KR20110062565A - Installation for controlling winding based on detecting edge line - Google Patents

Abstract

PURPOSE: A winding apparatus of an edge line detection control base is provided to wind and to correct fabric in case of high-speed rotation of a fabric roller and to secure the stability of a system. CONSTITUTION: A winding apparatus of an edge line detection control base comprises: a fabric holder(301) winding fabric; a driving actuator(303) controlling the movement of the fabric holder; an edge line detection sensor(307) detecting displacement for the edge or the print line of fabric and outputting the result into electric signals; and a controller outputting the movement of the fabric holder on the basis of the output signal of the edge line detection sensor and controlling the driving actuator.

Description

Winding device based on detecting edges {Installation for controlling winding based on detecting edge line}

The present invention relates to a winding device, and more particularly, to detect an end line or a printing line such as paper, tape, fabric, etc. with an optical sensor or an ultrasonic sensor, and based on a proportional integral or proportional calculus calculation for a detection result. The present invention relates to a winding apparatus based on end-line detection control capable of performing winding control.

In general, the winding device is a device that winds by uniformly adjusting the edge of the fabric or paper, tape, and the like, which is installed to move left and right by the force of the hydraulic cylinder 51 on the base 10 as shown in FIG. 1. And a variable detector 30 for detecting a widthwise end position of the fabric wound in the fabric placing table 20 and the fabric roller 21 mounted on the fabric placing table, the variable detector 30 and the hydraulic pressure. It is connected to the hydraulic control mechanism 50 for the cylinder 51 includes a control unit 40 for sending and receiving each signal.

Wherein the variable detector 30 is installed in a remote control state in a separate place different from the position of the far end 20. That is, the variable detector 30 is fixed on the dedicated mounting base 61 to detect the distal end, the mounting base 61 is fixed to the support member 62, the support member 62 is the It is to be moved forward and backward by the drive means 60 remotely controlled by the control unit 40.

In addition, the driving means 60 is provided with a female screw 63 at the lower end of the support member 62, as shown in Figure 2, the sliding guide 64 is provided to support the support member 62 thereon Allow it to move back and forth. In the sliding guide 64, the lead screw 65 is installed in the longitudinal direction so as to be driven by the motor 66 so that the support member 62 having the female screw 63 can be moved back and forth. Therefore, the conventional winding device detects the position of the end by the variable detector 30 when the fabric is passed to wind the fabric roller 21 of the fabric mounting table 20, and the detected information is controlled by the control unit 40. Send to)

The control unit 40 compares the value detected by the variable detector 30 with the original set value and when it is necessary to move the end of the far end, as well as the hydraulic control mechanism 50 for the far end 20. It also sends a signal to the drive means 60 to move together. That is, when the hydraulic cylinder 51 is operated by sending a signal to the hydraulic control mechanism 50, the distal end 20 of the disposing end 20 is moved and released on the base 10 is changed, and at the same time, the variable detector ( 30, the lead screw 65 is driven as the motor 66 of the drive means 60 rotates, and the support member 62 connected to the lead screw 65 by the female screw 63 also moves. The variable detector 30 fixed to the mounting base 61 of the member 62 also moves in the same manner as the original material guide 20.

Therefore, since the above-described conventional winding device corrects the end of the far end to an appropriate position based on the end detection result of the variable detector 30, the reliability and accuracy of the detection value of the variable detector 30 become very important. However, since the variable detector 30 simply detects the end of the far end by the optical sensor, an error value is generated according to the installation position of the optical sensor, thereby deteriorating the stability of the system. For example, an error may occur in the detection result of the variable detector 30 due to the vibration of the support member for supporting the optical sensor. Moreover, in such a conventional winding apparatus, the response speed of the hydraulic cylinder 51 is slow, so that the paper or tape There is a problem that can not be applied to the device with a high winding speed.

The present invention was created to solve the above problems, and an object of the present invention is to improve the responsiveness of the fabric mounting table by the motor control to increase the response speed, so that the winding correction of the fabric can be performed even at a high speed rotation of the fabric roller. It is to provide a winding device based on the end detection detection control.

Another object of the present invention, when detecting the end of the fabric for the feed control of the fabric mounting base, by applying the proportional integral and proportional calculus of the sensor, correction of the detection value of the sensor even during the flow of the fabric is made to improve the stability of the system It is to provide a winding device based on end detection control that can be secured.

Winding device based on the end line detection control according to an aspect of the present invention for achieving the above object, in the winding device for winding the end of the fabric or the printed line, based on this, for winding the fabric Fabric mounting table; A drive actuator for performing flow control of the far end table; An end detection sensor for detecting an amount of displacement with respect to the end or the printed line of the far end and outputting the result as an electrical signal; And performing a proportional integral (PI) or a proportional calculus (PID) on the displacement amount of the distal end of the distal end based on the output signal of the end detection sensor, and calculates the flow amount of the distal end of the distal end, and drives the actuator according to the calculation result. Characterized in that consisting of a controller for controlling.

The controller may include a motor controller configured to perform rotation control of a first DC motor for rotating the winding roller and a second DC motor for operating the driving actuator according to a PWM method; In response to the operation of the drive actuator, the signal detected by the limit sensor for detecting the position of the flow arm and the end detection sensor for detecting the end of the distal end is converted into a rated signal and inputted, and based on the control command output, A sensor interface for providing speed information to a decoder for changing a rotation speed of a DC motor; And determine the winding state of the far-end due to the difference between the error and the error of the detection signal of the end detection sensor, and calculate the proportional-integral (PI) or proportional-integral (PID) gain for each state of the fuzzy belonging function. Determine the rotational speed of the first DC motor based on the PWM duty ratio according to the substitution result, and determine the rotational speed of the take-up roller with the second DC motor. Characterized in that it comprises a control unit for indicating.

Winding device based on the end detection detection control proposed in the present invention, by processing the detection result of the optical sensor or the ultrasonic sensor proportional integral (PI), proportional calculus (PID) and based on this to control the far-end mounting table based on the motor control In addition, it is possible to increase the reliability of the far end of the line detection, as well as to increase the feed control speed of the far end, and thus the winding of the high speed rotation can be performed. This also has the effect of increasing the stability of industrial equipment and the efficiency of product production. In addition, the present invention has the effect of improving the completeness of the system by correcting the vibration of the sensor in the system operation process.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

3 is a block diagram showing a winding apparatus based on the end line detection control according to an embodiment of the present invention. First, the fabric presented in the present invention includes a cloth (Cloth), it shows a flexible material of a flat structure wound on a roll, such as paper, tape. Therefore, it will be apparent that the fabric described in the present invention is not merely limited to cloth.

First, as shown, the winding device 300 includes a fabric mounting table 301 for winding up the fabric 321 having a set capacity, a driving actuator 303 for performing flow control of the fabric mounting table 301, and Based on the output signal of the end detection sensor 307 and the end detection sensor 307 that detects the end displacement of the far end 321 and outputs the result as an electrical signal, the displacement amount of the far end is proportionally integrated ( After PI) or proportional calculus (PID), the flow rate of the far end placement table 301 is calculated, and the controller 305 controls the drive actuator 303 according to the calculation result.

Here, the fabric mounting table 301 is a winding roller 309 for winding a predetermined amount of the fabric 321, a DC motor (not shown) and the winding roller (for rotation driving of the winding roller 309). It consists of a mounting table 311 for supporting the guide roller 317 for guiding the winding of the fabric (321) at the front end of the 309, the slide bearing 313 is fixed to the lower end of the mounting table (311). In addition, the mounting table 311 and the driving actuator 303 are mounted on the base panel 315 of a predetermined shape, the slide bearing 313 of the mounting table 311 is a fixed bearing ( 319). The mounting table 311 is engaged with the flow arm 323 of the driving actuator 303, and the mounting table 311 is flow-controlled in response to the linear movement of the driving actuator 303.

The drive actuator 303 has a mechanism for converting the circular motion of the motor into a linear motion, the motion conversion using a plurality of gears can be made or can control the linear motion of the flow arm 323 based on pneumatic or hydraulic control There will be. In the embodiment of the present invention will be used to control the linear motion of the flow arm 323 using a DC (DC) motor, which rotates the nut by the DC motor, and the flow arm 323 of the bolt structure that meshes with the nut It may be converted into linear motion or may deviate from the gist of the present invention, and thus detailed description thereof is omitted.

Accordingly, the controller 305 includes a DC motor for operating the drive actuator 303 and a driver for driving the DC motor for rotating the take-up roller 309 to input the detection result of the end detection sensor 307. Has an algorithm for operation control of the two DC motors.

On the other hand, the end detection sensor 307 applied to the winding device 300 according to the present invention may be a square sensor, for example, an optical sensor having a cell structure of 1 × 1, 2 × 2 can be used. The optical sensor may be any one of a photo diode, a photo transistor, and a cadmium sensor (CDS). In addition, in another embodiment of the present invention, in addition to the above-described optical sensor, an ultrasonic sensor may be used to recognize the amount of change of the distal end of the distal end based on the sound wave signal reflected through the distal end of the distal end, that is, the distal end.

4 is a configuration diagram illustrating the main functions of the controller 305 according to the present invention. As shown, a motor for performing rotation control of the first DC motor 415 for driving the winding roller 309 and the second DC motor 413 for operating the driving actuator 303 according to the PWM method. The limit sensor 407 for detecting the position of the flow arm 323 and the end detection sensor 307 for detecting the end of the distal end 321 according to the operation of the controller 403 and the driving actuator 303. A sensor interface 405 for converting the detected signal into a rated signal, inputting the detected signal, and providing speed information to the decoder 409 which varies the rotation speed of the first DC motor 415 based on a control command output. And determine the winding state of the far-end 321 due to the difference between the error and the error of the detection signal of the end detection sensor 307, and the proportional-integral (PI) or (and) proportional-integral (PID) for each state. Calculate the gain based on the class of the fuzzy membership function After replacing the result with the PWM duty ratio, the rotational speed of the first DC motor 415 is determined based on the PWM duty ratio according to the substitution result, and the winding roller 309 of the winding roller 309 is transferred to the second DC motor 413. The control unit 401 instructs positioning.

In addition, the control unit 401 is connected to the display unit 417 for displaying the status mode according to the winding state of the take-up roller 309, it can be interlocked with the key input unit 419 for determining the automatic mode or manual mode of the system. have. In addition, the decoder 409 is a module for controlling the rotation of the first DC motor 415. The decoder 409 is mounted inside the controller 305 or as a separate module at a position adjacent to the first DC motor 415. Can be installed. The limit sensor 407 measures the amount of change with respect to the flow distance of the flow arm 323, and detects the amount of rotation of the second DC motor 413 and measures the displacement of the flow arm 323 corresponding thereto. Thus, the drive actuator 303 may be presented as a function of the servomotor.

Meanwhile, as described above, the end detection sensor 307 may be applied with an optical sensor using infrared rays, or an ultrasonic sensor may be used. In the first embodiment of the present invention, the end detection sensor 307 may be an optical sensor module. Light sensors (including infrared (IR) sensors) will be used. First, according to the first embodiment of the present invention, the end detection sensor 307 uses a photo diode or a photo transistor or a cadmium sensor (CDS) of 1 x 2 and 2 x 2 cells. The end detection sensor 307 includes a signal processing unit for converting and processing an analog signal detected from an optical sensor into a digital signal, and output data of the signal processing unit is controlled by the control unit 401 through the sensor interface 405. Is provided.

Here, the cell structure of the optical sensor presented by the end detection sensor 307, as shown in Figure 5 can be inclined 45 degrees with the end of the distal end of the distal end can increase the reliability of the end detection. That is, the end line of the far end detected by the optical sensor is recognized from the maximum amount of cell gratings to reduce the end detection error.

Hereinafter, an operation according to a first embodiment of the present invention will be described with reference to the accompanying drawings.

First, the controller 305 is connected to the end detection sensor 307, the second DC motor 413 and the first DC motor 415, the system power is applied. The controller 401 enters an initial mode and drives the first DC motor 415 at a set rotation value. At this time, the controller 401 recognizes the rotational speed of the first DC motor 415 detected from the decoder 409 and controls the rotational speed of the first DC motor 415 to be maintained at a constant speed based on feedback control. do.

The controller 401 recognizes the signal detected by the end detection sensor 307, and then determines whether the end of the distal end 321 is in the correct position of the end detection sensor 307. Here, when the far end 321 is present in the correct position, the output value of the end detection sensor 307 is defined as being recognized as '100 to 200'. That is, the output value of the end detection sensor 307 is set to '0 ~ 500', which represents a program A / D converter value. Of course, it may vary depending on the type of sensor or the setting value of the program and the resolution bit value of the A / D converter. However, in the following description, the output value range of the sensor is set to "0 to 500" for ease of explanation. define.

In addition, when the output value of the sensor is '0', the far end 321 covers all of the end detection sensors 307 and the light reception amount is '0', and the output value of the sensor is '500', which means the far end 321. The amount of light received outside the end detection sensor 307 is shown to be maximum.

Meanwhile, in the initial process, the output value of the end detection sensor 307 is recognized. According to the type of the fabric 321, a printing line (a reference line or an available line printed into the inner edge of the fabric) is detected, or Detect the end The controller 401 receives an output value of an end detection sensor 307 that detects an end line or a printing line of the far end 321. The output value of the end detection sensor 307 is an A / D converted digital value, and it is determined whether the output value exists between a reference range, that is, between '100 and 200'.

As shown in FIG. 6A, when the controller 401 receives the output value of the end detection sensor 307, when the ADResult value exceeds 200, the rotation direction of the second DC motor 413 is changed to the forward direction (in the drawing). It is expressed as '1' and is driven by a preset duty ratio (expressed as '2' in the drawing). Here, the duty rate is used to adjust the rotation speed of the second DC motor 413 and may be reset according to the capacity of the motor or the deceleration rate of the gear. In the present invention, the preset duty ratio is expressed as '2', and since the rotation direction of the motor also varies depending on the number of gears, the forward direction is expressed as '1' and the reverse direction is expressed as '0'.

As such, when the output value of the end detection sensor 307 exceeds '200', that is, when the light receiving amount of the optical sensor does not reach the reference value, for example, in the range of 1 to ④ in FIG. 5 (the output value of the end detection sensor is '200'). If the far end 321 is present within the control unit 401, the control unit 401 issues a control command to the motor controller 403 to allow the flow arm 323 to slide the mounting table 311 inward. In addition, the controller 401 determines whether the flow arm 323 is transferred by a predetermined amount from the limit sensor 407 connected to the sensor interface 405.

In addition, according to the displacement of the flow arm 323 driven by the second DC motor 413, the angle at which the far end 321 is wound around the winding roller 309 is changed. It is determined whether the end of 321 exists within the correct position of the end detection sensor 307, that is, within the range of ⑤ to ⑥ in FIG. If the far end 321 does not exist within the range of the correct position, that is, if present in the range of 1 to 4 in FIG. 5, the second DC motor 413 continues to be driven in the forward direction, and the current far end 321 When the position is out of the position and is within the range of ⑦ to ⑨ (the output value of the end detection sensor is less than '100') in FIG. 5, the controller 401 sets the second DC motor 413 in the reverse direction having the set duty ratio ( '0') Perform control. Accordingly, the flow arm 323 presses the mounting table 311 outward to control the distal end 321 to be in the correct position.

As described above, the end detection sensor 307 according to the present invention detects the end of the far-end 321, and operates the drive actuator 303 based on the result. In the first embodiment of the present invention, the end detection sensor 307 uses an optical sensor, and by reducing the error of the end detection by proportional calculus (PID) the signal detected from the optical sensor. Then, the proportional calculus (PID) of the optical sensor is as follows.

First, as shown in FIG. 7A, the optical sensor has an output voltage with respect to the printed line (end) position as in Equation 1;

O = α (A1-A3) ....... <O = output value, A1 and A3 = received light quantity of photocell, α = gain>

It is calculated as, when considering the center voltage as shown in Equation 2;

O = α (A1-A3) + Vcenter ..... <Vcenter = voltage value when the printed line is centered>

Is calculated.

Here, if the voltage difference between the background and the line is small, the gain α should be large, and if the voltage difference is large, the α should be small. Therefore, in order to obtain the gain α, if the maximum value of the output is Omax and the minimum value is Omin, the output O is expressed by Equation 3 below.

O = 5 × (Ocur-Omin) / (Omax-Omin) [V] .... <Ocur = sum of signals in each cell>

In this case, consideration should be given to the case where the printed line deviates from the left-right and the dotted line. The signal sum of each cell may use a certain property when the line is in the sensing area. In other words, if the signal sum "S = A0 + A1 + A2 + A3" of each cell is out of the allowable range, the previous output is maintained to solve the line-deviation problem. If the object to be detected is not the printed line of the far end but the end of the far end, the output calculation of the sensor may be relatively simple. That is, as shown in FIG. 7B, when the maximum value of the signal sum "S = A0 + A1 + A2 + A3" of each cell is Smax and the minimum value is Smin, the output voltage is expressed by Equation 4;

O = 5 x (S-Smin) / (Smax-Smin) [V]

Can be calculated as

Here, Smax = 4 × max {A0, A1, A2, A3}, and Smin = 4 × min {A0, A1, A2, A3}.

As a result, the end detection sensor 307 recognizes the state of the printed line or the end of the far end 321 based on the above equation, converts it into a digital signal and provides it to the controller 401. Accordingly, the controller 401 determines the rotation speed and direction of the second DC motor 413 based on the output value of the end detection sensor 307, and provides the result to the motor controller 403. This is to control the flow amount of the flow arm 323, it is based on the fuzzy PID control method. That is, as shown in FIG. 8A, by performing a purge to calculate the manipulated amount of the flow arm 323, the deviation g _pe having constant values g _p , g _i , g _d , and the cumulative value of the deviation ( g _i ∫edt), to determine the duty of the PWM signal based on the difference (g _d (de / dt)) from the previous deviation.

Meanwhile, according to the second embodiment of the present invention, the end detection sensor 307 may be used as an ultrasonic sensor. In this case, the ultrasonic sensor may have an operating frequency of 200 kHz and a half power beam width to improve sensor directivity. Sensors with ± 7 ° would be preferred.

The ultrasonic sensor may be illustrated as shown in FIG. 9, and the received signal is first filtered in the measuring amplifier, and the amplification factor of the amplifier is calculated by Equation 5 when the unit gain is obtained.

In addition, the signal in which the first in-phase mode has been removed passes through a band pass filter (state variable filter), and exhibits an output of the band pass characteristic of a sharp peak response, thereby obtaining a stable and high Q value. Here, the goodness degree Q of the state variable filter is determined by Equation 6.

In addition, the center frequency of the state variable filter is configured to be 200kHz, and the bandwidth of the filter is calculated by Equation (7).

The signal passing through the band pass filter is applied to the integrator circuit, which is the next stage, after the upper voltage of the signal is removed from the clipper circuit. The integrator is composed of an adder amplifier and an integrator. The amplification factor of the adder amplifier is determined by Equation 8, and the output change rate in the integrator is determined by Equation 9.

In the integrator, only the envelope component of the input signal is extracted and applied to the next stage low pass filter (LPF). The output signal of the integrator is applied to a low pass filter to remove the high frequency noise mixed in the signal. The cutoff frequency of the low pass filter is determined by Equation 10.

In addition, the signal passed through the low pass filter is sampled from the peak-to-sample signal in a sample-and-hold amplifier and applied to the next adder amplifier. The amplification factor of the signal in the add amplifier is determined by the equation (11).

The addition-amplified signal is inverted and amplified once more in the integrating circuit of Fig. 2.9, and then output as a signal for controlling the drive actuator 303 after passing through the buffer amplifier of the final stage.

As described above, the winding device based on the end line detection control according to the present invention performs the proportional integral, proportional calculus processing for the detection result of the sensor to increase the reliability of the end line detection of the far end, and the feed rate and accuracy of the far end By providing a driving mechanism by a stepper motor or a DC motor to increase the speed and accuracy of the fabric winding, it is possible to increase the productivity of the paper roll with the slow winding speed, the paper or the tape roll with the high winding speed, and increase the productivity. The value of use is expected to improve sufficiently.

1 and 2 is a configuration diagram showing a conventional winding device.

3 is a block diagram illustrating a winding apparatus based on the end line detection control according to the present invention.

4 is a configuration diagram illustrating the controller of FIG. 3.

5 is a view for explaining the operating principle of the optical sensor according to the first embodiment of the present invention.

6A and 6B are flowcharts for explaining the control principle of the present invention.

7A and 7B are diagrams for describing an operating state of an optical sensor.

8A and 8B are diagrams for describing fuzzy PID control according to the present invention.

9 is a circuit diagram illustrating an ultrasonic sensor according to a second embodiment of the present invention.

<Explanation of symbols for main drawings>

301: fabric mounting table 303: driving actuator

305: controller 307: end detection sensor

309: winding roller 311: mounting table

313: sliding bearing 315: base panel

317: guide roller 319: fixed bearing

321: fabric 323: fluid arm

401 control unit 403 motor controller

405: sensor interface 407: limit sensor

409: decoder 413: second DC motor

415: first DC motor 417: display unit

419 key input unit

Claims (9)

In the winding device for detecting the end or the printed line of the fabric 321, and winding the fabric 321 based on this, A fabric mounting table 301 for winding the fabric 321; A drive actuator 303 for performing flow control of the far end placing table 301; An end detection sensor 307 for detecting an amount of displacement with respect to the end or the printed line of the far end 321 and outputting the result as an electrical signal; And Based on the output signal of the end detection sensor 307, after performing the proportional integral (PI) or the proportional calculus (PID) to the displacement amount of the distal end, calculates the flow amount of the distal end table 301, the calculation result And a controller (305) for controlling the drive actuator (303) according to the winding detection control based winding device. The method of claim 1, The fabric placement table 301 may include a winding roller 309 for winding a predetermined amount of the fabric 321, a first DC motor 415 and a winding roller for rotating the winding roller 309. A mounting table 311 for supporting the guide roller 317 for guiding the winding of the fabric 321 at the front end of the 309, and a slide bearing 313 is fixed to the lower end of the mounting table 311 under; The mounting table 311 and the driving actuator 303 are mounted on a base panel 315 having a predetermined shape, and the slide bearing 313 of the mounting table 311 is a fixed bearing 319 of the base panel 315. Opposed to being installed; The mounting table 311 is fastened to the flow arm 323 of the drive actuator 303, and in accordance with the linear movement of the drive actuator 303, the mounting table 311 is characterized in that the flow control Winding device based on edge detection control. The method of claim 1, The controller 305 is, A motor controller 403 for performing rotation control of the first DC motor 415 for rotating the winding roller 309 and the second DC motor 413 for operating the driving actuator 303 according to a PWM method; According to the operation of the driving actuator 303, the signal detected from the limit sensor 407 for detecting the position of the flow arm 323 and the end detection sensor 307 for detecting the end of the distal end 321 is rated. A sensor interface 405 for converting the signal into a signal and providing speed information to a decoder 409 for varying the rotation speed of the first DC motor 415 based on a control command output; And The winding state of the far-end 321 is determined by the difference between the error and the error of the detection signal of the end detection sensor 307, and the proportional-integral (PI) or (and) proportional-integral (PID) gain for each state is determined. Determine the rotational speed of the first DC motor 415 based on the PWM duty ratio according to the substitution result, and determine the rotation speed of the second DC 415 based on the PWM duty ratio. Winding device based on the edge detection control, characterized in that the DC motor (413) to the control unit 401 for instructing the positioning of the take-up roller (309). The method of claim 3, wherein The control unit 401 is connected to the display unit 417 for displaying the status mode according to the winding state of the take-up roller 309, it is linked to the key input unit 419 for determining the automatic mode or manual mode of the system Winding device based on end-line detection control characterized in that. The method according to any one of claims 1 to 4, The end detection sensor (307) is an optical sensor, end-winding detection control-based winding device, characterized in that any one of a photodiode, a photo transistor, a cadmium sensor (CDS). The method of claim 5, The optical sensor has a square cell structure, wherein the square cell structure is a cell structure of 1 × 1 or 2 × 2, characterized in that the winding detection-based winding device. The method of claim 6, The optical sensor is a winding device based on the edge detection control, characterized in that the square cell structure is installed to be inclined 45 degrees from the end or the printed line of the fabric. The method according to any one of claims 1 to 4, The end detection sensor (307) is a winding device based on the detection line, characterized in that the ultrasonic sensor. The method of claim 8, And the ultrasonic sensor is a sensor having an operating frequency of 200 kHz and a half power beam width of ± 7 ° to improve sensor directivity.

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