1232840 玖、發明說明： 【發明所屬之技術領域】 本發明有關一種捲繞裝置，具體而言，有關_種用於 捲繞電線或電纜等線狀或帶狀長形物體的捲繞裝置，尤其 是有關一種在捲繞側使用轉矩馬達的捲繞裝置。 【先前技術】 至今，作為用於捲繞電線或電纜等線狀或帶狀長形物 體的捲繞裝置，已知圖10所示的捲繞裝置1〇〇。 就捲繞裝置100而言，在作為捲出源的供線線筒i上 捲有大量的電線2，透過由供給侧的換流器裝置3等的電 源放置驅動的感應馬達（IM)4旋轉該供線線筒1，進行供線 。另外，通常向供給側的換流器裝置3供給商用電源。 供給的電線2經中間的旋轉滑輪5、6、7捲繞在由轉 矩馬達8驅動的捲繞線筒9上。 以/轉矩馬達8施加滑線電阻調壓器1〇的輸出電壓。 驾知^置中’卩手動1周節該滑線電阻調壓器' 1 〇的輸出 =將捲繞時的張力保持恒定。另外，通常向滑線電阻 塾态1 〇供給商用電源。 轉矩馬達8與泛用的感應馬達不同，不是將頻率、 =控制在_定比率（v/f恒定）而使速度變化，而是具有 太馬達即没頻率大致固定（例如50Hz、60Hz)， $使電壓變化來調節發生的轉矩。 8，可即’在換流11等不普及的時代，透過使用該轉矩馬 構成由人的手動操作來管理調整張力的結構簡單 1232840 裝置。 即，在捲繞裝置100的情況下，若不進行任何控制， 則施加於電線2上的張力如圖11所示的“無控制時，，曲線 那樣，與所經過的捲繞經過時間T 一起減少。這是因為由 於捲繞在捲繞線筒9上的電線量增加，旋轉轉矩不足造成 的0 在這種狀態下，由於張力減少線鬆弛，習知以調整滑 線電阻調壓器1G來使施加在轉矩馬達上的電壓增加，使 轉矩恢復，保持張力恒定。 圖11顯示該手動調整時施加於電線2上的 曲線。如圖u所示，“手動時，，張力基本上保持在一定 ^寸近，但如該曲線所示那樣隨著手動調整的時 多少有所變動。 另外，作為使用轉矩馬達8的捲繞裝置，報 :=88354號公報中記载的“張力調節裝置，，和曰本 ：：e^^ (tak_1232840 发明 Description of the invention: [Technical field to which the invention belongs] The present invention relates to a winding device, in particular, to a winding device for winding a linear or ribbon-shaped elongated object such as an electric wire or cable, especially A winding device using a torque motor on the winding side. [Prior Art] Heretofore, as a winding device for winding a linear or ribbon-shaped elongated object such as an electric wire or cable, a winding device 100 shown in FIG. 10 is known. With regard to the winding device 100, a large number of electric wires 2 are wound around a supply bobbin i as a winding source, and they are rotated by an induction motor (IM) 4 driven by a power supply such as a converter device 3 on the supply side. The wire supply drum 1 performs wire supply. In addition, a commercial power source is usually supplied to the supply-side converter device 3. The supplied electric wire 2 is wound around a winding bobbin 9 driven by a torque motor 8 via intermediate rotating pulleys 5, 6, and 7. The output voltage of the sliding-line resistance regulator 10 is applied to the torque motor 8. Driving knowing ^ 卩 卩 卩 Manual 1 week, the output of this sliding wire resistance regulator '1 〇 = keep the tension during winding constant. In addition, a commercial power supply is usually supplied to the slider resistor 电阻 state 10. The torque motor 8 is different from the general-purpose induction motor. Instead of controlling the frequency and speed to a constant ratio (v / f constant) to change the speed, the torque motor 8 has too much motor, that is, the frequency is not substantially fixed (for example, 50Hz, 60Hz). $ Makes a voltage change to regulate the torque that occurs. 8. That is, in an era where the commutation 11 and the like are not widespread, the torque horse is used to construct a 1232840 device that manages and adjusts the tension by manual operation. That is, in the case of the winding device 100, if no control is performed, the tension applied to the electric wire 2 is as shown in the "without control, the curve, along with the elapsed winding elapsed time T, as shown in Fig. 11". Decrease. This is because the amount of wire wound on the winding bobbin 9 increases and the rotation torque is insufficient. 0 In this state, the tension is reduced due to the slack of the wire. It is known to adjust the sliding wire resistance regulator 1G To increase the voltage applied to the torque motor to restore the torque and keep the tension constant. Figure 11 shows the curve applied to the wire 2 during this manual adjustment. As shown in Figure u, "In manual, the tension is basically It stays close to a certain inch, but it varies slightly with manual adjustment as shown in the curve. In addition, as the winding device using the torque motor 8, "Tension Adjustment Device" and "Japanese" :: e ^^ (tak_
【發明内容J 在該習知裝置中，因為读 8的轉矩料％十 ㈣操作來進行轉矩馬達 妁轉矩5周整，所以存在的問顳e ^ ▲、 者的經驗或直覺的作業，容疋，於變為依賴於作業 冰 m λ, 、 k成手動操作的煩雜。 卜，因為難以經常操作裝 所以存在的問題是，㈣整施加電屢， 整時也會發生各心行分段的調整操作，在調 曰知生急劇的轉矩變务 ’不能期待提高捲繞張力的 1232840 精度。 並且，在啟動轉矩馬達8時，即便在停止時的過渡狀 態或負載突變等異常情況下，也期望實現穩定的捲繞控制 〇 另外，在捲繞開始時或中途停止、再啟動、停止時的 過渡狀悲下，由於其每次負載轉矩特性都隨負載的大小、 捲繞線筒9的慣性量或捲繞經過時間變化，所以即使在這 種過渡狀態下’也期望實現穩定的捲繞控制。 並且，期望防止轉矩馬達8的啟動時或停止時的過勵 磁或過電流。 本發明鑒於上述問題而做出，其目的在於供給一種捲 繞裝置，可連續調整轉矩馬達的施加電壓，可抑制急劇的 轉矩變化的發生，並有助於提高捲繞張力的精度。 為了解決上述問題，申請專利範圍第丨項之本發明的 捲繞裝置是，係具備：捲繞機構，用以捲繞長形物體丨轉 矩馬達，頻率固定、對應於施加電壓來改變輸出轉矩以驅 動捲繞機構；及換流器裝置，用以將從商用電源供給的交 流電轉換為三相交流電，施加於轉矩馬達；其特徵在於： 該換流器裝置具備··操作輸入機構，用以輸入對應於操作 的指令；基本模式產生機構，用以產生基本模式，該基本 模式係以連續上升到從操作輸入機構輸入的目標電壓之電 壓指令來表示；及控制機構，當從操作輸入機構輸入運轉 指令的情況下，記憶從基本模式產生機構輸出的基本模式 ，並根據隨著時間經過依序從基本模式讀出的電壓指令， 1232840 來使轉矩馬達的施加電壓趨向目標電壓。 申明專利範圍第2項之本發明的捲繞裝置是，該控制 機構，係當從操作輸入機構輸入運轉指令的情況下，使電 壓指令=過既定時間從GV上升到基本模式所示的電壓。 申明專利範圍第3項之本發明的捲繞裝置是，該控制 機構係田從操作輸入機構輸人停止指令的情況下 > 使電 壓指令：過既定時間從基本模式所示的電壓下降到。[ 申明專利範圍第4項之本發明的捲繞裝置是，該控制 機構具備電壓自動調整機構，用以將根據商用電源的電壓 與既定的基準電壓求出的差值與電壓指令相加以進行補償 〇 申明專利範圍第5項之本發明的捲繞裝置是，係具備 =檢：機構，用以檢測從換流器裝置施加於轉矩馬達的 又=電",L，且該控制機構，係具備過電流保護機構，用以 在來自電流檢測機構的檢測值高於既定的保護基準值的情 況下’咸；電壓指令，直到檢測值變為既定的保護基準值 以下。 申明專利範圍第6項之本發明的捲繞裝置是，該控制 機構，係當從操作輸入機構輸入運轉指令的情況下，將頻 率指令從0Hz切換並固定在既定的頻率，使電磨指令經過 无定才H k GV上升到基本模式所示的電壓；當從操作 入機構輸入停止指令的情況下，並使電壓指令經過既定日； 間從基本模式所示的電壓下降到QV以後，使頻 回 OHz 。 ^ 1232840 申請專利範圍第7項之本發明的捲繞裝置是，該控制 機構，係在運轉途中停止的情況下，當從操作輸入機構輸 入運轉指令時，經過既定時間從〇v上升到上次即將停止 前的電壓指令。 【實施方式】 下面，參照圖式說明本發明的實施例。 圖1是表示本發明的一個實施例的捲繞裝置的構成圖 在作為捲出源的供線線筒 如圖1所示 上稂有大量 電線2,透過由供給側的換流器裝置3等的電源裝置驅動 的感應馬達（IM)4旋轉該供線線筒卜進行供線。另外，通 常向供給側的換流器裝置3供給商用電源。 供給的電線2經中間的旋轉滑輪5、6、7捲繞在由轉 矩馬達8驅動的捲繞線筒9上。 對轉矩馬達8施加換流器裝置11的輸出電壓，自㈣ «換流器裝i u的輸出„，將捲繞時的張力保持恒 t °另外，通常向換流器裝置11供給商用電源。轉矩馬 達8是具有如下特點的馬達，即將頻率大致固定（例如 z 60Hz)，可透過使電壓變化來調節發生轉矩。 為了輸人後述的各種指令，在㈣器裝置 Π;16。對應於由該操作面…入的各種指令： 置：1向轉矩馬達8供給輸出電壓，調整發生轉矩。 圖2是表示操作面板16的構成圖。 操作面板16被安裝在換流器裝置u的殼體前面。作 1232840 為操作部分，具備運轉、停止後述的換流器控制部4ι的 DRIVE鍵21、0-9數字鍵22、小數點鍵23、ENTER(執行 確定）鐽24、步進鍵25、PROGRAM(程式）鍵26、顯示切換 /CLEAR 鍵 27 和 STOP 鍵 28 。 ' 另外’作為顯示部分’具備段式顯示器31和8個燈（ 標記Ctrl、MPa、V、％、rpm、A、Hz的各種顯示的燈及運 轉模式顯示燈32)。它們都由LED構成，段式顯示器31顯 示操作狀態和參數編號、其設定值、換流器控制部41的 狀態等。 圖3是表示換流器裝置11的結構圖。 在操作面板16上連接換流器控制部41。該換流器控 制部41對應於從操作面板16輸入的各種指令，產生輸出 頻率指令和輸出電壓指令，並輸出到PWM控制部43。 這裏說明換流器控制部41的結構。 對應於作業者的操作從操作面板16輸出的頻率指令暫 時被輸入到第i運轉指令判斷部53，並記憶在設置在内部 的記憶體中。若按下設置在操作面板16上的1^1冗鍵，則 將運轉指令輸入該第i運轉指令判斷部53，將記憶的頻率 指令輸出到過電流保護部71。另外，若在按下DRIVE鍵後 按下STOP鍵，則解除運轉指令，從第i運動指令判斷部 53輸出的頻率指令返回〇。 將從操作面板16輸出的目標電壓暫時輸入到基本模式 運^ 4 51。基本模式運算部51對應於輸入的目標電壓對 供給轉矩馬達8的電壓的基本模式進行運算，並寫入設置 1232840 在内部的記憶體中。圖4 b主_ & 疋表不寫入基本模式運算部51的 記憶體中的基本模式的曲線。基本模式運算部51將運Ϊ 得到的基本模式輸㈣第2運轉指令判斷部⑽ 若按下設置在操作面知，。 " 板1 6上的DR IVE鍵，則將運韓沪 令輸入到第2運轉指令判鼢都^ 褥才曰 斷邛5 5，將記憶的基本模式隨著 時間經過依序讀出，輪ψ 者 彳電壓指令增加、減少部5 7。 電壓指令增加、減少部57根據事先由操作面板（ 定的電壓增加梯度指令，伴 ° 1示符時間梯度，使電壓指令值上 升’直到基本模式上的目標電壓為止。另夕卜，在事先由操 作面板16來設定電壓減少梯度指令的情況下，用該電壓 減少梯度來進行停止動作。將由電壓指令增加、減少部57 :加i日加、減少梯度後的電壓指令輸入到膽冑^(輸出 電壓自動調整機構），進行自動電壓控制讀。 〃該AVR冑59將事先在換流器控制部41中設定的基準 電壓與商用電源的電壓值輸人加法器65ϋ求出其偏差， ::增盈67並乘以增益，由加法器69將該值與目前的電 【私^值相加，輸出到過電流保護部71。用該avr部Μ 對基準電壓進行控制以補償商用電源的變化量，例如，在 3入的商用電源的電壓大的情況下，將電壓指令減去此時 的偏# 士 ϊ 小’以不影響輸入輸出電壓的商用電源的電壓變 化。 另一方面’有效值轉換部63分別輸入由電流感測器 C T1 曰、CT2檢測到的轉矩馬達8中流過的u相、W相的電流 里1 u I w ’將這些電流量丨u、丨w轉換為有效值，並且， 1232840 從各相的有效值轉換為流過轉矩馬達8的電流有效值，輸 出到過電流保護部71。 圖5是表示過電流保護部71的動作曲線。 >過電流保護部71判斷該電流有效值是否超過或低於保 護基準值’對輸出電塵指令供給電屋減少梯度或電屬增加 梯度，透過向刚控制部43輸出輸出頻率指令和輸出電壓 指令，而如圖5所示限制從換流器部47輸出到轉矩馬達8 的輸出電流，進行過電流保護。 即’過電流保護部71將輸出電流的保護基準值記憶在泰 設^在内部的記憶體中，在電流有效值超過該保護基準值 、月兄下根據電壓減少梯度進行使輸出電壓下降的操作 ，另一方面，在電流有效值低於該保護基準值的情況下， 根據電壓增加梯度進行使輸出電壓增加的操作。 PWM控制邛43上連接有換流器部47。pwM控制部a ，：由換/“控制冑41產生的輸出頻率指令和輸出電壓 才曰令’產生具有由該輸出電壓指令表示的振幅和由輸出頻 率指令表示的周期的三相正弦波形資料，將内部發生的三# 角波載波與各相的正弦波形資料相比較，產生3組彼此為 反^平的0N/0FF訊號，將這3、组〇N/〇FF訊號輸出到換流 态部47。另外，圖中將這3組關/〇吓訊號表示為 、Vp 、 Vn 、 Wp 、 Wn 。 口口另一方面，將三相交流R、S、T作為商用電源輸入轉 換态45。向設置在轉換器45中的二極體M、D2輸入r相[Summary of the Invention] In this conventional device, because the torque of 8% is read to operate the torque motor and the torque is adjusted for 5 weeks, there is a question about the time e ^ ▲, the person's experience or intuitive operation. , Rong Yu, Yu becomes dependent on the operation ice m λ,, k becomes a cumbersome manual operation. Bu, because it is difficult to operate the equipment often, there is a problem that the adjustment and application of electricity are repeated, and the adjustment operation of each heart section will also occur during the whole time. During the adjustment, the sharp torque change operation cannot be expected to increase the winding tension. 1232840 precision. In addition, when the torque motor 8 is started, stable winding control is desired even in abnormal situations such as a transient state at the time of a stop or a sudden change in load. In addition, when the winding is started or stopped in the middle, restarted, or stopped. In the transitional state, since the torque characteristics of each load vary with the size of the load, the amount of inertia of the winding bobbin 9 or the elapsed winding time, even in this transition state, it is expected to achieve a stable winding. Around control. In addition, it is desirable to prevent over-excitation or over-current when the torque motor 8 is started or stopped. The present invention has been made in view of the above problems, and an object thereof is to provide a winding device that can continuously adjust the applied voltage of a torque motor, can suppress the occurrence of a sudden torque change, and contribute to improving the accuracy of winding tension. In order to solve the above-mentioned problem, the winding device of the present invention applying for the first item of the patent scope is provided with a winding mechanism for winding an elongated object, a torque motor, a fixed frequency, and a change in output rotation corresponding to an applied voltage. A torque driving mechanism; and an inverter device for converting AC power supplied from a commercial power source into three-phase AC power and applying it to a torque motor; characterized in that the inverter device includes an operation input mechanism, It is used to input the instruction corresponding to the operation; the basic mode generating mechanism is used to generate the basic mode, which is expressed by a voltage instruction that continuously rises to the target voltage input from the operation input mechanism; and the control mechanism, when it is input from the operation When the mechanism inputs a running command, the basic mode generated by the basic mode is memorized, and the voltage command that is sequentially read from the basic mode over time is used to make the applied voltage of the torque motor reach the target voltage. The winding device of the present invention as claimed in claim 2 is that the control mechanism is to increase the voltage command from the GV to the voltage shown in the basic mode when a running command is input from the operation input mechanism. The winding device of the present invention, which states the third item of the patent scope, is that the control mechanism is a case where a stop command is input from the operation input mechanism > the voltage command is decreased from the voltage shown in the basic mode to a predetermined time. [The winding device of the present invention which states the fourth item of the patent scope is that the control mechanism is provided with an automatic voltage adjustment mechanism for compensating the difference between the voltage of a commercial power supply and a predetermined reference voltage and a voltage command to compensate 〇 The winding device of the present invention, which states the fifth item of the patent scope, is provided with: a check: mechanism for detecting the electric power applied to the torque motor from the inverter device, and the control mechanism, The system is provided with an over-current protection mechanism, which is used to detect when the detection value from the current detection mechanism is higher than the predetermined protection reference value; the voltage is commanded until the detection value becomes below the predetermined protection reference value. According to claim 6 of the invention, the winding device of the present invention is that the control mechanism is to switch the frequency command from 0 Hz and fix it at a predetermined frequency when the operation command is input from the operation input mechanism, so that the electric grinding command passes H k GV rises to the voltage shown in the basic mode without setting; when a stop command is input from the operation input mechanism, the voltage command passes a predetermined day; after the voltage shown in the basic mode drops to QV, the frequency is increased. Back to OHz. ^ 1232840 The winding device of the invention according to item 7 of the scope of patent application is that the control mechanism, when stopped during operation, rises from 0V to the last time after a predetermined time has passed when an operation command is input from the operation input mechanism. Voltage command immediately before stopping. [Embodiment] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram showing a winding device according to an embodiment of the present invention. A large number of electric wires 2 are wound on a supply bobbin as a winding source as shown in FIG. An induction motor (IM) 4 driven by a power supply unit of the present invention rotates the wire supply bobbin to supply a wire. In addition, a commercial power source is usually supplied to the converter device 3 on the supply side. The supplied electric wire 2 is wound around a winding bobbin 9 driven by a torque motor 8 via intermediate rotating pulleys 5, 6, and 7. The output voltage of the inverter device 11 is applied to the torque motor 8 and «output of the inverter device iu» is maintained to maintain a constant tension during winding t °. In addition, a commercial power supply is usually supplied to the inverter device 11. The torque motor 8 is a motor having the following characteristics, that is, the frequency is approximately fixed (for example, z 60Hz), and the generated torque can be adjusted by changing the voltage. In order to input various commands described below, the device Π; 16 corresponds to Various instructions from this operation surface: Set: 1 Supply the output voltage to the torque motor 8 to adjust the generated torque. Figure 2 is a block diagram showing the operation panel 16. The operation panel 16 is mounted on the inverter unit u. The front of the housing. The operation part is 1232840, which includes the DRIVE key 21, 0-9 number keys 22, decimal point key 23, ENTER (execute) 鐽 24, and step keys of the inverter control unit 4m, which will be described later. 25. PROGRAM key 26. Display switching / CLEAR key 27 and STOP key 28. 'Also' as a display part 'with segment display 31 and 8 lights (marked Ctrl, MPa, V,%, rpm, A, Various display lights and operation modes of Hz Display lamp 32). They are all composed of LEDs, and the segment display 31 displays the operating status and parameter number, its setting value, the status of the inverter control section 41, etc. FIG. 3 is a block diagram showing the inverter device 11. An inverter control section 41 is connected to the operation panel 16. The inverter control section 41 generates an output frequency command and an output voltage command in response to various commands input from the operation panel 16 and outputs them to the PWM control section 43. The following explains the inverter The configuration of the flow controller control section 41. The frequency command output from the operation panel 16 corresponding to the operator's operation is temporarily input to the i-th operation command determination section 53 and stored in the internal memory provided. The 1 ^ 1 redundant key on the operation panel 16 inputs a running command to the i-th running command judging unit 53 and outputs the stored frequency command to the overcurrent protection unit 71. In addition, if the STOP button is pressed and the STOP button is pressed Press the key to cancel the operation command and return 0 from the frequency command output from the i-th motion command judgment unit 53. The target voltage output from the operation panel 16 is temporarily input to the basic mode operation ^ 4 51. Basic mode operation The unit 51 calculates the basic mode of the voltage supplied to the torque motor 8 according to the input target voltage, and writes it to the internal memory of the setting 1232840. Fig. 4 b main_ & The curve of the basic mode in the memory of 51. The basic mode calculation unit 51 inputs the basic mode obtained by the operation to the second operation command judging unit. If it is set on the operating surface, it will be known. &Quot; DR on the board 16 Enter the IVE key to enter the 2nd running command to judge the capital ^ 才 才 曰 断 曰 5 5 and read out the basic pattern of memory sequentially over time. The voltage command increases or decreases as the wheel ψ increases. Department 5 7. The voltage command increasing / decreasing unit 57 increases the voltage command value up to the target voltage in the basic mode according to a predetermined voltage increase gradient command from the operation panel (with a 1 ° time gradient). In addition, When the voltage reduction gradient command is set on the operation panel 16, the voltage reduction gradient is used to stop the operation. The voltage command increase / decrease unit 57: add i to increase and decrease the gradient is input to the biliary ^ (output The automatic voltage control mechanism) reads the automatic voltage control. 〃The AVR 胄 59 inputs the reference voltage set in the inverter control section 41 and the voltage value of the commercial power supply to the adder 65ϋ to find the deviation. The gain 67 is multiplied by the gain, and the value is added to the current value by the adder 69 and output to the overcurrent protection section 71. The avr section M is used to control the reference voltage to compensate for the amount of change in the commercial power supply For example, if the voltage of the commercial power supply is large, the voltage command is subtracted from the current deviation # 士 ϊ 小 'so as not to affect the input and output voltage of the commercial power supply. On the other hand, the 'effective value conversion unit 63 inputs 1 u I w of the u-phase and W-phase currents flowing in the torque motor 8 detected by the current sensor C T1 and CT2, respectively, and calculates these current amounts.丨 u, 丨 w are converted to effective values, and 1232840 is converted from the effective values of the phases to the effective value of the current flowing through the torque motor 8 and output to the overcurrent protection section 71. FIG. Operation curve.> The overcurrent protection unit 71 determines whether the effective value of the current exceeds or falls below the protection reference value. The output electric dust command is supplied to the electric house to reduce the gradient or the electrical property is increased. The output frequency command is output to the rigid control unit 43. And the output voltage command, as shown in Fig. 5, limiting the output current output from the inverter section 47 to the torque motor 8 for overcurrent protection. That is, the 'overcurrent protection section 71 memorizes the protection reference value of the output current in Thailand. It is assumed that in the internal memory, when the effective current value exceeds the protection reference value, the operation of reducing the output voltage according to the voltage reduction gradient is performed on the basis of the voltage reduction gradient. On the other hand, when the effective current value is lower than the protection reference value, In the case, the operation of increasing the output voltage is performed according to the voltage increase gradient. The inverter 47 is connected to the PWM control unit 43. The pwM control unit a is the output frequency command and output voltage generated by the inverter / "control unit 41". The command 'produces three-phase sinusoidal waveform data with the amplitude indicated by the output voltage command and the period indicated by the output frequency command, and compares the internally generated three # angular wave carrier with the sinusoidal waveform data of each phase to generate three groups The 0N / 0FF signals which are opposite to each other are output to the commutation state unit 47 of these 3 groups of ON / 0FF signals. In addition, the three groups of OFF / 〇 scary signals are represented as, Vp, Vn, Wp, Wn. On the other hand, the three-phase AC R, S, and T are used as commercial power input to switch the state 45. Input the r-phase to the diodes M and D2 provided in the converter 45
向D3、D4輸入S相，向D5、D6輸入T相，三相交流R 12 1232840 、s、τ由各二極體與電容器C1進行整流平滑後，將直流 電力輸出到直流端子P、N(p:正極端子，N:負極端子）。 在該直流端子P、N上連接有換流器部47。具體而言 ，在设置在換流器部47中的開關元件q丨、q3、q5和二極 體D7、D9 ' Dl 1上連接正極端子p，在開關元件Q2、Q4、 Q6和二極體D8、DIO、D12上連接負極端子N。並且，分別 向開關元件Ql、Q2、Q3、Q4、Q5、Q6的基極輸入從PWM控 制部43輸出的3組0N/0FF訊號Up、Un、Vp、Vn、Wp、如S phase is input to D3 and D4, and T phase is input to D5 and D6. The three-phase AC R 12 1232840, s, τ is rectified and smoothed by each diode and capacitor C1, and then the DC power is output to the DC terminals P and N ( p: positive terminal, N: negative terminal). An inverter section 47 is connected to the DC terminals P and N. Specifically, the positive electrode terminal p is connected to the switching elements q 丨, q3, q5 and the diodes D7, D9 'Dl1 provided in the inverter section 47, and the switching elements Q2, Q4, Q6, and the diode are connected. Connect the negative terminal N to D8, DIO, and D12. In addition, three sets of 0N / 0FF signals Up, Un, Vp, Vn, Wp output from the PWM control section 43 are input to the bases of the switching elements Q1, Q2, Q3, Q4, Q5, and Q6, such as
O 換流器部47對於輸入到直流端子p、N的直流電力， 根據從PWM控制部43輸出的3組0N/0FF訊號Up、Un、Vp 、Vn、Wp、Wn，分別0N/0FF控制開關元件Q1、收、卯、 Q4、Q5、Q6,而分別從開關元件Q1、Q2的連接點將u相、 從開關元# Q3、Q4的連接點W v相、從開關元件卯、⑽ 的連接點將W相輸出到轉矩馬達8的輸入端子。 在從換流器部47連接到轉矩馬達8上的u相、w相的 電力供電線上，磁耦合電流感測器CT1、CT2，電流感測器 CT卜CT2檢測連接到轉矩馬達8上的“目、"目的供電線 中流過的各電流量Iu、Iw，輸出到設置在換流器控制部41 中的有效值轉換部6 3。 下面，詳細說明根據本發明一實施例的捲繞裝置的動 作。 ，如圖1所示，在作為捲出源的供線線筒j上捲有多條 電線2，進行準備，使電線2經中間的旋轉滑輪5、6、7 13 I232840 捲繞在捲繞線筒9上。 a、現t，按照作業者的操作，從操作面板16產生頻率指 :二：電壓、運轉指♦、電壓增加梯度指令、電壓減少 等’輸出到設置在換流器控制部4"的各部。 ::入而b ’換流器控制部41將從操作面板16輸出的頻率 :二：入::第1運轉指令判斷部…將目標電壓輸入到基 Μ I運异部51 ’將運轉指令輸人到第1運轉指令判斷部 、和第2運轉指令判斷部55，將電壓增加梯度指令、電屋 減少梯度指令輸人到電壓指令增加、減少部57。 從操作面板16輸入頻率指令的第i運轉指令判斷部 Μ將該資訊暫時記憶在内部記憶體中。若按下設置在摔作 =板16中的DRIVE鍵2卜則將運轉指令輸入該第i運轉 、7甸斷冑53 ’將記憶在内吾"己憶體中的頻率指令輸出到 過電流保護部61。 從操作面板16輸入目標電壓的基本模式運算部51， 對應於該目標電壓運算供給給轉矩馬達的電壓指令的基本 =式並寫入設置在内部的記憶體中。並且，基本模式運算 邻51將運算得到的基本模式輸出到第2運轉指令判斷部 55並記憶。這裏，若按下設置在操作面板16中的drive ^則將運轉指令輸入到該第2運轉指令判斷部55，隨著 日=間經過依序讀出記憶在内部記憶體中的電壓指令的基本 模式’輸出到電壓指令增加、減少部57。 從操作面板16輸入電壓增加梯度指令的電壓指令增加 減少部57 ’按照該電壓增加梯度指令，以時間梯度，使 14 1232840 電壓指令上升到基本模式上的目標電壓，輪出至,"即部Μ 。另外’從操作面16輸人電a減少梯度指令的電壓指 令增加、物57’按照該„減少梯度指令，以時間梯 度，使電壓指令下降到基本模式上的目標電壓，輸出到 AVR 部 59 。 在從電壓指令增加、減少部57輸入電壓指令的AVR部 59,將事先設置在換流器控制部41中的基準電壓與商用電 源的電壓值輸入到加法3 65’求出其偏差，並且，將該偏 差輸入增益67,將偏差與增益相乘，用加法器69將該 法結果值與目前的電壓指令值相加後進行補償的電塵指令 輸出到過電流保護部71。 結果，從AVR部59輸出的電壓指令由於根據商用電源 相對基準電壓的變化量來補償電壓指令，而使電壓指令不 受商用電源的電壓變化的影響。 另一方面，輸入由電流感測器CT1、CT2檢測到的流過 轉矩馬達8的U相、W相的電流值Iu、^的有效值轉換部 63，將這些電流量IU、iw轉換為有效值，並且，從各相的 有效值轉換為流過轉矩馬達8的電流有效值後輸出到過電 流保護部71。 從第1運轉指令判斷部53輸入頻率指令，從AVR部 59輸入電壓指令，並且，從有效值轉換部63輸入電流有 效值的過電流保護部71與記憶在内部記憶體中的輸出電 流的保護基準值相比較，在電流有效值超過保護基準值的 情況下，按照電壓減少梯度使輸出電壓指令下降，另一方 15 1232840 面，在電流有效值低於保護基準 加描疮姑仏山+广 的滑况下’按照電壓拗 加梯度使輸出電壓指令增加，將輸出頻率指令^ 指令輸出到PWM控制部43。 ”剧出電壓 結果’在因過轉矩等引起過電流的狀態下 “，使轉矩下降，可避免過電流狀態。另外，在通3 使過電流值大杇庠担^ 在通吊的 又鈇鬲的、例如換流器輸出短路時等| A 狀態下，暫態切斷輪出镅粢& ^ φ ^ 予專異常 出頻率和輸出電壓兩者，透it OFF批 |、抓器部47的輪出，❿可避免過電流狀態。 - 攸過電“呆遵部71輸入輸出頻率指令和 的PWM控制部43，桐媸兮私山4 * 线才日令 根據該輸出頻率指令和輸出電壓指八， 產生具有由該輸出電懕扣― 7 表示的…… 與由輸出頻率指令 …。二相正弦波形資料，將内部發 波與各相的正弦波形資祖iB + > 妁一角波载 反形貝枓相比較，產生3組彼此為反電 的0N/0FF訊號Un、n v 々叉电十 Ρ Un、Vp、vn、Wp、Wn，將這 3 紐 ΟΝ/OFF訊號輸出到換流器部47。 、、' 棘旅：：方：’將三相交流R、S、T作為商用電源輸入的 轉換益45將三相交流R、S、T由各二極體與電容 行整流平滑後，蔣古A^ 將直&電力輸出到直流端子p、N。 經該直流端子p M ^ p、N輸入直流電力的換流器部47，透 過對應於從PWM控制都j Q μ， 徑制4 43輸出的3組0N/0FF訊號Up、如 VP、Vn、WP、Wn，分別ΟΝ/OFF控制開關元件Q1、q2、 Q3 Q4 Q5、Q6 ’而分別將u相、v相、w相輸出到轉矩馬 達8的輸入端子。 從換流器部47輪入u相、"目1相的交流電的轉矩 16 1232840 馬達8對應於u相、v相、w相的交流電旋轉。結果，可調 郎轉矩馬達8的發生轉矩。 下面’參照圖4至圖9所示的曲線來詳細說明捲繞裝 置的特徵動作。 捲繞裝置隨著捲繞時間的經過，由於捲繞線筒9的直 ^大重羞也增加’所以必須有與該重量增加相應的旋 轉轉矩。 在本實鈿例的捲繞裝置中，在由轉矩馬達8發生轉矩 的情況下，按照如圖4所示的基本模式來進行控制，使電 壓指令緩慢上升。 即，在基本模式運算部51產生由連續上升到輸入的目 標電壓的電壓指令表示的基本模式、從操作面板16輸入 ，轉指令的情況下’將基本模式記憶在第2運轉指令判斷 部55中，同時，根據按照經過的時間依序從基本模式讀 出的電壓扣7，使轉矩馬達8的施加電壓趨向目標電壓， 所以可連續調整轉矩馬…施加電壓，可抑制急劇的轉 矩變化的發生，並且，可有助於提高捲繞張力的精度。 另外’在設置在於換流器控制部41中的基本模式運算 部51中，將對應於目標電壓算出的基本模式事先寫入内 部記憶體中’進行控制，使反相哭中47 _輸出電壓自動 隨捲繞日㈣T的經⑽變化。若按照該基本模式穩定地進 灯捲繞動作，則如w 6所示，轉矩馬達8中發生的轉矩為 恒定，可進行張力恒定的捲繞控制。此時，隨捲繞 的經過而變化的轉矩馬達8的供給電壓如_ 7所示地變化 17 1232840 但是’在捲繞開始時或中途停止、再啟動、停止時 過渡狀態下，負載轉矩特性對應於負載的大小、線筒的慣 性質量或捲繞經過時間而變化。因此，下面說明即使在這 種過渡狀態下也能將本發明的特徵控制方法用於穩定地 行捲繞動作。 ~ 轉矩馬達8在恒定狀態下的轉矩控制可通過改變供給 給轉矩馬達8的電壓來實現。此時頻率也可固定。即，期 望分別分離獨立地控制頻率和電壓。 ’ 可是，若在頻率小的狀態下施加大電a，則馬達特性 方面會形成過電流、過轉矩。因此，在頻率指令不夠大的 狀態下，控制施加給轉矩馬彡8的電壓使其緩慢增大。此 ㈣電壓變化量可透過作業者操作操作面16來更換換 流器控制部41的内部參數來任意變更。 ⑴參照圖8,說明捲繞時的啟動開始、中途停止 途再啟動的動作。 在圖8所示的時刻t卜若作業者按下設置在操作面板 上的DRIVE鍵2卜則運轉指令被輸人到第丨運轉指令判 斷部53和第2運轉指令判斷部55，開始啟動動作。 ^在啟動時刻U，透過將事先記憶在第1運轉指令判斷 # 53中的頻率指令輸出到過電流保護部η，由此頻率盘 電壓獨立地瞬間上升到基底的頻率(50Hz或60Hz)。 ’、 崎另方面’在時刻1:1至t2期間，隨著時間經過依序 -貝出把憶在第2運轉指令判斷部55中的電壓指令的基本模 18 1232840 式’輸入到電壓指令增加、減少部5 7 電壓私令增加、減少部5 7按照該電壓增加梯度指令， 以時間梯度’使電壓指令錢〇v上升到基本模式上的電 壓v卜輸出到A㈣59。結果，電壓指令按照預定的上升 梯度，以一定梯度從〇V上升到π。 這樣，當從操作面板16輸人運轉指令的情況下，透過 使電壓指令經過時間從GV上升到基本模式所示的電壓Η ，而可防止啟動時的過勵磁或過電流。 在時刻t2-t3期間，從第2運轉指令判斷部55被輸出 到電壓指令增加、減少部57的電壓指令隨著經過的時間 ，上升到基本模式上的電M n_V2後輸出到遺部59。 在時刻t3，若㈣者按下設置在操作面板16上的 STOP鍵28 ’則將停止指令輸入到第i運轉指令判斷部η 和第2運轉指令判斷部55，開始停止動作。電Μ指令增加 、減少部57㈣電麼減少梯度指令，以時間梯度，使電 壓指令從基本模式上的電壓V2 了降到⑽，輸㈣AM部 59。結果，在有中途停止的情況下，電壓指令按照預定的 減少梯度，以1梯度肖GV減少。此時，在㈣指令變 :°¥的時刻“，從第1運轉指令判斷部53輸出的頻率指 令瞬間變為OHz。 這樣，當從操作面板16輸入停止指令的情況下，透過 使電壓指㈣過時間從基本模式所示的㈣v2下降到^ ，可防止停止時的過勵磁或過電流。 在中途啟動時刻t5,瞬間上升到上述的基底頻率。之 19 1232840 後，在時刻t5至t6，如上所述，電壓指令按照預定的上 升梯度，以一定梯度上升到基本模式上的電壓V2。 這樣’在運轉中途停止的情況下，當再次從操作面板 1 6輸入運轉指令時，透過控制，以經過時間使電壓指令從 0V上升到上次即將停止前的電壓指令，而可從上次即將停 止前的電壓指令開始運轉，可使停止前後的轉矩相同，可 穩定捲繞張力。 在時刻t6至t7的期間，電壓指令從基本模式上的電 壓V2上升到V3。在時刻t7，若按下ST〇p鍵28，則電壓 指令從基本模式上的電壓V2下降到〇v。此時，在電壓指 令變為0V的時刻t8，頻率指令瞬間變為〇Hz。 這樣，頻率與電壓為獨立控制，同時，透過對電壓指 令進行具有梯度的增加、減少動作，可防止啟動、停止時 的過勵磁或過電流。 (2)基本模式與轉矩 基本模式運算部51雖使用圖4所示的基本模式，但有 時隨著捲繞線冑9的形狀，對應於捲繞經過㈣，要使張 力變化（被稱為遞變張力（taper tensi〇n)時，此時，使用 圖9所不的基本模式。 將基本模式下的電壓指令示為vo,此時的轉矩（張力 彳始、、、;進仃恒疋張力控制。相反，例如按照捲繞海 過時間使張力緩慢上升的情況下，使用如η所示的基4 松式為電壓指令。這與通常的基本模式⑽相比，電壓」 升對時間經過的比例大。此時的張…卜另外，如 20 1232840 力缓慢下降的情況下，相反，與基本模式相比，可以使用 電壓上升比例小的其他的基本模式。 變型例 本發明不限於上述的實施例，例如可進行如下的變形 〇 (1)電壓指令增加、減少部57對電壓指令的電壓增加 梯度和電壓減少梯度不是1種，透過來自操作面板丨6或外 部的切換訊號，根據狀況可從多組中選擇丨組進行切換。 (2 )在由過電流保護部71檢測過電流的情況下，雖使 電壓指令減少，但即使減少到某一最低的基準值電流也不 低於基準值的情況下，作為緊急事態，可進行切斷換流器 4 4 7的輸出’產生警報跳脫停止，以保護裝置。 如上所述，根據本發明，在產生由連續上升到輸入的 目標電壓的電壓指令表示的基本模式、輸入運轉指令的情 況下，在記憶基本模式的同時，根據隨著時間經過依序從 基本模式讀出的電壓指令，使轉矩馬達的施加電壓趨向目 標電壓，而可連續調整轉矩馬達的施加電壓，可抑制急劇 的轉矩變化的發生，並有助於提高捲繞張力的精度。 【圖式簡單說明】 (一）圖式部分 圖1是表示本發明的一個實施例的捲繞裝置的構成圖 〇 圖2是表示操作面板16的構成圖。 圖3是表示換流器裝置構成的方塊圖。 21 1232840 圖4是表示供給轉矩馬達的電壓指令的基本模式的曲 線。 S 5疋表示利用過電流保護部的保護動作特性的曲線 〇 圖6是表示轉矩馬達的發生轉矩與捲繞經過時間的關 係的曲線。 圖7是表示轉矩馬達的供給電壓的曲線。 圖8是表示過渡狀態下的電壓指令的加減速（上升、下 降）的曲線。 圖9是表示輸出電壓與張力隨捲繞經過時間的變化曲 線。 圖1 〇是習知轉矩馬達捲繞裝置的示意圖。 圖11是表示手動調整時施加於電線2上的張力變化的 曲線。 (二）元件代表符號 C1 電容器 CT1，CT2 電流感測器 D1至D12 二極體O The inverter section 47 controls the switches of 0N / 0FF for the DC power input to the DC terminals p and N based on three sets of 0N / 0FF signals Up, Un, Vp, Vn, Wp, and Wn output from the PWM control section 43. Element Q1, receiver, 卯, Q4, Q5, Q6, and the u-phase from the connection point of switching element Q1, Q2, the W-phase from the connection point of switching element # Q3, Q4, and the connection point of switching element 卯, ⑽ The W-phase is output to an input terminal of the torque motor 8. On the u-phase and w-phase power supply lines connected from the inverter section 47 to the torque motor 8, magnetically coupled current sensors CT1 and CT2, and current sensors CT and CT2 are detected and connected to the torque motor 8. Each of the current amounts Iu, Iw flowing in the destination power supply line is output to the effective value conversion section 63 provided in the inverter control section 41. Hereinafter, a coil according to an embodiment of the present invention will be described in detail. As shown in FIG. 1, a plurality of electric wires 2 are wound on the supply bobbin j serving as the unwinding source, and preparation is made so that the electric wires 2 are passed through the intermediate rotating pulleys 5, 6, 7 and I232840. Winding on the winding bobbin 9. a. Now t, according to the operator's operation, the frequency finger is generated from the operation panel 16: two: voltage, running finger, voltage increase gradient command, voltage decrease, etc. Each section of the inverter control section 4: :: 入 而 b 'The inverter control section 41 outputs the frequency output from the operation panel 16: 2: input :: the first operation command judging section ... inputs the target voltage to the base M I Operation different section 51 'Input operation instructions to the first operation instruction judgment section and the second operation instruction The judging unit 55 inputs the voltage increase gradient command and the electric house decrease gradient command to the voltage command increase and decrease unit 57. The i-th operation command judging unit M that inputs the frequency command from the operation panel 16 temporarily stores the information in the internal memory. If you press the DRIVE button 2 set in the falling plate = 16, the operation command is input to the i-th operation, and the 7d breaks off. 53 'The frequency command memorized in the internal memory is output to Overcurrent protection unit 61. The basic mode calculation unit 51 that inputs a target voltage from the operation panel 16 calculates the basic formula of the voltage command supplied to the torque motor corresponding to the target voltage and writes it into the internal memory. The basic mode calculation neighbor 51 outputs the calculated basic mode to the second operation command judging unit 55 and stores it. Here, if drive ^ provided on the operation panel 16 is pressed, the operation command is input to the second operation command judgment The unit 55 reads out the basic mode of the voltage command stored in the internal memory in sequence as the day = time passes, and outputs to the voltage command increase / decrease unit 57. Input voltage from the operation panel 16 The voltage command increase / decrease section 57 with the gradient command increases the gradient command according to the voltage to increase the time of the 12 1232840 voltage command to the target voltage in the basic mode with the time gradient. On the 16th input, the voltage command of the decreasing gradient command is increased, and the object 57 ′ decreases the voltage command to the target voltage in the basic mode with the time gradient according to the “reduce gradient command” and outputs it to the AVR section 59. In the AVR unit 59 that inputs the voltage command from the voltage command increase and decrease unit 57, the reference voltage set in the inverter control unit 41 and the voltage value of the commercial power source are input to the addition 3 65 'to determine the deviation, and, The deviation is input to the gain 67, the deviation is multiplied by the gain, and an adder 69 is used to add the result value of the method to the current voltage command value to compensate the electric dust command to the overcurrent protection unit 71. As a result, the voltage command output from the AVR section 59 compensates the voltage command according to the amount of change of the commercial power source from the reference voltage, so that the voltage command is not affected by the voltage change of the commercial power source. On the other hand, an effective value conversion unit 63 for inputting the current values Iu and ^ of the U-phase and W-phase of the torque motor 8 detected by the current sensors CT1 and CT2 is input, and these current quantities IU, iw are converted into The effective value is converted from the effective value of each phase into the effective value of the current flowing through the torque motor 8 and output to the overcurrent protection unit 71. The frequency command is input from the first operation command judging unit 53, the voltage command is input from the AVR unit 59, and the overcurrent protection unit 71 which receives the effective current value from the effective value conversion unit 63 and the output current stored in the internal memory are protected. Compared with the reference value, when the current effective value exceeds the protection reference value, the output voltage command is decreased according to the voltage reduction gradient. On the other side, the 151232840 surface, when the current effective value is lower than the protection reference value, describes the sore mountain and the wide slip. In this case, the output voltage command is increased in accordance with the voltage increase gradient, and the output frequency command ^ command is output to the PWM control section 43. "Sudden voltage result" in the state of overcurrent caused by overtorque, etc. "To reduce the torque can avoid the overcurrent state. In addition, when the overcurrent value is increased by 3, ^ In the state of A, such as when the output of the inverter is short-circuited, etc., the state of the transient cut-off wheel is 镅 粢 & ^ φ ^ 予Both the abnormal output frequency and the output voltage are transmitted through the it OFF batch, and the output of the gripper portion 47, so as to avoid an overcurrent state. -You Guodian's "Dao Zun 71" input and output frequency command and the PWM control unit 43, "Tong Xi Xi Private Mountain 4 * Line only" according to the output frequency command and the output voltage refers to eight, to generate ― 7 is shown ... Compared with the output frequency command ... Two-phase sinusoidal waveform data, the internal wave is compared with the sinusoidal waveform of each phase, iB + > 妁 one-angle wave-loaded inverse beam, to generate 3 groups of each other For the counter current 0N / 0FF signals Un and nv, the cross currents Un, Vp, vn, Wp, and Wn are output to the inverter section 47. The three bridges: ON, OFF ： 'Conversion of three-phase AC R, S, T as commercial power input 45 After the three-phase AC R, S, T is rectified and smoothed by each diode and capacitor, Jiangu A ^ will directly & power output To the DC terminals p and N. The inverter unit 47 that receives DC power through the DC terminals p M ^ p and N passes through three sets of 0N / 0FF signals corresponding to the PWM control circuits j Q μ and the diameter 4 43. Up, such as VP, Vn, WP, Wn, respectively ON / OFF control the switching elements Q1, q2, Q3 Q4 Q5, Q6 'and output the u-phase, v-phase, and w-phase to The input terminal of the torque motor 8. The torque from the inverter section 47 is the U-phase, " phase 1-phase AC torque 16 1232840 The motor 8 corresponds to the u-phase, v-phase, and w-phase AC power. As a result, the The generated torque of the adjustable torque motor 8. The characteristic operation of the winding device will be described in detail below with reference to the curves shown in Figs. 4 to 9. As the winding device passes the winding time, The weight of the motor is also increased, so it is necessary to have a rotation torque corresponding to the increase in weight. In the winding device of the present example, in the case where torque is generated by the torque motor 8, as shown in FIG. In the basic mode shown in the figure, the voltage command is gradually raised. That is, when the basic mode calculation unit 51 generates a basic mode represented by a voltage command that continuously rises to the input target voltage, and the command is input from the operation panel 16 and the command is switched Next, the basic mode is stored in the second operation command judging unit 55, and at the same time, the voltage button 7 read from the basic mode in order according to the elapsed time makes the applied voltage of the torque motor 8 to the target voltage, so it can be continuous Adjustment Moment horse ... Applying a voltage can suppress the occurrence of a sudden torque change, and can help improve the accuracy of the winding tension. In addition, in the basic mode calculation section 51 provided in the inverter control section 41, The basic mode calculated corresponding to the target voltage is written in the internal memory in advance to control it so that the output voltage of 47 _ in reverse phase will automatically change with the warp of the winding sundial T. If the basic mode is used to stably enter the winding of the lamp As shown in w 6, the torque generated by the torque motor 8 is constant, and winding control with constant tension can be performed. At this time, the supply voltage of the torque motor 8 that changes as the winding progresses changes as shown in _ 7 17 1232840. However, the load torque is in the transient state at the beginning or stop of the winding, restart, and stop. The characteristics vary according to the size of the load, the inertial mass of the spool, or the elapsed winding time. Therefore, it will be described below that the feature control method of the present invention can be used to stably perform the winding operation even in this transient state. ~ The torque control of the torque motor 8 in a constant state can be realized by changing the voltage supplied to the torque motor 8. The frequency can also be fixed at this time. That is, it is desirable to control the frequency and voltage separately and independently. However, if a large electric power a is applied at a low frequency, an overcurrent and an overtorque will be formed in the motor characteristics. Therefore, in a state where the frequency command is not large enough, the voltage applied to the torque horse 8 is controlled to increase slowly. This amount of voltage change can be arbitrarily changed by the operator operating the operating surface 16 to replace the internal parameters of the inverter control unit 41. ⑴ With reference to Fig. 8, the operation of starting at the start of winding and restarting at the middle of the stop will be described. At time t shown in FIG. 8, if the operator presses the DRIVE button 2 provided on the operation panel, the operation instruction is input to the first operation instruction determination unit 53 and the second operation instruction determination unit 55, and the start operation is started. . ^ At the start time U, by outputting the frequency command stored in the first operation command judgment # 53 in advance to the overcurrent protection section η, the frequency disk voltage independently rises to the frequency of the base (50Hz or 60Hz). ', Saki's other side', from time 1: 1 to t2, as time passes, the sequence of the voltage command in the second operation command judging section 55 1232840 is added to the voltage command. The reduction unit 57 increases the voltage private order, and the reduction unit 57 increases the voltage command voltage 0v to the basic mode voltage vb in a time gradient 'according to the voltage increase gradient command and outputs it to A㈣59. As a result, the voltage command rises from 0V to π in a certain gradient in accordance with a predetermined rising gradient. In this way, when an operation command is input from the operation panel 16, by increasing the voltage command elapsed time from GV to the voltage Η shown in the basic mode, it is possible to prevent overexcitation or overcurrent at startup. At time t2-t3, the voltage command output from the second operation command judging section 55 to the voltage command increasing / decreasing section 57 rises to the electric level M n_V2 in the basic mode with the elapsed time, and is output to the remaining section 59. At time t3, when a person presses the STOP key 28 'provided on the operation panel 16, a stop command is input to the i-th operation command judging unit n and the second operation command judging unit 55, and the stop operation is started. The electric command increase and decrease unit 57 and the electric command decrease the gradient command to reduce the voltage command from the voltage V2 in the basic mode to 以 with a time gradient, and input to the AM unit 59. As a result, in the case where there is a stop in the middle, the voltage command is reduced in accordance with a predetermined gradient, and GV is reduced by a gradient of one. At this time, at the time when the ㈣ command changes: ° ¥ ", the frequency command output from the first operation command judging unit 53 instantly becomes 0 Hz. In this way, when a stop command is input from the operation panel 16, the voltage index is set by 电压The elapsed time decreases from ㈣v2 to ^ as shown in the basic mode, which can prevent overexcitation or overcurrent at the time of stop. At the start time t5, it rises to the above-mentioned base frequency instantaneously. After 19 1232840, at time t5 to t6, As mentioned above, the voltage command rises to the voltage V2 in the basic mode at a certain gradient in accordance with a predetermined rising gradient. In this way, when the operation command is stopped again from the operation panel 16 when the operation is stopped halfway through control, The elapsed time increases the voltage command from 0V to the voltage command immediately before the last stop, and the voltage command can be started from the voltage command immediately before the last stop, which can make the torque before and after the stop the same, and stabilize the winding tension. At time t6 During the period from t7, the voltage command is increased from the voltage V2 to V3 in the basic mode. At time t7, if the ST0p key 28 is pressed, the voltage command is changed from the voltage V2 in the basic mode. At this time, at time t8 when the voltage command becomes 0V, the frequency command becomes 0Hz instantly. In this way, the frequency and voltage are independently controlled, and at the same time, the voltage command is increased and decreased with a gradient. It can prevent over-excitation or over-current during starting and stopping. (2) Basic mode and torque The basic mode calculation unit 51 uses the basic mode shown in FIG. In order to change the tension corresponding to the winding process ㈣ (known as taper tension), at this time, the basic mode shown in Fig. 9 is used. The voltage command in the basic mode is shown as vo. The torque at the time (tension start ,,,, and constant tension control. On the contrary, for example, when the tension is slowly increased according to the winding sea elapsed time, use the base 4 loose formula as η as the voltage command. Compared with the normal basic mode ，, the ratio of the voltage rise to the passage of time is large. At this time, Zhang… bu In addition, if the force slowly decreases in 20 1232840, on the contrary, compared with the basic mode, you can use the voltage rise Small proportion other Basic mode Modifications The present invention is not limited to the above-mentioned embodiments, for example, the following modifications may be made: (1) The voltage increase gradient and voltage decrease gradient of the voltage command by the voltage command increase and decrease unit 57 are not one and the same are transmitted from the operation panel.丨 6 or external switching signals, which can be selected from multiple groups according to the situation 丨 Groups are switched. (2) In the case of overcurrent detected by the overcurrent protection section 71, the voltage command is reduced, but even if it is reduced to a certain level In the case where the lowest reference value current is not lower than the reference value, as an emergency, the output of the inverter 4 4 7 can be shut down to generate an alarm trip and stop to protect the device. As described above, according to the present invention, When a basic mode indicated by a voltage command that continuously rises to the input target voltage is generated and an operation command is input, the basic mode is memorized, and the voltage command is sequentially read from the basic mode as time passes to make the rotation. The applied voltage of the torque motor approaches the target voltage, and the applied voltage of the torque motor can be continuously adjusted, which can suppress the occurrence of rapid torque changes. And help to improve the accuracy of the winding tension. [Brief description of the drawings] (I) Schematic part FIG. 1 is a configuration diagram showing a winding device according to an embodiment of the present invention. FIG. 2 is a configuration diagram showing an operation panel 16. Fig. 3 is a block diagram showing the configuration of the inverter device. 21 1232840 Fig. 4 is a graph showing a basic mode of a voltage command to a torque motor. S 5 疋 is a graph showing the protection operation characteristics using the overcurrent protection unit. Fig. 6 is a graph showing the relationship between the generated torque of the torque motor and the elapsed winding time. FIG. 7 is a graph showing a supply voltage of a torque motor. FIG. 8 is a graph showing acceleration / deceleration (rise, fall) of a voltage command in a transient state. Fig. 9 is a graph showing changes in output voltage and tension with elapsed winding time. FIG. 10 is a schematic diagram of a conventional torque motor winding device. Fig. 11 is a graph showing changes in tension applied to the electric wire 2 during manual adjustment. (2) Symbols of components C1 Capacitors CT1, CT2 Current sensors D1 to D12 Diodes
Iu, Iw U相、W相的電流量 Q1至Q6 開關元件Iu, Iw U-phase, W-phase current Q1 to Q6 switching elements
Up, Un, Vp, Vn, Wp, Wn ΟΝ/OFF 訊號 1 供線線筒 2 電線 3 換流器裝置 22 1232840 4 感應馬達 5, 6, 7 旋轉滑輪 8 轉矩馬達 9 捲繞線筒 10 滑線電阻調壓器 11 換流器裝置 16 操作面板 21 DRIVE 鍵 22 數字鍵 23 小數點鍵 24 ENTER(執行、確定）鍵 25 步進鍵 26 PROGRAM(程式）鍵 27 顯示切換/CLEAR鍵 28 STOP 鍵 31 段式顯示器 32 運轉模式顯示燈 41 換流器控制部 43 PMW控制部 45 轉換部 47 換流器部 51 基本模式運算部 53 第1運轉指令判斷部 55 第2運轉指令判斷部 23 1232840 5 7 電壓指令增加、減少部 59 AVR 部 63 有效值轉換部 65 加法器 67 增益 69 加法器 71 過電流保護部Up, Un, Vp, Vn, Wp, Wn ON / OFF signal 1 wire bobbin 2 wire 3 inverter device 22 1232840 4 induction motors 5, 6, 7 rotary pulley 8 torque motor 9 winding bobbin 10 slip Line resistance regulator 11 Inverter device 16 Operation panel 21 DRIVE key 22 Numeric key 23 Decimal point key 24 ENTER key (execute, confirm) 25 Step key 26 PROGRAM key 27 Display switch / CLEAR key 28 STOP key 31 Segment display 32 Operation mode indicator 41 Inverter control unit 43 PMW control unit 45 Conversion unit 47 Inverter unit 51 Basic mode calculation unit 53 First operation command judging unit 55 Second operation command judging unit 23 1232840 5 7 Voltage command increase / decrease section 59 AVR section 63 RMS conversion section 65 adder 67 gain 69 adder 71 overcurrent protection section
24twenty four