JPS60184421A - Lapper roll control device - Google Patents

Abstract

PURPOSE:To obtain a titled device for increasing stably a response speed of a hydraulic servo-system by constituting it so that a signal corresponding a speed or an acceleration of a lapper roll is fetched and brought to a negative feedback by a model which has simulated characteristics of a lapper roll machine system. CONSTITUTION:An angle X of a turning arm of a lapper roll of a lapper roll machine 15 is detected by a detector 17, and from its signal X' and a position set value (a), a deviation signal (b) derived by an adder and subtracter 11 is transmitted to a servo-valve 13. By this signal (b), the turning arm of the lapper roll machine system 15 is operated through a hydraulic cylinder 14, and the position of the lapper roll or the pressing force is controlled. Also, a servo-current (c) obtained by amplifying said deviation signal (b) by an amplifier 12, and a turning arm angle detected value X' are inputted to a model 20 which has simulated characteristics of the lapper roll machine system 15 by an electronic circuit, etc., and from in its model, an estimated speed or an acceleration signal of the lapper roll is fetched, and signals (p), (q) which have passed through coefficient multipliers 18, 19 are fed back to said adder and subtracter 11. In this way, the apparent rigidity of the machine system 15 is raised.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a wrapper roll control device in an uncoiler, and more particularly to a hydraulically actuated wrapper roll control device.

Generally, in a down coiler, a wrapper roll presses the strip against the mandrel until the strip is fully wrapped around the mandrel. At this time, in order to prevent the wrapper roll from colliding with the step formed by overlapping the second and subsequent strips at the tip of the strip and causing scratches on the strip, a step is installed to control the position of the wrapper roll. Avoidance control has been put into practical use.

The outline of the wrapper roll mechanical system is shown in Figure 1.
1 is a mandrel around which the strip S is wound, 2 is a wrapper roll that presses the strip S, 3 is a rotating arm that supports the wrapper roll 2, and 4 is pivotally connected to the tip of the rotating arm 3 and is supplied to the hydraulic cylinder body 5. This is a piston rod that moves back and forth using fluid.

A model of the wrapper roll mechanical system in Fig. 1 is shown in Fig. 2. In the figure, 6 is the inertia of the wrapper roll including the wrapper roll 2 and rotating arm 3, etc., and 7 is the inertia of the hydraulic cylinder. The fluid spring component, K, is the fluid spring constant of the hydraulic cylinder.

An example of the configuration of a conventional control device for controlling the wrapper roll is shown in FIG. A servo amplifier 12 and a servo valve 13 are arranged in series, and the servo valve 13 is connected to a hydraulic cylinder 14 (consisting of a piston rod 4 and a hydraulic cylinder main body 5 in FIG. 1), and is rotated by the hydraulic cylinder 14. The arm 3 is configured to rotate the wrapper roll mechanical system 15 such as the wrapper roll 2. Additionally, an acceleration detector 16 is attached to the rotating arm 3 of the wrapper roll mechanical system 15, and the signal is sent to the adder/subtractor 11.
Further, an angle detector 17 attached to a shaft to which the rotating arm 3 is fixed is connected to the adder/subtractor 11. 18 is a coefficient multiplier.

Incidentally, in recent years, as rolling speeds have increased, high-speed winding has been required.

To deal with this, it is necessary to increase the response of the wrapper roll 2, and in order to obtain a high response, the characteristics of the servo valve 13 and the responsiveness of various sensors such as the acceleration detector 16 and the angle detector 17 must be good. is an absolutely necessary condition, but it is also necessary that the natural frequency ω of the wrapper roll mechanical system 15 be high.

However, the servo valve 13 and sensors have already achieved the required response speed, and what is ultimately limiting the improvement of the current response speed (approximately 0.04 seconds in step response) is the wrapper roll mechanical system. The natural frequency ω is 15.

Therefore, in actual machines, consideration has been given to increasing the inertia by reducing the weight of movable parts (rotating arms, wrapper rolls, etc.) as much as possible, but there is a limit to the lower limit of the weight due to strength reasons, so it is necessary to increase the rigidity. Since there is a limit to increasing the cylinder size due to the size of the hydraulic pressure source, there is a limit to mechanically increasing the natural frequency.

In addition, damping characteristics are cited as a factor that determines the quality of response, and if sufficient Ii1 damping saturation performance is not achieved, fi8
The response speed is also restricted by the attenuation characteristics.

The purpose of the present invention is to increase the apparent rigidity of the mechanical system through control and to strengthen the damping performance, so that the wrapper roll m4
Increase the natural frequency of the iA system.

The objective is to stably improve the response speed of the hydraulic servo system, and in a wrapper roll control device that controls the wrapper roll position or wrapper roll pressing force using a hydraulic cylinder, the characteristics of the wrapper roll mechanical system are controlled by an electronic circuit or computer software. A model simulated by the above method is created, at least one of the signals corresponding to the speed and acceleration of the wrapper roll is extracted from the model, and the signal is fed back together with the displacement signal of the wrapper roll for control. That is.

Hereinafter, the present invention will be described in detail with reference to the drawings.

FIG. 4 shows an embodiment of the present invention. In this embodiment, a model 2o is provided in which the characteristics of the wrapper roll mechanical system 15 are simulated by an electronic circuit, etc., and the model 2o is equipped with an actual servo amplifier 12 and an angle detector. 17, and furthermore, the estimated speed signal ♀ and the estimated acceleration signal ♀ extracted from the model 20.
is caused to recur through coefficient multipliers 18 and 19.

Note that the same reference numerals as in FIG. 3 indicate the same parts.

In the present invention, in addition to the conventional control system, the rotation speed of the rotation arm 3 is calculated using a model 20, and the estimated speed signal 7 obtained by this calculation is sent to the coefficient multiplier 19 to obtain a set coefficient. The adder/subtracter 11 adds and subtracts the signal p, the position setting value a, and the detected value x' of the angle X of the rotating arm. The obtained deviation signal S is applied to the servo amplifier 12 and sent as a servo current C to the servo valve 13, and the rigidity of the rotating arm 3 of the wrapper roll mechanical system 15 is improved as if by the fluid sent from a hydraulic circuit (not shown). The rotating arm 3 is rotated as shown in FIG.

Further, the estimated speed signal q calculated by the model 20 is sent to the coefficient multiplier 18 and multiplied by a certain coefficient, and the signal q is fed back to the adder/subtractor 11. As a result, the rotating arm 3
Damping is applied to the movement of

Acceleration is 1 due to speed (rotation speed of rotating arm 3),
It is generally known that velocity has a phase lead of 90 degrees relative to position.

The above-mentioned signal p is fed back to the adder/subtractor 11,
q is delayed by 90 degrees f phases due to the integral characteristic of the hydraulic cylinder 14, and is equivalent to the feedback of the speed signal and displacement signal. That is, when the wrapper roll inertia moves in the model of the wrapper roll mechanical system shown in FIG. 2, the wrapper roll inertia receives a reaction force from the spring 7 in proportion to the amount of deflection; Since the signal p obtained by multiplying the speed signal 9 by a certain coefficient is fed back to the servo amplifier 12, when this acts on the wrapper roll inertia, it becomes a signal equivalent to a constant product force due to the integral action of the hydraulic cylinder 14, and the actual rotation occurs. The reaction force created by the speed feedback is added to the spring force acting on the wrapper roll inertia for the distance the arm 3 has moved. Since the rotation angle X of the rotation arm 3 is maintained sequentially as the strip becomes thicker according to the set value a, the wrapper roll mechanical system 15 ends up becoming higher due to oversight, and the signal delay in this part is small. Become.

Furthermore, when a signal q obtained by multiplying the estimated acceleration signal by a certain coefficient is fed back to the servo amplifier 12, the signal q becomes a signal corresponding to the speed due to the integral action of the hydraulic cylinder, and acts as a viscous drag proportional to the speed, causing damping. Functionality will be enhanced.

As a result, the rigidity is increased and the damping function is strengthened, making it possible to increase the response speed of the control system.

Incidentally, arbitrary stiffness and damping characteristics can be set by appropriately changing the coefficient multiplied by the coefficient multipliers 18 and 19.

Next, the above-mentioned model 20 will be explained with reference to a block diagram showing a wrapper roll position side control system shown in FIG.

In the figure, the part indicated by the two-dot chain line is the model 20, 24 is a block representing the cylinder 14 in FIG. 4, and 25 surrounded by the dotted line is a block representing the wrapper roll mechanical system in FIG. 4.

When the cylinder 24 operates, acceleration α, velocity V, and displacement X are generated in the wrapper roll mechanical system 25, and the displacement X is detected by the angle detector 17 in FIG. 4, which is a displacement meter.

In addition, 18.19 is used for velocity feedback gain Kv and acceleration feedback, and 26 is used for position control gain Kv.
. It is. 27.28 is a coefficient J determined by the specifications of the wrapper roll mechanical system, which is set in advance. Furthermore, 29.30.31 is a feedback gain g, , A, , g, , 32 , to bring the model state closer to the actual machine.
33 and 34 indicate integrators. The servo electric fMc of the actual machine is input to the model 20, and is converted into a signal corresponding to the displacement of the cylinder system 24 by a coefficient calculator 27 and an integrator 32.
Furthermore, the signal is multiplied by a coefficient Kf by a coefficient multiplier 28, thereby converting it into an estimated speed signal corresponding to the acceleration of the wrapper roll mechanical system 25.

This estimated velocity signal (ma) is sequentially integrated into an estimated velocity signal (ma) and an estimated displacement signal (ma). is obtained. This estimated displacement signal X is compared with the displacement signal X' from the angle detector 18 and, depending on the deviation, is passed through the integrators 32, 33.

Each coefficient before 34! ! , , g*, n are multiplied and fed back to compensate for the estimated acceleration signal and the estimated speed signal ♀ to be consistent with the actual ones.

In this way, the estimated acceleration signal and the estimated speed signal ♀ are extracted from the model 20, multiplied by the coefficients xv, and fed back to perform the above-described control.

As described above, according to the present invention, signals corresponding to acceleration and velocity can be obtained without using an accelerometer or a speedometer.

It should be noted that the present invention is not limited only to the above-mentioned embodiments, and it goes without saying that various changes can be made without departing from the gist of the present invention.

According to the wrapper roll control device of the present invention, there is no need to make the shaft or hydraulic cylinder on which the rotating arm is attached unnecessarily thick in order to improve control response speed, and the inertia can be determined only from the viewpoint of strength. This eliminates design constraints and reduces costs. Moreover, it is possible to obtain the signals necessary for control without installing an acceleration detector or speed detector in a line with poor ambient air, which improves the reliability and maintainability of the equipment and reduces costs. , etc. can be obtained.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram showing the outline of the wrapper roll mechanical system, Fig. 2 is a modeled diagram of the wrapper roll mechanical system of Fig. 1, Fig. 3 is an explanatory diagram of a conventional wrapper roll control device, and Fig. 4 and FIG. 5 are explanatory diagrams of an embodiment of the wrapper roll control device of the present invention. 2 is a wrapper roll, 3 is a rotating arm, 6 is a wrapper roll inertia, 7 is a spring, 14 is a hydraulic cylinder, 15 is a wrapper roll mechanical system, 17 is an angle detector, 20 is a model,
Clouds indicate estimated acceleration signals, and ♀ indicates assumed velocity signals. (11) 19n-

Claims (1)

[Claims] 1) In a wrapper roll control device that controls the wrapper roll position or wrapper roll pressing force using a hydraulic cylinder, a model is provided that simulates the characteristics of the wrapper roll mechanical system using an electronic circuit, etc., and from this model, the wrapper roll speed, A wrapper roll control device characterized in that it is configured to extract at least one of the signals corresponding to acceleration and provide negative feedback.