beam, and minimumly restrain the variation of the tension of a tread sheet. SOLUTION: A driving motor M is drive-controlled via a controller 20 having plural sub-controllers 21i (i=a, b,...n), and a control amplifier 15. The controller 20 can set the optimum control parameter, by switching and selecting the sub- controller 21i via a switch control circuit 23 to which set tension T0 , string properties of matter SQ, and the winding diameter (d) of a thread beam, and a switching circuit 22.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tension control for a textile machine capable of minimizing tension fluctuation during operation in a winding device or a delivery device of a textile machine such as a warp sizing machine or a beam rewinding machine. Related to the device.

[0002]

2. Description of the Related Art In a winding device such as a warp sizing machine, there is known an electric tension control device which can operate with a reduced tension fluctuation (Japanese Patent Publication No. 11504/1990).
(FIG. 9).

In FIG. 9, a thread sheet W travels at a constant speed via feed rollers 1 and 1 driven by a feed motor M1, and a dancer roller 2 with guide rollers 2a and 2a,
It is wound around the yarn beam B via the guide roller 3. The yarn beam B is connected to a drive motor M via a reduction gear G, and the drive of the drive motor M is controlled by a tension controller 10. The dancer roller 2 is connected to a tension detector TD for detecting the tension T of the yarn sheet W, and the yarn beam B is provided with a winding diameter detector DB for detecting the winding diameter d. The drive motor M is
This is a shunt DC motor having a field winding F.

The main loop of the tension controller 10 includes a tension setter 11, a summing point 12, a controller 20, a summing point 13,
4. The control amplifier 15 is formed in cascade. That is, the set tension To from the tension setter 11 and the tension detector T
The tension T from D is the addition terminal of the addition point 12,
It is inputted to the subtraction terminal and the tension deviation ΔT from the adding point 12
= To-T becomes the torque command value Q via the controller 20 having the PID element, and the torque command value Q
The corrected torque command value Q1 is corrected via
= Q + q1 + q2 is input to the control amplifier 15. The output of the control amplifier 15 is connected to the drive motor M. Here, q1 is the mechanical loss correction amount calculated by the compensator 16, and q2 is the acceleration / deceleration correction amount calculated by the compensator 17.

The traveling speed V of the thread sheet W from the tachometer TG directly connected to the feed motor M1 is input to the compensator 16, and the compensator 17 detects the winding speed in addition to the traveling speed V. A winding diameter d from the vessel DB and an acceleration / deceleration signal S1 from a control device (not shown) are input. The winding diameter d is also branched and input to the field controller 18, and the output of the field controller 18 is connected to the field winding F of the drive motor M.

The tension control device 10 controls the drive of the yarn beam B via the drive motor M so that the tension deviation ΔT = 0 by setting an optimum control parameter to the controller 20 and operates the tension beam. Medium tension fluctuation can be reduced. The compensator 16 determines the traveling speed V of the yarn sheet W.
To calculate the mechanical loss correction amount q1,
The compensator 17 calculates the acceleration / deceleration signal S in addition to the traveling speed V and the winding diameter d.
By inputting 1, the extra torque necessary for accelerating and decelerating the yarn beam B is calculated as the acceleration / deceleration correction amount q2, and the torque command value Q from the controller 20 can be corrected. Further, the field controller 18 supplies the field winding F with a field current proportional to the winding diameter d, thereby causing the drive motor M to generate a rotational torque corresponding to the winding diameter d of the yarn beam B. be able to. Note that the winding diameter d of the yarn beam B is not detected through the winding diameter detector DB, but
The rotation speed N of the yarn beam B and the traveling speed V of the yarn sheet W may be used to calculate d = πV / N.

[0007]

In the prior art, since the control parameters set in the controller 20 are fixed, the winding diameter d of the yarn beam B greatly changes during operation, and the inertia GD ² , There is a problem that tension control often becomes unstable. This is still insufficient even if the field controller 18 is provided and a field current proportional to the winding diameter d is supplied to the field winding F of the drive motor M. Inertia GD of yarn beam B
^This is because ² does not change in proportion to the winding diameter d even if it is determined by the winding diameter d.

SUMMARY OF THE INVENTION In view of the above-mentioned problems of the prior art, an object of the present invention is to control at least one of the set tension and the inertia of the yarn beam, or to control the diameter of the yarn beam as a variable instead of the inertia of the yarn beam. By automatically setting the control parameters of the tensioner, even if the characteristics of the controlled object such as the inertia of the thread beam fluctuate greatly, the tension control does not malfunction, It is an object of the present invention to provide a tension control device in a textile machine capable of minimizing the tension.

[0009]

According to the present invention, there is provided a controller for calculating a torque command value based on a tension deviation, and a controller for driving a yarn beam based on the torque command value from the controller. A control amplifier for driving and controlling the drive motor is provided. The gist of the controller is to set control parameters using one or both of the set tension and the inertia of the yarn beam as variables.

[0010] The controller can add yarn properties to variables.

Further, the controller determines the inertia of the yarn beam as G
D ^2, when the winding diameter of the yarn beam is d, may be set proportional gain proportional to GD ² / d ^2, it may be set proportional gain proportional to GD ² / d.

On the other hand, the controller can use the winding diameter of the yarn beam as a variable instead of the inertia of the yarn beam.

[0013]

According to the structure of the present invention, the controller sets the control parameter by using at least one of the set tension and the inertia of the yarn beam as a variable, so that the winding diameter of the yarn beam greatly varies, and the inertia is reduced. Even in the case of a large fluctuation, an appropriate control state can be always realized, the fluctuation of the tension as a whole can be minimized, and there is no possibility that the tension control will malfunction. Further, by adding the yarn physical properties to the variables, the controller can realize better tension control.

Generally, a small set tension means that
It means that the elongation of the yarns constituting the yarn sheet to be controlled is large, and therefore, when a unit tension deviation occurs, the corresponding yarn sheet elongation is also large, and the tension deviation is eliminated. The amount of rotation of the thread beam required for the operation is also large. Therefore, in order to quickly realize such a large rotation amount within a predetermined time and to eliminate the generated tension deviation,
It is necessary to set a large proportional gain for the controller. When the set tension is large, these situations are reversed, and a small proportional gain must be set. Therefore, the magnitude of the set tension is a factor that determines at least the optimal value of the proportional gain among the control parameters of the controller, and can be a variable for setting the control parameter.

Similarly, the yarn physical properties of the yarns constituting the yarn sheet also affect the elongation of the yarn and affect the control parameters of the controller. However, the thread physical properties here are, for example,
In addition to physical properties such as yarn material / structure, separation of spun yarn and filament yarn, blending ratio, thickness, number of twists, etc., as well as environmental factors such as glue material and its concentration and humidity during the sizing process, Refers to all factors that affect the degree.

As the inertia GD ^{2 of the} yarn beam and the winding diameter d, G
If a proportional gain proportional to D ² / d ² is set, a shunt DC motor is used as the drive motor M as shown in FIG.
Particularly good control characteristics can be realized when a field current proportional to the winding diameter d is supplied to the field winding F. The reason is as follows.

In general, the average torque Ta (kg-m) required to accelerate and decelerate the yarn beam of inertia GD ² (kg-m ² ) by the number of revolutions N (rpm) within the acceleration / deceleration time t (second) is as follows: As the acceleration of gravity g (m / sec ² ), Ta = (2π / 60) (GD ² / 4g) (N / t) = (1/375) GD ² (N / t) On the other hand, if the winding diameter of the yarn beam is d (m) and the peripheral speed is V (m / sec), then N = V / (πd), so that Ta = (1 / 375π) (GD ² / d) (V / t) holds. That is, to make the peripheral speed V converge within the predetermined time t and set the tension of the thread sheet, it is necessary to set (GD ² / d)
And the acceleration / deceleration torque Ta is preferably kept constant. In order to realize such acceleration / deceleration torque Ta, the proportional gain of the controller may be made proportional to (GD ² / d).

On the other hand, in the drive motor M shown in FIG. 9, since the field current is proportional to the winding diameter d, in order to satisfy the above premise, the proportional gain of the controller is set to GD ² / d ² . What is necessary is just to make it proportional. This is because the rotation torque of the shunt DC motor is proportional to the field current. Conversely, when the field current of the drive motor M is constant, or when a variable speed motor other than a DC motor is used as the drive motor M and the rotational torque is variably controlled, the proportional gain of the controller is set to GD ² / What is necessary is just to make it proportional to d.

The inertia GD ² of the yarn beam is the sum of the inertia of the winding beam itself for winding the yarn sheet and the inertia of the yarn sheet on the winding beam. The former is constant regardless of the winding diameter d. However, the latter varies depending on the winding diameter d. Therefore, the inertia GD ^{2 of the} yarn beam reflects the weight (density) per unit length and the number of yarns constituting the yarn sheet from the winding diameter d and the inertia (constant) of the winding beam itself. It can be obtained by calculation. At this time, the winding diameter d
Otherwise, since a constant determined by the type of winding beam or launching yarn used, the parameters of the controller, instead of the inertia GD ² yarn beams, it is possible to set the winding diameter d as a variable .

[0020]

Embodiments of the present invention will be described below with reference to the drawings.

The tension control device 10 in the textile machine includes a tension setting device 11, a controller 20, and a control amplifier 15 (FIG. 1). However, in FIG. 1, the tension detector TD,
It is assumed that the winding diameter detector DB and the drive motor M respectively correspond to the devices having the same reference numerals in FIG.

The set tension To from the tension setter 11 and the tension T from the tension detector TD are input to the addition terminal and the subtraction terminal of the addition point 12, respectively, and the tension deviation ΔT from the addition point 12 = To-T is input to the controller 20. The torque command value Q from the controller 20 is
The corrected torque command value Q1 = Q + q via 3, 14
1 + q2 is input to the control amplifier 15, and the output of the control amplifier 15 is connected to the drive motor M.
The one addition terminal of each of the addition points 13 and 14 has a mechanical loss correction amount q from the compensators 16 and 17 shown in FIG.
1, the acceleration / deceleration correction amount q2 is input, and a field current proportional to the winding diameter d of the yarn beam B is applied to a field winding F of a drive motor M composed of a shunt DC motor via a field controller 18. Is supplied.

The controller 20 includes a plurality of controllers 21i (i = a, b... N) each having a PID element, and a controller 2
1i, a switching circuit 22 interposed on the output side, and a switching circuit 22
And a switching control circuit 23 for appropriately controlling the switching (see FIGS. 1 and 2). Each controller 21i includes a sub-controller 21i1 (i = a, b... N) having a P element, a sub-controller 21i2 (i = a, b.
A sub-controller 21i3 (i = a, b... N) having an element is connected in parallel, and a tension deviation ΔT from the summing point 12 is obtained.
Are branched and input to each controller 21i. On the other hand, the set tension To from the tension setter 11 and the winding diameter d of the yarn beam B from the winding diameter detector DB are branched and input to the switching control circuit 23, and the yarn sheet W to be wound around the yarn beam B is input to the switching control circuit 23. The yarn physical property SQ of the constituent yarn is input. However, the thread physical property SQ is, for example, via a data setting device (not shown),
Appropriate physical properties determined by the yarn to be set shall be given.

The switching control circuit 23 outputs a switching signal S1 to the switching circuit 22 based on the set tension To, the winding diameter d and the yarn physical property SQ.
The switching circuit 22 can switch and select one set of the plurality of controllers 21i according to the switching signal S1. Therefore, the sub-controllers 21 constituting each controller 21i
If i1, 21i2, and 21i3 are preliminarily set with appropriate control parameters as the P element, the I element, and the D element, respectively, the controller 20 is connected to the switching control circuit 23 and the switching circuit 22. , Set tension To,
The optimal control parameters can be selected and set using the winding diameter d and the yarn physical property SQ as variables. That is, the controller 2
0 means that even if the set tension To, the winding diameter d, and the yarn physical property SQ fluctuate, the torque command value Q can be calculated and output based on the optimal control parameters, and the best control state can be realized as a whole. be able to.

[0025]

Other Embodiments Various modifications of the controller 20 shown in FIGS. 1 and 2 are conceivable.

For example, switching circuit 22, switching control circuit 2
3 may be replaced by a multiplier 24 and a computing unit 25 (FIG. 3). However, the controller 20 shown in the figure has only one set of sub-controllers 21a1, 21a2 and 21a3. Arithmetic unit 2
5 inputs the set tension To, the winding diameter d, and the yarn physical property SQ, calculates a parameter correction amount m corresponding to these variables, and sends the parameter correction amount m to the multiplier 24. Therefore, the multiplier 24 can generate a torque command value Q corresponding to the set tension To, the winding diameter d, and the yarn physical property SQ by multiplying the output of the sub-controllers 21a1, 21a2, 21a3 by the parameter correction amount m. it can.

In FIG. 3, the multiplier 24 is interposed only on the output side of the sub-controller 21a1 having a P element (FIG. 4), and the output sides of the sub-controllers 21a2 and 21a3 are added. It can be connected to the output of the multiplier 24 via a point 24a. Set tension To, winding diameter d, yarn physical property SQ
Is valid only for the sub-controller 21a1, and the controller 20 can change only the proportional gain corresponding to the sub-controller 21a1 based on these variables. Vessels 21a2, 21a3
Can be kept constant. In general, when driving the yarn beam B with a large inertia, the integral gain for correcting the offset and the differential gain for coping with a steep disturbance achieve sufficiently practical tension control even if they are kept constant. Because you can.

The switching circuit 22 of FIG. 2 is divided and provided on the input side of each of the plurality of sub-controllers 21i1 and 21i2 (FIG. 5), and is provided on the output side of the sub-controllers 21i1 and 21i2. An adder 26 may be interposed. However, here,
The sub-controller 21i3 having a D element is omitted,
Each of the switching circuits 22 and 22 includes a sub-controller 21i1
, 21i2 by switching and selecting the controller 20.
Can be set. In FIG. 5, when the integration gain is kept constant, only one switching circuit 22 needs to be used (FIG. 6). Further, the plurality of sub-controllers 21i1 can be replaced with a combination of the arithmetic unit 25 and the multiplier 24 in FIG. 3 (FIG. 7).

On the other hand, the arithmetic unit 25 shown in FIGS. 4 and 7 focuses on only the proportional gain among the control parameters of the controller 20, and can be configured as shown in FIG. 8, for example.

In FIG. 8, the winding diameter d is input to an arithmetic unit 25a, and the weight ρ and the number n of yarns constituting the yarn sheet W per unit length are input to the arithmetic unit 25a. ing. The output of the arithmetic unit 25a is
b, and is connected to a multiplier 25f via a converter 25c. The inertia GD ² b of the wound beam used for the yarn beam B is also input to the addition point 25b. Also, the winding diameter d
Is also input to the converter 25c. On the other hand, the set tension To and the yarn physical property SQ are respectively calculated by the correction calculator 25d,
25e. The outputs of the correction calculators 25d and 25e are also connected to the multiplier 25f.
The output of f is output outside as a parameter correction amount m.

The calculator 25a is winding diameter d, the weight per unit length of the yarn constituting the yarn sheet W [rho, by inputting the number n, of the inertia GD ² yarn beam B, on the winding beam The inertia GD ² w of the yarn can be calculated. Therefore, the addition point 25b is determined by the inertia GD ² = GD ² w + G of the yarn beam B.
D ² b can be calculated, and the converter 25c calculates the parameter correction amount mg in proportion to GD ² / d ² by inputting the inertia GD ² and the winding diameter d from the combining point 25b. To the multiplier 25f.

On the other hand, the correction calculators 25d and 25e calculate the parameter correction amounts mt and ms based on the set tension To and the yarn physical property SQ, respectively, and output them to the multiplier 25f.
The multiplier 25f calculates the parameter correction amount m = mg · mt · m
s can be calculated and output to the outside. That is,
The parameter correction amount m at this time is proportional to GD ² / d ² . Also, the parameter correction amount mt,
It has been found that ms has a curve that uniformly decreases with an increase in the set tension To and increases uniformly with the elongation of the yarn indicated by the yarn physical property SQ.

A driving motor M for driving the yarn beam B
When the field winding F provide a constant field current, converted unit 25c in Fig. 8, instead of the GD ² / d ^2, may be calculated parameter correction amount mg proportional to GD ² / d . The same applies when the drive motor M is a variable speed motor other than the shunt DC motor. Also, in FIG. 8, the arithmetic units 25a,
Converter 25 which deletes addition point 25b and inputs winding diameter d
The parameter correction amount mg may be calculated only by c. The converter 25c at this time is GD ² / d ² or G
Instead of the parameter correction amount mg proportional to D ² / d, the parameter correction amount mg can be calculated using the winding diameter d as a variable, and the proportional gain of the controller 20 can be set.

The set tension To which is inputted to the switching control circuit 23 shown in FIGS. 1 and 2 and the calculator 25 shown in FIGS. 3, 4 and 7 is set.
, The winding diameter d, and the yarn physical property SQ
One or both of the persons may be used. That is, the controller 20 sets the inertia GD ^{2 of the} yarn beam B only for the set tension To.
Or, the control parameters are optimally set using only the winding diameter d as a variable, or a combination of these as a variable, or a variable obtained by adding the yarn physical property SQ to these variables.
Can be activated.

The present invention can be applied to not only a winding device such as a warp sizing machine or a beam rewinding machine but also a delivery device of the same type of textile machine.

[0036]

As described above, according to the present invention, the control parameters of the controller are set by using the set tension and at least one of the inertia and the winding diameter of the yarn beam as variables. Can be operated with the optimal control parameters even if the set tension of the thread sheet to be controlled or the winding diameter of the thread beam fluctuates and the control characteristics fluctuate greatly. There is an excellent effect that the tension fluctuation can be suppressed to a minimum without the possibility of occurrence of tension.

[Brief description of the drawings]

FIG. 1 is a block diagram of the overall configuration

FIG. 2 is a detailed block diagram of a main part of FIG. 1;

FIG. 3 is a diagram (1) corresponding to FIG. 2, showing another embodiment.

FIG. 4 is a view (2) corresponding to FIG. 2, showing another embodiment.

FIG. 5 is a diagram (3) corresponding to FIG. 2, showing another embodiment.

FIG. 6 is a diagram (4) corresponding to FIG. 2, showing another embodiment.

FIG. 7 is a view (5) corresponding to FIG. 2, showing another embodiment.

FIG. 8 is a detailed block diagram of a main part showing another embodiment.

FIG. 9 is an explanatory diagram of an entire block system showing a conventional technique.

[Explanation of symbols]

M: drive motor B: thread beam GD ² ... inertia d: winding diameter T: tension To: set tension SQ: thread physical property Q: torque command value 10: tension control device 15: control amplifier 20: controller

Claims (5)

[Claims] A controller for calculating a torque command value based on a tension deviation; and a control amplifier for driving and controlling a yarn beam driving drive motor based on the torque command value from the controller. A tension control device for a textile machine, wherein the control parameter is set using one or both of a set tension and an inertia of a yarn beam as variables. 2. The tension control device for a textile machine according to claim 1, wherein the controller adds a yarn property to a variable. 3. The controller controls the inertia of the yarn beam as G
D ^2, when the winding diameter of the yarn beam is d, the tension control device in the textile machine according to claim 1 or claim 2, wherein the setting the proportional gain proportional to GD ² / d ^2. 4. The controller controls the inertia of the yarn beam as G
3. A proportional gain which is proportional to GD ² / d, where D ² is d and the winding diameter of the yarn beam is d.
Or a tension control device for a textile machine according to claim 2. 5. The tension control device for a textile machine according to claim 1, wherein the controller uses the winding diameter of the yarn beam as a variable instead of the inertia of the yarn beam.