KR20020006573A - Motor control system for individual-spindle-drive type textile machine - Google Patents

Abstract

PURPOSE: To eliminate the necessity for memory backup functions of each set point for controlling a motor in plural motor controllers for individually controlling the driving motor for each spindle. CONSTITUTION: Each driving motor 2 is individually controlled with each motor controller 30 which is commonly controlled with a master controller 40. A microcomputer 41 of the master controller 40 is provided with a memory 43 always holding the set point and the master controller 40 transmits the set point in the memory 43 to each motor controller 30 and stores the set point in a memory 33 of a microcompter 31 during the starting of the master controller 40 and when the master controller 40 receives a reset occurrence signal of a CPU 32 from each motor controller 30.

Description

Motor control system for button driven textile machines {MOTOR CONTROL SYSTEM FOR INDIVIDUAL-SPINDLE-DRIVE TYPE TEXTILE MACHINE}

The present invention relates to a motor control system for a button driven textile machine provided with a drive motor for each weight and provided with a plurality of motor control devices for individually controlling each of these drive motors.

Background Art Conventionally, button-driven fiber machines, such as button-driven multi-twist machines, are provided with a dedicated drive motor for each weight of a plurality of weights. In the twisting machine of such a structure, since the rotational speed (rotation speed) of each drive motor affects the quality of a twisting yarn, the motor control apparatus is provided for every weight or every weight. Each of these motor controllers accurately monitors the rotational speed of each drive motor, and each motor controller optimizes each drive motor based on a set value such as a target rotational speed or a control gain instructed by the central controller. To control.

The motor control setting values used by the above motor control apparatuses are stored in the memory of each motor control apparatus, respectively. In addition, since the setting value is changed by a command from the central control device in accordance with the type of yarn to be manufactured, a change in the contents of the memory is also required. For this reason, an expensive EEPROM, for example, is required for each motor control device as a memory that can be changed and has a backup function such as in case of power failure or shear failure. In particular, in textile machines such as button-driven multi-twist machines having a large number of weights, a large number of motor control apparatuses are provided in accordance with a plurality of drive motors, so that the equipment cost of the whole machine is considerable.

Therefore, the present invention can eliminate the memory backup function of the motor control setting values in a plurality of motor control apparatuses, and also improve the reliability by simplifying the overall system configuration and improving the reliability of the motor control system of the button driven textile machine. The purpose is to provide.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic front view of a twisting machine in an embodiment in which the present invention is applied to a motor control system of a button driven multi-twisting machine.

FIG. 2 is a schematic cross-sectional view of the twisting machine taken by line II-II of FIG. 1.

Fig. 3 is a block diagram of a motor control system in the twisting machine.

4 is a flowchart of the set value transmission process at the time of startup of the master control apparatus of the system.

5 is a flowchart of a set value transmission process at the time of CPU reset of the motor control apparatus of the system.

6 is a flowchart of abnormal information processing of the system.

7 is a flowchart of setting value changing processing of the system.

(Explanation of the sign)

2: driving motor 30: motor control device

31: microcomputer 32: CPU

33: memory 34: communication interface

35: inverter circuit 40: master controller

41: microcomputer 42: CPU

43: memory 44, 45: communication interface

46: multiplexer 47: I / O interface

50: host computer La, Lb: serial communication line

The motor control system according to claim 1, which achieves the above object, has a drive motor for each weight, and in the motor control system of a button driven textile machine provided with a plurality of motor control devices for individually controlling each of these drive motors. And a master control device for controlling and controlling the plurality of motor control devices in common, and the master control device has a set value holding means for always maintaining the set values for motor control used by the respective motor control devices. When the control device is started and / or when the master control device receives a predetermined signal from each of the motor control devices, the motor control device stores the setting values held by the master control device in the set value holding means. To transmit.

In this claim 1, the master control device common to each motor control device always maintains the motor control setting value, and the master control device transmits the setting value to each motor control device. There is no need to implement the memory backup function.

Further, in the motor control system according to claim 2, the master control apparatus checks the parameter version in agreement with each of the motor control apparatuses before transmitting the set value. The setting value is transmitted later.

In this claim 2, since the set value is transmitted after confirming the coincidence of the parameter versions, malfunction of the motor control due to parameter incompatibility is prevented.

The motor control system according to claim 3 transmits the abnormality information to the master control device when an abnormality occurs in each of the motor control devices according to claim 1 or 2, and the master control device transmits the respective motors. An abnormality information holding means for always holding abnormality information received from a control apparatus is provided.

According to claim 3, since the master control device common to each motor control device always maintains the abnormality information of each motor control device, each motor control is performed without setting the memory backup function of the abnormality information to each motor control device. Abnormal history of the device is identified.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment which applied this invention to the motor control system of a button drive type multiple twister is demonstrated with reference to drawings. Fig. 1 is a schematic front view of a twisting machine, Fig. 2 is a schematic cross-sectional view taken along line II-II of Fig. 1, Fig. 3 is a block diagram of a motor control system, Fig. 4 is a set value transmission process when starting the master control device. 5 is a flowchart of the set value transmission process at the time of CPU reset of the motor control apparatus, and FIG. 6 is a flowchart of the abnormality information process and the set value change process.

First, the schematic structure of the twisting machine in this embodiment is demonstrated. In FIG. 1 and FIG. 2, 1 is the base of a twisting machine, 2 is the some variable speed drive motor provided in the base 1, 3 is the spindle coaxially driven by the drive motor 2. As shown in FIG. 4 is a yarn feeder package detachably mounted coaxially with each spindle 3, and is kept at rest regardless of the rotation of the spindle 3 by appropriate braking means. 5 is a yarn guide for guiding the thread (Y) made from the yarn feeding package (4) to the winding device, 6 is a feed roller for sending the thread to the winding device while adjusting the tension of the thread (Y), and 7 is a thread (Y). A traverse guide 8 for tilting is a winding drum for rotating the winding package 9 by surface contact. The traverse guide 7 is provided for each weight on the traverse shaft 10, and the traverse shaft 10 is axially driven by a drive mechanism on the control box 15 side shown in phantom on the left side of the base 1. Reciprocating The winding drum 8 is further driven by the drum shaft 11 at the same time, and the drum shaft 11 is driven by a drive source on the control box 15 side. The winding package 9 is configured to be wound on the branch pipe 13 held by the cradle 12.

In the above configuration of the twisting machine, the twisting operation of each weight is performed as follows. The thread Y made from the yarn feeding package 4 is led downward from the tip of the spindle 3 past the inside of the spindle and discharged radially from below the spindle 3 which is rotating at high speed. Since the thread Y which is discharged is rotated when it is made from the yarn feeding package 4, the twist is applied once in this step. In addition, the thread Y discharged from below the spindle 3 is guided to the feed roller 6 through the yarn guide 5 while turning the outer periphery of the sudden yarn package 4 by the rotation of the spindle 3. . That is, as a result of the thread Y discharged by the spindle 3 at this stage rotating around the steep package 4, twist is given once again, and as a result, the twist yarn Y given double twist is The feed roller 6 is sent to the traverse guide 7. The twist yarn Y adjusted by the feed roller 6 to a predetermined tension is traversed by the traverse guide 7 and wound around the winding package 9 which is rotationally driven by the winding drum 8.

In this embodiment, as shown in FIG. 1, the soft-twist weight which reaches the winding drum 8 from the drive motor 2 is provided in the transverse direction of 8 additional bases 1, and these additions, as shown in FIG. It is symmetrically installed and forms a pair of eight weights at the rear, and one span consists of 16 weights. In addition, these weights are provided in the upper part of the base 1 by the same number. That is, a total of 32 additional units are provided on the base 1 of one frame, and all of them are controlled by one host computer 50 arranged in the control box 15. In an actual twisting machine, many of these frames are arranged side by side and operate.

Since the quality of the twist yarn Y wound up by these angular weights varies with the rotational speed of each spindle 3, in order to maintain the quality of twist yarn Y of each winding package 9 uniformly, It is necessary to accurately control the rotational speed (speed) of the drive motor 2 to a predetermined value based on the command signal from the host computer 50, and to accurately monitor the rotational speed of the drive motor 2 of each weight. have. In addition, when a trouble such as thread break occurs in any of the weights, load fluctuation of the drive motor 2 occurs, so it is necessary to directly transmit it to the host computer 50.

Each of these drive motors 2 is controlled by a plurality of motor controllers 30. Then, each motor controller 30 for one span is controlled and managed by the master controller 40, and the master controller 40 for each span is integratedly managed by the host computer 50. It is. Moreover, in the twisting machine of this embodiment, as shown to FIG. 1 and FIG. 2, the duct 20 common for 1 span is provided in the middle part of each spindle row before and behind arranged in the longitudinal direction of the base 1 (1). ), And eight motor control devices 30 and one master control device 40 are arranged in the duct 20. Both upper and lower spans have the same configuration.

Next, the structure of the motor control system in this embodiment is demonstrated. In FIG. 3, the master control device 40 controls each motor control device 30 based on an instruction of the host computer 50, and includes a microcomputer having a CPU 42, a memory 43, and the like. (41), communication interfaces (I / F) 44, 45, multiplexers (MPX) 46, input / output I / F 47, and the like. The microcomputer 41 is connected to the host computer 50 by the serial communication line La through the communication I / F 44, and the serial communication line (through the communication I / F 45 and the MPX 46). It connects to each motor control apparatus 30 by Lb). In addition, each switch (not shown) such as start, emergency stop, and instant stop provided on the control box 15 side is connected to the microcomputer 41 via the input / output I / F 47.

Each of the motor controllers 30 is an inverter module for controlling each driving motor 2, and includes a microcomputer 31, a communication I / F 34, an inverter including a CPU 32, a memory 33, and the like. The circuit 35 etc. are comprised. The microcomputer 31 is connected to the master control device 40 by the serial communication line Lb via the communication I / F 34. Then, the microcomputer 31 controls the inverter circuit 35 to control the rotation of the drive motor 2, and monitors the rotational speed of the drive motor 2 by the detection data of the rotation sensor (not shown). have. In addition, in this embodiment, although one motor control apparatus 30 controls each drive motor 2 of the front and back two weights individually, if it controls each drive motor 2 individually, it is for every weight or three to three. You may install every four weights.

In this motor control system, the total set values such as the target rotational speed (rotational speed) and the control gain for controlling the respective drive motors 2 are stored in the memory 43 of the microcomputer 41 on the master control device 40 side. It is kept at all times. When the master control device 40 is started and when a predetermined signal is received from each motor control device 30, the set value is transmitted from the master control device 40 to each motor control device 30, It is comprised so that it may be stored in the memory 33 of the microcomputer 31. As shown in FIG. When the abnormality occurs in each motor control device 30, the master control device 40 receives the abnormality information and stores the abnormality information in the memory 43 of the microcomputer 41. Therefore, the memory 43 on the master control device 40 side has, in addition to the usual RAM or ROM, especially the EEPROM as the set value holding means and the abnormal information holding means. Memory backup function. On the other hand, each motor control device 30 side memory 33 is constituted by a normal RAM, a ROM, or the like, and the memory backup function is unnecessary, so that the memory 33 is simplified.

In addition, between the host computer 50 and the master control device 40, and between the master control device 40 and each motor control device 30 performs polling communication via serial communication lines La and Lb, respectively, so as to provide respective data. Sending and receiving. For example, the master controller 40 polls each of the motor controllers 30 arranged at predetermined intervals, and each motor controller 30 normally receives a polling message. ), The polling response message including the status of CPU reset or abnormality is returned.

Next, processing such as setting value reception in the motor control system will be described with reference to FIGS. 4 to 7 in addition to FIG. 3. 4 to 7 are flowcharts in accordance with the processing of the CPU 42 of the microcomputer 41 in the master control device 40. First, when the master controller 40 is started, that is, when the whole weight is started by the breaker ON, as shown in FIG. 4, in S1, the master controller 40 is a parameter for each motor controller 30. Send a version request. On the other hand, each motor control device 30 adds its own parameter version to the polling response message and returns it. When the master control device 40 receives the parameter version in S2, in S3, the master control device 40 confirms that the parameter version of its own matches the parameter version of each motor control device 30. If this coincides with the validity of the set value transmission, in S4, the master control apparatus 40 adds the set value held in the memory 43 of the microcomputer 41 to the polling message and adds each motor control apparatus ( 30). When transmission of all set values is completed in S5, a driving permission is transmitted to each motor control apparatus 30 in S6, and communication polling is started after that. The set value transmitted to each motor control device 30 is stored in the memory 33 of the microcomputer 31, and the respective drive motor 2 is controlled based on this set value. On the other hand, if the parameter versions do not match in S3, the abnormal processing is performed in S7. The abnormal processing is processing such as sending a parameter version error when polling the host computer 50, forcibly turning off the operation switch, and forcibly turning on the package brake.

Next, a description will be given of the reset of the CPU 32 which is the central processing unit of the microcomputer 31 in the motor control device 30. For example, the CPU 32 is reset after the front end return of the motor control device 30 or at the overflow of the program congestion monitoring timer. The program congestion monitoring timer, called a watchdog timer, is programmed to reset every certain period. If the runaway of the program occurs, the reset processing of this timer is not performed, and the CPU 32 is reset by overflowing. When the master controller 40 receives the polling response message from the motor controller 30, as shown in S8 of FIG. 5, the reset occurrence of the CPU 32 is detected by the status data of the polling response message. In step S1 ', the master control device 40 transmits a request for a parameter version to the motor control device 30 that has been reset. Hereinafter, the same process as S2-S7 mentioned above is performed between the master control apparatus 40 and the motor control apparatus 30 which reset | occur | produced in S2'-S7 '.

In this way, the master control device 40 side memory 43 keeps the set value at all times, and transmits the set value to each motor control device 30 and stores it in the memory 33. The memory backup function of the set value in 30) can be made unnecessary. In addition, the malfunction of the motor control due to parameter inconsistency can be prevented by the parameter version checking function in the master control device 40 and each motor control device 30.

Next, the processing of the abnormality information will be described. This is, for example, a process when a trip or thread break occurs in each weight, or when a control target cannot be achieved. When the master controller 40 receives the polling response message from the motor controller 30, as shown in S9 of FIG. 6, when the abnormality is detected by the status, the master controller 40 in S10. Transmits a request for abnormality information to the motor control apparatus 30. In response to this, the motor control apparatus 30 adds the abnormality information to the polling response message and returns it. When the master control device 40 receives the abnormality information in S11, the master control device 40 stores the received abnormality information in the memory 43 at all times and maintains it at all times.

As described above, the abnormal information of the motor control device 30 is held by the master control device 40 so that the respective motor control devices 30 do not have a memory backup function of the error information installed in each of the motor control devices 30. The abnormal history of 30 can be collectively managed by the master control device 40.

Next, a process of setting value change will be described. As shown in Fig. 7, when the master control device 40 receives a setting value change command from the host computer 50 in S13, in step S14, the master control device 40 records the change during the polling cycle. Is transmitted to the motor control apparatus 30 as an example. In step S15, the master control device 40 writes the changed setting value in its memory 43 and keeps it at all times. Therefore, the drive motor 2 is controlled based on the changed set value. When the necessity of the above-described setting value transmission occurs, the changed setting value is transmitted.

As mentioned above, although embodiment of this invention was described, the setting value holding means and the abnormality information holding means in this invention are not limited to the EEPROM shown in this embodiment, and can always hold | maintain setting value data and abnormal information data. If it is, various effective means can be employ | adopted. In addition, in this embodiment, although the multiple twisting machine was illustrated, this invention is applicable to the motor control system of various button drive type textile machines besides a combustible processing machine.

As described above, according to the present invention as set forth in claim 1, the master control device common to each motor control device always maintains the motor control setting value, and the master control device transmits the setting value to each motor control device, respectively. The memory backup function of the set value in the motor control apparatus can be made unnecessary, and the equipment cost of the whole machine can be reduced. In addition, since the set values can always be collectively managed by a common master control device, it is possible to cope easily even when the set values are changed, and the configuration of the entire system can be simplified.

Further, according to the present invention as set forth in claim 2, by confirming the coincidence of the parameter versions in the master control device and each motor control device, by transmitting the set value, malfunction of the motor control due to parameter incompatibility can be prevented, The safety and reliability of the motor control system can be improved. In addition, by checking the parameter version, safety can be ensured even when a master control device or a motor control device of another machine is dedicated, thereby improving machine compatibility.

Further, according to the present invention as set forth in claim 3, the master control device common to each motor control device always maintains the abnormality information of each motor control device, thereby providing a memory backup function of the abnormality information in each motor control device. It is possible to always collectively manage the abnormal history of each motor control device by a common master control device, thereby simplifying the configuration of the entire system and improving reliability.

Claims (8)

In the motor control system of a button driven textile machine provided with a drive motor for each weight and provided with a plurality of motor control devices for individually controlling each of these drive motors, And a master control device for controlling and controlling the plurality of motor control devices in common, and the master control device has setting value holding means for always maintaining the motor control setting values used by the respective motor control devices, When the master control device is started and / or when the master control device receives a predetermined signal from each of the motor control devices, the respective motor control stores the set value held by the master control device in the set value holding means. A motor control system for a button driven textile machine, characterized by transmitting to a device. 2. The master control apparatus according to claim 1, wherein the master control apparatus confirms the agreement of the parameter versions with the respective motor control apparatus prior to the transmission of the set values, and transmits the set values after the check. Motor control system for button driven textile machines. The method according to claim 1 or 2, wherein when an abnormality occurs in each of the motor control apparatuses, the abnormality information is transmitted to the master control apparatus, and the master control apparatus always displays the abnormality information received from each of the motor control apparatuses. A motor control system for a button driven textile machine, comprising: an abnormal information holding means for holding. 4. The master control apparatus according to claim 3, wherein the master control apparatus polls each motor control apparatus arranged every predetermined period, and the motor control apparatus returns the abnormality information as a polling response message to the master control apparatus. Motor control system for button driven textile machines. 5. The master control apparatus according to any one of claims 1, 2, and 4, wherein the master control apparatus transmits an operation permission signal to each of the motor control apparatuses after the transmission of the total set values for the respective motor control apparatuses is completed. Motor control system of a button-driven textile machine, characterized in that. The said predetermined signal is a reset signal which shows that the central processing unit of the said motor control apparatus was reset, The said master control apparatus resets from the said motor control apparatus. A motor control system for a button driven textile machine, characterized in that, when a signal is received, a set value held in said set value holding means is transmitted to a motor control device in which a reset has occurred. 5. The motor control system according to any one of claims 1, 2, and 4, wherein the set value includes a target rotational speed. The button drive according to any one of claims 1, 2, and 4, wherein the drive motor drives a continuous spindle, and the motor control device is an inverter module for controlling the drive motor. Motor control system for textile machinery.