200902302 v九、發明說明: 【發明所屬之技術領域】 本發明係關於一種具有將旋轉運動轉換為往復運動之 機構的衝壓機、其控制裝置及控制方法。 【先前技術】 衝壓機係有以液壓驅動滑件之液壓衝堡、及以機械式 機構驅動滑件之機械衝壓。 轴之:機械衝壓之一種,為以馬達旋轉驅動曲柄 軸之衝[。㈣柄衝㈣藉由曲柄軸之旋轉使滑件升降, 而將曲柄軸之旋轉運動轉換為滑件之往復運動。在滑件之 2固定有上模具,在滑件下降時,在該上模具與配置在 :牛之下方的下模具之間夾持被加工物並對被加工 成形(衝壓)。 仃 衝壓再Lrr堅係有使用蓄積旋轉能量之飛輪的機械 吏用飛輪而使用可自由地調節正轉、反轉 度變化之伺服馬達的機械衝壓。 使用飛輪之衝壓機係如第i圖所示,經由皮帶輪仏 =輸皮帶45將馬達41之旋轉驅動力傳輸至飛輪47。離 σ益49係在連接狀態將飛輪47連結在主齒輪51,並 切斷狀態將飛輪47從主齒輪51分離。 主齒輪51係固定在曲柄軸53之—端部,曲柄軸μ 係與主齒輪51 —同旋轉驅動。 在曲柄軸53之偏心部連結有連結構件55之一端部, 在連結構件55之另-端部連結有滑件57。藉此,曲柄轴 319709 200902302 .53之旋轉運動會轉換為滑件57之往復直線運動,使滑 .1 / 1,1 ! ρ·* | 在該構成中,蓄積在飛輪47之旋轉能量係在曲柄軸 之對被加工物進行衝壓之旋轉角區域中被放出,而 他旋轉角區域中再蓄積於飛輪47。 仕八 使用飛輪之衝壓機時,由於使用飛輪、離合器, 而造成裝置之大型化。 另一方面,不使用飛輪而使用伺服馬達的衝壓機時, 具有可省略飛輪與離合器之優點。 旦」然而’使用飼服馬達的衝磨機時,由於無法將旋轉截 量畜積在飛輪’因此必須將舰馬達及馬達驅動用之 設備設成大容量。 " 在考慮此點之下述專利文獻2巾,將電能量 電容器連接在交流電源設備並在對被加马進行衝堡之曲 柄軸的旋轉角區域中,將蓄積於電容器之電能量供給至飼 猎此,使交流電源設備小型化,並確保衝 能量。 丁吓而2 借丨I: ’在專利文獻1之情形時,即使可使交流電源载 備小型化,但由於在對加工物進行衝壓之曲柄軸的旋轉角 區域:將大電流供給至祠服馬達,因此直接驅.動飼服馬達 之驅動電路會因此而大型化。 、另-方面,在使用飛輪之衝壓機中,亦期望使馬達及 馬達之驅動電路更加小型化。 319709 7 200902302 此外,在衝壓機中亦期望減低消耗電力。 因此,本申請人係已將可使馬達及馬達之驅動電路小 型化且減低消耗電力之衝壓機、其控制裝置及控制方法, 作為下述專利文獻2(未公開)提出申請中。 在该未公開之專利文獻2中,依對應於衝壓機之特性 的凝轉體(曲柄軸等)之旋轉角來決^所需馬達轉矩,並在 該所需馬達轉矩變得小於預設之馬達轉矩基準值之旋轉體 的旋轉角,使馬達之旋轉指令速度比一定指令速度更為增 加,而在該所需馬達轉矩變得大於馬達轉矩基準值之旋轉 體的旋轉角,使馬達之旋轉指令速度比—定指令速度更為 咸v由此,可使最大馬達轉矩值有效地減低。結果,可 使馬達及馬達之驅動電路小型化,且可使消耗電力減低。 (專利文獻1)日本特開2004—344946號公報「衝壓機」 ^專利文獻2)日本特願2006_105575號公報「衝壓機、衝 麗機之控制裝置及控制方法 在專利文獻^ τ,上遮所需馬達轉矩係不僅你 θ體之%轉角而變化’亦依誠運轉速度或衝塵負載辦 1之變動而變化。 、 ㈣ϋ轉速度係相#於滑件進行】往復運動之速度, 九:能以衝壓用之滑件進行i往復之期間 4 方疋轉速度來表示。 卞9 間内能量係相當於衝㈣之滑件進行1往復之期 以衝壓二且=之工作量或衝壓機所消耗之能量,例如 〜、之種類或緩衝設定壓等所設定者。 319709 8 200902302 •…如此,當衝塵運轉速度或衡… 壓運轉速度或衝壓負载能量、此里蔓動時,依衝 轉矩係需要非常多的勞力。 預先求出上述所需馬達 【發明内容】 因此’本㈣之目的係改良專利文獻 星運轉速度或衝屡負载能量變動時 务明,當衝 度或誠負载能量之各值預先求出所運轉速 而且即使衝壓運轉过声i 而’、、達轉矩的勞力’ 行最適當之控制,並且可在声 4動蛉,亦可進 力。 了在廣泛之運轉條件下減低馬達電 ”丄了達:3目的,根據本發明,提供-種_機之 控制裝置’該衝屢機係具備:馬達;轉換機構,係且有由 該馬達所旋轉驅動之旋轉體,並將該旋轉運動轉換為往復 運動,及滑件,係連結在轉換機構而進行往復運動;本以 一定指令速度使前述馬達旋轉時,所需馬達轉矩會隨^前 述旋轉體之旋轉角而變動’該衝壓機之控制裝置的特徵為 具備:角度檢測裝置,係檢測前述旋轉體之旋轉角;轉矩 决定裝置,係依據從該角度檢測裝置輸入之旋轉角的值, 來決定對應衝壓機之特性的所需馬達轉矩;及速度調節裝 置,係在前述所需馬達轉矩變得小於預設之馬達轉矩基準 值之旋轉體的旋轉角,使馬達之旋轉指令速度比前述一定 才曰々速度更為增加;復具備補正裝置,其係對應衝壓運轉 速度或衝壓負載能量之變動,補正前述速度調節裝置使前 述旋轉指令速度增加之量;以減低馬達之最大消耗電力之 9 319709 200902302BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a press machine having a mechanism for converting a rotary motion into a reciprocating motion, a control device thereof, and a control method. [Prior Art] The press has a hydraulic punching machine that hydraulically drives the sliding member, and a mechanical punching that drives the sliding member with a mechanical mechanism. Axial: A type of mechanical punching that drives the crankshaft with a motor. (4) The handle punch (4) The slider is lifted and lowered by the rotation of the crankshaft, and the rotary motion of the crankshaft is converted into the reciprocating motion of the slider. An upper mold is fixed to the slider 2, and when the slider is lowered, the workpiece is held between the upper mold and the lower mold disposed under the cow and formed (stamped).冲压 Stamping and Lrr is a mechanical press that uses a mechanical flywheel that uses a flywheel that accumulates rotational energy to use a servo motor that can freely adjust the forward and reverse rotation changes. The press using the flywheel transmits the rotational driving force of the motor 41 to the flywheel 47 via the pulley 仏 = belt 45 as shown in Fig. i. In the connected state, the flywheel 47 is coupled to the main gear 51, and the flywheel 47 is separated from the main gear 51. The main gear 51 is fixed to the end of the crank shaft 53, and the crank shaft μ is rotationally driven together with the main gear 51. One end portion of the coupling member 55 is coupled to the eccentric portion of the crank shaft 53, and a slider 57 is coupled to the other end portion of the coupling member 55. Thereby, the rotational motion of the crankshaft 319709 200902302 .53 is converted into the reciprocating linear motion of the slider 57, so that the slip.1 / 1,1 ! ρ·* | In this configuration, the rotational energy accumulated in the flywheel 47 is in the crank The shaft is discharged in the region of the rotation angle where the workpiece is punched, and is accumulated in the flywheel 47 in the region of the rotation angle. Shiba When using the flywheel press, the size of the device is increased due to the use of flywheels and clutches. On the other hand, when a press machine using a servo motor is used without using a flywheel, there is an advantage that the flywheel and the clutch can be omitted. However, when the dressing machine of the feeding motor is used, since the rotation cut-off cannot be accumulated on the flywheel, it is necessary to set the ship motor and the motor driving device to a large capacity. " In the following Patent Document 2, the electric energy capacitor is connected to the AC power supply device, and the electric energy stored in the capacitor is supplied to the rotation angle region of the crankshaft that is punched by the horse. Hunting this way, miniaturizing the AC power supply and ensuring energy. In the case of Patent Document 1, even if the AC power supply can be miniaturized, due to the rotation angle region of the crankshaft that punches the workpiece: a large current is supplied to the clothing. Since the motor is directly driven, the drive circuit of the motor of the feeding machine will be enlarged. On the other hand, in a press using a flywheel, it is also desired to further reduce the size of the drive circuit of the motor and the motor. 319709 7 200902302 In addition, it is also expected to reduce power consumption in presses. For this reason, the present applicant has proposed a press machine, a control device, and a control method for reducing the power consumption of the motor and the motor, and reducing the power consumption, as disclosed in the following Patent Document 2 (not disclosed). In the unpublished patent document 2, the required motor torque is determined according to the rotation angle of the condensing body (crankshaft or the like) corresponding to the characteristics of the press, and the required motor torque becomes smaller than the The rotation angle of the rotating body of the motor torque reference value is such that the rotation command speed of the motor is increased more than a certain command speed, and the rotation angle of the rotating body where the required motor torque becomes larger than the motor torque reference value Therefore, the rotation command speed of the motor is more salty than the command speed, whereby the maximum motor torque value can be effectively reduced. As a result, the drive circuit of the motor and the motor can be miniaturized, and the power consumption can be reduced. (Patent Document 1) Japanese Laid-Open Patent Publication No. 2004-344946 (Patent Document 2) Patent Document 2) Japanese Patent Application No. 2006_105575 "Control device and control method for press machine and punching machine" in Patent Document ^ τ, 上遮所The motor torque is required to change not only the % angle of the θ body, but also the change in the speed of the operation or the load of the dust load. (4) The speed of the swaying speed is the speed of the reciprocating motion. It can be expressed by the sliding speed of the sliding part of the stamping process. The energy of the 卞9 is equivalent to the sliding part of the punching (4), and the reciprocating period is 1 stamping and = the workload or the punching machine. The energy consumed, such as ~, the type, or the buffer setting pressure, etc. 319709 8 200902302 •...So, when the dust running speed or balance... Pressing the running speed or the punching load energy, when it is rushing, The moment system requires a lot of labor. The above-mentioned required motor is obtained in advance. [Inventive content] Therefore, the purpose of this (4) is to improve the speed of the patent document, or to change the load energy of the load, when the impulse or the load of the load is Each value is determined in advance, and even if the press operation is over, the 'force of torque' is optimally controlled, and the sound can be applied to the sound 4, and the force can be increased. According to the present invention, there is provided a control device for a machine that has a motor, a conversion mechanism, and a rotating body that is rotationally driven by the motor. Converting the rotary motion into a reciprocating motion, and the slider is coupled to the conversion mechanism for reciprocating motion; when the motor is rotated at a certain command speed, the required motor torque is related to the rotation angle of the rotating body. The control device of the press machine includes: an angle detecting device that detects a rotation angle of the rotating body; and a torque determining device that determines a corresponding pressing machine based on a value of a rotation angle input from the angle detecting device The required motor torque of the characteristic; and the speed adjusting device is such that the required motor torque becomes smaller than a predetermined motor torque reference value of the rotation angle of the rotating body to rotate the motor The speed is increased more than the aforementioned speed; the complex device has a correction device corresponding to the change of the punching operation speed or the punching load energy, and corrects the speed adjusting device to increase the speed of the rotation command; to reduce the maximum of the motor Power consumption 9 319709 200902302
•方式,令前述速度調節裝置使旋轉指令速度增息 前述補正襄置對該增加量進行補正之量兩者反映於二链及 =度’並以經反映後之該旋轉指令速度來旋轉C 在前述衝壓機之控雜置中,與專敎獻 速度調節褒置係在所需馬達轉矩變得小於預設之馬達 基:值之旋轉體的旋轉角,使馬達之旋轉指令速度比轉, :二度更為增加,除此之外’補正裝置係對應衝: 速度或衝壓負載能晉之磁私 、士 ~運轉 ο- 補正使前述旋轉指令逮度, σ里°者’以減低馬達之最大消耗電力之方式,θ 度=節裝置使旋轉指令速度增加之量、及補正裝置對= 加里進行補正之量兩者反映於旋轉指令速度,並以^ 後之該旋轉指令速度來旋轉驅動馬達。 -反映 因此’當衝堡運轉速度或衝壓負载能量 1 =:速度或衝壓負載能量之各值預先求出所需Ϊ 變動、 而且即使衝壓運轉速度或衝㈣载能量已 件下減低馬達電力。制並且可在廣泛之運轉條 單嫵’為了達成上述目的’根據本發明,提供—種衝 :有由:=二壓機係具備:馬達;轉換機構,係 為往復運I .、、:驅動之旋轉體’並將該旋轉運動轉換 :、 ,及π件,係連結在轉換機構而進行往復運動; 速度使前述馬達旋轉時,所需馬達轉矩會隨 k疋轉體之方疋轉角而變動,該衝壓機之控制裝置的特 319709 10 200902302 •徵為具備:角度檢測I置,係檢測前述旋轉體之旋轉角; 轉矩決定裝置,係依據從該角度檢測農置輸入之旋轉角的 值’來決定對應衝壓機之特性的所需馬達轉矩;及速度調 2裝置’係在料所需馬達轉矩變得大於預設之馬達轉矩 、十、一t入“達之旋轉指令速度比前 二運為減少;復具備補正農置,其係對應衝 二運轉速度或衝壓負盡台巨吾夕鐵私 、* 置你一 w人 補正前述速度調節裝 ^吏則歧轉^"速度減少之量;以減低馬達之最大消耗 :力之方式,令前述速度調節裝置使旋轉指令速度減少之 I、及前述補正裝置對該減少量進 旌Μ扣入、*由, π饰止之里兩者反映於 動前述馬達。 ㈣曰7連度來旋轉驅 速之控制裝置中,與專利文獻2同樣地, 農置係在所需馬達轉矩變得大於預設之馬達轉矩 二八、之㈣體的旋轉角’使馬達之旋轉指令速度比一定 曰7迷度更為減少,除此之外,補正 速度或誠負載能詈之㈣❺姑μ 對應衝壓運轉 少之量。再使前述旋轉指令速度減 ^再者,以減低馬達之最大消耗電力之方々八、 指:速度減少之量、及補…對:ί 後—令速度,經反映 去依衝覆運‘負载能量變動時,可省 锝迷度或衝壓負载能量之各 達轉矩的勞力,而且即使衝壓運轉速度或衝壓負载; 319709 11 200902302 •變動時,亦可進行最適當之控制, 件下減低馬達電力。 在廣泛之運轉條 壓機:二ίί達述目的’根據本發明,提供-種衝 执之控制衣置’该衝壓機係具備 可 具有由該馬達所旋轉驅動之旋轉體,並將鐘係 當以一定指令速度使前進行往復運動; 著前述旋轉體之旋轉角鐵 ^ ’所需馬達轉矩會隨 徵為具備:角度檢測裝置,係檢測前述旋轉體特 值,來決定對應衝屋機之特 7入之旋轉角的 節裝置,係在前述所需馬達轉= 基準值之旋轉體的旋轉角,使 广之馬達轉矩 -定指令速度更為增加,而在前述所逮度比前述 預設之馬達轉矩基準值之體達,矩變得大於 指令速度比前述-定指令速度更使馬達之旋轉 置,其係對應衝屋運轉速度 負载彳具:補正裝 前述速度調節裝置使前述旋轉指===動,紅 以減低馬達之最大消耗電力 '曰加或減少之1 ’· 使旋轉指令速度增加或減少之旦=前述逮度調節裝置 加或減少之量進行補正之量反:及:述補正裝置對該增 反映後之該旋轉指令速度來旋轉驅度,並以經 在前糊機之控制裝置中 二馬達。 逮度調節裝置係在所需馬達轉矩變;::文獻2同樣地’ 欠件小於預設之馬達轉矩 319709 12 200902302 .基準值之旋轉體的旋 一定指令速度更為增加,而在^之旋轉指令逮度比前述 ;:叫達轉矩基準值之旋轉體:矩變得大於 “速度比前述—定指 轉角’使馬達之旋轉 裝置係對應衝麼運轉速片赤你=為減少,除此之外,補正 前述旋轉指令速度增加:減少:c變動,補正使 最大消耗電力之方彳 丹者,以減低馬達之 加或減少之量、及補正:=節裝置使旋轉指令速度增 之量兩者反映於旋轉指1=5亥增加或減少之量進行補正 令速度來旋轉驅動馬達y k又亚以經反映後之該旋轉指 因此’當衝壓運轉i亲庳 去依衝壓運轉速度或衝壓;載能;==,可省 =:進:;:!衝壓運轉速度或衝壓 件下減低馬達電力。 且了在廣泛之運轉條 根據本發明之較佳實施形態,前述補正裝置 轉速度越小、或_負_量越A,越將 ^ 前述旋轉指令速度增加或減少之量予以補正為較I使 轉二T速;越小、或衝壓負載能量越大,相對於旋 、-又之所而馬達轉矩的振幅也越大。因此,衝麗 I速度越小、或衝魔負载能量越大時’藉由增大使旋轉指 令速度增加或減少之量’即可有效地減低馬達電力。s 再者,根據本發明之較佳實施形態,前述補正裝置係 /、備輸入有衝壓運轉速度或衝壓負載能量之值的輸入部。 319709 13 200902302 、藉此,根據從輸入部所輸入之衝壓運轉速度或衝壓負 載能量之值,補正裝置可進行速度調節裝置使前述旋和 令速度增加或減少之量的補正。 曰 敉佳為 刖迷返度 啊β丨衣·^•丨小丨、巧々疋锝指令速产 從前述-定指令速度增減達前述所需馬達轉矩與前、ς 轉矩基準值之差乘以一定之增益所得之值的大小。如此, $於使馬達之旋轉指令速度增減達與轉矩變動量成比例之 里因此可更有效率地將旋轉能量供應至旋轉系統。 再者,前述速度調節裝置使前述馬達之旋轉指 :!二的量、與使馬達之旋轉指令速度減少的量係可在預; ==?間積分值上相等。如此,藉由將使旋轉指令 間之時間積分值上相等,即可使預定時間期 間盘以一宏μ、" 土 使預疋時間内之衝愿動作時 動作時門: 旋轉時之預定時間期間之㈣ 作ϋ ’衫會使㈣生產速度降低。 :求出前述衝壓負载能量之測量算出裝置,該二 置係具備:第1測量部,係測量 里才衣 運動機構之^ 这馬達所驅動之衝壓 弟2測I部,係測量在前述丨 , 壓運動機構之能量值;及,達供給至衝 量之前述運動能量變化之量、及第測量部所測 能量值來管A 及第2測i部所測量之前述 衝虔負_以;前述補正裝置係利用該 里補正使料旋轉指令速度增加或減少之量。 319709 14 200902302 衝堡運動機構之運動能量在滑件之i往復期間變化的 之量的大小)、與馬達供給至㈣運動機構之能量 一f二衝壓負載能量。因此可根據第1測量部所測量之 能量變化之量、及第2測量部所測量之前述能量 值來舁出衝壓負載能量。 、月 根據本發明,提供—鐘且古 再者,步Μ士政,、^有述控制裝置之衝屢機。 衝嶋且備.“明轉::一種物之控制方法,該 驅動之旋轉^牌,係具有由該馬達所旋轉 ㈣’亚將該旋轉運動轉換為往 ^ 係連結在轉換機構而進 動,及;月件, 前述馬達旋轉時,所需馬達=二;定指令速度使 角而變動’該衝整機之控制方法的::=轉:之旋轉 靛轉體之旋轉角之階$ 為/、有·裰測前述 定對應衝屡機之特性二:Ά測之旋轉角的值,來決 馬達轉矩變得小於預設之二: = 段:在前述所需 角,使馬達之旋轉指令速度:::轉體的旋轉 之階段;對應衝壓運轉速度或衝麼負速度更為增加 使前述旋轉指令速度增加之量^载^之變動,補正 大消耗電力之方式,令使前述減低馬達之最 對該增加量進杆# τ θ 之得知令速度增加之量 經反映後之二 再者’在該控制方法中 了根據由滑件之往復運 動 3197〇9 15 200902302 所產生之,交動要素的馬達轉矩、及由旋轉體 產生之變動要素的馬達轉矩疋轉運動所 精此,可進行考慮由滑件之往復運動及旋轉達^矩。 所產^變動要素的馬達轉矩之馬達旋轉速度^運動 再者,根據本發明,提供一種衝壓機之控制 U機係具備:馬達;轉換機構,係具有由該所^亥 驅動之旋轉體,並將該旋轉運動轉換為往復運動^疋轉 係連結在轉換機構而進行往復運動;當以广 前述馬達旋轉時,所需馬達轉矩會隨著前述逮度使 角而變動’該衝產機之控制方法的特徵為 ^轉 衝屢機之試運轉,作成由供給至馬達之電产所^由進行 :衝昼機之特性之所需馬達轉矩值、應 值的關係之階殺.认、別乂、上t 仍稍之$疋轉角之 該檢測得之旋轉角的值轉體之旋轉角之階段;依據 之值的所需馬述決定對應該旋轉角 :預設之馬達轉矩基準值之旋轉體的 轉指令速度比前述— 馬=旋 度㈣載能量之變動,補正使前 :度=加之置的階段,·及以減低馬達之最大消耗電力之; :’…述旋轉指令速度增加之量、及對該辦 — :二量兩者反映於旋轉指令速度,並以經反“:該: 曰令速度來旋轉驅動前述馬達之階段。、'^疋 上述:制方法亦可舆上糊機之控制襄置同樣地達成 319709 16 200902302 再者,在該控制方法_,只要^、 入由試運轉所得之闕係,即可決定所:::之旋轉角代 即使衝麗運轉速度或衝壓負載能量變動二達:矩:此時, 裝置進行相對於該變動之補正,因此;由補正 “馬達轉矩。例如,衝塵機 木 以低速運轉,一邊檢查板件之生產用在運轉開始時 之運轉方法,但即使在此情形下,邊逐漸增加速度 繼續衝壓·,同❹亦可不再奸試運轉’ 變動。I ^藉由補正裝置來對應_運轉速度之 變動本發明,當衝_轉逮度或衝屢負載能量 物所需馬達轉矩的勞力,而且即使各值預 廣泛之運轉條件下減低=τ取適當之控制’並且可在 【實施方式】 參照圖式說明本發明之較佳實施 中共通之部分賦予同一符號, ς之匕外,在各圖 (第1實施形態) 略重複之明。 第2圖至第7圖顯示本發明第 1實施形熊之、、宫管细〇C 1 弟1貫施形態。在該第 角算出所需号達:’根據所輸入之曲柄袖7之旋轉 置」。再者在第轉係構成本發明之「轉矩決定裝 中,根據所管出之: 演算部26及指令調節部19 |课所异出之所需馬達轉矩來 值的部分係構成本發明之「速度調節裝置=之者指::: 319709 17 200902302 ,之「補正裝置俏1古 第2門孫1: 部273及補正部27卜 弟2圖係本發明之 示,衝屋制具備:馬達】二二成圖。如第2圖所 藉由馬達1之旋轉骑動力二 及傳輸皮帶5,係 ,轉驅動力而紋轉;飛輪6 及傳輸皮帶5傳輸馬達】 田反43 從飛輪6傳輪旋轉驅動力.離:轉’·曲柄軸7,係 狀態)連結飛輪㈣:柄轴7 :^ 柄軸7從飛輪6分離 在_狀態(切斷狀態)使曲 牧 ,月件11,藉由曲柄軸7之旌鏟而a 降;及連結構件12,一端 ^ 7之㈣而升 一 @ m a从 、、σ於曲柄軸7之偏心部,另 W連結於滑件u,且使滑件η升降。 另 下降=/11之下面固定有衝壓用之上模具,當滑件U 下降π,在上模具與設置在滑件 ^ 被加工物進行衝壓。 #下模具之間對 再者’在衝壓機1〇組裝有用 的速度控制.. 控制馬達1之旋轉速度 卫制裝置15。速度控制裝置15係且 邛Π,係對應例如從外部輸入 " 輪屮民、告! t破加工物之衝壓條件等而 輸出馬達1之旋轉指令速度值( 干手而 i幸勰翻却〇 W 卜柄心令速度值);及馬 達駆動J 21(例如驅動電路 來自速度指令部17之指人速;^ 周即部19接收 之電、、Μ“ 度值’騎龍耗令速度值 之電抓供給至馬達丄。㈣,在 -值 指令部17之指令速度值係經由限制广:,來自速度 至指令調節部19。 a輪入 從速=明不經由指令調節部19將-定之指令速度值 …部η直接輸入至馬達驅動部21的情形。 319709 18 200902302 此馬達驅動部21係根據所輸入之指令速度值將電 流供給至馬達1。 再者’馬達驅動部21係接收用以檢測馬達丨之旋轉速 X之來自测速孓電機(tach〇generat〇r)等角速度檢測器的 f測值,判斷馬達1之檢測旋轉速度是否為指令速度值, 右k度不同的„舌,调靖流至馬達j之電流。藉此,將馬達 1之檢測旋轉速度控制成一定指令速度值。 第3圖係如上述伟馬;查·),、, 使馬達1以一疋指令速度(即定速)旋 運轉時之馬達2的所需馬達轉矩變動之曲 " 專利範圍尹’所需馬達 :係4曰由衝壓機之特性、衝壓之被加工物及曲柄、; 希望的Γ定旋轉速度等而設定之馬達1的所需轉矩。 之r: 3 L⑷中,橫轴表示時間,縦轴表示曲柄軸7 之:轉角。曲柄軸7之旋轉角係在衝屢之每 至360度,因此在第3圖⑴卜 同之波形。 衡i之母1週期反覆相 在第3圖⑻中,橫軸表示時間,縱轴表示逮八立 Π所輸出之指令速度值。在該例中,指 、又曰τ部 第3圖(C)係顯示使馬達u:<„定二、=值為一定。 壓機10運轉時之馬達1的所需馬達轉^變H轉而使衝 示,當藉由馬達1使曲柄軸7以第3圖(B)之一〜該圖所 旋轉時,由於結合於曲柄軸7之各種機械疋指令速度 所需=會隨著時間而變動。亦即,_機之所=達、1之 矩係隨者曲柄軸7之旋轉角而變動。 玲馬達轉 319709 19 200902302 以檢二衝壓機10係如第2圖所示,復具備用 以曲柄車由7之一端部的主 轉編碼器等角度檢測器25。 mi角之& 二度?裝置15係進行下述控制,亦即,在如第3 達之所二1以—定指令速度旋轉之情形中之在馬 =需專矩會變得小於第3圖(c)所示 二:7的_角,進嶋^ 令速度更為增加的控制。藉此,由於可 最2達:=τ給至旋轉系統,因此可有效地_ 而可们Γί ’由於可減低最大馬達轉矩值,因 而了減小馬達1及馬達驅動部21之電容量,並且 1及馬達驅動部21小型化。再者,由 達 能量供給至旋轉系統,因此可減低消耗電力有效率地將旋轉 值二例==利範圍中,馬達轉矩基準 ’如弟3圖(C)之貫線所示之變動 :二St大亦If比第3_之實線所示之 馬達轉矩的最大值小之一定值。貝線所不之所需 準達之所需轉矩變得大於上述馬達轉矩美 述—定的旋轉角,使馬達1之旋轉指令速度比上 矩值。”速度更為減少。藉此’可更加減低最大馬達轉 319709 20 200902302 以下,詳細說明進行上述控制的衝塵機1 〇。 如第2圖所示,第丨實施形態之衝壓機1〇的速度控制 裝置15復具備:演算部26,係對應來自角度檢測裝置 之輸出值輸出馬達丨之速度調節值;及指令調節部19,係 使從速度指令部17輸入之指令速度值增減達自演算部U 輸入之速度調節值的量。指令調節部19係將以上述方式進 =增減調節之指令速度值輪出至馬達驅動部21。此外二在 第2圖之例中’來自演算部26之速度調節值係經由限制器 18b輪入至指令調節部19。 ° 速度控制裝置15復具備後述之補正裝置。補 有補正部崎照第2圖)、補正部27b。 衣置具 /以下,為了方便說明,首先說明未採用補正裝置之情 形,接著說明在速度控制裝置組裝有補正裝置15之情形二 角度檢測裝置25係藉由檢測結合於曲柄軸7之主齒輪 29的方疋轉角’而檢測出曲柄軸7之旋轉角,並連續地 檢測值。 ^演算部26係作為對應所輸入之曲柄軸7的旋轉角之值 而异出用以使馬達1之旋轉指令速度增減之速度調節值之 速度調節函數而產生功能。 第4圖係顯示演算部26中之從輸入至速度調節函數的 輸入至其輸出的流程之圖。 自角度檢測裝置25輪入旋轉角之值至演算部%、亦 即速度調節函數時,首先依據該輸入,進行由滑件之往復 運動所致之變動要素的所需馬達轉矩、及由曲柄轴之旋轉 319709 21 200902302 運動所致之變料素的所f馬ϋ軸之計算。 1.由滑件之往復運動所致 曾 夂動要素的所需馬達轉矩之計 异 、請=算由滑件之往復運動所致之變動要素的所需馬 達轉矩(弟4圖之S1所示),在輸入旋轉角之值時,在川 中將該旋轉角轉換為滑件11之位置。 接著,根據該滑件位置之資訊,計算由滑件之往復運 動所致之變動要素的所需馬達轉矩。 該轉矩計算係針對si 2所示之下述各變動要素(丨) (6 )來進行。 、 (1)滑件摩擦 求出滑件之動摩擦係數與滑件之速度的乘積。此時, 由於滑件之速度係隨著曲柄轴之旋轉角而變化,因此件 之摩擦力亦隨著曲柄軸之旋轉角而變化。 (2) 滑件之慣性 求出滑件之重量與滑件之加速度的乘積。此時,由於 滑件之加速度係隨著曲柄軸之旋轉角而變化,因此滑件之 慣性亦隨著曲柄軸之旋轉角而變化。 (3) 緩衝 僅在模墊(D i e cush i on)於衝屋時進行動作之期門〜 所設定之緩衝力求出模墊作用於滑件之力。此時, : 用於滑件之力亦隨著曲柄軸之旋轉角而變化。 (4)衝壓加壓力 將衝壓當作彈簧而予以模型化,僅在該彈簧收縮之期 319709 22 200902302 -間(即上模具與下模具接觸之自間),將所產生之㈣加屏 力當作料常數與收縮量之乘積來求出。此時,衝壓加^ 力亦隨著曲柄軸之旋轉角而變化。 (5)平衡器(counter balancer) 要辛= : = 111之本身重量及連結在滑件11之機械 :素之本身重置與作用在滑件u之力的平衡,因此亦有將 以對滑件11往上方或下方施力之平衡器予、 壓機10之情形。 直隹衡 該平衡器係由氣屋缸等所構成,平衡器作用 =的大小係隨著滑件n之位置即曲㈣之旋㈣而變 (6)其他要素 作用若有對進行往復運動之滑件U帶來的 作用之其他要素時,亦考慮該要素。 以作述⑴至(6)’預先求出作用在滑件11之各力, 以作為曲柄軸之旋轉角的函數。 上述⑴至(6),對應於所輸人之旋㈣求出作用 直線力後,如第4圖所示,在加法請中! ::荨直線力。接著,將在S14中加算 達之所需轉矩。此外,在第4圖中,符 :::=上述⑴至⑻之輪出相乘,而二 係由補正部27b所產生者,於後述之。 =曲柄轴之旋轉運動所致之變動要素的所需馬達轉矩之 319709 23 200902302 另一方面,亦進行由曲柄轴之旋轉運動所致之變動要 素的所需馬達轉矩之計算(第4圖之S2所示)。該計算係求 出將旋轉運動轉換為滑件之往復運動所產生之所需馬達轉 矩,以作為曲柄軸之旋轉角的函數。本實施形態係求出由 :柄軸之偏心所產生之所需馬達轉矩,以作為曲柄軸之旋 轉角的函數。 、、“所而馬達轉矩亦作為曲柄轴之旋轉角的函數而預先 长出藉由忒函數對應所輸入之旋轉角算出所需馬達轉矩 之值。 如此,對應所輸入之旋轉角,算出由滑件u之往復 $所致之變動要素的所需馬達轉矩、及由曲相軸之旋轉運 加:變動要5的所需馬達轉矩後’並如第4圖所示在 ”:15中加算該等馬達轉矩,以算出所需馬達轉矩。 第5圖(A)顯示該所需馬達轉矩之例。其中 中’橫軸表示曲柄軸之旋轉負 _ Λ田 動比例。 之㈣角’縱軸表不無單位之轉矩變 接著,在減法器S16中,算出由滑件u 致之變動要音的所♦ <你设建動所 勒罟常的所而馬達轉矩與由曲 之變動要+的所♦ I奴轉運動所致 達轉矩基準值之差,以作為轉矩變動值。“與馬 第5圖⑻表示由以上方式算出之轉矩 在該圖中,橫軸表示曲柄軸之旋轉角, 一.卜, 轉矩變動比例。 、、’表不無單位之 較佳為,以第5圖(β)之 八又疋知軸之位置(即馬達 319709 24 200902302 ,轉矩基準值),俾使在曲柄軸7之旋轉 度)令將第5圖⑷所示之函數所表週期(0至360 轉角施以積分的值成為0。因此, 斤而馬達轉矩以旋 轉1週期t所需馬達轉宛之平均值成為=曲^-之旋 軸之位置。 π U之方式,設定橫 接著,將所需馬達轉矩與馬達轉矩其 變動值乘以-定之增益(倍率) =值之差的轉矩 調節值Μ輸出。 將該乘積之值作為速度 如第4圖所示’依上述之順, 輸入至演算部26時,從演瞀部、26屮丙軸7之旋轉角 ^邛6輪出速度調節值。 如上所述,在本發明中,管 丨里 所中民、去,“ 〒开出對應衝屋機1〇的特性之 所而馬達轉矩、並對應該 寸『之 在本實施形態中,在轉矩:出速度調節值。 田使馬達1以前述—定炎入、古由 旋轉時所需馬達轉矩會變 扣7速度 柄軸7的旋轉角,以;^於别述馬達轉矩基準值之曲 ^ m . 使馬達1之旋轉指令速度比前述一定 才日令速度更為增加之方式,算出速度調節值。这疋 今、幸鐘4奋^田使馬達1以前述一定指令速度旋轉時所需 馬達轉矩會變得大於益、+、EI 而 轉角,以、处馬達轉矩基準值之曲柄軸7的旋 Λ, I 之旋轉指令速度比前述一定指令速度更 為減少:方式,算出速度調節值。 -更 成-二4:之例中’係將演算部26之速度調節函數作 成,當輸入曲柄軸7之# _ 疋轉角時,輸出第5圖(B)所示之具 的大/二=角的轉矩變動值乘以一定增益之乘積值 、之u即值。其中,速度調節函數之相對於在使 319709 25 200902302 —定指令速度旋轉時所需馬達轉矩會變得小 於別述馬達轉矩基準值之旋轉角的輸出值係為正。另一二 =’使速度調“數之㈣於使馬達1 Μ述-定指人球 度需馬達轉矩會變得大於前述馬達轉矩基準:之 :轉角的輸出值係為負。此外’藉由將增益設為一定之正 尋達轉矩或第5圖所示之所f馬達轉矩越小於前述 或越大於前述馬達轉矩基準值時,以該 轉角所產生之速度調節函數的輸出值之絕對值越大/ 上述速度調節函數係可由例如組裝至演算部26 子電路所構成。 电 關於作為速度調節函數而產生功能的演算部. 角度檢測器25所檢測出之曲柄軸7之旋轉角 字 =旋㈣適用在速度調節函數,並算出對應該旋轉角;; 速度调即值。由演算部26所算出 令調節部19。 出之速度调即值係輸出至指 才曰令调郎部19係將來自潘瞀9 β 至來自速度指令部17的—=^= 之速度調節值加算 節之速度指令值。 速度“值,並輪出經增減調 該速度指令值係輸人篆$;查5 & 係調節供給至馬達i之電、、二 =::1,馬達驅動部21 所輪入之指令速度值。兮;轉速度成為 測器23來進行。…上所述利用速度感 :由上述控制,在第3圖(〇中所需馬達轉矩小於前述 馬達轉矩基準值之曲柄輕7的旋轉角,使馬達工之旋轉指 319709 26 200902302 令速度增加’在第3圖(c)中所需馬達轉矩大於前 矩基準值之曲柄軸7的旋轉角,使馬達 :二、轉 減少。 心焚褥丸令速度 第6圖⑻係顯示以上述方式調節之 間變化。再者,第係顯示此時之馬達時 了比較’第6圖⑻之虛線係顯示f 3圖⑻動。為 度值。為了比較,第6圖⑹之虛線係顯示:指令速 ί 需馬達轉矩變動。此外,第6圖⑷係顯示對應第1所 之曲柄轴7之旋轉角的時間變化。 ’、圖(A) 藉由如第6圖⑻所示進行速度調節,“ 轉能量供給至旋轉系統,如第6圖⑹所示可降 轉矩值,亦可減低馬達轉矩之變動。 -大馬達 如此,由於可減低最大馬達轉矩值,因 及馬達驅動部之電容量,並 //Λ馬達 化。 Μ便馬達及馬達驅動部小型 再者,由於可有效率地將旋轉能量供給至 因而可減低消耗電力。 轉糸、,先, 再者,較佳為,藉由前述速度調節 轉:令速度比上述-定指令速度增加的量、與The method of causing the speed adjusting device to increase the rotation command speed by increasing the rotation correction speed by the correction means, and the amount of the correction amount is reflected in the two-chain and the degree degree and rotating the C at the rotated rotation command speed. In the control of the punching machine, the speed adjustment device is set to rotate the rotation angle of the rotating body of the motor when the required motor torque becomes smaller than the preset motor base: : The second degree is more increased, in addition to the 'correction device system corresponding to the punch: speed or stamping load can be promoted to magnetic private, gentleman ~ operation ο- correction to make the aforementioned rotation command catch, σ 里 ° 'to reduce the motor The maximum power consumption mode, θ degrees = the amount by which the node device increases the rotation command speed, and the correction device pair = the amount of correction corrected by Gary, which is reflected in the rotation command speed, and rotates the drive motor at the rotation command speed after . -Refreshment Therefore, the values of the rushing operation speed or the ram load energy 1 =: speed or the ram load energy are obtained in advance, and the motor power is reduced even if the ram operation speed or the rush (4) load energy has been exceeded. According to the present invention, a wide range of operating conditions can be used to provide the above-mentioned objects. A type of punch is provided: a press machine is provided with: a motor; a conversion mechanism is a reciprocating transport I., The rotating body 'converts the rotary motion to: , , and π pieces, which are coupled to the switching mechanism for reciprocating motion; when the speed rotates the motor, the required motor torque will follow the corner of the k-turn body. Variation, the control device of the press is 319709 10 200902302. The levy is: the angle detection I is set to detect the rotation angle of the rotating body; the torque determining device is based on detecting the rotation angle of the agricultural input from the angle. The value 'to determine the required motor torque corresponding to the characteristics of the press; and the speed adjustment device ' is required to make the motor torque required to become greater than the preset motor torque, ten, one t into the "rotation command" The speed is lower than the previous two movements; the complex has the correction of the farmer's house, and the system corresponds to the speed of the second operation or the punching of the ruthlessness of the tyrannical typhoon, * set you a w person to correct the aforementioned speed adjustment device ^ 吏 歧 ^ ^ The amount of speed reduction; The maximum consumption of the low motor: the force mode, the speed adjusting device reduces the rotation command speed I, and the correction device is inserted into the reduction amount, *, and π are reflected in both (4) In the control device for the rotational speed of the 曰7 continuous degree, in the same manner as in Patent Document 2, the rotation of the agricultural system becomes larger than the preset motor torque, and the rotation of the (four) body is performed. The angle 'move the motor's rotation command speed more than a certain 曰 7 degree, in addition to this, the correction speed or the load can be ( (4) ❺ μ μ corresponds to the amount of punching operation, and then the speed of the aforementioned rotation command is reduced. In order to reduce the maximum power consumption of the motor, it means: the amount of speed reduction, and the compensation... :: 后 — 令 令 令 令 令 令 令 令 令 令 令 令 令 令 令 令 令 ' ' ' ' ' ' ' ' ' ' ' ' ' 负载 负载Each of the stamping load energy reaches the torque, and even the punching speed or the punching load; 319709 11 200902302 • When the change is made, the most appropriate control can be performed to reduce the motor power. In a wide range of operating strip presses: ί According to the present invention, there is provided a control device for a punching machine. The punching machine is provided with a rotating body that can be rotationally driven by the motor, and reciprocates the clock system at a certain command speed; The rotation angle of the rotating body is required. The required motor torque is provided with an angle detecting device that detects the rotation value of the rotating body and determines a node device corresponding to the rotation angle of the special machine. The rotation angle of the rotating body of the required motor rotation=reference value is increased to increase the torque of the motor to the commanded speed, and the above-mentioned catch is higher than the preset motor torque reference value. , the moment becomes greater than the command speed, and the rotation of the motor is set more than the above-mentioned fixed command speed, which corresponds to the running speed of the through-loading load cooker: the correcting speed adjusting device is used to make the aforementioned rotating finger === move, red to reduce the motor The maximum power consumption is 'increased or decreased by 1'. The speed of the rotation command is increased or decreased. = The amount of the above-mentioned catch adjustment device is added or decreased to correct the amount: and: the correction device reflects the increase The rotation command speed is then used to rotate the drive, and the second motor is used in the control device of the preceding paste machine. The arrest adjustment device is in the required motor torque;:: Document 2 is similarly 'the lower part is smaller than the preset motor torque 319709 12 200902302. The reference value of the rotating body's rotation is a certain increase in the command speed, and in ^ The rotation command catching degree is higher than the above; the rotating body called the torque reference value: the moment becomes larger than "the speed is higher than the aforementioned - the fixed angle" so that the rotating device of the motor corresponds to the running speed, and the speed is red, In addition, the speed of the above-mentioned rotation command is increased: reduction: c fluctuation, correction to maximize the power consumption, to reduce the amount of motor addition or reduction, and correction: = section device to increase the rotation command speed The amount is reflected in the amount of increase or decrease of the rotation finger 1=5 hai to correct the speed to rotate the drive motor yk and then to reflect the rotation finger. Therefore, when the stamping operation i relatives go according to the punching speed or punching ; load energy; ==, can save =: advance:;:! press operation speed or reduce the motor power under the stampings. And in a wide range of operating strips according to a preferred embodiment of the present invention, the aforementioned correction device rotation speed is smaller , or _ negative _ the more A, The amount of increase or decrease of the aforementioned rotation command speed is corrected to be two to T speed; the smaller, or the greater the punch load energy, the larger the amplitude of the motor torque relative to the rotation and the rotation. Therefore, the smaller the speed of the rushing I or the greater the load energy of the rush, the more the motor power can be effectively reduced by increasing the amount by which the rotational command speed is increased or decreased. s Furthermore, according to a preferred embodiment of the present invention In the form, the correction device is provided with an input unit for inputting a value of a press operation speed or a press load energy. 319709 13 200902302, whereby the correction device is based on a value of a press operation speed or a press load energy input from the input unit. The speed adjustment device can be used to make the above-mentioned rotation and the speed of the increase or decrease of the correction. 曰敉佳为刖 度 啊 丨 · · · · 丨 丨 丨 丨 丨 丨 丨 々疋锝 丨 丨 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝The speed increase and decrease is the magnitude of the difference between the aforementioned required motor torque and the front and 转矩 torque reference values multiplied by a certain gain. Thus, the rotation command speed of the motor is increased or decreased to the torque variation amount. ratio Therefore, the rotational energy can be supplied to the rotating system more efficiently. Further, the speed adjusting device can make the amount of rotation of the motor and the amount of rotation of the motor to be reduced; If the time integral values between the rotation commands are equal, the disk can be made to have a macro μ, " Operation time door: (4) During the predetermined time period of rotation, "The shirt will reduce the production speed of (4). The calculation device for the above-mentioned stamping load energy is obtained. The second system has the first measurement unit. The movement mechanism of the clothing movement is the measurement of the energy value of the pressure movement mechanism in the above-mentioned 冲压, and the amount of the movement energy supplied to the impulse, and the measurement by the measurement unit The energy value is determined by the tube A and the second measurement unit, and the correction device is used to increase or decrease the rotation command speed. 319709 14 200902302 The amount of kinetic energy of the rushing motion mechanism during the reciprocation of the slider i), and the energy supplied by the motor to the (four) motion mechanism. Therefore, the punching load energy can be extracted based on the amount of energy change measured by the first measuring unit and the energy value measured by the second measuring unit. According to the present invention, it is provided that the clock and the ancients are further, the step-and-step governor, and the control device are repeatedly used.冲嶋和备. "明转:: A method of controlling the object, the driving of the rotating card, is rotated by the motor And the moon piece, when the motor rotates, the required motor = two; the command speed is changed by the angle. The control method of the punching machine::= turn: the rotation angle of the rotating twisting body is $/有 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性Speed::: the phase of the rotation of the swivel; the corresponding increase in the speed of the punching operation or the negative speed of the punching, the increase of the speed of the rotation command, the change of the load, and the way of correcting the large power consumption, so that the aforementioned motor is reduced. The most important amount of the increase in the rod # τ θ is that the amount of increase in speed is reflected in the second one. In this control method, according to the reciprocating motion of the slider 3197〇9 15 200902302, The motor torque of the element and the change caused by the rotating body In this case, the reciprocating motion of the slider and the rotation of the slider can be considered. The motor rotation speed of the motor torque generated by the variable element is further improved. According to the present invention, A control U machine of a press machine includes: a motor; a conversion mechanism having a rotating body driven by the device, and converting the rotary motion into a reciprocating motion, and the rotating mechanism is coupled to the conversion mechanism for reciprocating motion; When the motor rotates widely, the required motor torque fluctuates according to the angle of the above-mentioned catching degree. The control method of the brewing machine is characterized in that the test operation of the rotary machine is repeated, and the electric power supplied to the motor is made. It is carried out: the relationship between the required motor torque value and the value of the value of the punching machine. The recognition, the rotation, the value of the rotation angle of the detected value of the rotation angle The stage of the rotation angle; the required horse according to the value determines the corresponding rotation angle: the preset motor torque reference value of the rotation speed of the rotating body is higher than the aforementioned - horse = rotation (four) load energy, the correction is made Before: Degree = plus the stage, and Decrease the maximum power consumption of the motor; : '...the amount of increase in the speed of the rotation command, and the amount of the two: the two quantities are reflected in the rotation command speed, and the above is reversed by the reverse:: The stage of the motor. , '^疋 The above method: the control method can also be achieved in the same way as the control device of the paste machine. 319709 16 200902302 In addition, in the control method _, as long as ^, into the system obtained by the test run, you can decide: ::The rotation angle generation changes even if the rushing speed or the ram load energy is two: moment: at this time, the device performs correction with respect to the change, and therefore; corrects the "motor torque. For example, the dust machine is at a low speed. Operation, while checking the production of the plate is used in the operation at the beginning of the operation, but even in this case, gradually increase the speed and continue to press, and the same can not be tried and run's change. I ^ by the correction device Corresponding _ the change of the running speed, the invention, the labor of the motor torque required for the rushing or the repeated load of the energy, and even if the values are reduced under a wide range of operating conditions = τ take appropriate control 'and DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the preferred embodiments of the present invention, the same reference numerals will be given to the same reference numerals, and the drawings (first embodiment) will be slightly repeated. FIG. 2 to FIG. Ming first embodiment Bear shaped house ,, thin tube 1 brother 1 〇C applied consistently form the desired number of the first angle calculation: 'according to the rotation of the input crank sleeve opposite "of 7. Further, in the "torque determining device" of the present invention, the part of the torque determining device according to the present invention, which is calculated by the calculation unit 26 and the command adjusting unit 19, which is different from the required motor torque, constitutes the present invention. "Speed adjustment device = the person refers to::: 319709 17 200902302," "Revising the device is a beautiful 1st second door grandson 1: Part 273 and the correction part 27 Budi 2 picture is shown in the present invention, the house system has: motor 】 二二成图. As shown in Figure 2, by the rotation of the motor 1 riding the power two and the transmission belt 5, the system, the driving force and the grain; the flywheel 6 and the transmission belt 5 transmission motor] Tian anti-43 from the flywheel 6 Wheel rotation driving force. Off: Turn '·Crank shaft 7, system state) Link flywheel (4): Stem shaft 7 : ^ Stem shaft 7 is separated from the flywheel 6 in the _ state (cut off state) so that Qu Mu, Yue Yue 11, borrow The shovel is lowered by the shovel of the crankshaft 7; and the connecting member 12 is raised at one end (4) and raised by @ma s, σ is at the eccentric portion of the crankshaft 7, and W is coupled to the slider u, and the slider is η lifting. The lower part of the lower ==11 is fixed with the upper die for stamping. When the sliding member U is lowered by π, the upper mold is placed on the upper part of the mold and the workpiece is punched. Pressure. #下模对对再者' Speed control for assembly in press 1〇. Controls the rotation speed of the motor 1. The speed control device 15 is connected to the speed control device 15 for example, for example, input from the outside. The rotation command speed value of the output motor 1 (dry hand and i 勰 W 卜 令 令 ; ; ; ; ; ; ; ; t t 加工 加工 加工 加工 加工 加工 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破The speed of the finger from the speed command unit 17; ^ is the power received by the unit 19, and the value of the 度 "degree value" is supplied to the motor 丄. (4) The command speed of the at-value command unit 17 The value is limited by the speed: from the speed to the command adjustment unit 19. a: The round-up speed = the case where the command speed value ... is not directly input to the motor drive unit 21 via the command adjustment unit 19. 319709 18 200902302 The motor drive unit 21 supplies a current to the motor 1 based on the input command speed value. Further, the 'motor drive unit 21 receives a tachometer generator (tach〇generat〇r) for detecting the rotational speed X of the motor 丨. Angular velocity detector f The measured value is used to determine whether the detected rotational speed of the motor 1 is the commanded speed value, and the right k-degree is different, and the current flowing to the motor j is controlled. Thereby, the detected rotational speed of the motor 1 is controlled to a constant commanded speed value. The third figure is the above-mentioned Wei Ma; Cha,), and the required motor torque variation of the motor 2 when the motor 1 is rotated at a command speed (ie, a constant speed). Motor: The required torque of the motor 1 set by the characteristics of the press, the workpiece to be punched and the crank, and the desired rotational speed. In r: 3 L(4), the horizontal axis represents time and the 縦 axis represents the crank angle 7: the corner. The angle of rotation of the crankshaft 7 is in the range of 360 degrees, so the waveform is the same in Fig. 3 (1). In the third diagram (8), the horizontal axis represents time and the vertical axis represents the commanded speed value output by the occupant. In this example, the third figure (C) of the finger and the 曰 τ section shows that the motor u: < „定二, = value is constant. The required motor rotation of the motor 1 during the operation of the press machine 10 In turn, when the crankshaft 7 is rotated by the motor 1 in one of the figures (B) to the figure, the speed required by the various mechanical jaws combined with the crankshaft 7 will be over time. And the change, that is, the _ machine's = up, the moment of 1 varies with the rotation angle of the crankshaft 7. Ling motor turn 319709 19 200902302 to check the second press 10 series as shown in Figure 2, The angle detector 25 for the main rotary encoder of the crank car from one end of the 7th. The mi angle & second degree device 15 performs the following control, that is, in the third place as the third one - In the case where the command speed is rotated, the horse = the required moment will become smaller than the _ angle of the second: 7 shown in Fig. 3 (c), and the control speed is increased. 2: = τ is given to the rotating system, so it can be effectively _ _ _ _ _ _ because the maximum motor torque value can be reduced, thereby reducing the capacitance of the motor 1 and the motor driving portion 21, and 1 and the motor drive unit 21 is miniaturized. Further, since the energy is supplied to the rotating system, the power consumption can be reduced, and the rotation value can be efficiently reduced in two cases == profit range, and the motor torque reference is as shown in the figure 3 The variation shown by the line: the second St is also a certain value smaller than the maximum value of the motor torque indicated by the solid line of the 3rd. The required torque of the required line is not required. It is larger than the above-mentioned motor torque-specific rotation angle, so that the rotation command speed of the motor 1 is higher than the upper moment value. By this, the maximum motor rotation can be further reduced. 319709 20 200902302 Hereinafter, the dust cleaner 1 that performs the above control will be described in detail. As shown in Fig. 2, the speed control device 15 of the press machine 1 of the second embodiment further includes: an arithmetic unit 26 that outputs a speed adjustment value corresponding to an output value from the angle detecting device; and an instruction adjusting unit 19 The amount of command speed input from the speed command unit 17 is increased or decreased by the amount of the speed adjustment value input from the calculation unit U. The command adjustment unit 19 rotates the command speed value of the increase/decrease adjustment in the above-described manner to the motor drive unit 21. Further, in the example of Fig. 2, the speed adjustment value from the calculation unit 26 is rotated to the command adjustment unit 19 via the limiter 18b. ° The speed control device 15 is provided with a correction device to be described later. It is the correction part 27b. For the convenience of description, first, the case where the correction device is not used will be described. Next, the case where the speed control device is equipped with the correction device 15 will be described. The angle detecting device 25 detects the main gear 29 coupled to the crank shaft 7. The rotation angle of the crankshaft 7 is detected and the value is continuously detected. The calculation unit 26 functions as a speed adjustment function for changing the rotation command speed of the motor 1 by a speed adjustment function corresponding to the value of the rotation angle of the input crankshaft 7. Fig. 4 is a view showing the flow from the input to the speed adjustment function to the output of the calculation unit 26. When the angle detecting device 25 rotates the value of the rotation angle to the calculation unit %, that is, the speed adjustment function, first, according to the input, the required motor torque of the variable element caused by the reciprocating motion of the slider and the crank are performed. Rotation of the shaft 319709 21 200902302 Calculation of the f-axis of the variable due to motion. 1. The calculation of the required motor torque of the swaying element caused by the reciprocating motion of the slider, please calculate the required motor torque of the variable element caused by the reciprocating motion of the slider (S1 of the figure 4) As shown in the figure, when the value of the rotation angle is input, the rotation angle is converted into the position of the slider 11 in Chuanzhong. Next, based on the information of the position of the slider, the required motor torque of the variable element caused by the reciprocating motion of the slider is calculated. This torque calculation is performed for each of the following variation elements (丨) (6) indicated by si 2 . (1) Sliding member friction Find the product of the dynamic friction coefficient of the slider and the speed of the slider. At this time, since the speed of the slider changes with the rotation angle of the crankshaft, the frictional force of the member also changes with the rotation angle of the crankshaft. (2) Inertia of the slider Find the product of the weight of the slider and the acceleration of the slider. At this time, since the acceleration of the slider changes with the rotation angle of the crankshaft, the inertia of the slider also changes with the rotation angle of the crankshaft. (3) Buffering Only when the die pad is operated at the time of punching the house - the set cushioning force is used to determine the force acting on the slider by the die pad. At this time, the force for the slider also changes with the rotation angle of the crankshaft. (4) The stamping and pressing force model the stamping as a spring, only during the contraction period of the spring 319709 22 200902302 - that is, the contact between the upper mold and the lower mold, and the resulting (four) plus screen force The product of the material constant and the contraction amount is obtained. At this time, the punching force also changes with the rotation angle of the crankshaft. (5) Counter balancer: 辛 = = = 111 The weight of itself and the machinery attached to the slider 11: the balance of the force itself and the force acting on the slider u, so there will be a slip The case where the workpiece 11 is biased upward or downward and the press 10 is applied. The balancer is composed of a gas house cylinder, etc., and the magnitude of the balancer action is changed according to the position of the slider n, that is, the rotation of the curve (4) (4) (6) if other elements act to reciprocate This element is also considered in the case of other elements of the action brought about by the slider U. The respective forces acting on the slider 11 are determined in advance as a function of the rotation angle of the crankshaft by the descriptions (1) to (6)'. The above (1) to (6) correspond to the rotation of the person (4) and the linear force is obtained. As shown in Fig. 4, please add in the addition! ::荨Linear force. Next, the required torque will be added to S14. Further, in Fig. 4, the following: (1) to (8) are multiplied by the rounds, and the second is generated by the correcting unit 27b, which will be described later. = required motor torque for the variable element due to the rotational motion of the crankshaft 319709 23 200902302 On the other hand, the calculation of the required motor torque for the variable element caused by the rotational motion of the crankshaft is also performed (Fig. 4) S2 is shown). The calculation is performed to convert the rotational motion into the required motor torque produced by the reciprocating motion of the slider as a function of the angle of rotation of the crankshaft. In the present embodiment, the required motor torque generated by the eccentricity of the arbor is obtained as a function of the rotational angle of the crankshaft. And the motor torque is calculated as a function of the rotation angle of the crankshaft, and the value of the required motor torque is calculated by the rotation angle input corresponding to the 忒 function. Thus, the rotation angle is calculated corresponding to the input rotation angle. The required motor torque of the variable element caused by the reciprocating $ of the slider u and the rotation of the curved phase axis: after the required motor torque of 5 is changed 'and as shown in Fig. 4': These motor torques are added to 15 to calculate the required motor torque. Fig. 5(A) shows an example of the required motor torque. The middle horizontal axis represents the rotation of the crankshaft negative _ Λ田 moving ratio. The (four) angle 'vertical axis table does not have the torque of the unit. Then, in the subtractor S16, the change of the tones of the sound caused by the slider u is calculated, and the motor is turned into a normal operation. The moment is the difference between the torque and the torque reference value caused by the change of the ♦I of the change of the curve, as the torque variation value. "The horse's figure 5 (8) shows the torque calculated by the above method. In the figure, the horizontal axis represents the rotation angle of the crankshaft, and the torque variation ratio is used. In the fifth figure (β), the position of the axis (ie, the motor 319709 24 200902302, the torque reference value) is determined, and the rotation degree of the crankshaft 7 is made to be the function shown in FIG. 5 (4). The period (the value of the integral applied from 0 to 360 corners becomes 0. Therefore, the motor torque is the average value of the motor rotation required to rotate one cycle t to become the position of the rotary axis of the curve. π U, In the horizontal direction, the torque adjustment value Μ is obtained by multiplying the required motor torque and the fluctuation value of the motor torque by the difference between the gain (magnification) and the value. The value of the product is used as the speed as shown in FIG. By the above, when inputting to the calculation unit 26, the speed adjustment value is rotated from the rotation angle of the derivation unit and the 26-axis C axis 7. As described above, in the present invention, the person in charge Go, "Export the characteristics of the 1 rushing machine and the motor torque, and should be in the implementation" In the form, in the torque: the speed adjustment value. The motor motor 1 uses the aforementioned motor torque to be rotated and the rotation angle of the 7-speed spindle 7 is changed. The motor torque reference value is calculated by calculating the speed adjustment value so that the rotation command speed of the motor 1 is increased more than the above-described constant daily speed. The motor torque required for a certain command speed rotation will become greater than the gain, +, and EI angles, and the crankshaft 7 of the motor torque reference value will be rotated. The rotation command speed of I is more than the above-mentioned fixed command speed. Decrease: Method, calculate the speed adjustment value. - In the case of -2:4, the speed adjustment function of the calculation unit 26 is created, and when the #_ 疋 corner of the crankshaft 7 is input, the fifth diagram (B) is output. The torque variation value of the large/two=angle shown is multiplied by the product value of a certain gain, which is the value of u, where the speed adjustment function is relative to the motor required to rotate the command speed of 319709 25 200902302 The torque will become smaller than the rotation angle of the motor torque reference value The value is positive. The other two = 'make the speed adjustment' (four) to make the motor 1 narrate - the spheroidal spheroidal motor torque will become greater than the aforementioned motor torque reference: the output value of the corner Negative. In addition, by setting the gain to a certain positive seek torque or the f motor torque shown in FIG. 5 is smaller than the aforementioned or larger than the aforementioned motor torque reference value, the rotation angle is generated. The larger the absolute value of the output value of the speed adjustment function is, the above-described speed adjustment function can be constituted, for example, by assembling to the sub-circuit of the calculation unit 26. The electric calculation unit that generates a function as a speed adjustment function is detected by the angle detector 25. The rotation angle of the crankshaft 7 = rotation (four) applies to the speed adjustment function, and calculates the corresponding rotation angle;; speed adjustment is the value. The adjustment unit 19 is calculated by the calculation unit 26. The speed adjustment value is output to the commander, and the speed adjustment value is added to the speed adjustment value of the ==^= from the Pan 瞀 9 β to the speed command unit 17 . Speed "value, and the rotation of the increase and decrease of the speed command value is the input ;$; check 5 & adjust the power supplied to the motor i, two =:: 1, the motor drive unit 21 rounds the command The speed value is 兮; the speed is measured by the detector 23. The speed sense is used as described above: by the above control, in the third figure (the required motor torque is less than the aforementioned motor torque reference value, the crank is light 7) The rotation angle causes the motor operator to rotate the finger 319709 26 200902302 to increase the speed. In Fig. 3 (c), the required motor torque is greater than the rotation angle of the crankshaft 7 of the front moment reference value, so that the motor: second, the rotation is reduced. The heart burns the pill to make the speed of Fig. 6 (8) shows the change between the adjustments in the above manner. In addition, the first system shows that the motor at this time is compared. 'The dotted line of Fig. 6 (8) shows the f 3 (8) movement. For comparison, the broken line of Fig. 6 (6) shows that the command speed ί requires the motor torque variation. In addition, Fig. 6 (4) shows the time change corresponding to the rotation angle of the crankshaft 7 of the first one. A) By adjusting the speed as shown in Fig. 6 (8), "the energy is supplied to the rotating system, such as 6 (6) can reduce the torque value, can also reduce the variation of the motor torque. - The large motor can reduce the maximum motor torque value, and the motor drive unit's capacitance, and / / Λ motorized. In addition, the squat motor and the motor drive unit are small in size, and the rotational energy can be efficiently supplied, thereby reducing the power consumption. Further, preferably, by the aforementioned speed adjustment, the speed ratio is made. The amount of increase in the above-mentioned command speed, and
St速f '比上述一定指令速度減少的量,其曲柄軸7之 ^之週期(0至36〇度)中之時間積分值係 此,由於使旋轉指令速度增加 4因 少的昔/、便方疋轉指令速度減 里之在方疋轉角之1週期中之時間積分值係相等,因此 即可使旋轉角之1週期中之衝酬時間舆二=. 319709 27 200902302 -度使馬達旋轉時之旋轉角之1週期中的衝壓動作時間一 致’而不會使衝壓生產速度降低。 、在第1貝把形悲中’復將具有補正部27a及補正部2η 之補正裝置組裝至速度控制裝置15。以下說明補正部27& 後,再說明補正部27b。 補正部27a係衝壓運轉速度越小或衝壓負載能量越 大,越將從演算部26輸出之速度調節值的絕對值補正為較 大。 藉此,當衝壓運轉速度或衝壓負載能量變動時,可省 去依衝1運轉速度或衝屋負載能量之各值預先求出所需馬 達轉矩的勞力,而且即使衝壓運轉速度或衝屋負載能量已 ,動時’亦可進行最適當之控制,並且可在廣泛之運轉條 件下減低馬達電力。 此外,在第2圖中,補正部27a與演算部%為個別之 區塊,但亦可統合補正部27a與演算㈣而成為一個區塊。 以下詳細說明補正部27a。 能量定相對於衝壓運轉速度細載 衝第7圖所示’相對於衝壓運轉繼 =7料,相係相當於設定演算部 綠、由命^ 戰 之值。亦即,在第7圖中,衝壓運 轉逮度及衝屡負載能景在本_ 衝屡、室M w 相對於設定演算部26時之 運轉速度及衝㈣載能量之值的相對值。 319709 28 200902302 ’量變當衝壓運轉速度變小時及衝壓負载能 、 使值變得更大之方式,設定補正增益。 運轉::及正部27&設定增益表,以作為;於衝壓 數。、又及衝壓負載能量之2次元變數輸出補正增益之函 藉由將第7圖之補正增益乘以根據曲柄轴 =演广速度調節值而對該速度調節‘行 達_動抑制=亦可將馬 低。 1將馬权4耗電力抑制為較 邊衝壓機大多採用在運轉開始時以低速運轉,-欢-之生產品質一邊逐漸增加速度之運轉方法 電力抑制為較低。肖由補正部…將衝_備之消耗 邙八甚’大衝負載'b里E ’依存於模具或緩衝設定壓之 ;Μ甚大,基本上必須依每疋i之 方式來決定。 耦,、來"又疋,但亦可如以下 (1)從緩衝設定值求出近似值 由緩衝之設定壓力龙ψ經紅, 量設為_時,衝虔並將緩衝之押入 出。 W㈣料狀功式⑴求 W[ J] = FxL.........⑴ 將該W設為與衝虔負载能量 做為近似值予以使用。 寻向將式(2) 319709 29 200902302 . ............(2) (2)試模時進行1循環運轉並進行測量 試模係指設置衝麗機後或里 要藉由試模投入被加工物(板件具後之試驗運轉。主 験成型,操作員-邊判定成型性物⑽具)並進行試 整。在進行該試模時,可進行 仃衝屢機之微調 能量。具體而言,在試模時:::而求出衝墨負載 運動機構之運動能量在滑件之 Y達1所驅動之衝壓 動機構η 1 设期間馬達1施加於衝壓運The speed at which the St speed f ' is reduced by the above-mentioned certain command speed is the time integral value in the period of the crank shaft 7 (0 to 36 〇 degrees), because the rotation command speed is increased by 4 due to less The time integral value of the square turn rotation command is equal to the time integral value in the one cycle of the square turn angle, so that the payback time in one cycle of the rotation angle can be made 舆= 319709 27 200902302 -degree when the motor rotates The stamping action time in one cycle of the rotation angle is the same 'without reducing the press production speed. In the first step, the correction device having the correction portion 27a and the correction portion 2n is assembled to the speed control device 15. Hereinafter, the correction unit 27b will be described after the correction unit 27 & When the correction operation portion 27a is smaller in the press operation speed or the press load energy is larger, the absolute value of the speed adjustment value output from the calculation unit 26 is corrected to be larger. Therefore, when the press operation speed or the ram load energy fluctuates, the labor of the required motor torque can be obtained in advance by the values of the rush 1 operation speed or the rushing house load energy, and even if the ram operation speed or the rushing load Energy can, when moving, can also be optimally controlled and can reduce motor power under a wide range of operating conditions. Further, in Fig. 2, the correction unit 27a and the calculation unit % are individual blocks, but the correction unit 27a and the calculation (4) may be integrated to form one block. The correction unit 27a will be described in detail below. The energy is fixed with respect to the press operation speed, and the load is shown in Fig. 7, which is the same as the press operation, and the phase is equivalent to the value of the setting calculation unit green and the life. That is, in Fig. 7, the relative values of the operating speed and the value of the load (4) of the load of the punching operation and the load of the load are compared with those of the set calculation unit 26. 319709 28 200902302 ” Quantitative change The correction gain is set when the press operation speed becomes small and the ram load energy is increased to make the value larger. Operation:: and the front part 27& set the gain table as the number of punches. And the function of the 2nd-order variable output correction gain of the stamping load energy is multiplied by the correction gain of Fig. 7 to adjust the speed according to the crankshaft = wide speed adjustment value. The horse is low. (1) The power consumption of the horsepower is suppressed to a level. Most of the presses are operated at a low speed at the start of the operation, and the operation method of gradually increasing the speed of the production quality is low. Xiao by the correction department... will consume _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Coupling, and "also 疋, but can also be as follows (1) Find the approximation from the buffer set value. The set pressure of the buffer is set by the red dragon. When the amount is set to _, the buffer is punched and the buffer is pushed out. W (4) Material type (1) Find W[ J] = FxL... (1) Use this W as an approximation to the impulse load energy. Finding direction (2) 319709 29 200902302 . . . . (2) (2) Performing 1 cycle operation during test mode and performing measurement test mode means setting up the machine or after It is necessary to input the workpiece by the trial mold (the test operation of the panel is carried out. The main mold is formed, and the operator determines the molded article (10)) and performs the trial run. When the test mode is performed, the fine-tuning energy of the rushing machine can be performed. Specifically, at the time of the mold test:::, the kinetic energy of the ink absorbing motion mechanism is determined. When the slider Y is driven by 1 to 1, the motor 1 is applied to the ramjet motor.
動力之順序)皮帶輪3、傳輸皮帶5、(:輪 輪29、曲柄軸7、連結構件12、滑件丨丨。w M 具體說明上述之-例。進行連續生產前之試模時,藉 由測量馬達轉速及馬達轉矩,求出衝壓負載能量。在此,曰 將衝藶運動機構設為近似飛輪6,以求出衝壓負載能量。 以時間序列來測量自在滑件之上死點連接離合哭時開 始進行1循環運轉且滑件到達下死點並到達下一個上死點 ^止之馬達轉速n[rad/s]及馬達轉矩[Νω]。將剛連接離合 ,後之馬達轉速設為ns ’將即將到達下一個上死點(切斷 離合器)前之馬達轉速設為nf,將馬達軸換算之飛輪6之 慣量(inertia)設為I時,衝壓負載能量E係以下 式1 ]之公式求出。 予 [數學式1] 319709 30 200902302 2 ' + fm.dt ]係自剛連接離合器後至即將切離離 積分區間[ts、 合器前之時間。 轉剛= = 始之飛輪6之運動能量與運 環之期間供給至飛輪=!的;’第2項係在馬達"盾 動能量的減少量盘俾2月::二亦即,1循環結束時之運 壓負載能量。 ⑽夏之合計值係在1循環消耗之衝 為了將連接離合器時之能量 之慣性,作方在了式1]中,係將慣量I設為近似飛輪6 貝f彳一亦可將考慮衝壓運動播谨敕辦 > 味曰 式Π之慣量丨。例如,亦可=機構[數學 之皮帶輪3、傳輸皮帶5、飛:考6慮=含在衝壓運動機構 軸7、連釺禮杜〗9 、汍輪6、齒輪、主齒輪29、曲柄 j 〇 ° 、滑件11之慣量設為[數學式1]之慣量 求出Ϊ 15係備藉由試模時進行1循環運轉而 传如第δ屬::里之測量算出裝置。該測量算出裝置30 .,/± ^ 〃肴.第1測1部31,係測量在滑件η ^^期間衝壓機IQ之㈣運動機構 里,第2測量部32,係測量在】往復期間 至= ㈣動機構之能量值;及算出部33,係 量= 319709 31 200902302 所測里之上述運動能量變化之量、與第、 之上述能量值,來算出衝壓負載能量。里°所測量 第1測篁部31具有角速度感測 31b及演算器31c d貞湘鎖…、 輸出之離合器連接指令作於時進^接收由離合器控制部 度减測哭Λ 動作,而接收來自角速 =二之上述速度值⑴,並輪出該速度值L。此外, ^ 之速度值nS ’資㈣鎖仏亦可構成為接收 到離合器連接指今栌铼銘如^丄 再战马接收 二:軸嶋在經由反向器接收 : 之離合器連接指令信號(該信號表示滑件u之上 運動的結束)時動作,廿妓w十 彳设 ;才動作並接收來自角速度感測器23之上 連度值⑴,並輸出該速度值⑴。 k 將在Γ:,了獲得穩定之速度值ηί,資料輸lb亦可 =即將接收離合器切斷指令信號之前從角速度感測哭 接收而記憶之速度值ηί輸出,俾能夠接收離合器^切 LP=T的^角速度感測器23之速度“,並輸 2該速度值⑴。演鼻器31c係從該等資料閃鎖& 接收速度值ns、速度值ηί’並將該The order of power) the pulley 3, the transmission belt 5, (: the wheel 29, the crank shaft 7, the coupling member 12, the slider 丨丨. w M, the above-described example is specifically described. By performing the test before the continuous production, by The motor speed and the motor torque are measured to obtain the ram load energy. Here, the ramming motion mechanism is set to approximate the flywheel 6 to obtain the ram load energy. The dead time connection clutch is measured in time series. When starting to cry, the cycle starts to run for 1 cycle and the slider reaches the bottom dead center and reaches the next top dead center. The motor speed n[rad/s] and the motor torque [Νω]. The motor speed is set just after the clutch is connected. For ns 'the motor speed before the next top dead center (disconnecting the clutch) is set to nf, and the inertia (inertia) of the flywheel 6 converted to the motor shaft is set to I, the punching load energy E is as follows: The formula is obtained. [Mathematical Formula 1] 319709 30 200902302 2 ' + fm.dt ] is the time from the moment the clutch is connected to the moment of separation from the integration interval [ts, before the combiner. Turn just = = the flywheel 6 sports energy and the period of the ring are supplied to the flywheel =!; '2nd The system is in the motor " Shielding energy reduction amount 俾 February:: 2, that is, the load load energy at the end of 1 cycle. (10) The total value of summer is the rush of 1 cycle consumption in order to connect the clutch. The inertia of energy, in the formula 1], is to set the inertia I to approximate the flywheel 6 彳 彳 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 冲压 冲压 冲压 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨= mechanism [mathematical pulley 3, transmission belt 5, fly: test 6 considerations = included in the punching motion mechanism shaft 7, even the 釺 釺 〗 9, 汍 wheel 6, gear, main gear 29, crank j 〇 °, sliding parts The inertia of 11 is set to the inertia of [Math. 1]. Ϊ 15 is a measurement calculation device that is transmitted in the first δ genre: by one cycle operation during the test mode. The measurement calculation device 30 . ^ 〃 .. The first measurement 1 part 31, measured in the (four) motion mechanism of the press IQ during the sliding part η ^ ^, the second measuring part 32, measuring the energy value during the reciprocating period to the = (four) moving mechanism; And the calculation unit 33 calculates the amount of the above-described kinetic energy change measured by the amount = 319709 31 200902302 and the energy value of the first and the The first measuring unit 31 measured by the loader has an angular velocity sensing 31b and an operator 31c d贞湘 lock..., and the output clutch connection command is made to receive the crying action by the clutch control unit. And receiving the above speed value (1) from the angular velocity = two, and rotating the speed value L. In addition, the speed value n of the ^ (4) lock can also be configured to receive the clutch connection finger today, such as ^ 丄Warhorse Receiver 2: The axle is actuated by the reverser: the clutch connection command signal (this signal indicates the end of the movement above the slider u), and the action is received and received from the angular velocity sensor. The concatenation value (1) above 23, and the speed value (1) is output. k will be in Γ:, get the stable speed value ηί, the data input lb can also be = the speed value ηί output from the angular velocity sensing crying reception immediately before receiving the clutch cutoff command signal, 俾 can receive the clutch ^ cut LP = The speed of the angular velocity sensor 23 of T, and the speed value (1) is input. The nasal generator 31c receives the speed value ns and the speed value ηί' from the data flash lock &
之第!項目的值。u里1及1/2,輸出[數學式U 具有組裝至馬達驅動部21之轉矩檢測 (未圖不)、角速度感測器23、乘法器32a及積分哭 =矩,測器係測量馬達1之轉矩值7並予以輪出^速度 泛測器23係測量上述速度值以輸出。乘法器仏又 319709 32 200902302 係接收來自轉矩檢測器之轉矩值r、及來自 心速度值n,並將上述2值相乘,而輸出值= 分器32b係從乘法器32a接收值η· r,並根據輸入值^ r算出[數學式1]之第2項目的值並予以輪出。 算出部33係將從演算器3卜輸入之值、與從積分器 32b輸入之值予以相加,輪出上述[數學式丨]之值以作為衝 壓負載能量值。 再者,如上所述,由補正部27a所產生之補正增益的 值係由輸入至補正部27a之輸入值、即衝壓速度與衝壓負 載能量所決定。 、 第7圖所示之衝壓運轉速度與衝壓負載能量之對補正 部27a之輸入,可為自動輸入或由操作者所進行之輸入。 自動輸入時,可設置用以將整個滑件之丨往復運動期 間之來自角速度感測器23或指令調節部19之旋轉速度值 予以平均,並將該平均值作為衝壓運轉速度予以輸入至補 正部27a之平均值算出部。此時,從平均值算出部接收上 述平均值的輸入部亦可設置在補正部27a。再者,上述衝 壓負載能量之測量裝置的輸出亦可輸入至補正部27a。此 時’接收從$ 8圖之測量裝置輸出之衝壓負載能量的輸入 部亦可設置在補正部27a。如此’亦可將衝壓運轉速度與 衝壓負載能量自動地輸入至補正部27a。此外,亦能以其 他適當之手段來構成用以接收以其他適當之手段算出或測 量之衝壓運轉速度或衝壓負載能量的輸入部。 以操作者進行輸入時,藉由操作者操作預定之操作按 319709 33 200902302 ‘=。17===與_負载能量輸入至補正部 部,但亦能以其他:當之部27a輸入之輸八 壓運轉速度或_負載能量^ =由㈣者操作而將衝 另一方面,敎之輸入部。 具有:從「⑴滑株芦換、4圖之付號所示, 之增益乘算部:從「V)滑:=直:力之值乘以補正增益 補正增益之增益乘算部;:「;)緩乘以 >"、但水以補正增 2 々 輸出之直線力之值乘以補J 從「⑸平衡器」 其他要素」輸出之亩:補正增㈣益乘算部;及從「⑻ 由兮等辦力之值乘以補正增益之增錄算部。 定二進行之補正增益係可相互獨立地設 %之補定方㈣可與補正部 轉速度與衝壓負载能量之:文設定演算部26時之衝壓運 增益,俾使該值隨著衝厂、,來设疋各增益乘算部之補正 負載能量變大而變大。::轉速度變:而變大’隨著衝壓 壓運轉速度與衝壓貞益乘算部設有輸入衝 述補正部㈣相同^里之輸人部。該輪人部係可與上 ^各變動要素⑴至 (第2實施形態) 見更‘之4耗電力的減低。 第9圖顯示本發明之第2實施形態。在該第2實施形 319709 34 200902302 ,悲之演算部26中,根據所輸入之曲 需馬達轉矩之部分係構成本發明之「趙、之旋轉角算出所 者,,第2實施形態之演算部26及指令=定裝再 據所异出之所需馬達轉管 。卩。P 19中,根 分係構成本發明之「二=節之指令速度值的部 第9圖係本發明第2實施形態丄 圖。第2圖實施形態之衝壓機1〇 冓成 值從馬達驅動部21輪入至演算部J乐扣令轉矩之 與第1實施形態之情形不同。第〜部26之構成係 之其他構成係與们實施形態之㈣=態之㈣機1〇’ 與上述同樣地,馬達驅動部21係 :?從速度指令部17接收指令速度值,=令二 2值之值的電流供給至馬達〗。此時’將:】應二令 逮度值從速度感測器23輸入至馬達驅 、,貝際 值,對供給至馬達i之電流值進 ° ’亚對應該 之實際速度成為指令速度值。 又:制,俾使馬達1 第10圖係顯示第2實施形態之演算部2 :據第2實施形態’不經由指令調節部 之 令速度值從速度指令部17輸人至馬達驅動部曰 衝_ Π),之試運轉。在該試運轉中,實際對被力^ = 订衝Μ。4運轉係能以衝壓生產㈣之開 週期來實施。 i週期或# …在該試運轉時’將指令轉矩值從馬達驅動部 演算部26,並從角度感測器35輸入曲柄軸7 雨 〈灸轉角。 319709 35 200902302 • 從馬達驅動部21輸入至演算部26之指人鼓紅/ 應自馬達驅動部21供給至馬達丨之雷、ά 7轉矩值係對 之值,可為與該電流值成比例之值,: 矩 電流值算出。 仏、'、°至馬達1之 藉由衝壓機1〇,之試運轉,得 ,值之關係,並將該關係作成表。:之= ,,即可獲得相對於曲編之各旋轉角的指 在上死點使衝壓停止而進行運轉之作業 在該作業方法中,將從滑件丨丨在上死點停止 開始運轉再回到上死點並停止之期間設為i „ 該動作。此時,由於依每—週期 ’亚反後 每-週期之離合器9的影塑相二連離離合器9,因此 值相等。 ^相间’且母-週期之指令轉矩 八因此,可在任意之丨獲得曲柄軸7之旋轉角盘指 戶^之關係,而將該關係作成為表,亦可使在數週期 係相關之資料依各角度予以平均而作成1週 d伤之貝料,而將該資料作成為表。 «兄月在上死點不使衝虔停止而連續進行運轉之作業方 法時之表的作成。 在該作業方法中,運轉開始後不使滑件li在上死點停 t而連續進行運轉,而不會在每―週期使滑件11在上死點 停止。此時,運轉開始時,連接離合器9後,由於並未切 319709 36 200902302 離離合器9,因此指令轉矩值在最初之丨週期與其以後之 週期不同。 因此,藉由試運轉獲得指令轉矩值至穩定為止之數週 期(例如η週期份)之資料,並預先作成表示該等數週期之 指令轉矩變動的上述表。該表之各週期的資料係適用於實 際運轉時所對應之週期。而且,該表之最後的週期(第/ 週期)之資料係在實際運轉時反覆適用在第η 'TO J 1 欠 週期。 再者,亦可對衝壓進行試運轉至指令轉矩值穩定為 止,在指令轉矩值穩定後,取得丨週期份之資料並作成表。 表示穩定時之上述關狀絲的㈣亦可反覆適用、 運轉中自啟動開始後之各週期。 ' ’預先 10’之實 如上所述,藉由衝壓機10,之試運轉作成表 將表記憶在㈣部26,独下述^進 際運轉。 演管將^味7之旋轉角㈣度感測器25輸入至 14 26 %,演鼻部26係將所輸入之旋轉角適用在#, 而异出?應所輸入之旋轉角的所需馬達轉矩值。、 :著,與第1#施形態之情形同樣地,演算部2 需=轉矩值與馬達轉矩基準值之差後,將該差 疋之乓益,並將該乘算所得之值作為 :輸二之後的動作係與第1實施形態相同 外,在衝壓们0,之實際運轉時,亦可不將扑八鍺 矩值從馬達驅動部21輸人至演算部26。 4令轉 319709 37 200902302 .在第2實施形態中,只要將所檢測之旋轉角代入 運轉所得之上述表,即可決定所需馬達轉矩,且能以簡: 之構成及處理來調節馬達之旋轉指令速度。 再者,第2實施形態之情形時,即 衝壓負載能量變動,由於莊士 轉速又或 ::…動由於猎由上述補正部進行相對 動之=因此無須進行試運轉來決定所需馬達轉 ^衝職大多採用在運轉開始時以低速運轉,-邊檢杳 二之生產品f —邊逐漸增加速度之運轉方法,但即使在 1 匕情形I’亦可不再進行試運轉,繼續㈣運轉,同時藉 由補正裝置來對應衝壓運轉速度之變動。 3 (第3實施形態) 第11圖係本發明第3實施形態之衝麗機10”之構成 :。9第乂實,係使用積分器34來取代第1實施形態或 弟貫施形態所說明之第2圖的角度感測器25。其他構成 2第1實施形態之衝壓機10相同,第u圖係記載有對 ^ 1貫施形態之構成’而在設成對應第2實施形態之構 %,係構成為在試運轉時將指令轉矩從馬達 輪入至演算部26。 Ή 11圖所示’在積分器34輸入來自指令調節部19 之經5周郎的指令速唐信#、 指令速度值予以積=積以34係以時間將輸入而來之 從馬達驅動開始時以時間將指令速度值予以積分的 話’即可獲得現時點之馬達1的旋轉角。 如此’以積分器34獲得之現時點的馬達1的旋轉角之 319709 38 200902302 •值係輸入至演算部26。演算部26係與第1實施形態同樣 地’根據從積分器34輸入之旋轉角的值輸出速度調節值。 其他構成及動作係與第1實施形態之情形相同。 根據第3實施形態’即使不如第1實施形態設置用以 檢測主齒輪29之旋轉角的角度感測器25,亦可藉由以積 分器34對指令速度值施以時間積分,來檢測馬達1的旋轉 角。 因此,由於可省略角度感測器25,因此構成簡單。 (第4實施形態) 在第1實施形態或第2實施形態中,演算部26係輸出 與來自速度指令部17之指令速度值相加的速度調節值,但 在第4實施形態中,演算部26係輸出與來自速度指令部 Π之指令速度值相乘的調節增益值(倍率)。 指令調節部19係輸出將來自速度指令部丨7之指令速 度值與攸演异部26經由補正部27輸入之調節增益相乘而 調節的指令速度值。 ^演算部26所算出之調節增益係在將該調節增益乘以 來自速度指令部17之指令速度值時,可設定成可獲得與第 6圖⑻所不之第1實施形態或第2實施形態之情形相同的 經調節之指令速度值。 立亦即,演算部26所算出之調節增益係隨著輪入至演算 4 26之旋轉角之值而變化者,在輸人旋轉角之第3圖⑹ 所不的所需馬達轉矩之值比基準馬達轉矩值愈加更大時取 越小之值,在輸人旋轉角之第3圖⑹所示的所需馬達轉矩 319709 39 200902302 ,之值比基準馬達轉矩值愈加更小時則取越大之值。 (其他實施形態) 雖係由用以檢測出上述主齒輪29之旋轉速度的角度 =器25、及對輸入至馬達驅動,21之指令速度值施以 k間積分的積分器34來構成角度檢測裝置,但亦可由i他 段來構成。例如亦可由角速度檢測裝置或用以檢 測出滑件11之位置或速度的裳置來構成角度檢測裝置。 26中如述,在第1實施形態及第2實施形態之演算部 之曲_7的旋轉角算出所需馬達轉矩 =刀^構成轉㈣定裝置。再纟,在第!實施形態及第 之二=Γ:26與指令調節部19中’根據所算出 速度鼻出經調節之指令速度值的部分係構成 成,::= =襄置並不限定於上述實施形態之構 性之;需=:入之旋轉角之值來決定對編機特 構成,以實現上述功J ^由電子電路㈣當手段來 成,】:節裝置並不限定於上述實施形態之構 疋在所需馬達轉矩變得小於預 值之旋轉體(例如曲柄軸 ]於預叹之馬達轉矩基準 速度比-定指令速度更為增:;二達广旋轉指令 於預設之馬達轉矩基準信Μ或在所品馬達轉矩變得大 指令速度比-定^ 疋轉體的旋轉,使馬達之旋轉 路等適當手段少者即可’亦可由電子電 傅战,以貫現上述功能。 319709 40 200902302 上述實施形態中,補正部27a雖係將補正 自演,之輸出,但亦可將補正部27a之構成;= 將f付與上述貫施形態之補正部27a相同之效果的補正值 加开於來自肩异部26之輪出。同樣地,亦可將補正部⑽ 之構成變更成,將補正值加算於來自第4圖之⑴至⑻的 輸出以獲%•與上述實施形態之補正部27b相同之效果。 二卜置亦可由補正部27a及補正部27b之任一者來構成補 再者上述§兒明中,為了配合曲柄軸旋轉之每丨週期 的動作時間,關於使馬達之旋轉指令速度比前述—定指令 =度私加之里、及使馬達之旋轉指令速度比前述一定指令 之里,係設成在曲柄軸7之旋轉角的1週期(〇至 :)A中之時間積分值相等。然而,根據各種條件、狀況, 周即逮度指令值’俾使在適當之預定時間(例如1分鐘 ,月間之該等時間積分相等。 上述曲柄轴7係旋轉體,曲柄軸7及連結在該曲柄軸 件之^、、、。構件12等雖係構成將馬達1之旋轉運動轉換為滑 之往復運動的轉換機構,但亦可由以馬達丨所旋轉驅 凸輪或其他適當之構件等構成轉換機構。 嫵μ再者,在上述實施形態中,雖係說明使用飛輪之衝壓 才幾 1 〇、1 η,、1 η,,,, -κ ,但本發明亦可適用在不使用飛輪而藉由 服馬達進行運轉的衝壓機。 不脸!I上所述,本發明並不限定於上述實施形態,當然在 本發明之要旨的範圍可進行各種之變更。 319709 41 200902302 •【圖式簡單說明j 第1圖係使用飛輪之習知衝壓機之 第2圖係本發明第丨實施形態之衝構 、第3圖=使馬達定速旋轉時,曲柄轴之旋圖 速度值及所需馬達轉矩變動^ ^ ^ ^ ^ 曰7 第4圖係本發明第j,开」^之曲線圖。 圖。 弟场之演算部之處理的流择 曲線圖η圖係曲柄轴旋轉之1週期之所需馬達轉矩變動之 係曲柄轴之旋轉角、進行速度調節時所調節之 才曰7連度值及轉矩變動之曲線圖。 2變數第的7補圖示相對於衝壓運轉速度及㈣負載能量之 f 8圖係顯示測量衝壓負載能量之構成例的圖。 f 9圖係本發明第2實施形態之衝壓機之構成圖。 圖。第1G圖係本發明第2實施形態之演算部之處理的流程 固係本發明弟3實施形,%之衝壓機之構成圖。 L主要元件符號說明】 馬達 3、43 皮帶輪 傳輪皮帶 6、47 飛輪 曲才丙車由 9、49 離合器 10”衝壓機 11 ' 57 滑件 連結構件 15 速度控制裝置 1、41 5、45 7、53 10、1〇, 12、55 319709 42 200902302 17 速度指令部 18a 、:18b限制器 19 指令調節部 21 馬達驅動部 23 速度感測器 25 角度感測器 26 演算部 27 補正裝置 27a、 27b 補正部 29 ' 51 主齒輪 30 測量算出裝置 31 第1測量部 31a、 31b 資料閂鎖 31c 演算器 32 第2測量部 32a 乘法器 32b、 34 積分器 33 算出部 35 角度感測器 43 319709The first! The value of the item. u 1 and 1/2, output [Mathematical U has torque detection (not shown) assembled to the motor drive unit 21, angular velocity sensor 23, multiplier 32a, and integral crying = moment, measuring system measuring motor The torque value of 1 is set and rounded up. The speed detector 23 measures the above speed value for output. The multiplier 319709 32 200902302 receives the torque value r from the torque detector and the heart rate value n, and multiplies the above two values, and the output value = the divider 32b receives the value η from the multiplier 32a. · r, and calculate the value of the second item of [Mathematical Formula 1] based on the input value ^ r and rotate it. The calculation unit 33 adds the value input from the calculator 3 to the value input from the integrator 32b, and rotates the value of the above [Mathematic Formula] as the impulse load energy value. Further, as described above, the value of the correction gain generated by the correction unit 27a is determined by the input value input to the correction unit 27a, that is, the press speed and the punch load energy. The input of the pressing operation speed and the pressing load energy pair correction portion 27a shown in Fig. 7 may be automatic input or input by an operator. In the automatic input, it is possible to set the rotation speed values from the angular velocity sensor 23 or the command adjustment portion 19 during the reciprocating motion of the entire slider, and input the average value as the punching operation speed to the correction portion. The average value calculation unit of 27a. At this time, the input unit that receives the average value from the average value calculation unit may be provided in the correction unit 27a. Further, the output of the above-described measuring device for the load energy can be input to the correcting portion 27a. At this time, the input portion that receives the punching load energy output from the measuring device of the $8 map may be provided in the correcting portion 27a. Thus, the press operation speed and the punch load energy can be automatically input to the correction portion 27a. In addition, an input portion for receiving a stamping operation speed or a stamping load energy calculated or measured by other appropriate means may be constructed by other appropriate means. When the operator makes an input, the operator operates the predetermined operation by pressing 319709 33 200902302 ‘=. 17=== and _load energy are input to the correction section, but can also be other: when the input of the part 27a is input, the eight-speed operation speed or the _load energy ^= is operated by (4), and the other side is Input section. It has a gain multiplication unit that multiplies the value of the force by the correction gain correction gain from the "(1) slippery change, the payout of the 4th figure, and the gain multiplication unit: from "V"::" ;) Slowly multiply >", but the value of the straight line force of the water is corrected by 2 々 multiplied by the complement J from the "(5) balancer" other elements" output of the mu: the correction is increased (four) benefit multiplication department; "(8) The value of the labor force is multiplied by the incrementing calculation unit of the correction gain. The correction gain of the second adjustment can be set independently of the complement of the % (4) and the correction part rotation speed and the stamping load energy: When the calculation unit 26 sets the punching gain, the value of the correction load energy of each gain multiplier is increased as the value is increased. The press-pressing operation speed and the press-benefit multiplication unit are provided with the same input unit as the input correction unit (4). The round person system can be compared with the above-mentioned variable elements (1) to (second embodiment). The fourth power consumption is reduced. Fig. 9 shows a second embodiment of the present invention. In the second embodiment, 319709 34 200902302, the calculation of sadness In the case of the input of the required torque of the motor, the calculation of the rotation angle of the Zhao, the calculation unit 26 of the second embodiment, and the instruction = the installation of the motor In the case of P19, the root system is a part of the second embodiment of the present invention, and the second embodiment of the present invention is a second embodiment of the present invention. The enthalpy value is different from the case where the motor drive unit 21 is rotated to the calculation unit J, and the torque is different from that of the first embodiment. The other components of the configuration of the first unit 26 are the (4) = state of the embodiment. (4) Machine 1〇' In the same manner as described above, the motor drive unit 21 receives the command speed value from the speed command unit 17, and supplies the current of the value of the two values to the motor 〖. At this time, 'will: 】 The catch value is input from the speed sensor 23 to the motor drive, and the value of the bounce value is set to the value of the current supplied to the motor i. The actual speed corresponding to the subordinate is the commanded speed value. 10 shows the calculation unit 2 of the second embodiment: according to the second embodiment, the instruction adjustment unit is not passed. The speed value is input from the speed command unit 17 to the motor drive unit _ Π ,), and the test operation is performed. In the test operation, the actual force is pressed by the force = 4. The operation system can be produced by stamping (4) The cycle is performed. i cycle or # ... during the test operation, the command torque value is output from the motor drive unit calculation unit 26, and the crankshaft 7 is input from the angle sensor 35. The moxibustion angle is 319709 35 200902302 • From The motor drive unit 21 is input to the calculation unit 26, and the value of the torque value to be supplied from the motor drive unit 21 to the motor ά, ά 7 is a value proportional to the current value, and is: The moment current value is calculated. 仏, ', ° to the motor 1 by the press 1 〇, the trial operation, the relationship between the values, and the relationship is made into a table. :==,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, The period of returning to the top dead center and stopping is set to i „ this action. At this time, since the shadow phase of the clutch 9 of each cycle of the sub-period is reversed from the clutch 9, the values are equal. 'And the mother-cycle command torque eight, therefore, the crank angle of the crankshaft 7 can be obtained at any time, and the relationship is made into a table, and the data related to the number of cycles can also be The angles are averaged to create a one-week-old wounded material, and the data is used as a table. «The production of the table in which the working method of the continuous operation is not stopped at the top dead center at the top dead center. In the method, after the start of the operation, the slider li is not continuously stopped at the top dead center, and the slider 11 is not stopped at the top dead center every cycle. At this time, the clutch 9 is connected after the start of the operation. Since it is not cut 319709 36 200902302 from the clutch 9, so the finger Let the torque value be different from the period after the first cycle. Therefore, the data of the number of cycles (for example, the number of η cycles) of the command torque value to be stabilized is obtained by trial operation, and is preliminarily made to represent the equal cycle. The above table of command torque fluctuations. The data of each cycle of the table is applicable to the cycle corresponding to the actual operation. Moreover, the data of the last cycle (the / cycle) of the table is applied in the actual operation. η 'TO J 1 Under cycle. In addition, the test can be performed until the command torque value is stabilized. After the command torque value is stabilized, the data of the cycle period is obtained and tabled. The (4) of the filaments can also be applied repeatedly, and each cycle after the start of the operation in the operation. ' 'Pre-10' is as described above, and the test run table is used to record the table in the (4) part 26 by the punching machine 10 The following operation is carried out. The performance of the rotation angle (four) degree sensor 25 of the flavor 7 is input to 14 26 %, and the rotation angle of the nose 26 is applied to the #, and the input is input. Required motor torque for the angle of rotation In the same way as in the case of the first #1 embodiment, the calculation unit 2 needs to determine the difference between the torque value and the motor torque reference value, and the value of the difference is obtained. The operation after the second transmission is the same as that of the first embodiment. In the actual operation of the press 0, the torque value may not be input from the motor drive unit 21 to the calculation unit 26. 4 TURN 319709 37 200902302. In the second embodiment, the required motor torque can be determined by substituting the detected rotation angle into the above-described table obtained by the operation, and the rotation command speed of the motor can be adjusted by simple configuration and processing. Further, in the case of the second embodiment, that is, the load energy of the press is changed, and the rotation speed of the Chuangshi is: or the movement of the hunting is performed by the correction unit. Therefore, the test operation is not required to determine the required motor rotation. Most of the resignation operations are operated at a low speed at the beginning of the operation, and the operation method of gradually increasing the speed while checking the product f of the second generation, but even in the case of 1 I I'm no longer performing the trial operation, continuing (4) operation, and simultaneously Corresponding by means of a correction device Pressure changes in operating speed. 3 (Third Embodiment) Fig. 11 is a configuration of a third embodiment of the third embodiment of the present invention, which is described in detail by using an integrator 34 instead of the first embodiment or the embodiment. The angle sensor 25 of Fig. 2 is the same as the press machine 10 of the first embodiment, and the u-picture is a configuration corresponding to the second embodiment, and is configured to correspond to the second embodiment. % is configured to rotate the command torque from the motor to the calculation unit 26 during the test operation. Ή11 shows the input of the command speed from the command adjustment unit 19 by 5 weeks. The command speed value is given by the product = 34, and the commanded speed value is integrated by time from the start of the motor drive, and the rotation angle of the motor 1 of the current point is obtained. Thus, the integrator 34 is obtained. The rotation angle of the motor 1 at the current point is 319709 38 200902302. The value is input to the calculation unit 26. The calculation unit 26 outputs the speed adjustment value based on the value of the rotation angle input from the integrator 34 as in the first embodiment. Other configurations and operations are the same as in the first embodiment. According to the third embodiment, even if the angle sensor 25 for detecting the rotation angle of the main gear 29 is not provided as in the first embodiment, it is possible to detect by applying the time integral to the command speed value by the integrator 34. The angle of rotation of the motor 1. Therefore, the angle sensor 25 can be omitted, and the configuration is simple. (Fourth Embodiment) In the first embodiment or the second embodiment, the calculation unit 26 outputs and outputs the speed command unit 17 In the fourth embodiment, the calculation unit 26 outputs an adjustment gain value (magnification) multiplied by the command speed value from the speed command unit 。. The command adjustment unit 19 outputs the speed adjustment value. The command speed value obtained by multiplying the command speed value from the speed command unit 攸7 by the adjustment gain input by the correction unit 26 via the correction unit 27. The adjustment gain calculated by the calculation unit 26 is multiplied by the adjustment gain. When the command speed value from the speed command unit 17 is set, the adjusted command speed value which is the same as the case of the first embodiment or the second embodiment of Fig. 6 (8) can be obtained. The adjustment gain calculated by the calculation unit 26 changes with the value of the rotation angle of the rotation to the calculation 4 26, and the value of the required motor torque which is not shown in the third figure (6) of the input rotation angle is larger than the reference motor. When the torque value is larger, the smaller value is taken. When the required motor torque 319709 39 200902302 shown in Fig. 3 (6) of the input rotation angle is smaller than the reference motor torque value, the larger the value is. (Other Embodiments) The angler 25 for detecting the rotational speed of the main gear 29 and the integrator 34 for integrating the command speed values input to the motor drive 21 are k-integrated. The angle detecting device is configured, but it may be constituted by a segment. For example, the angle detecting means may be constituted by an angular velocity detecting means or a skirt for detecting the position or speed of the slider 11. As described above, in the first embodiment and the calculation unit of the first embodiment and the second embodiment, the required motor torque is calculated as the rotation angle of the curve _7. Again, in the first! In the embodiment and the second embodiment, the portion of the command adjustment unit 19 that is configured to adjust the commanded speed value according to the calculated speed is configured such that::==襄 is not limited to the configuration of the above embodiment. Sexuality; need =: the value of the rotation angle to determine the special configuration of the machine to achieve the above work ^ ^ by the electronic circuit (four) as a means,]: the device is not limited to the configuration of the above embodiment The rotating body (for example, the crankshaft) whose required motor torque becomes smaller than the pre-value is more increased in the motor torque reference speed of the pre-sigh than the fixed command speed: the second rotation command is preset to the motor torque reference The signal or the torque of the motor becomes a large command speed ratio - the rotation of the rotating body, so that the appropriate means such as the rotation path of the motor can be used, or the electronic power can be used to achieve the above functions. 319709 40 200902302 In the above-described embodiment, the correction unit 27a outputs the correction unit 27a, but the correction unit 27a can be configured as a correction value of the same effect as the correction unit 27a of the above-described embodiment. Opened from the wheel from the shoulder 26. Similarly The configuration of the correction unit (10) may be changed so that the correction value is added to the outputs from (1) to (8) of Fig. 4 to obtain the same effect as that of the correction unit 27b of the above embodiment. The correction unit 27a may also be used. And the correction unit 27b constitutes a supplement. In the above description, in order to match the operation time of each cycle of the crankshaft rotation, the rotation command speed of the motor is made privateer than the above-mentioned predetermined command=degree. And the rotation command speed of the motor is set to be equal to the time integral value in one cycle (〇 to :) A of the rotation angle of the crankshaft 7 in the above-described predetermined command. However, according to various conditions and conditions, the circumference is The catch command value 'is equal to the appropriate predetermined time (for example, 1 minute, the time between the months). The crankshaft 7 is a rotating body, the crankshaft 7 and the components connected to the crankshaft. Although 12 or the like is a conversion mechanism that converts the rotational motion of the motor 1 into a reciprocating motion of the slide, the conversion mechanism may be constituted by a cam or other suitable member that is rotated by a motor cymbal. In the form, although the stamping using the flywheel is described as 1 〇, 1 η, 1 η, , , -κ, the present invention is also applicable to a press machine that operates by a motor without using a flywheel. The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the gist of the present invention. 319709 41 200902302 • [Simple description of the drawing 1 Figure 1 shows the use of the flywheel Fig. 2 is a punching diagram of the third embodiment of the present invention, and Fig. 3 is a diagram showing the rotational speed value of the crankshaft and the required motor torque variation when the motor is rotated at a constant speed. ^^^^^ 曰7 4 is a graph of the jth, opening "^" of the present invention. Fig. The flow diagram of the processing of the calculation section of the brother field η is a crankshaft of the required motor torque variation of one cycle of the crankshaft rotation The rotation angle, the curve of the 7-degree value and the torque variation adjusted when the speed is adjusted. The figure 7 shows the example of the configuration of the measured press load energy with respect to the press operation speed and (4) load energy. Fig. 9 is a configuration diagram of a press machine according to a second embodiment of the present invention. Figure. Fig. 1G is a flow chart showing the processing of the arithmetic unit of the second embodiment of the present invention. L main component symbol description] Motor 3, 43 Pulley belt 6, 47 Flywheel C, 9, 49 Clutch 10" Press 11 ' 57 Sliding member 15 Speed control device 1, 41 5, 45 7. 53 10, 1〇, 12, 55 319709 42 200902302 17 Speed command unit 18a, 18b limiter 19 Command adjustment unit 21 Motor drive unit 23 Speed sensor 25 Angle sensor 26 Calculation unit 27 Correction devices 27a, 27b Correction Part 29 ' 51 Main gear 30 Measurement calculation device 31 First measurement unit 31a, 31b Data latch 31c Calculator 32 Second measurement unit 32a Multiplier 32b, 34 Integrator 33 Calculation unit 35 Angle sensor 43 319709