TW202406759A - Conveyance control device, conveyance device, conveyance control method and conveyance control program wherein the conveyance control device includes a driving data acquisition part, an external interference inference unit and a command correction unit - Google Patents

Abstract

The invention is to provide a conveyance control device that can reduce adverse effects of external interferences caused by cutting off objects to be conveyed during the continuation process. A conveyance control device (30) is configured to control a conveyance device (10). The conveyance device is equipped with a cutting part (14) configured to cut a first conveyed object (21) which is continued by and overlapped with a second conveyed object (22). The conveyance control device (30) is provided with: a driving data acquisition part (31) configured to obtain a first driving data of a first motor conveying the first conveyed object (21); an external interference inference unit (32) configured to use the first driving data as input and infer external interferences generated when the cutting unit (14) cuts the first conveyed object (21); and a command correction unit (33) configured to correct commands related to second driving data of a second motor conveying the second conveyed object (22) based on the external interferences.

Description

Conveyance control device, conveyance device, conveyance control method, conveyance control program

The present invention relates to a transportation control device and the like.

Patent Document 1 discloses a lithographic printing press including a conveying mechanism for paper as an object to be printed or conveyed. This lithographic printing press controls the dampening solution appropriately based on external disturbances estimated after the start of operation. [Prior technical literature] [Patent Document]

[Patent Document 1] Japanese Patent Publication No. 5-57879

[Problem to be solved by the invention]

In the conveying device of the objects to be processed or conveyed in processing equipment such as printing presses and coating machines, the "old" conveyed object (hereinafter also referred to as the "first conveyed object") may be replaced. The "new" conveyed object (hereinafter also referred to as "the second conveyed object") and the "continuation" of switching between the old and new conveyed objects in a manner that hardly stops the processing device (in the case of the conveyed object is roll paper, etc. In the case of paper, it is especially indicated as "paper renewal"). Since the first conveyed object and the second conveyed object overlap immediately after the connection, the excess first conveyed object is cut off by a cutting part such as a cutter. Such impact during cutting and/or contact between the first and second objects to be conveyed before cutting will cause external interference to the conveyance control device that controls the conveyance device, especially if there is a connection. There are concerns about adverse effects on the transportation control of the "new" second object to be transported.

The present invention was developed in view of this situation, and its purpose is to provide a transportation control device that can reduce the adverse effects of external interference caused by cutting off the object to be transported during connection. [Means used to solve problems]

In order to solve the above-mentioned problems, a conveyance control device according to one aspect of the present invention controls a conveyance device that is configured to connect a second conveyed object to a first conveyed object and then cut off the overlap with the second conveyed object. The cutting part of the first conveyed object; wherein, based on the first drive data of the first motor that conveys the first conveyed object, it is estimated that external interference caused by the cutting of the first conveyed object is estimated, and based on the external Interference, control the second motor that transports the second object to be transported.

In this aspect, based on the first drive data of the first motor that transports the "old" first transported object, external interference caused by the cutting of the first transported object is estimated. Then, the second motor that transports the "new" second object to be transported is controlled based on the external disturbance, so it is possible to reduce the adverse effects of external disturbance caused by the cutting of the (first) object to be transported during the connection. .

Another aspect of the invention is a transport device. The device is provided with a cutting part that connects the second conveyed object to the first conveyed object and then cuts the first conveyed object overlapping the second conveyed object; the conveying device is equipped with: a conveyance control device, It is based on the first drive data of the first motor that transports the first transported object, and estimates the external interference caused by the cutting of the first transported object, and based on the external interference, the second motor that transports the second transported object is estimated. The motor is controlled.

Another aspect of the present invention is a transportation control method. The method is to control a conveying device, the conveying device having a cutting part that connects a second conveyed object to a first conveyed object and then cuts the first conveyed object overlapping the second conveyed object; the conveying device The control method includes: a first acquisition step, which acquires the first drive data of the first motor that transports the first conveyed object; and an external interference estimation step, which uses the first drive data as an input and estimates that the cutting unit is disconnected External interference caused by the first conveyed object; and a command correction step, which is to correct the command related to the second drive data of the second motor for conveying the second conveyed object based on the external interference.

In addition, any combination of the above constituent elements or any form in which the expressions are converted into methods, devices, systems, recording media, computer programs, etc. are also included in the present invention. [Effects of the invention]

According to the present invention, it is possible to reduce the adverse effects of external interference caused by cutting off the conveyed object during connection.

Hereinafter, modes for implementing the present invention (hereinafter also referred to as embodiments) will be described in detail with reference to the drawings. In the description and/or drawings, the same or equivalent components, members, processes, etc. are denoted by the same symbols, and repeated descriptions are omitted. The scale and shape of each part shown in the drawings are set for convenience in order to simplify the description, and will not be interpreted restrictively unless otherwise mentioned. The embodiments are examples and do not limit the scope of the present invention in any way. All features described in the embodiments and their combinations are not necessarily limited to the essence of the present invention.

FIGS. 1 to 6 schematically show the structure of the conveyance device 10 that conveys the object 20 and the conveyance control device 30 that controls the conveyed object. Examples of the conveyed object 20 include linear objects such as ropes and wires, and planar or sheet-like objects such as paper, cloth, film, foil, and rubber. In this embodiment, a roll-to-roll conveyance device 10 that conveys a sheet base material as an object 20 in the conveyance direction (roughly from left to right in FIG. 1 ) is used. instruction. The conveying device 10 is a device that performs arbitrary processing on the conveyed object 20. For example, it may be a coater or a coater that performs coating processing on the conveyed object 20, a printer that performs printing on the conveyed object 20, A part of a stretching device that applies tension to the conveyed object 20 to stretch it. In this embodiment, the conveying device 10 is a part of the coater.

The conveying device 10 conveys the "old" conveyed object 20 (hereinafter also referred to as "the first conveyed object 21") as the first conveyed object rolled out from the old shaft 21 (first unwinding roller) in the conveying direction. ”) or the “new” conveyed object 20 (hereinafter, also referred to as the “second conveyed object 22”) that is rolled out from the new shaft 22 (the second unwinding roller) as the second conveyed object. The tension roller (dancer) 11 as a tension control part provided at the rear section of the old shaft 21 and the new shaft 22 controls or maintains the first conveyed object 21 and the second conveyed object 22 rolled out from the respective shafts 21 and 22. at the desired tension. Although illustration is omitted, a coating treatment section for applying coating to the conveyed object 20 or a winding roller for winding the coated conveyed object 20 into a roll is provided at the rear stage of the tension roller 11 .

In the conveying device 10, the first conveyed object 21 from the old axis 21 is connected to the second conveyed object 22 from the new axis 22, and the new and old conveyed objects are switched so as to hardly stop the conveying device 10 and the coater. Continuation of objects 21 and 22 (if the object 20 to be conveyed is paper such as roll paper, paper continuation is performed). As a mechanism for performing such a connection, the conveyance device 10 is provided with a revolving part 12 and a contact part 13 .

The revolving part 12 may be configured as a turret capable of rotating around the fulcrum 121 in the drawings of FIGS. 1 to 6 , for example. The old shaft 21 and the new shaft 22 are respectively fixed at each end of the turntable (the right end and the left end in Figure 1). In the state of FIG. 1 , the first conveyed object 21 is rolled out from the old shaft 21 located on the conveying device 10 side (right side), and is conveyed in the conveying direction (right) by the conveying device 10 . The details will be described later. The guide roller 122 provided at a position opposite to the fulcrum 121 (upper part in FIG. 1 ) can also rotate integrally with the rotating part 12 or the rotating table.

As will be described later with respect to FIG. 4 or FIG. 5 , the contact part 13 brings the first conveyed object 21 into contact with the second conveyed object 22 before the cutting part 14 cuts the first conveyed object 21 . The contact portion 13 is provided with an arm 131 that can be driven toward the object 20 and/or the new shaft 22 side (substantially upward in FIG. 1 ), and in a driven state, the arm 131 can be pressed or pressed clockwise in the figure. Rotating pressing roller 132 . As shown in FIG. 4 or FIG. 5 , the pressing roller 132 presses the object 20 to be conveyed toward the new shaft 22 (in other words, the pressing roller 132 holds the object 20 to be conveyed between the new shaft 22 and the new shaft 22 ).

FIGS. 1 to 6 schematically illustrate a series of procedures for connecting the old axis 21 (the first object 21 ) to the new axis 22 (the second object 22 ). In the state of FIG. 1 , the first conveyed object 21 is rolled out from the old shaft 21 and conveyed. However, since the remaining amount of the old shaft 21 has not reached a predetermined value, the connection to the new shaft 22 is started. Specifically, as shown in FIG. 2 , the rotating portion 12 or the rotating table is rotationally driven in the clockwise direction in the figure with the fulcrum 121 as the center. In the following FIG. 3 , the old shaft 21 moves from the fulcrum 121 along the side opposite to the conveyance device 10 (left side), while the new shaft 22 moves from the fulcrum 121 along the conveyance device 10 side (right side). At this time, the first conveyed object 21 that continues to be rolled out from the old shaft 21 is guided or transferred by the guide roller 122 that rotates and moves integrally with the turntable, and is received by the conveying device 10 .

FIG. 4 shows a state in which the turning of the turning unit 12 or the turntable has been completed. Compared with Figure 1 before turning, the positions of the old shaft 21 and the new shaft 22 are interchanged. At this point in time, in addition to the first conveyed object 21 continuing to be unrolled from the old shaft 21 , the second conveyed object 22 also begins to be unrolled from the new shaft 22 . In this way, in order to continue or connect the first conveyed object 21 and the second conveyed object 22 that are rolled out from the old shaft 21 and the new shaft 22 at the same time, the extending arm 131 of the contact portion 13 is moved toward the conveyed object 20 (including the first conveyed object 22 ). The overlapping portion of the conveyed object 21 and the second conveyed object 22 ) and/or the new shaft 22 side is driven, and the pressing roller 132 presses the conveyed object 20 toward the new shaft 22 . An adhesive material (not shown) such as an adhesive tape is provided near the unwinding start position of the second conveyed object 22 on the new shaft 22. Therefore, it is pressed between the pressing roller 132 and the new shaft 22. The first conveyed object 21 and the second conveyed object 22 are firmly connected. In this way, the second conveyed object 22 of the new axis 22 is connected to the first conveyed object 21 of the old axis 21 .

In the following FIG. 5 , the first conveyed object 21 before the connection, which overlaps the second conveyed object 22 after the connection, is cut by the cutting part 14 such as a cutter. As a result, in FIG. 6 after the connection is completed, the second conveyed object 22 is rolled out only from the new shaft 22 located on the conveying device 10 side (right side), and is transported along the conveying direction (right side) by the conveying device 10 . portage. In addition, the contact portion 13 located in the upper connecting position or the pressing position at the time of connecting and disconnecting in FIGS. 4 and 5 returns to the lower position in FIG. 6 after the completion of the connection, similarly to FIG. 1 before the start of the connection. Avoidance position.

In the above-mentioned connection processing, the impact when the extension arm 131 or the pressing roller 132 of the contact part 13 in FIG. 4 contacts the object 20 and/or the new shaft 22 or the cutting part 14 in FIG. 5 The impact when cutting the first conveyed object 21 will become an external interference to the conveyance control of the conveyance device 10, and may cause problems in the conveyance control of the "new" second conveyed object 22 after the connection. Doubts about the impact. Therefore, in this embodiment, the conveyance control device 30 is provided which can reduce the adverse effects of external interference caused by the cutting of the first conveyed object 21 during connection.

The transportation control device 30 includes a drive data acquisition unit 31 , an external interference estimation unit 32 , and a command correction unit 33 . These functional blocks are realized through the collaboration of hardware resources such as the computer's central processing unit, memory, input devices, output devices, supporting equipment connected to the computer, and the software that uses these executions. Regardless of the type and location of the computer, each of the above functional blocks can be implemented by the hardware resources of a single computer, or can be implemented by combining hardware resources dispersed in multiple computers.

The drive data acquisition unit 31 acquires the first drive data of the first motor (not shown in FIGS. 1 to 6 ) that transports the first conveyed object 21 . The first motor drives the old shaft 21 to rotate in the counterclockwise direction in the figure. The details will be described later. The first driving data obtained by the driving data acquisition unit 31 includes at least one of the measured value and the command value of at least one of the torque and rotational speed of the first motor and/or the old shaft 21 .

The external interference estimating unit 32 takes the first drive data acquired by the drive data acquisition unit 31 as input, and estimates external interference generated when the cutting unit 14 ( FIG. 5 ) cuts the first conveyed object 21 . Here, the external interference caused by the cutting of the first conveyed object 21 is not limited to the impact when the cutting part 14 cuts ( FIG. 5 ), but also includes the contact part 13 that occurs before the cutting. External interference caused by impact such as contact with the transported object 20 and/or the new shaft 22 (Fig. 4). In this way, in order for the external interference estimating unit 32 to estimate external interference when the cutting unit 14 performs cutting and before cutting, it is preferable that the drive data acquisition unit 31 at least performs the first transport operation based on the contact portion 13 in FIG. 4 The contact between the object 21 and the second conveyed object 22 (specifically, the contact between the first conveyed object 21 and the second conveyed object 22 by clamping the pressing roller 132 and the new shaft 22) and In FIG. 5 , the first drive data is obtained continuously or intermittently between cutting of the first conveyed object 21 by the cutting unit 14 .

In addition, as shown by dotted lines in FIGS. 1 to 3 , the driving data acquisition unit 31 and/or the external interference estimation unit 32 are connected to the first conveyed object 21 and the second conveyed object based on the contact portion 13 in FIG. 4 . The contact of object 22 may be stopped before. On the other hand, if the driving data acquisition unit 31 and the external interference estimating unit 32 are also operated between FIGS. 1 to 3 , it can also be estimated that the rotation or rotation of the slewing unit 12 or the slewing table, or as shown in FIG. 3 External interference caused by the contact between the guide roller 122 and the first conveyed object 21. These external disturbances also occur when the cutting part 14 cuts the first conveyed object 21 or performs operations for connection, and therefore also belong to the "external interference caused by the cutting part 14 cutting the first conveyed object 21". interference". In addition, as shown by dotted lines in FIG. 6 , the driving data acquisition unit 31 and/or the external interference estimation unit 32 may be stopped after the connection is completed.

The external interference estimating unit 32 is composed of, for example, an observer or a state observer. The external disturbance estimating unit 32 is configured to receive the first driving data as input (at least one of the measured value and the command value of at least one of the torque and rotational speed of the first motor and/or the old shaft 21) and The output external interference estimation results establish a corresponding mathematical model of correlation. Such mathematical models can be constructed through machine learning based on artificial intelligence.

The command correction unit 33 corrects and transports the second motor 22 of the second object 22 based on the external disturbance estimated by the external disturbance estimation unit 32 (external disturbance caused by the cutting unit 14 cutting the first object 21). Instructions related to the second drive data (not shown in Figures 1 to 6). The second motor rotates and drives the new shaft 22 in the counterclockwise direction in the figure. The details will be described later. The second drive data corrected by the command correction unit 33 includes at least one of the torque and rotational speed of the second motor and/or the new shaft 22 .

As shown by the solid line in FIG. 6 , the command correction unit 33 corrects at least the command related to the second driving data after the cutting unit 14 cuts the first conveyed object 21 ( FIG. 5 ). Preferably, as shown in solid lines in FIGS. 4 and 5 , the command correction unit 33 corrects and directly contributes to the rotation of the new shaft 22 , that is, after the unwinding of the second conveyed object 22 starts. Commands related to the driver's second driver data. On the other hand, as shown in solid lines in FIGS. 1 to 3 , the command correction unit 33 may stop before the rotation of the new shaft 22 , that is, the start of unwinding the second conveyed object 22 .

FIG. 7 shows an embodiment of the transport control device 30. The upper side of this figure schematically shows the old axis 21, that is, the first control system of the first conveyed object 21, and the lower side of this figure schematically shows the new axis 22, that is, the second conveyed object 22. 2nd control system. In addition, for convenience of illustration, the first control system and the second control system are shown as different control systems. However, they may also be configured as an umbrella system in which all or part of the same components (for example, those with the same names) are common. a control system.

The old shaft 21 is rotationally driven by the first motor 41 through the reducer 411. The rotation detector 412 such as a rotary encoder detects the rotation position or rotation speed of the first motor 41 . Similarly, the new shaft 22 is rotationally driven by the second motor 42 through the speed reducer 421 . The rotation detector 422 such as a rotary encoder detects the rotation position or rotation speed of the second motor 42 .

The first control system that controls the speed and torque of the first motor 41 includes a tension correction unit 511 , a speed deviation calculation unit 512 , a speed control unit 513 and a current control unit 514 . The speed command of the first motor 41 is input to the tension correction unit 511 , and correction is performed in accordance with the tension of the first conveyed object 21 detected by the tension roller 11 . The speed deviation calculation unit 512 calculates the speed deviation of the first motor 41 (first motor 41 ) by subtracting the rotation speed of the first motor 41 measured by the rotation detector 412 from the speed command on which the tension correction is performed by the tension correction unit 511 . The difference between the command value and the measured value of the rotation speed of 41). The speed control unit 513 generates a torque command for the first motor 41 based on the speed deviation of the first motor 41 calculated by the speed deviation calculation unit 512 . The current control unit 514 calculates the torque deviation of the first motor 41 by subtracting the torque of the first motor 41 measured by a torque sensor or the like (not shown) from the torque command generated by the speed control unit 513 (the difference between the command value and the measured value of the torque of the first motor 41), and the current supplied to the first motor 41 is determined based on the torque deviation.

Like the first control system, the second control system for controlling the speed and torque of the second motor 42 includes a tension correction unit 521 , a speed deviation calculation unit 522 , a speed control unit 523 and a current control unit 524 . The speed command of the second motor 42 is input to the tension correction unit 521 , and correction is performed in accordance with the tension of the second conveyed object 22 detected by the tension roller 11 . The speed deviation calculation part 522 calculates the speed deviation of the second motor 42 (second motor) by subtracting the rotation speed of the second motor 42 measured by the rotation detector 422 from the speed command on which the tension correction is performed by the tension correction part 521 The difference between the command value and the measured value of the rotation speed of 42). The speed control unit 523 generates a torque command for the second motor 42 based on the speed deviation of the second motor 42 calculated by the speed deviation calculation unit 522 . The current control unit 524 calculates the torque deviation of the second motor 42 by subtracting the torque of the second motor 42 measured by a torque sensor or the like (not shown) from the torque command generated by the speed control unit 523 . (the difference between the command value and the measured value of the torque of the second motor 42), and the current supplied to the second motor 42 is determined based on the torque deviation.

In order to reduce the adverse effects of external interference caused by the connection of the first conveyed object 21 to the second conveyed object 22, a second control system that controls the speed and torque of the second motor 42 may be further provided. External disturbance estimation unit 32 , command correction unit 33 , and torque transmission unit 34 .

The torque transmission part 34 is provided in order to transmit the torque of the old shaft 21 (first motor 41) just before the first conveyed object 21 is cut by the cutting part 14 in FIG. 5 to the new shaft 22 (second motor 42). settings. Specifically, in FIG. 7 , the torque of the first motor 41 immediately before shutoff detected by the current control unit 514 in the first control system is supplied to the torque transmission unit 34 in the second control system. The torque transmission unit 34 may use the torque of the first motor 41 immediately before the interruption received from the current control unit 514 as the initial value of the torque command of the second motor 42 immediately after the interruption or the connection. In this way, the torque of the first motor 41 immediately before the interruption or the connection is transmitted to the torque of the second motor 42 immediately after the interruption or the connection, so it is possible to prevent the torque from being severe before and after the interruption. changes.

As described above, the external disturbance estimating unit 32 takes the first drive data of the first motor 41 acquired by the drive data acquisition unit 31 as input, and estimates the external disturbance caused by the connection of the first transported object 21 to the second transported object 22 . interference. In the example of FIG. 7 , the rotation detector 412 obtains the measured value of the rotation speed of the first motor 41 as the first drive data, and the speed control obtains the command value of the rotation speed of the first motor 41 as the first drive data. The unit 513 (which may also be the tension correction unit 511 and/or the speed deviation calculation unit 512), a torque sensor (not shown), etc., which obtains the measured value of the torque of the first motor 41 as the first drive data, adjusts the third 1. At least one of the current control unit 514 (which may also be the speed control unit 513) that acquires the torque command value of the motor 41 as the first drive data functions as the drive data acquisition unit 31 and provides it to the external interference estimation unit 32. Various 1st driver information.

In addition to or instead of the first driving data of the first motor 41 , the external interference estimating unit 32 may also receive the second driving data of the second motor 42 as input, and infer that the second driving data of the second motor 42 is accompanied by the first driving data of the first motor 41 . External interference caused by the connection of the first transported object 21 to the second transported object 22. As shown in FIG. 4 or 5 , the influence of external interference caused by the contact by the contact part 13 or the cutting by the cutting part 14 during the connecting operation appears not only on the side of the old shaft 21 (first motor 41 ). , also appears on the new shaft 22 (second motor 42) side. Therefore, according to the external interference estimating unit 32 that considers the second drive data of the second motor 42 in addition to the first drive data of the first motor 41, it is possible to estimate with higher accuracy the movement of the first conveyed object 21 to the second External interference caused by the connection of the transported object 22. In addition, as the drive data acquisition unit that acquires the second drive data of the second motor 42, the rotation detector 422 that acquires the measured value of the rotation speed of the second motor 42 and the command value that acquires the rotation speed of the second motor 42 are exemplified. The speed control unit 523 and a current control unit 524 obtain a command value of the torque of the second motor 42 , such as a torque sensor (not shown) that acquires a measured value of the torque of the second motor 42 .

As described above, the command correction unit 33 corrects the command related to the second drive data of the second motor 42 based on the external interference caused by the connection estimated by the external interference estimating unit 32 . Specifically, the command correction unit 33 corrects the torque command of the second motor 42 generated by the speed control unit 523 or by the torque transmission unit 34 based on the external disturbance caused by the connection estimated by the external disturbance estimating unit 32 The initial value of the torque command transmitted from the first motor 41.

In addition, although illustration is omitted, the functions of the external interference estimation unit 32 and the command correction unit 33 are not limited to the second control system of the second motor 42 and may be provided in the first control system of the first motor 41 . At this time, the command correction unit 33 uses the first drive data of the first motor 41 and/or the second drive data of the second motor 42 obtained before and/or during the connection as input estimation based on the external interference estimation unit 32 Correct the command related to the first drive data of the first motor 41 due to external interference. As shown in FIG. 4 or FIG. 5 , even after the second conveyed object 22 of the new shaft 22 enters the conveyance path, the conveying operation of the first conveyed object 21 will continue until it is cut by the cutting part 14 , so it has the following advantages: The first control system has the advantage of stabilizing the rotational operation of the first motor 41 by reducing the adverse effects of external disturbances.

The present invention has been described above based on the embodiments. It is obvious to a person with ordinary knowledge in the art that various modifications can be made to the combination of each component or each process in the illustrated embodiments, and that such modifications are included in the scope of the present invention.

In addition, the configuration, action, and function of each device or each method described in the embodiments can be realized by hardware resources or software resources, or by cooperation of hardware resources and software resources. As hardware resources, for example, a processor, ROM, RAM, and various integrated circuits can be used. As software resources, for example, programs such as operating systems and applications can be used. This application claims priority based on Japanese Patent Application No. 2022-128921 filed on August 12, 2022. The entire contents of this Japanese application are incorporated by reference into this specification.

10:Transportation device 12: Roundabout 13: Contact Department 14: Cutting part 21: The first object to be transported 22: The second object to be transported 30:Transportation control device 31: Driver data acquisition department 32:External interference estimation department 33:Instruction Correction Department 34:Torque transmission part 41: 1st motor 42: 2nd motor

[Fig. 1] schematically shows the structure of a conveyance device that conveys an object and a conveyance control device that controls it. [Fig. 2] schematically shows the structure of a conveyance device that conveys an object and a conveyance control device that controls it. [Fig. 3] schematically shows the structure of a conveyance device that conveys an object and a conveyance control device that controls it. [Fig. 4] schematically shows the structure of a conveyance device that conveys an object and a conveyance control device that controls it. [Fig. 5] schematically shows the structure of a conveyance device that conveys an object and a conveyance control device that controls it. [Fig. 6] schematically shows the structure of a conveyance device that conveys an object and a conveyance control device that controls it. [Fig. 7] shows an embodiment of the conveyance control device.

10:Transportation device

11: Tension roller

12: Roundabout

13: Contact Department

14: Cutting part

20: Objects to be transported

21: The first object to be transported

22: The second object to be transported

30:Transportation control device

31: Driver data acquisition department

32:External interference estimation department

33:Instruction Correction Department

121:fulcrum

122: Guide roller

131: Stretch arm

132: Press roller

Claims (10)

A conveyance control device is a conveyance control device, the conveyance device is provided with a cutting part that connects a second conveyed object to a first conveyed object and then cuts the first conveyed object that overlaps the second conveyed object. ;in, Based on the first drive data of the first motor that transports the first transported object, it is estimated that external interference occurs with the cutting of the first transported object, and based on the external interference, the second motor that transports the second transported object is estimated. 2 motors are controlled. Such as the transportation control device of claim 1, which further includes: The driver data acquisition unit obtains the aforementioned first driver data; An external interference estimating unit receives the first driving data as input and estimates external interference caused by the cutting unit cutting the first conveyed object; and The command correction unit corrects the command related to the second drive data of the second motor that transports the second object to be transported based on the external interference. The transport control device of claim 2, wherein, The conveying device further includes a contact portion for bringing the first conveyed object into contact with the second conveyed object before the cutting portion cuts the first conveyed object; The drive data acquisition unit acquires the first drive at least between the contact between the first conveyed object and the second conveyed object by the contact portion and the cutting of the first conveyed object by the cutting portion. material. Such as the handling control device of claim 2 or 3, wherein, The command correction unit at least corrects the command related to the second driving data after the cutting unit cuts the first conveyed object. Such as the handling control device of claim 2 or 3, wherein, The first drive data includes at least one of a measured value and a command value of at least one of a torque and a rotational speed of the first motor. The transport control device of claim 5, wherein, The second drive data includes at least one of the torque and rotational speed of the second motor. The transport control device of any one of claims 1 to 3, wherein, The first conveyed object and the second conveyed object are in sheet shape. A conveying device is provided with a cutting part that connects a second conveyed object to a first conveyed object and then cuts the first conveyed object overlapping the second conveyed object; the conveying device is provided with: The conveyance control device estimates the external interference caused by the cutting of the first conveyed object based on the first drive data of the first motor that conveys the first conveyed object, and based on the external interference, controls the conveyance of the first conveyed object. 2. Control the second motor of the transported object. A conveyance control method that controls a conveyance device, the conveyance device having a cutting part that connects a second conveyed object to a first conveyed object and then cuts the first conveyed object that overlaps the second conveyed object. ;The handling control method includes: The first acquisition step is to acquire the first driving data of the first motor that transports the first object to be transported; An external interference estimating step is to use the first driving data as input and estimate external interference caused by the cutting unit cutting the first conveyed object; and The command correction step is to correct the command related to the second drive data of the second motor that transports the second object to be transported based on the above-mentioned external interference. A conveyance control program that controls a conveyance device, the conveyance device having a cutting part that connects a second conveyed object to a first conveyed object and then cuts the first conveyed object that overlaps the second conveyed object. ;The transport control program causes the computer to execute: The first acquisition step is to acquire the first driving data of the first motor that transports the first object to be transported; An external interference estimating step is to use the first driving data as input and estimate external interference caused by the cutting unit cutting the first conveyed object; and The command correction step is to correct the command related to the second drive data of the second motor that transports the second object to be transported based on the above-mentioned external interference.

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