KR20220163882A - Transfer control apparatus, transfer control method, computer recordable medium storing transfer control program - Google Patents

Abstract

Provided is a transfer control device capable of stabilizing a transfer operation. According to the present invention, the transfer control device (1) comprises: a tension detector (21) detecting the tension of a transferred object (3); a main correction amount generation unit (13) generating a correction amount for the transfer speed of the transferred object (3) on the basis of a difference (e) between the detected tension and a tension command generated by a tension command generation unit (111); a correction amount storage unit (14) storing a correction amount generated by the main correction amount generation unit (13) when the difference (e) is less than a predetermined value; a correction amount switching unit (15) switching from the correction amount generated by the main correction amount generation unit (13) to the correction amount stored in the correction amount storage unit (14) to the switched correction amount; and a speed correction unit (182) correcting the transfer speed of the transferred object (3) on the basis of the correction amount (α) output by the correction amount switching unit (15).

Description

A computer-readable recording medium on which a conveyance control device, a conveyance control method, and a conveyance control program are recorded

This application claims priority based on Japanese Patent Application No. 2021-093461 filed on June 3, 2021. The entire content of that application is incorporated herein by reference.

The present invention relates to transport technology.

BACKGROUND OF THE INVENTION As a conveying apparatus for conveying a linear conveyed object such as string or wire or a plane conveyed object such as paper or cloth, it is known to detect the tension of the conveyed object. For example, Patent Literature 1 discloses a technique of generating an operating variable for a motor based on a difference between a detected value of wire tension and a reference value, and maintaining the wire tension at a reference value.

Patent Document 1: Japanese Unexamined Patent Publication 2003-176080

In Patent Literature 1, there is a problem that conveying operation is not stable because the amount of operation for the motor always fluctuates according to minute fluctuations in the tension of the wire while the tension of the wire is maintained near the reference value. Depending on the conveying conditions, there is a possibility that a slight change in the operating amount for the motor causes deformation of the conveyed object, reducing the yield of the conveying device.

The present invention was made in view of such a situation, and its object is to provide a conveyance control device capable of stabilizing conveyance operation.

In order to solve the above problems, a conveyance control device of one aspect of the present invention provides a tension detection unit for detecting the tension of a conveyed object, and a method for conveying speed of the conveyed object based on the difference between the detected tension and the tension command. A correction amount generation unit that generates a correction amount, a correction amount storage unit that stores the correction amount generated by the correction amount generation unit when the difference is less than a predetermined value, and a correction amount switching unit capable of switching and outputting the correction amount generated by the correction amount generation unit and the correction amount stored in the correction amount storage unit. and a speed correction unit for correcting the transport speed of the transported object based on the correction amount output by the correction amount conversion unit.

According to this aspect, when the difference between the detected tension and the tension command is less than a predetermined value, the correction amount storage unit stores the correction amount generated by the correction amount generation unit, and the speed correction unit uses it to correct the conveying speed of the object to be conveyed, so that the tension is slightly fluctuated. Even in this case, the conveyance speed of the conveyed object can be stabilized by a certain amount of correction.

Another aspect of the present invention is a conveyance control method. This method comprises a tension detection step for detecting the tension of an object to be conveyed, a correction amount generating step for generating a correction amount for the conveyance speed of an object based on the difference between the detected tension and a tension command, and a correction amount when the difference is less than a predetermined value. A correction amount storage step for storing the correction amount generated in the generation step, a correction amount switching step for switching and outputting the correction amount generated in the correction amount generation step and the correction amount stored in the correction amount storage step, and the correction amount output at the correction amount switching step. A speed correction step for correcting the conveying speed of the conveyed object is provided.

However, any combination of the above components and conversion of the expression of the present invention among methods, devices, systems, recording media, computer programs, etc. are also effective as aspects of the present invention.

According to the present invention, it is possible to provide a conveyance control device capable of stabilizing the conveyance operation.

1 shows a first configuration example of a transport control device.
Fig. 2 is a flow chart showing an example of processing of the transport control device.
Fig. 3 shows a second configuration example of the transport control device.

EMBODIMENT OF THE INVENTION Hereinafter, the form for implementing this invention is demonstrated in detail, referring drawings. In the description and drawings, the same or equivalent components, members, and processes are given the same reference numerals, and overlapping descriptions are appropriately omitted. The scale or shape of each part shown is set for convenience in order to facilitate explanation, and is not limitedly interpreted unless otherwise specified. The embodiments are examples, and do not limit the scope of the present invention in any way. All of the features described in the embodiments and their combinations are not necessarily limited to those essential to the invention.

1 shows a first configuration example of a transport control device 1 according to an embodiment of the present invention. The conveying control device 1 is a device that controls the conveying operation of the conveying device 2 that conveys the conveyed object 3 . As will be described later, the conveyance control device 1 maintains the tension of the conveyed object 3 within a desired range by controlling the relative conveyance speeds of different portions of the conveyed object 3 . The conveyed object 3 can be any object as long as it can generate tension along the conveying direction during conveyance, but typically, a linear object such as string or wire, or a planar form such as paper, cloth, film, foil, rubber, etc. of is exemplified. The conveying device 2 having paper as the conveyed object 3 is provided on a printing machine such as a rotary press, and each printing unit of the to-be-printed object or the conveyed object is wound paper or web. Responsible for paper feeding (給紙) or medium (排紙) in. According to this embodiment, since the tension of each part of the winding paper can be maintained within a desired range, the yield of the conveying device 2 and thus the printing machine can be increased.

The conveying device 2 includes a tension detector 21 as a tension detecting section for detecting the tension of the conveyed object 3, and a first roller section as a first conveying section provided at the front end of the tension detector 21 ( 22) and a second roller unit 23 as a second transport unit provided at a rear end of the tension detector 21. Here, the terms "front end" and "rear end" are defined with respect to the conveying direction of the conveyed object 3 in the conveying device 2. In the illustrated example, the conveying direction of the conveyed object 3 is from left to right, "front end" means the left side opposite to the conveying direction, and "rear end" means the same right side as the conveying direction. Accordingly, the first roller unit 22 is provided on the left side (front end) of the tension detector 21, and the second roller unit 23 is provided on the right side (rear end) of the tension detector 21.

As the tension detector 21, various types and configurations are known, and any one can be used as long as it is suitable for the conveying mode of the conveying device 2. In the illustrated tension detector 21, a conveyance path of the conveyed object 3 is provided between a pair of rollers 211 and 212 provided along the conveyance path (horizontal line from left to right) of the conveyed object 3. A guide roller 213 deviated from is provided. The tension applied to the guide roller 213 combined with the tension detector 21 (prepared in the tension detector 21) is an electric signal by the detector 214 composed of a piezoelectric element or the like in contact with the guide roller 213. is detected as

The first roller unit 22 is transported between the first drive roller 221 driven to rotate in the transport direction (clockwise direction in FIG. 1) by a motor (not shown) and the first drive roller 221 ( 3) is provided with a first driven roller 222 that interlocks with the first driving roller 221 and rotates in the conveying direction (counterclockwise direction in FIG. 1). As will be described later, the first driving roller 221 and the first driven roller 222 rotate at the first conveying speed according to the speed command generated by the speed command generator 181 to convey the conveyed object 3. do. Therefore, the conveyance speed of the conveyed object 3 in the 1st roller part 22 is the 1st conveyance speed v1.

The second roller unit 23 is transported between the second drive roller 231 driven to rotate in the transport direction (clockwise direction in FIG. 1) by a motor (not shown) and the second drive roller 231 ( 3) is provided with a second driven roller 232 that rotates in the conveying direction (counterclockwise direction in FIG. 1) in conjunction with the second drive roller 231 while interlocking. As will be described later, the second driving roller 231 and the second driven roller 232 rotate at the second conveying speed obtained by adding a correction amount to the speed command generated by the speed command generating unit 181 to move the object 3 to be conveyed. send back Therefore, the conveying speed of the conveyed object 3 in the second roller unit 23 is the second conveying speed v2.

When the correction amount is 0, the second transport speed v2 is equal to the first transport speed v1. At this time, the conveying speed of the conveyed object 3 is constant from the first roller portion 22 to the second roller portion 23, and the tension of the conveyed object 3 in the conveying device 2 does not change. When the correction amount is positive, the second transport speed v2 is greater than the first transport speed v1. At this time, since the conveyed object 3 is tensioned by the relative speed v2 - v1, the tension of the conveyed object 3 in the conveyance device 2 increases. When the correction amount is negative, the second conveying speed v2 is smaller than the first conveying speed v1. At this time, since the conveyed object 3 is slackened by the relative velocity v1-v2, the tension of the conveyed object 3 in the conveying device 2 is reduced. In this way, the conveyance control device 1 can control the tension of the conveyed object 3 according to the value of the correction amount.

The conveyance control device 1 includes a tension command generation unit 111, a difference calculation unit 112, a difference comparison unit 12, a main correction amount generation unit 13, and a correction amount storage unit 14. and a correction amount conversion unit 15, a speed correction amount calculation unit 16, a sub-correction amount generation unit 17, a speed command generation unit 181, and a speed correction unit 182. These functional units are realized by cooperation between hardware resources such as a central processing unit, memory, input device, output device, and peripheral devices connected to the computer and software executed using them. Regardless of the type or installation location of the computer, each of the above functional units may be realized with hardware resources of a single computer or by combining hardware resources distributed over a plurality of computers.

The tension command generating unit 111 generates a tension command for the conveyed object 3 conveyed by the conveying device 2 . The conveyance control device 1 maintains the tension of the conveyed object 3 within a desired range near the tension command by changing the second conveyance speed v2 relative to the first conveyance speed v1. The difference calculator 112 is a subtractor that calculates the difference e between the tension of the conveyed object 3 detected by the tension detector 21 and the tension command generated by the tension command generator 111. . The difference comparing unit 12 compares the absolute value of the difference e calculated by the difference calculating unit 112 (hereinafter, simply referred to as the difference e) with a predetermined threshold value e ₀ . As will be described later, the processing of each part of the transport control device 1 is switched when the absolute value of the difference e is equal to or greater than the threshold value e ₀ and when the absolute value of the difference e is less than the threshold value e ₀ .

The main correction amount generating section 13 generates a correction amount for the conveying speed of the conveyed object 3 based on the difference e calculated by the difference calculating section 112. Specifically, a proportional calculation unit 131 that calculates a proportional correction amount by a proportional operation that multiplies a predetermined proportional gain with respect to the difference e, and integrates by multiplying a predetermined integral gain with respect to the difference e. An integral calculation unit 132 that calculates an integral correction amount by an integral operation performed is provided in the main correction amount generation unit 13 . That is, the main correction amount generation unit 13 is a PI control unit including a proportional operation unit 131 as a P control (proportional control) element and an integral operation unit 132 as an I control (integration control) element. The main correction amount generation unit 13 may be configured as a PID control unit by adding a differential operation unit as a D control (differential control) element, but the D control element may excessively amplify minute fluctuations in the tension of the conveyed object 3. Therefore, in this embodiment, the D control element is not provided. However, the proportional gain of the proportional calculator 131 and the integral gain of the integral calculator 132 may be the same or different values.

The correction amount storage unit 14 stores the correction amount generated by the main correction amount generation unit 13 according to instructions from the difference comparison unit 12 when the difference e calculated by the difference operation unit 112 is less than the threshold value e ₀ . remember Specifically, the proportional correction amount storage unit 141 for storing the proportional correction amount calculated by the proportional operation unit 131 and the integral correction amount storage unit 142 for storing the integral correction amount calculated by the integral operation unit 132, It is provided in the correction amount storage unit 14. However, the timing at which the proportional correction amount storage unit 141 stores the proportional correction amount and the timing at which the integral correction amount storage unit 142 stores the integral correction amount may be the same or different. For example, the proportional correction amount storage unit 141 stores the proportional correction amount at the timing when the difference e calculated by the difference calculation unit 112 falls below the first value e ₁ equal to or less than the threshold value e ₀ , and the difference calculation unit 112 The integral correction amount storage unit 142 may store the integral correction amount at the timing when the difference e calculated by ) falls below the second value e ₂ equal to or less than the threshold value e ₀ .

The correction amount switching unit 15 is capable of switching between the correction amount generated by the main correction amount generating unit 13 and the correction amount stored in the correction amount storage unit 14 and outputting them. Specifically, the proportional correction amount conversion unit 151 capable of converting and outputting the proportional correction amount generated by the proportional calculation unit 131 and the proportional correction amount stored by the proportional correction amount storage unit 141 and the integral generated by the integral operation unit 132 An integral correction amount switching unit 152 capable of switching and outputting the correction amount and the integral correction amount stored in the integral correction amount storage unit 142 is provided in the correction amount switching unit 15 . When the difference e calculated by the difference calculation unit 112 is greater than or equal to the threshold value e ₀ , each correction amount conversion unit 151, 152 generates a value generated by each calculation unit 131, 132 according to an instruction from the difference comparison unit 12. When the difference e calculated by the difference calculation unit 112 is less than the threshold value e ₀ , each correction amount storage unit 141, 142 stores each correction amount in accordance with an instruction from the difference comparison unit 12. Output correction amount.

However, the timing at which the proportional correction amount switching unit 151 switches from the output of the proportional operation unit 131 to the output of the proportional correction amount storage unit 141, and the integral correction amount switching unit 152 integrates from the output of the integral operation unit 132 The timing of switching to the output of the correction amount storage unit 142 may be the same or different. For example, as described above with respect to the correction amount storage unit 14, after the difference e is less than the first value e ₁ below the threshold value e ₀ and the proportional correction amount storage unit 141 stores the proportional correction amount, The correction amount conversion unit 151 switches the output of the proportional operation unit 131 to the output of the proportional correction amount storage unit 141, and the difference e is less than the second value e ₂ below the threshold value e ₀ , and the integral correction amount storage unit ( After 142 stores the integral correction amount, the integral correction amount switching section 152 may switch from the output of the integral calculation section 132 to the output of the integral correction amount storage section 142.

After the proportional correction amount conversion unit 151 switches from the output of the proportional operation unit 131 to the output of the proportional correction amount storage unit 141, while the difference e is less than the threshold value e ₀ or the first value e ₁ , the proportional operation unit 131 Since the output of is not used to control the conveying speed of the conveyed object 3, the generation of the proportional correction amount by the proportional calculation section 131 is stopped according to the instructions from the difference comparison section 12 to reduce power consumption. Together, the calculation resources of the CPU (central processing unit) of the conveyance control device 1 can be released from the proportional calculation unit 131 and assigned to other functional units. Similarly, after the integral correction amount conversion unit 152 switches from the output of the integral operation unit 132 to the output of the integral correction amount storage unit 142, while the difference e is less than the threshold value e ₀ or the second value e ₂ , the integral operation unit Since the output of 132 is not used for controlling the conveying speed of the conveyed object 3, generation of the integral correction amount by the integrator 132 is stopped in accordance with an instruction from the difference comparator 12 to reduce power consumption. In addition to reducing, the calculation resources of the CPU of the transport control device 1 can be released from the integral calculation unit 132 and allocated to other functional units.

The speed correction amount calculation unit 16 is an adder that adds the proportional correction amount output from the proportional correction amount switching unit 151 and the integral correction amount output from the integral correction amount switching unit 152, and the speed relative to the conveying speed of the conveyed object 3 Compensation amount α is calculated. The sub-correction amount generated by the sub-correction amount generating section 17 is also input to the speed correction amount calculation unit 16. The sub-correction amount generation unit 17 as the second correction amount generation unit, when the difference e calculated by the difference calculation unit 112 is less than the threshold value e ₀ , according to the instruction from the difference comparison unit 12, based on the difference e A sub-correction amount as a second correction amount for the conveyance speed of the conveyed object 3 is generated. The sub-correction amount generation unit 17 is provided with a proportional operation unit 171 that calculates a sub-correction amount by a proportional operation that multiplies the difference e by a predetermined proportional gain, but unlike the main correction amount generation unit 13, the difference e There is no integral calculation unit that performs integral calculation for .

The main role of the sub-correction amount generation unit 17 is to convert the transfer target object 3 after at least one of the correction amount conversion units 151 and 152 converts the correction amount of each correction amount storage unit 141 and 142 into a correction amount of a constant value. It is to suppress the fluctuation of the low frequency that can occur in the tension of the If the integral calculation unit is provided in the sub-correction amount generation unit 17, the sub-correction amount fluctuates greatly as tension fluctuations are accumulated by integral calculation, and there is a possibility that the conveying operation of the conveying device 2 may become unstable. Therefore, the sub-correction amount generation The unit 17 is provided with only the proportional calculation unit 171.

As described above, in the speed correction amount calculation unit 16, which is an adder, the proportional correction amount from the proportional correction amount switching unit 151, the integral correction amount from the integral correction amount switching unit 152, and the sub-correction amount from the sub-correction amount generating unit 17 ( 3 data of proportional correction amount) are input. Specifically, according to the difference comparison result in the difference comparison unit 12, the data added by the speed correction amount calculation unit 16 changes as follows. When the difference e calculated by the difference calculation unit 112 is equal to or greater than the threshold e ₀ , the proportional correction amount from the proportional calculation unit 131 output by the proportional correction amount switching unit 151 and the integral correction amount switching unit 152 output The two pieces of data of the integral correction amount from the integral calculation unit 132 are added in the speed correction amount calculation unit 16. At this time, since the sub-correction amount generation unit 17 is not operating, the sub-correction amount is not added in the speed correction amount calculation unit 16. When the difference e calculated by the difference calculation unit 112 is less than the threshold e ₀ , the proportional correction amount from the proportional correction amount storage unit 141 output by the proportional correction amount switching unit 151 and the integral correction amount switching unit 152 Three pieces of data, the integral correction amount from the integral correction amount storage unit 142 and the sub-correction amount from the sub-correction amount generating unit 17, which are output, are added in the speed correction amount calculation unit 16.

The speed command generator 181 generates a command for the conveying speed of the conveyed object 3 conveyed by the conveying device 2 . As described above, the speed command generated by the speed command generator 181 corresponds to the first conveyance speed v1 of the conveyed object 3 in the first roller unit 22 at the front end. The speed correction unit 182 is an adder that adds the speed correction amount α calculated by the speed correction amount calculation unit 16 to the speed command generated by the speed command generation unit 181, and The second conveyance speed v2 of the conveyed object 3 in the present invention is calculated. In this way, the speed correction amount α calculated by the speed correction amount calculation unit 16 designates the difference between the second conveyance speed v2 and the first conveyance speed v1 or the relative speed v2-v1 (= α). In other words, the speed correction unit 182 corrects the second transfer speed v2 of the transported object 3 by the speed correction amount α calculated by the speed correction amount calculation unit 16.

As described above with respect to the speed correction amount calculation unit 16, when the difference e calculated by the difference calculation unit 112 is greater than or equal to the threshold value e ₀ , the speed correction amount α is the proportional correction amount from the proportional calculation unit 131 and the integral calculation unit 132 ) is the sum of the two data of the integral correction amount from In addition, when the difference e calculated by the difference calculation unit 112 is less than the threshold value e ₀ , the speed correction amount α is the integral of the proportional correction amount stored in the proportional correction amount storage unit 141 and the integral correction amount storage unit 142 stored It is the sum of the three data of the correction amount and the sub-correction amount generated by the sub-correction amount generation unit 17. According to the present embodiment, when the difference e in the tension of the conveyed object 3 is less than the threshold value e ₀ , the second conveyance speed v2 of the conveyed object 3 is determined by the correction amount of a constant value stored in the correction amount storage unit 14. is corrected, it is possible to prevent minute fluctuations in the tension of the conveyed object 3 from causing minute fluctuations in the conveyance speed of the conveyed object 3. When this embodiment is applied to a printing press such as a rotary press, the conveying device 2 is maintained while maintaining the difference e from the tension command of the tension of the winding paper as the object to be printed and the object 3 to be conveyed within a desired range, that is, less than the threshold value e ₀ . Since the conveying operation of the can be stabilized, the yield of the conveying device 2 and thus the printing machine can be increased.

2 is a flowchart showing an example of processing of the transport control device 1. In the description of the flowchart, "S" represents a step. In S1, the main correction amount generation unit 13 operates, and the proportional operation unit 131 and the integration operation unit 132 generate a correction amount based on the difference e of the tension of the conveyed object 3 calculated by the difference operation unit 112. Initiate. In S2, the difference comparator 12 compares the absolute value of the tension difference e with the threshold value e ₀ . In S2, when the tension difference e is equal to or greater than the threshold value e ₀ , the process proceeds to S3, and the proportional correction amount switching unit 151 and the integral correction amount switching unit 152 in the correction amount switching unit 15 convert the proportional calculation unit 131 and The proportional correction amount and the integral correction amount generated by the integral operation unit 132 are respectively output. In S4, the speed correction amount calculation unit 16 calculates the speed correction amount α by adding the proportional correction amount and the integral correction amount converted in S3, and the speed correction unit 182 calculates the second transfer of the conveyed object 3 by the speed correction amount α Calibrate the speed v2. After S4, it returns to S2.

In S2, when the tension difference e is less than the threshold value e ₀ , the process proceeds to S5, and the proportional correction amount storage unit 141 and the integral correction amount storage unit 142 in the correction amount storage unit 14 convert the proportional calculation unit 131 and The proportional correction amount and the integral correction amount generated by the integral calculating unit 132 are respectively stored. In S6, the proportional correction amount switching unit 151 and the integral correction amount switching unit 152 in the correction amount switching unit 15 are proportional to those stored by the proportional correction amount storage unit 141 and the integral correction amount storage unit 142 in S5. The correction amount and integral correction amount are output respectively. In S7, the proportional calculation unit 131 and the integral calculation unit 132 in the main correction amount generation unit 13 stop generating the correction amount. In S8, the sub-correction amount generation unit 17 operates, and the proportional operation unit 171 starts generating the sub-correction amount based on the difference e of the tension of the conveyed object 3 calculated by the difference operation unit 112. In S9, the speed correction amount calculation unit 16 calculates the speed correction amount α by adding the proportional correction amount and integral correction amount converted in S6 and the sub-correction amount started to be generated in S8, and the speed correction amount α is calculated by the speed correction amount α. The second transport speed v2 of the transport object 3 is corrected.

In S10, the difference comparator 12 compares the absolute value of the tension difference e with the threshold value e ₀ . In S10, if the tension difference e is less than the threshold value e ₀ , it returns to S9, and the correction amount conversion unit 15 outputs the correction amount stored by the correction amount storage unit 14 (S5) (S6), and the main correction amount generating unit (13) is stopped (S7), and the correction of the conveyance speed of the object (3) is continued in a state where the sub-correction amount generation unit 17 operates (S8). During this time, not only can the desired tension state be maintained where the difference e is less than the threshold value e ₀ , but also minute fluctuations in the tension of the conveyed object 3 can be reduced by using the correction amount of a constant value stored in the correction amount storage unit 14. In addition, it is possible to prevent minute fluctuations in the amount of correction and conveying speed.

In S10, when the tension difference e becomes equal to or greater than the threshold value e ₀ , the process proceeds to S11, and the main correction amount generating unit 13 operates to resume generation of the correction amount. In S12, the proportional calculation unit 171 in the sub-correction amount generation unit 17 stops generation of the correction amount, and returns to S3.

Fig. 3 shows a second configuration example of the transport control device 1 according to the embodiment of the present invention. The same reference numerals are given to components equivalent to those of the first configuration example in Fig. 1, and descriptions thereof are omitted. The conveying device 2 includes a dancer 24 as a tension detecting unit that detects the tension of the conveyed object 3 . The dancer 24 is between a pair of rollers 241 and 242 provided along the transport path of the transport target object 3 (horizontal line from left to right), and the dancer deviate from the transport path of the transport target object 3. A roll 243 is provided.

The dancer roll 243 is provided so as to be movable between an upper end 243A and a lower end 243B in a direction perpendicular to the conveyance path of the conveyed object 3 (vertical direction in FIG. 3), , the air cylinder 244 as a biasing or pressing unit is biased or pressurized in a direction away from the conveyance path of the conveyed object 3 (downward in Fig. 3). The biased or pressurized dancer roll 243 applies tension to the conveyed object 3 by pulling the conveyed object 3 in a direction away from the conveyance path. In other words, the dancer roll 243 stops at a position where the downward force received from the air cylinder 244 and the upward tension received from the conveyed object 3 are balanced. Since the force received by the dancer roll 243 from the air cylinder 244 is substantially constant, the position of the dancer roll 243 represents the tension of the conveyed object 3 .

The position of the dancer roll 243 is detected as an electrical signal by the position sensor 245 and supplied to the difference calculation unit 112. In addition, the position command of the dancer roll 243 generated by the position command generator 113 is input to the difference calculation unit 112 . As described above, since the position of the dancer roll 243 corresponds to the tension of the conveyed object 3, the position command of the dancer roll 243 generated by the position command generation unit 113 is equivalent to the tension of the conveyed object 3. Corresponds to the tension command. Therefore, the difference calculation unit 112 calculates the difference e between the detected tension of the conveyed object 3 and the tension command, similarly to the first configuration example of FIG. 1 . Other components of FIG. 3 are the same as those of FIG. 1 and thus descriptions thereof are omitted.

In the above, this invention was demonstrated based on embodiment. The embodiments are examples, and it is understood by those skilled in the art that various modifications are possible for each component or combination of each processing process, and that such modifications are also within the scope of the present invention.

In the embodiment, a proportional correction amount storage unit 141 for storing a proportional correction amount and an integral correction amount storage unit 142 for storing an integral correction amount are provided in the correction amount storage unit 14, but only the storage unit for storing any one correction amount can arrange In the case of providing only the integral correction amount storage unit 142, by switching the integral correction amount switching unit 152 to the stored integral correction amount, accumulation of minute fluctuations in tension when the tension difference e is less than the threshold value e ₀ can be avoided. , the conveying operation of the conveying device 2 can be stabilized. When the proportional correction amount storage unit 141 is not provided, since the proportional correction amount generated by the proportional calculation unit 131 is always used, when the tension difference e is less than the threshold value e ₀ , a secondary proportional correction amount The proportional calculation unit 171 or the sub-correction amount generation unit 17 provided to generate the data need not be provided. In this case, the proportional gain of the proportional calculation unit 131 may be changed when the tension difference e is greater than or equal to the threshold value e ₀ and when the tension difference e is less than the threshold value e ₀ .

However, the functional configuration of each device described in the embodiments can be realized by hardware resources, software resources, or cooperation between hardware resources and software resources. As hardware resources, processors, ROMs, RAMs, and other LSIs can be used. Programs such as operating systems and applications can be used as software resources.

1 Conveyance control device
2 transport device
3 Returned item
12 Difference Comparison Unit
13 Week Correction Quantity Generation Unit
14 Compensation amount storage unit
15 Correction amount switching part
16 Speed compensation calculation part
17 Sub correction amount generation unit
21 Tension detector
22 first roller unit
23 second roller unit
24 dancers
111 Tension Command Generation Unit
112 Difference calculation unit
113 position command generator
131 proportional calculation unit
132 Integral calculation unit
141 Proportional correction amount storage unit
142 Integral correction amount storage unit
151 Proportional Correction Amount Conversion Unit
152 Integral correction amount conversion unit
171 proportional calculation unit
181 Speed command generator
182 speed correction unit
243 Dancer Roll

Claims (8)

a tension detecting unit for detecting the tension of the conveyed object;
a correction amount generating unit that generates a correction amount for the conveying speed of the conveyed object based on the difference between the detected tension and the tension command;
a correction amount storage section for storing a correction amount generated by the correction amount generating section when the difference is less than a predetermined value;
a correction amount switching unit capable of converting and outputting the correction amount generated by the correction amount generating unit and the correction amount stored in the correction amount storage unit;
and a speed correcting unit for correcting the transport speed of the transported object based on the correction amount output by the correction amount switching unit. According to claim 1,
wherein the correction amount switching unit outputs a correction amount generated by the correction amount generation unit when the difference is greater than or equal to the predetermined value, and outputs a correction amount stored in the correction amount storage unit when the difference is less than the predetermined value. According to claim 2,
the correction amount storage unit stores a correction amount generated by the correction amount generating unit when the difference becomes less than the predetermined value;
and the correction amount generating unit stops generation of the correction amount while the difference is less than the predetermined value after the correction amount storage unit stores the correction amount. According to claim 2 or 3,
The correction amount generation unit includes a proportional operation unit that performs a proportional operation on the difference and an integral operation unit that performs an integral operation on the difference,
a second correction amount generating unit that generates a second correction amount for the transport speed of the transported object based on the difference when the difference is less than the predetermined value, and includes a proportional calculation unit that performs a proportional calculation for the difference; Further comprising a second correction amount generating unit that does not include an integral arithmetic unit that performs an integral operation on ,
wherein the speed correction unit corrects the transport speed of the transported object based on the second correction amount and the correction amount stored in the correction amount storage unit output by the correction amount switching unit when the difference is less than the predetermined value. According to any one of claims 1 to 3,
The tension detection unit detects a position of a dancer roll that applies tension to the conveyed object,
The correction amount generating unit generates a correction amount for the conveying speed of the conveyed object based on a difference between the position of the dancer roll detected by the tension detection unit and a position command of the dancer roll corresponding to the tension command. control device. According to any one of claims 1 to 3,
The conveyed object is conveyed by a first conveying unit provided in front of the tension detecting unit and a second conveying unit provided in a rear end of the tension detecting unit,
wherein the speed correction unit corrects a transport speed of the second transport unit with respect to the first transport unit based on the correction amount output by the correction amount switching unit. a tension detecting step for detecting the tension of the conveyed object;
a correction amount generation step of generating a correction amount for the conveyance speed of the conveyed object based on the difference between the detected tension and the tension command;
a correction amount storage step for storing the correction amount generated in the correction amount generating step when the difference is less than a predetermined value;
a correction amount switching step for switching and outputting the correction amount generated in the correction amount generation step and the correction amount stored in the correction amount storage step;
and a speed correction step for correcting the conveyance speed of the object on the basis of the correction amount output in the correction amount switching step. a tension detecting step for detecting the tension of the conveyed object;
a correction amount generation step of generating a correction amount for the conveyance speed of the conveyed object based on the difference between the detected tension and the tension command;
a correction amount storage step for storing the correction amount generated in the correction amount generating step when the difference is less than a predetermined value;
a correction amount switching step for switching and outputting the correction amount generated in the correction amount generation step and the correction amount stored in the correction amount storage step;
A computer-readable recording medium storing a conveyance control program for causing a computer to execute a speed correction step for correcting the conveyance speed of the conveyed object based on the correction amount output in the correction amount conversion step.

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