JPS62280154A - Tension control device for restraining variation in tension - Google Patents

Abstract

PURPOSE:To prevent a web-like material from being damaged, by estimating a proportion- integration correcting value to be delivered after shift into a steady-state condition, when the web-like material stretched between two rolls, to be controlled in its tension and speed, is accelerated or decelerated. CONSTITUTION:A tension control section 2 drives a motor 3 to control the tension of a web- like material in accordance with a speed instruction 16 delivered from a linear acceleration and deceleration unit 1. Further, a detector 4 detects the speed of the web-like material and delivers a feed-back signal to the tension control section 2. Further, a drive roll 10 is driven by means of a speed control section 5 and a motor 6 in accordance with an instruction from the linear acceleration and deceleration unit 1 in order to convey the web-like material 12. Further, a tension detector 11 delivers a feed-back signal to the tension control section 2. When the linear acceleration and deceleration unit 1 delivers an acceleration signal 24, a deceleration signal 25 and acceleration and deceleration rate signal 26 to a control section 8 for restraining variations in tension, the control section 8 calculates an integration correcting value to be delivered after shift into a steady-state condition, and delivers a tension correcting signal 22 and a speed correcting signal 23. With this arrangement, it is possible to prevent the web-like material 12 from wrinkling and being broken.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a tension control system for processing equipment for strip-shaped materials such as metal plates, paper, films, etc. The present invention relates to a tension control method for suppressing tension fluctuations at the time of starting, completing, or changing acceleration/deceleration rates during line acceleration/deceleration.

[Conventional technology]

In conventional processing equipment for this type of strip material, the speed control and tension control of each drive roll is performed by proportional-integral control (pH control) in order to make the steady-state deviation zero. This pr
In control, since the integral control amount changes slowly during transient fluctuations, this integral side'a view actually becomes a disturbance. Therefore, P.I.
When tension is corrected by control at the start and end of line acceleration/deceleration, or when the acceleration/deceleration rate is changed during acceleration/deceleration, wrinkles or cuts may appear in the strip material due to tension fluctuations due to a delay in the change in integral control amount, which may impair the quality of the product. The problem was that it had a negative impact.

[Problem that the invention seeks to solve]

In PI control, correction of steady-state deviation is performed by integral control. Therefore, when the control state changes due to line acceleration or deceleration, etc., the correction amount accumulated in the integrator does not change easily due to the influence of the integration time constant, and on the contrary, this integral correction amount becomes a disturbance during tension control. There was a drawback that tension fluctuations occurred.

In order to solve this problem, a method using 8-character acceleration/deceleration has been adopted in the past as well.

That is, the figure-8 acceleration/deceleration is a line acceleration/deceleration method that makes the rate of change of the speed command continuous and smoothes the start and end points of speed change. However, in the case of this method, the acceleration/deceleration time becomes longer by the time between the start and end portion (S-shaped portion) of the speed change. Furthermore, the figure-8 acceleration/deceleration calculation is more complicated than the linear acceleration/deceleration calculation.

The present invention has been made in view of such conventional problems, and an object of the present invention is to quickly suppress tension fluctuations when line acceleration/deceleration is started, when line acceleration/deceleration is completed, or when acceleration/deceleration rate is changed during acceleration/deceleration. do.

[Means for solving problems]

To achieve this objective, the tension control method of the present invention includes a tension control section and a first roll driven by a first electric motor, and a speed control section and a second roll driven by a second electric motor. Strip-shaped material processing in which the rolls are connected by a strip-shaped material, each roll is accelerated or decelerated at the same time by a linear accelerator/deceleration, and the speed of the second drive roll is controlled, and the tension of the first drive roll is controlled or vice versa. In equipment, when an acceleration/deceleration command is issued from a linear accelerator/decelerator, the integral correction amount of the proportional-integral control unit that should be output by the tension control unit and speed control unit after transition to a steady state is calculated from the tension control unit and speed control unit. The estimated amount is determined based on the signal, and is set in the integrators of the speed control section and tension control section in a feedforward manner at the same time as the line acceleration/deceleration start or completion signal or the acceleration/deceleration rate change signal during acceleration/deceleration. It is characterized by suppressing tension fluctuations at the time of starting or completing line acceleration or deceleration, or when changing the acceleration/deceleration rate during acceleration or deceleration.

[Effect]

FIG. 1 is a control configuration diagram of the present invention. From the tension-controlled system, torque command T+, speed deviation Δvl+, and tension deviation ΔF are detected. A torque command T2 is detected from the speed controlled system. In addition, the acceleration/deceleration torque due to inertia required for each machine due to the acceleration/deceleration rate of the line is C
Since D'' is known, it can be calculated using the acceleration/deceleration rate signal 26. Also, the linear acceleration/deceleration starts line acceleration/deceleration.

The completion signal and the line acceleration/deceleration rate are given to the tension fluctuation suppression control section. It is detected that the line control state is in a steady state because the tension deviation ΔF is sufficiently small, and at the same time a line acceleration/deceleration start, completion signal, or change in acceleration/deceleration rate during acceleration/deceleration is generated, each drive device The integral correction amount of the PI control section of each control system in the next steady state is determined from the detected signal and acceleration/deceleration torque, and this estimated value is applied to each P control of the tension control section and speed control section. Set the 4H integrator only once with a pulse signal.

In other words, the integral correction amount of each PI control unit in the next steady state is estimated, and this estimated amount is actively sent to the integrator at the same time as the line acceleration/deceleration starts, completes, or changes the acceleration/deceleration rate during acceleration/deceleration. ) Therefore, if the estimated amount is correct, it is possible to reduce the tension fluctuation to almost zero when acceleration/deceleration is started or completed or when the acceleration/deceleration rate is changed during acceleration/deceleration.

〔Example〕

Hereinafter, the present invention will be specifically described based on embodiments shown in the drawings.

FIG. 2 shows a typical embodiment.

In the tension control system, the human power applied to the tension fluctuation suppressing unit 8 is: ■ Output 45 of the speed control unit 33 (Torque 7-force Tl) ■ Speed deviation output 44 (Δv+) ■ Tension deviation output 42 (ΔF+) In the speed control system, (2) Output 46 (torque command Tz) of the speed control section 35.

Signals 47 and 48 indicate the start and completion of line acceleration/deceleration. When changing the acceleration/deceleration rate of u% & Yo acceleration/deceleration, PI control unit 32°35
This is the signal set to the integrator in the above timing.
It is set only once.

■) When starting line acceleration/deceleration from steady operation at a constant speed, (Δv1-Δvatx) ・K t-T + + C
dv / d L]: Meeting... (11 (Δv, -Δv
Ata)4z=T+ [dv/dtl lightning, -fil'
ΔTas* −Tz” [dv/dt]::: ・
・−・・−−−−−(21ΔT□ −T8− [dv/
d[]:=: ・・・・・・・・・・(2) ′ΔF
-40・・・・・・・・・・・・(3) ΔV, 4110
・・・・・・・・・・・・(4)ΔV
ary: ATRTa205 divider output ΔV^ro:
Integrator output of ASR section 35 [dv/dL]: Absolute value of acceleration bone torque of tension control system [dv/dt]",",::
Absolute value of deceleration bone torque of tension control system [dv/dt]7-
: Absolute value of acceleration bone torque of speed control system [dv/at]
:S: 'Absolute deceleration bone torque of speed control system (directly, +
11. +21 formula is acceleration, +1) ', +2)
'Equations each represent deceleration, all units are CP, 11.
).

Therefore, the integrator set value is ΔyA,, m
Δv+-L-(Tt-[dv/dtl lightning)-・+51
': ΔTAsm: +2), +2) ' is given in the same way as the formula.

(2) When entering constant speed operation from a steady state during constant acceleration/deceleration, ΔVA? 1"Δ■+' (Tt +[dv/dt]
Lightning) ,,,, (at 61'! ΔTA!11-Tz [dv/dt]::: -
---・-・-(71ΔTA311 “Tz” [d
Shift dt] DE: ・・・・・・・・・・・・
(7)' (However, +61. +71 formula indicates completion of acceleration,
+61' and fi+' expressions respectively represent the completion of deceleration.

(3) Immediate deceleration operation from a steady state during constant acceleration.

Or, when accelerating operation immediately starts from a steady state during constant deceleration, Δ V Al1− Δ v + ” (Tt− [
, dv/dt] 7: [dv/dt 7) g ・・・・・・・・・・(8) Δ V ATR−Δ V, −1(τ, +[dv/dt ko::: + [:dv/dtl:Er:)K.

・・・・・・・・・・・・(8)′ Δ”As5-Tx [dv/dtl:::-[d
v/dt]', :', +・・+・'to)ΔV a
ss-Tt + [dv/dt]::: +[dv/d
t]: tJ knee - (9 Bi (however, (81, (Equation 91 represents the case from acceleration to deceleration, +81', Equation (9)' represents the case from deceleration to acceleration).

(4) When changing the acceleration/deceleration rate from a steady state during constant acceleration/deceleration AVA? 11” Δ v +−g, (Tu[dV/
dt]:::” [dv/dt] thunder)...
・・・・OI Δ V ATII−Δ V , −Sat (Tt−[dv/d
tko:::”+[dv/dtkoni;Onio・・・・・・・αQ′ Δ'V ass ” T z ” [dv/dtl7:
”-[dv/dtl:::・”'αυΔ VA31-T
t [dv/dt]:::”+[:dv/dt]:
::・---αD ′ (However, the fl Kai Qυ formula changes the acceleration rate, (II'.

Q9' indicates a change in deceleration rate. ) [dv/d
tl:::” 'Absolute value of acceleration bone torque of tension control system after changing acceleration rate [, dv/dtl:::', Absolute value of deceleration bone torque of tension control system after changing deceleration rate cdv/dtl::: ”; Absolute value of acceleration bone torque of the speed control system after changing the acceleration rate [d, v/dt]:::X, given by the absolute value of the deceleration bone torque of the speed control system after changing the deceleration rate.

Therefore, by considering the acceleration/deceleration torque from the current torque command, the next steady-state torque command can be estimated, and the output of each PI control part integrator at this time can be calculated. however,
This correction becomes effective when equation (3) holds true, and it is necessary to interlock equation (3). In this sense, the tension fluctuation suppressing device 8 has a signal 42 (Δ
F,) is required.

The use of these estimation formulas is done using the status signal 24.25 output from the linear accelerator/deceleration 1 and the acceleration/deceleration rate signal 26.The content of the signal 24.25 may be the signal shown in FIG. It will be equivalent to

From the above, with the rising and falling signals of the signals 24 and 25 and the acceleration/deceleration rate signal 26, the above (21, (21')
.

Using equations (5) to αυ', calculate the set value of the integrator in the P[tli control of each control section, and enter this value into the integrator only once. As a result, the integrator output during pr control in the steady state in the next mode is immediately set, so problems caused by a delay in change due to the integration time of the integrator are eliminated, and tension fluctuations can be suppressed. All of these arithmetic circuits and control circuits are constructed of digital circuits. In addition, input information from each control system ("r,,
ΔF+, Δv,.

Since Tz) actually varies, a value smoothed using a moving average method or the like is used.

FIG. 4 shows another embodiment. This FIG. 4 is an example of a configuration in which the tension control system does not have speed minor control and the elongation of the material can be almost ignored. For the tension control system, the acceleration/deceleration torque is given by the signal 56, and the influence of the speed command and the actual speed deviation Δv1 of the roll 9 on the torque can be almost ignored, so tension fluctuations on the tension control system are suppressed. signal is not required. The tension fluctuation suppression signal is applied only to the speed control system side.

FIG. 5 shows an example of a configuration in which the tension control system does not have speed minor control and the elongation of the material cannot be ignored. in this case,
It is necessary to determine the peripheral speed difference between roll 9 and roll IO due to elongation of the material, ie, ΔV in FIG. 2. This is because the acceleration/deceleration torque is given by the signal 56, but it is given by a torque corresponding to the line acceleration/deceleration rate. Therefore, the correction signal 43 of the tension control system and the tension torque command 57
When the line acceleration/deceleration is performed by cutting the rotation speed, assuming that there is no mechanical loss, the circumferential speeds of the rolls 9 and 10 are the same during steady acceleration/deceleration. Furthermore, it is generally believed that the tension generation mechanism is caused by the difference in circumferential speed between the rolls at both ends of the material. Therefore, in the tension control system as shown in FIG. 5, the tension control unit 32 corrects the state in which the difference in circumferential speed between rolls disappears due to acceleration/deceleration torque, thereby generating a difference in circumferential speed between rolls and adjusting the set tension. This means that the This correction amount ΔTct is expressed by the following equation.

ΔT (true; -ΔV voltage・[dv/dt] AT11...
......(Ushi) Here, the units are CP, tl, ].

Further, ΔV is estimated as follows when the circumferential speed of the shaft of the roll 9 cannot be detected. The tension generation mechanism can generally be modeled as a first-order lag, and the relationship between the circumferential speed difference of each roll and tension is E - S / V · Δy w F in a steady state.
・・・・・・・・・α Here, E: Young's modulus (kir/WjA") S: Material cross-sectional area [f12] ■: Material speed (m/5ee) ΔV: Roll circumferential speed difference (m /5ec) F: Generated tension [k'']. Therefore, if the circumferential speed of the roll 10 and the speed command generator 1 match, Δv, -Δv/vl.

Therefore, from α12, Δv, -Δv/V100-F/ES・V/V+o.

・・・・・・・・・Auto・・・・・・Round (where ■,.: Rated line speed (m/5ec))
So, F, E, S, V, V. . Since all of the values are known, Δv1 can be determined by calculation.

In this way, the value set to the integrator at the time of starting or completing line acceleration/deceleration or changing the acceleration/deceleration rate during acceleration/deceleration in this case is given by the following equation.

■ At the start of acceleration Δ TATI −Δ Tt + Δ v+ ・
[dv/dtconi;:ΔTa s m −T z ”
[d V / d t ] :: m■ At the end of acceleration ΔTATI −Δ T, −Δ v I ・[d
v/dt Konikai ΔTAs* -Tt [dv/dt]
:::■ At the start of deceleration ΔTATl −aTl −Δ v , ・[dv
/dt Xtr:ΔThs* −Tz −[dv/dt
]:::■ At the end of deceleration ΔTATK −Δ T1 + Δ V + ・
[:dv/dtko:CucoΔTas* −Tt +
[dv/dtconi=: ■ Deceleration from acceleration Δ T aTl−ΔT, −Δ V + ・([dV/d
tco::: +[dV/dtconi;:)Δ Tas++
=Tz ([dv/dtcony [dv/dtco:::)■ Acceleration from deceleration Δ T A,” Δ T1 + Δ v + ・(
[dv/dtco::: + [:(By/dj]4y*
) Δ T ass −T ! + ([dv/dt]:
:: + [dv/dt:::) ■ During acceleration, change the acceleration rate ΔTAT increase ΔTl+ ([dv/dt]:::”-[d
v/dtl7:)ΔT as++ = T! + (
[dv/dt AC:X [dv/dt14(
(＞■ During deceleration, change the deceleration rate Δ T kT@−Δ T+ ([dv/dt:
::X [:dv/dt]:::)ΔT A3
1-Tz-([dv/dtco:::”+[
dv/dt:::) Here, ΔTAfl: Output of the integrator in the tension control system ATR section 32 ΔT,: Output of the tension control system ATR section 32 [Effects of the Invention] As described above, according to the present invention, Even if the line is accelerated or decelerated, tension fluctuations can be suppressed, so wrinkles and cuts can be prevented from occurring in the product, and the quality of the product can be ensured. In addition, tension fluctuations can be suppressed, so
It eliminates the need for figure-8 acceleration/deceleration, shortens acceleration/deceleration time, increases productivity, and makes speed adjustment easier than with figure-8 acceleration/deceleration.

Furthermore, it is possible to respond to changes in the acceleration/deceleration rate of the line, thereby improving operability.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing the basic configuration of the present invention, Fig. 2 is a block diagram showing an embodiment of the invention, and Fig. 3 shows the state of the line acceleration/deceleration start or completion signal in the embodiment of Fig. 2. The explanatory drawings, FIGS. 4 and 5 are block diagrams showing other examples of the present invention. 1: Linear accelerator/decelerator 2: Tension control unit 3.6: Electric motor 4.7 = Speed detector 5: Speed control unit 8: Tension fluctuation suppression control unit 9.10: Drive roll 11: Tension detector 12: Material 16 : Speed command 17: Tension detection signal 18.19
: Speed detection signal 20: Detection signal from tension control section 21: Detection signal from speed control section 22.23: Integral correction amount cent value signal 24 2-line acceleration signal 25 2-line deceleration signal 26: Acceleration/deceleration rate signal 31: Tension setting Device 32: Tension controller 33.35:
Speed control section 34, 36: Power conversion section 41: Tension command 42: Tension deviation 43: Tension control correction output 44; Speed deviation 45.46: ) Luk command 47
．． 48: Tension fluctuation suppression signal 51: Roll entry side tension setting section 52: Tension-torque conversion section 53: Acceleration/deceleration torque calculation section 55: Speed change rate signal 56: Acceleration/deceleration torque command 57:
Tension torque command

Claims (1)

[Claims] 1. A first roll driven by a tension control unit and a first electric motor and a second roll driven by a speed control unit and a second electric motor are connected by a band-shaped material. , in strip material processing equipment in which each roll is accelerated or decelerated all at once by a linear accelerator/decelerator, the speed of the second drive roll is controlled, the tension of the first drive roll is controlled, or vice versa. When an acceleration/deceleration command is issued from the controller, the integral correction amount of the proportional-integral control unit to be outputted by the tension control unit and the speed control unit after transition to a steady state is estimated based on the signals from the tension control unit and the speed control unit, At the same time as the line acceleration/deceleration start and completion signal or the acceleration/deceleration rate change signal during acceleration/deceleration, the estimated amount is set in the integrators of the speed control section and the tension control section in a feedforward manner, and when the line acceleration/deceleration starts, A tension control method for suppressing tension fluctuations, characterized by suppressing tension fluctuations when changing acceleration/deceleration rates at the time of completion or during acceleration/deceleration.