TWI818832B - Tension control device and tension control system - Google Patents

Abstract

The tension control device (100) includes: a first mechanical loss coefficient estimating part, which is based on the rotation of the roller shaft (6) as the rotating body when it is wound around the roller shaft (6). The tension of the rolled paper material (5) being rolled up or pushed out, and the roll diameter of the rolled paper material (5) wound on the roller shaft (6) are used to estimate the mechanical loss coefficient changed due to the roll diameter. ; and a calculation part that performs correction using the mechanical loss coefficient that changes due to the roll diameter to generate control instructions for the rotating roller shaft (6).

Description

Tension control device and tension control system

This disclosure relates to a tension control device and a tension control system that correct the tension change of the object when the object wound on the winding core is being wound up or pushed out.

When printing, molding, etc. are applied to paper, film, thread, wire, metal foil, etc., the paper may be pushed out from the core or rolled toward the core. Pick. When the object is pushed out or rolled up, in order to prevent the object from being deformed or broken, the tension applied to the winding paper must be controlled within a certain range. In addition, the mechanical loss and moment of inertia of machinery, reels, etc., interfere with tension control and cause tension changes. Therefore, in order to control tension with high precision and stability, the mechanical loss and moment of inertia of machines, reels, etc. must be corrected.

In the actual site, the adjuster determines the correction values for mechanical loss and moment of inertia by repeatedly changing the correction values and testing. When the correction value is not suitable, tension control cannot be performed with high precision and stability. When trying to find a suitable correction value, the number of test runs increases, which requires more man-hours. Also, when the correction value is theoretically calculated from design drawings, materials used, etc., it may be incorrectly set due to manufacturing errors called deviations from the theoretical value of the device, or when it is adjusted by an adjuster. , personal differences, etc., may cause the correction value to deviate from the optimal value. Regarding the above problem, in Patent Document 1, the rotation speed of the winding core is controlled, the correction value of the mechanical loss and the moment of inertia is estimated, and the tension variation is corrected based on the estimated correction value. [Advanced technical documents] [Patent Document]

[Patent Document 1] Japanese Patent Application Publication No. Sho 58-202243

[Problem to be solved by the invention]

In Patent Document 1, the correction value is estimated by controlling the rotation speed of the winding core. Therefore, the actuator that drives the winding core must correspond to the speed control. However, there are also actuators dedicated to torque control that cannot control the speed. In this case, there is a problem that the correction value cannot be estimated.

This disclosure was developed in view of the above situation, and its purpose is to provide a tension control device that can estimate the correction value for tension control even if the rotation speed of the winding core cannot be controlled. [Means used to solve problems]

In order to solve the above-mentioned problems and achieve the purpose, the tension control device of the present disclosure includes: a first mechanical loss coefficient estimating part, which is based on the rotation of the borrowing core wound around the winding core when the winding core as the rotating body rotates. The tension of the object being wound up or pushed out, and the winding diameter of the object being wound around the winding core are used to estimate the mechanical loss coefficient that changes due to the winding diameter; and the calculation part is used to use the machine that changes due to the winding diameter. Correction of the loss coefficient to generate control instructions for the rotating core. [Invention effect]

When this disclosure is followed, the effect of obtaining a tension control device that can estimate the correction value and control the tension even if the rotation speed of the winding core cannot be controlled can be exerted.

[Form used to implement the invention]

Hereinafter, the tension control device and the tension control system according to the embodiment of the present disclosure will be described in detail based on the drawings.

Implementation form 1. ＜System Structure＞ Fig. 1 is a diagram showing a structural example of the tension control system according to Embodiment 1. The tension control system includes: a tension data output device (tension output part) 1, which outputs data equivalent to the tension to the tension control device 100; a roll diameter data output device (roll diameter output part) 2, which outputs data equivalent to the roll diameter to Tension control device 100; the paper material 5 is wound around the roller shaft 6 as the core to control the tension during transportation; the roller shaft 6 is connected to the actuator 7 for winding The paper material 5 is taken up; the actuator 7 drives the roller shaft 6; the actuator control device 8 controls the actuator 7; and the tension control device 100 controls the tension of the paper material 5 and estimates the correction value. Correction.

The paper material 5 wound around the roller shaft 6 is called a reel material, and the roller shaft 6 and the paper material 5 wound around the roller shaft 6 are collectively called a reel. The tension control system of this embodiment 1 continuously pushes out the winding paper material 5 from the reel when used as a pusher, and continuously winds up the winding paper material 5 when used as a winding machine. Scroll. The rolled paper material 5 is a long material that can be deformed freely. In addition to the strip-shaped sheet called paper or film, it can also be a linear material.

<Structure of tension control device 100> Fig. 2 is a diagram showing a structural example of the tension control device according to the first embodiment. As shown in Figure 2, the tension control device 100 includes: a tension data input part 111, which inputs tension data from outside the tension control device 100; a roll diameter data input part 112, which inputs roll diameter data from outside the tension control device 100. ; The mechanical loss coefficient estimation unit of the reel material (the first mechanical loss coefficient estimation unit) 121 estimates the mechanical loss coefficient of the reel material as a correction value; the mechanical loss coefficient storage unit 131 of the reel material stores the estimated value as a correction value The mechanical loss coefficient of the reel material; the torque conversion part 141 of the mechanical loss coefficient of the reel material converts the mechanical loss coefficient of the reel material into a torque unit; and the tension control calculation part 150 actually performs tension control and goes to the actuator control device 8, Output the command for the actuator 7.

＜Estimation of correction value＞ [Estimating the movement of systems in time] When estimating the mechanical loss coefficient of the reel material, the tension data and roll diameter data that satisfy the following two conditions are input to the tension control device 100 . In order to estimate, tension data and roll diameter data that meet the conditions are two necessary points. More specifically, it is data at different points in time during the rolling process or the rolling out process of the winding paper material 5 . In addition, the tension data and the roll diameter data must be different at two points.

The tension data is output from the tension data output device 1 . The tension data output device 1 has a plurality of methods for obtaining tension data and inputting it into the tension control device 100. Therefore, as long as data corresponding to the tension can be input into the tension control device 100, the method is not limited.

As an example of the method of obtaining the tension data, in addition to the method of directly measuring the tension using a tension detector, there is also the method of using data different from the tension (the position of the tension adjustment roller, the sag of the winding paper material 5, vibration numbers, etc.) or signals (pulse wave signals of scrolls, etc.), and methods of calculating tension, and methods of estimating the value equivalent to tension through simulators, AI, etc.

As an example of the method of inputting the tension data to the tension control device 100, in addition to the method of converting the input tension data into a voltage value or the like and directly inputting it from the tension data output device 1 to the tension control device 100, there is also a method of allowing a person to read the tension. The output of the data output device 1 can be a method of directly manually inputting the tension data value to the tension control device 100, or a method of directly inputting the tension data value to the tension control device 100 from a tension detector or the like without passing through the tension data output device 1, etc. When input directly from a tension detector or the like, the tension detector becomes the tension output unit.

The roll diameter data is output from the roll diameter data output device 2 . The roll diameter data output device 2 has a plurality of methods for obtaining roll diameter data and inputting it to the tension control device 100. Therefore, as long as data corresponding to the roll diameter can be input to the tension control device 100, the method is not limited.

For example, in addition to using ultrasonic detectors to directly measure the roll diameter, there are also methods that use different data (line speed, material thickness, etc.) or signals (reel pulse wave signal, start of operation) that are different from the roll diameter. signals, etc.), methods of calculating the roll diameter, and methods of estimating the value equivalent to the roll diameter using simulators, AI, etc.

As an example of the method of inputting the roll diameter data, in addition to the method of converting the input roll diameter data into a voltage value, etc., from the roll diameter data output device 2 and directly inputting it into the tension control device 100, there is also a method where a person directly inputs the roll diameter manually. The data value is input to the tension control device 100 directly from an ultrasonic detector without passing through the roll diameter data output device 2, etc.

The first condition is that the torque of the actuator 7 becomes constant. The first condition can be satisfied by controlling the torque output by the actuator 7 by the actuator control device 8 . Furthermore, when the current driving the actuator 7 and the torque of the actuator 7 become one-to-one, the first condition can be satisfied if the actuator current is constant.

The second condition is that the acceleration of the scroll corner becomes 0. In addition, when the winding paper material 5 is not extremely thick, the same conditions apply even if the linear speed is set to a constant speed and the linear acceleration is set to 0. The linear speed is proportional to the multiplication value of the roll diameter and the rotation speed. When the winding paper material 5 is not extremely thick, the change in the winding diameter during the period when the data for estimation is obtained is approximately 0, that is, the winding diameter can be considered to be a constant. In this case, the linear speed is proportional to the rotational speed, so when the linear acceleration is 0, it is the same condition as the angular acceleration of the reel being 0.

[Estimation method] Let the tension of the paper material 5 be "F" and the winding diameter that increases or decreases due to the number of windings of the paper material 5 on the reel be "D". Apply the automatic actuator 7 to The load torque of the reel is designated as "T _b ", the mechanical loss torque that changes due to the roll diameter is designated as "T _mr ", the mechanical loss torque that does not change due to the roll diameter is designated as "T _mo ", and the mechanical loss torque that changes due to the roll diameter is designated as "T mo ". When the inertial torque is represented as "T _lr " and the inertial torque that has not changed due to the roll diameter is taken as "T _lo ", the relationship of formula (1) is established based on the relationship between tension, torque and roll diameter.

[Number 1]

The mechanical loss torque "T _mr " that changes due to the roll diameter, as shown in formula (2), can be used as the coefficient of mechanical loss that changes due to the roll diameter. The mechanical loss coefficient "X _mr " of the reel material and the roll diameter Indicated by "D". The mechanical loss coefficient of the reel material _" coefficient.

[Number 2]

The mechanical loss torque "T _mo " that is not changed by the roll diameter, as shown in formula (3), can be expressed as the mechanical loss coefficient "X _mo " of the machine that is not changed by the roll diameter as the coefficient of mechanical loss. The mechanical loss coefficient " _Xmo " of the machine is a coefficient determined by the mechanical structure such as the drive loss of the gear and the friction of the bearing.

[Number 3]

The inertia torque "T _lr " that changes due to the roll diameter, as shown in formula (4), can be determined by the rotational inertia coefficient "X _lr " of the reel material that changes due to the roll diameter and the roll diameter "D" is represented by the angular acceleration "α" of the scroll. The rotational inertia coefficient "X _lr " of the reel material is a coefficient determined by the density of the reel material 5, the width of the reel material 5, etc.

[Number 4]

The inertial torque "T _lo " that is not changed by the roll diameter, as shown in formula (5), can be determined by the rotational inertia coefficient "X _lo " of the reel material that is not changed by the roll diameter and the rotational inertia coefficient of the reel. It is represented by angular acceleration "α". The rotational inertia coefficient "X _lo " of the reel material is a coefficient determined by the rotational inertia of the gear or actuator 7, the weight of the reel core, etc., and the mechanical structure.

[Number 5]

When formulas (2) to (5) are substituted into formula (1), it is expressed as formula (6).

[Number 6]

Using formula (6), let the tension at point 1 be "F ₁ ", let the rolling diameter at point 1 be "D ₁ ", let the tension at point 2 be "F ₂ ", let the rolling diameter at point 2 As "D ₂ ", when the angular acceleration "α" of the reel is set to 0 from the condition when the data is acquired, the mechanical loss coefficient of the reel material is expressed as "X _mr " as shown in the formula (7).

[Number 7]

[Movement of the tension control device 100 during estimation] For the tension control device 100 shown in FIG. 2, the tension data of two points that satisfy the conditions are input from the tension data input part 111, and the tension data of the two points that satisfy the conditions are input from the roll diameter data input part 112. The two-point roll diameter data is used to calculate the formula (7) by the mechanical loss coefficient estimation unit 121 of the roll material, thereby estimating the mechanical loss coefficient "X _mr " of the roll material. The estimated mechanical loss coefficient "X _mr " of the reel material is stored in the mechanical loss coefficient storage unit 131 of the reel material.

<Correction> [Movement of the tension control device 100 during correction] During actual tension control, the mechanical loss coefficient torque conversion unit 141 of the reel material is used, and the formula (2) is used to memorize it in the mechanical loss coefficient memory unit 131 of the reel material. The mechanical loss coefficient "X _mr " of the reel material and the reel diameter data input from the reel diameter data input unit 112 are used to calculate the correction value of the mechanical loss of the reel material in torque units.

The tension control calculation unit 150 performs calculations for controlling the tension of the winding paper material 5 and adds or subtracts the torque correction value to the calculated value, thereby outputting the corrected actuator control command to the actuator control device 8 .

Addition or subtraction of the correction value differs depending on the system structure called push-out, take-up, and control methods. Also, if the actuator control command can correct the torque, it can be any command. For example, in the torque correction value part, in addition to directly adding or subtracting the torque command to the actuator 7 of the reel to correct it, there is also a method of using the torque versus current characteristics of the actuator 7 of the reel to convert the torque correction part into current, The correction method is to add and subtract current commands, and when the tension is controlled by the difference in rotational speed of the drive shaft between the reel and the front and rear sections (when the shaft is pushed out, it is the rear section, and when the shaft is taken up, it is the front section), the conversion torque correction is calculated The part is the rotation speed difference, adding or subtracting the rotation speed command to the actuator 7 of the reel, and the method of correction, etc.

[Movement of the tension control system during correction] The actuator control device 8 controls the actuator 7 based on the received actuator control command. The actuator 7 is directly connected to the reel, or indirectly connected with a gear, a belt, etc., and drives the reel, whereby the tension of the winding paper material 5 can be corrected and controlled at the same time. In the actual rolling and coiling machine, the roll diameter changes. Therefore, in accordance with the change of the roll diameter, the roll diameter data is input from the roll diameter data output device 2 to the tension control device 100, thereby making it possible to match the roll diameter. And amend.

When based on the tension control system explained above, theoretically calculate the correction value suitable for the mechanical loss of the reel material of the coiler based on the design drawing, material usage, etc., or cooperate with the estimation or manufacturing of the correction value The deviation from the theoretical value caused by the error, therefore, the adjuster does not need to repeat the change of the correction value and test run, and can reduce the man-hours required for adjustment.

Furthermore, it is possible to calculate a correction value suitable for the mechanical loss of the reel material of the roll-out and winding machine. Therefore, it is possible to eliminate the cause of the manufacturing error caused by the deviation from the theoretical value of the device with respect to the calculated correction value. , human reasons such as adjuster's personal differences, missetting, etc. In addition, correction based on the estimated mechanical loss coefficient of the reel material has the effect of suppressing tension changes caused by mechanical loss of the reel material during actual tension control.

In addition, the first condition when estimating the mechanical loss coefficient of the reel material is that the torque of the actuator 7 is constant. If the mechanical loss of the reel material is corrected, the torque of the actuator 7 can also be corrected, that is, Yes, therefore, even if the actuator 7 cannot control the rotation speed, the tension can be controlled. In this way, the actuator of Embodiment 1 can be adapted not only to the actuator 7 dedicated for rotation speed control but also to the actuator 7 dedicated for torque control. Therefore, it can be adapted to various applications. Tension control system. In addition, if the actuator 7 is switchable between rotation speed control and torque control, the control method of the actuator 7 can be switched during estimation and correction, making it more adaptable to a wide range of tension control systems.

Implementation form 2. ＜System Structure＞ In Embodiment 2, the structure different from Embodiment 1 is mainly explained. Fig. 3 is a diagram showing a structural example of a tension control system according to Embodiment 2. The tension control system of Embodiment 2 is added to Embodiment 1 and includes an angular acceleration data output device (angular acceleration output unit) 3 for outputting data corresponding to angular acceleration to the tension control device 100 .

<Structure of tension control device 100> Fig. 4 is a diagram showing a structural example of a tension control device according to Embodiment 2. As shown in FIG. 4 , the tension control device 100 is added to Embodiment 1 and includes: an angular acceleration data input unit 114 for inputting angular acceleration data from outside the tension control device 100; and a rotational inertia coefficient estimation unit for the reel material (th 1 moment of inertia coefficient estimation unit) 123, which estimates the moment of inertia coefficient of the reel material as a correction value; the machine's moment of inertia coefficient estimation unit (second moment of inertia coefficient estimation unit) 124, which estimates the moment of inertia of the machine as a correction value Coefficient; the rotational inertia coefficient storage unit 133 of the reel material stores the rotational inertia coefficient of the reel material as an estimated correction value; the mechanical rotational inertia coefficient storage unit 134 stores the rotational inertia coefficient of the machine as an estimated correction value; The rotational inertia coefficient of the reel material and the torque conversion part 143 convert the rotational inertia coefficient of the reel material into torque units; and the rotational inertia coefficient of the winding machine and the torque conversion part 144 convert the rotational inertia coefficient of the machine into torque units.

＜Estimation of mechanical loss coefficient of reel material＞ The method for estimating the mechanical loss coefficient of the reel material is the same as in the first embodiment.

<Estimation of the moment of inertia coefficient of the reel material> [Motion of the system when estimating the moment of inertia coefficient of the reel material] When estimating the moment of inertia coefficient of the reel material, the following two conditions are met, and the tension data, roll diameter data, and angular acceleration data are input to the tension control device 100 . In order to be used for estimation, it is necessary to meet the conditions of two points of tension data and roll diameter data, one point of angular acceleration data, and the mechanical loss coefficient of the roll material.

The output method of tension data and roll diameter data is the same as that of Embodiment 1. The angular acceleration data is output from the angular acceleration data output device 3 . The angular acceleration data output device 3 has a plurality of methods for calculating the angular acceleration data and inputting it to the tension control device 100. Therefore, as long as the data corresponding to the angular acceleration can be input to the tension control device 100, any method is not acceptable. problem. For example, in addition to using angular acceleration detectors to directly measure angular acceleration, there is also the use of data different from angular acceleration (linear velocity, linear acceleration, roll diameter, material thickness, reel position, reel rotation speed etc.) or signals (pulse signals of reel rotation, encoder signals of production lines, etc.), and the method of calculating the angular acceleration is a method of estimating the value equivalent to the angular acceleration through a simulator or AI, etc.

As an example of the method of inputting the angular acceleration data, in addition to converting the angular acceleration data into a voltage value and inputting the self-angular acceleration data output device 3 directly into the tension control device 100, there is also a method in which a person causes the self-angular acceleration data to be input. The output of the data output device 3, the read angular acceleration data value, is directly manually input to the tension control device 100, or is directly input to the tension control device from an angular acceleration detector or the like without passing through the angular acceleration data output device 3. 100 method etc.

The first condition is that the torque of the actuator 7 becomes constant. The actuator control device 8 controls the torque output by the actuator 7, thereby satisfying the first condition. Furthermore, when the current driving the actuator 7 and the torque of the actuator 7 are one-to-one for the actuator 7, the first condition can be satisfied by making the actuator current constant.

The second condition is that the angular acceleration of the reel is constant other than 0, and the values of the angular acceleration when the tension data and the roll diameter data of the two points are obtained are the same. Furthermore, when the winding paper material 5 is not extremely thick, the second condition can be satisfied even if the linear acceleration is made constant other than 0. Linear speed is proportional to the product of roll diameter and rotational speed. When the winding paper material 5 is not extremely thick, the change in the winding diameter during the period when the data for estimation is obtained is approximately 0, that is, the winding diameter can be considered to be a constant. In this case, the linear speed is proportional to the rotational speed. Therefore, when the linear acceleration is other than 0 and is constant, the second condition that the angular acceleration of the reel is other than 0 and is constant can be satisfied. Moreover, the angular acceleration "α" of the reel is expressed by the linear acceleration "a" and the reel diameter "D" as shown in formula (8).

[Number 8]

[Estimation method of the moment of inertia coefficient of the reel material] By formula (6), when the tension at the first point is regarded as "F ₁ ", the roll diameter at the first point is regarded as "D ₁ ", and the tension at the second point is regarded as "F ₂ ", when the roll diameter at the second point is taken as "D ₂ ", the angular acceleration of the roll is taken as "α", and the moment of inertia coefficient of the roll material is taken as "X _lr ", it is expressed as formula (9) .

[Number 9]

[Movement of the tension control device 100 when estimating the moment of inertia coefficient of the reel material] In the tension control device 100 shown in FIG. 4 , the tension data of two points that satisfy the conditions are input from the tension data input unit 111 so that the conditions are satisfied. The two-point roll diameter data is input from the roll diameter data input part 112, and the angular acceleration data of one point is input from the angular acceleration data input part 114. The roll material is memorized in the mechanical loss coefficient memory part 131 of the roll material. The mechanical loss coefficient “X _mr ” is calculated according to the formula (9) by the rotational inertia coefficient estimation unit 123 of the reel material, thereby estimating the rotational inertia coefficient “X _lr ” of the reel material. The estimated rotational inertia coefficient "X _lr " of the reel material is stored in the reel material rotational inertia coefficient storage unit 133.

<Estimation of the moment of inertia coefficient of machinery> [Motion of the system when estimating the moment of inertia coefficient of machinery] When estimating the moment of inertia coefficient of the machine, the tension data, roll diameter data and angular acceleration data that satisfy the following two conditions are input to the tension control device 100 . In order to estimate, two points of tension data and roll diameter data, two points of angular acceleration data, a mechanical loss coefficient of the reel material, and a moment of inertia coefficient of the machine need to meet the conditions. The output method of tension data, roll diameter data, and angular acceleration data is the same as the estimation of the rotational inertia coefficient of the roll material.

The first condition is that the torque of the actuator 7 becomes constant. The actuator control device 8 can control the torque output by the actuator 7 . In addition, when the current driving the actuator 7 and the torque of the actuator 7 are one-to-one, the first condition can be satisfied even if the actuator current is made constant.

The second condition is that the angular acceleration of the reel is other than 0 and is constant. The value of the angular acceleration when the tension data and the roll diameter data are obtained at two points are different. Moreover, similarly to the estimation of the moment of inertia coefficient of the reel material, linear velocity or linear acceleration may be used instead of angular acceleration.

[Estimation method of the moment of inertia coefficient of machinery] By formula (6), when the tension at the first point is regarded as "F ₁ ", the winding diameter at the first point is regarded as "D ₁ ", and the angular acceleration at the first point is regarded as "α ₁ ", let the tension at the second point be "F ₂ ", let the winding diameter at the second point be "D ₂ ", and let the angular acceleration at the second point be "α ₂ ", let the moment of inertia coefficient of the machine be "X _lo " is expressed as formula (10).

[Number 10]

[Motion of the tension control device 100 when estimating the moment of inertia coefficient of the machine] In the tension control device 100 shown in FIG. 4, the tension data of two points that satisfy the condition are input from the tension data input unit 111, so that the tension data of the two points that satisfy the condition are inputted from the tension data input unit 111. The roll diameter data of the two points are input from the roll diameter data input part 112, and the angular acceleration data of the two points that satisfy the conditions are input from the angular acceleration data input part 114, and the mechanical loss coefficient memory part 131 memorized in the roll material is used. _The mechanical loss coefficient _of the reel material " Calculation, thereby estimating the moment of inertia coefficient "X _lo " of the machine. The estimated moment of inertia coefficient "X _lo " of the machine is stored in the machine's moment of inertia coefficient storage unit 134.

<Correction> [Movement of the tension control device 100 during correction] During actual tension control, the torque conversion unit 141 uses the mechanical loss coefficient of the reel material and uses the formula (2) to store the mechanical loss coefficient in the reel material. The mechanical loss coefficient _"

The moment of inertia coefficient of the reel material torque conversion unit 143 uses the formula (4), and the moment of inertia _coefficient " The input roll diameter data and the angular acceleration data input from the angular acceleration data input unit 114 are used to calculate the correction value of the moment of inertia of the roll material in torque units.

The mechanical moment of inertia coefficient torque conversion unit 144 uses formula (5), and the mechanical moment of inertia _coefficient " Angular acceleration data is used to calculate the correction value of the mechanical moment of inertia in torque units.

The tension control calculation unit 150 performs calculations for controlling the tension of the winding paper material 5. In the calculated value, the torque correction value is added and subtracted from the total mechanical loss of the reel material, the rotational inertia of the reel material, and the rotational inertia of the machine. Thereby, the corrected actuator control command is output to the actuator control device 8 .

The correction value is added or subtracted depending on the system structure called push-out, take-up, and control methods. Moreover, if the actuator control command can correct the torque similarly to Embodiment 1, it may be any command.

[Movement of the tension control system during correction] The actuator control device 8 controls the actuator 7 based on the received actuator control command. The actuator 7 is directly connected to the reel, or indirectly connected through gears, belts, etc., and can be controlled while correcting the tension of the winding paper material 5 by driving the reel. In the actual rolling and coiling machine, the roll diameter and angular acceleration change. Therefore, by matching the changes in the roll diameter and angular acceleration, the roll diameter data output device 2 inputs the roll diameter data to the tension control device 100, and automatically The angular acceleration data output device 3 inputs angular acceleration data and can make corrections in accordance with the winding diameter and angular acceleration.

In addition to the mechanical loss of the reel material, the rotational inertia of the reel material and the rotational inertia of the machine can be estimated and corrected. This increases the number of elements for estimation and correction, so tension fluctuations can be further suppressed.

In addition, as in Embodiment 1, the first condition for estimating various coefficients is that the torque of the actuator 7 is constant and the torque of the actuator 7 can be corrected during correction. Therefore, , even if the actuator 7 cannot control the rotation speed, the tension can be controlled. In this way, the actuator adapted to Embodiment 2 can be adapted not only to the actuator 7 dedicated for rotation speed control but also to the actuator 7 dedicated for torque control, so that it can be adapted to various applications. Tension control system. In addition, if the actuator 7 is switchable between rotation speed control and torque control, it can be more widely adapted to the tension control system by switching the control method of the actuator 7 during estimation and correction.

Implementation form 3. ＜System Structure＞ In Embodiment 3, the structure different from Embodiment 1 is mainly explained. Fig. 5 is a diagram showing a structural example of a tension control system according to Embodiment 3. The tension control system of Embodiment 3 is additional to Embodiment 1 and includes a torque data output device (torque output unit) 4 that outputs data corresponding to torque to the tension control device 100 .

<Structure of tension control device 100> FIG. 6 is a diagram showing a structural example of a tension control device according to Embodiment 3. FIG. As shown in FIG. 6 , the tension control device 100 is added to the first embodiment and includes: a torque data input unit 113 for inputting torque data from outside the tension control device 100; and a mechanical loss coefficient estimation unit (second mechanical loss) of the machine. Coefficient estimation unit) 122, which estimates the mechanical loss coefficient of the machine as the correction value; the mechanical loss coefficient memory unit 132 of the machine, which stores the mechanical loss coefficient of the machine as the estimated correction value; and the mechanical loss coefficient torque conversion unit of the machine. 142. Convert the mechanical loss coefficient of machinery into torque units.

＜Estimation of mechanical loss coefficient of reel material and mechanical loss coefficient of machinery＞ [Estimation of the mechanical loss coefficient of the reel material and the mechanical loss coefficient of the machine] When estimating the mechanical loss coefficient of the reel material and the mechanical loss coefficient of the machine, the tension data, roll diameter data and torque data that satisfy one of the following conditions are input to the tension control device 100 . For estimation, two or more points of tension data, roll diameter data, and torque data that satisfy the conditions are required.

The output method of tension data and roll diameter data is the same as that of Embodiment 1. The torque data is output from the torque data output device 4 . The torque data output device 4 can calculate the torque data and input it to the tension control device 100 in a plurality of ways. Therefore, any method can be used as long as the data is equivalent to the torque and can be input to the tension control device 100 . For example, in addition to using a torque detector to directly measure torque, there are also methods that use data different from the torque (current of the actuator 7, strain of the drive shaft, etc.) or signals (pulse waves of the scroll rotation). signals, etc.), methods of calculating torque, and methods of estimating the value equivalent to torque using simulators or AI, etc.

As an example of a method of inputting torque data, in addition to the method of converting the torque data into a voltage value and inputting it directly into the tension control device 100, there is also a method of allowing a person to input the torque data output device 4 The output, the read torque data value, can be directly manually input to the tension control device 100, or directly input to the tension control device 100 from a torque detector without passing through the torque data output device 4, etc.

One condition is that the angle acceleration of the scroll becomes 0. In addition, like Embodiment 1, the linear velocity may be set to a constant speed and the linear acceleration may be set to 0.

[Estimation method of mechanical loss coefficient of reel material and mechanical loss coefficient of machinery] By formula (6), when the tension at the first point is regarded as "F ₁ ", the roll diameter at the first point is regarded as "D ₁ ", and Let the torque at the first point be "T _b1 ", let the tension at the second point be "F ₂ ", let the winding diameter at the second point be "D ₂ ", let the torque at the second point be "T _b2 ", from the data The conditions for acquisition are two quadratic quadratic equations (Formula (11) and Formula (12)) when the angular acceleration "α" of the scroll is set to 0.

[Number 11]

[Number 12]

From the two 2-dimensional linear equations, two variables (the mechanical loss coefficient of the reel material X _mr and the mechanical loss coefficient of the machine X _mo ) are obtained. There are a plurality of ways to find it, so the method can be arbitrary. However, there may be situations where it is impossible to obtain solutions to the variables based on the data obtained. In this case, obtain the tension, roll diameter and torque data at point 3, and borrow the third 2-element linear equation to find out the two variables (mechanical loss coefficient X _mr of the reel material, mechanical loss coefficient of the machine X _mo ) solution. Even so, if the solution cannot be found, until the solution of the two variables (the mechanical loss coefficient X _mr of the reel material and the mechanical loss coefficient X _mo of the machine) is found, additionally obtain the tension, roll diameter and torque data, and repeat the equation creation , find the solution.

[Movement of the tension control device 100 when estimating the mechanical loss coefficient of the reel material and the mechanical loss coefficient of the machine] In the tension control device 100 shown in FIG. 6, the tension data of two points that satisfy the conditions are input from the tension data input part 111. , from the roll diameter data input part 112, input the roll diameter data of two points that meet the conditions, from the torque data input part 113, input the torque data of two points that meet the conditions, and use the mechanical loss coefficient estimation part 121 of the reel material and the mechanical The mechanical loss coefficient estimating unit 122 performs the above calculation, thereby estimating two variables (the mechanical loss coefficient X _mr of the reel material and the mechanical loss coefficient X _mo of the machine). _The estimated mechanical loss coefficient "X _mr " of the reel material is stored in the mechanical loss coefficient storage unit 131 of the reel material, and the mechanical loss coefficient "

<Correction> [Movement of the tension control device 100 during correction] When actually performing tension control, the mechanical loss coefficient torque conversion unit 141 of the reel material uses the formula (2) and is memorized in the mechanical loss coefficient memory of the reel material. The mechanical loss coefficient _"

The machine's mechanical loss coefficient torque conversion unit 142 uses the formula (3) to calculate the correction of the machine's mechanical loss in torque units based on the machine's mechanical loss coefficient _" value. The tension control calculation unit 150 performs calculations for controlling the tension of the winding paper material 5, and adds and subtracts a torque correction value after adding up the mechanical loss of the winding material and the mechanical loss of the machine to the calculated value, thereby outputting a corrected result. The actuator control instructions are sent to the actuator control device 8 .

The correction value is added or subtracted depending on the system structure called push-out, take-up, and control methods. Moreover, if the actuator control command can correct the torque similarly to Embodiment 1, it may be any command.

[Movement of the tension control system during correction] The actuator control device 8 controls the actuator 7 based on the received actuator control command. The actuator 7 is directly connected to the reel, or indirectly connected through gears, belts, etc., and drives the reel, whereby the tension of the winding paper material 5 can be corrected and controlled. In the actual rolling and coiling machine, the roll diameter is continuously changing. Therefore, in accordance with the change of the roll diameter, the roll diameter data is input from the roll diameter data output device 2 to the tension control device 100, thereby becoming able to match the roll diameter. path to correct it.

In addition to the mechanical wear of the reel material, the mechanical wear of the machine can be estimated and corrected. This increases the number of elements for estimation and correction, so tension fluctuations can be further suppressed. Furthermore, as shown in Embodiment 1, when estimating the correction value, there is no condition to control the torque of the actuator 7 to be constant. Therefore, it is also applicable to the actuator 7 in which the torque cannot be constant.

In Embodiment 3, the conditions for estimating the correction value can be satisfied during actual tension control. If the operation mode in tension control meets the conditions, the adjustment work for estimating the correction value can be eliminated, and the man-hours for adjustment can be reduced. In addition, the mechanical loss of the reel material and the mechanical loss of the machine continue to change due to the surrounding environment, maintenance status, aging, etc. of the machine. The correction value of the change can be appropriately adjusted and corrected.

Furthermore, in the third embodiment, unlike the first embodiment, the torque of the actuator 7 does not need to be a constant condition. Therefore, the restrictions on the control method of the actuator 7 are reduced, and it can be adapted to a wider range of tensions. control system.

Implementation form 4. ＜System Structure＞ In Embodiment 4, the structure different from Embodiment 3 is mainly explained. Fig. 7 is a diagram showing a structural example of a tension control system according to Embodiment 4. The tension control system of Embodiment 4 is an addition to Embodiment 3 and includes an angular acceleration data output device 3 for outputting data corresponding to angular acceleration to the tension control device 100 .

<Structure of tension control device 100> Fig. 8 is a diagram showing a structural example of a tension control device according to Embodiment 4. As shown in FIG. 8 , the tension control device 100 is added to the third embodiment and includes: an angular acceleration data input unit 114 for inputting angular acceleration data from outside the tension control device 100; and a rotational inertia coefficient estimation unit 123 for the reel material. The rotational inertia coefficient of the reel material is estimated as a correction value; the mechanical inertia coefficient estimating unit 124 is used to estimate the mechanical inertia coefficient as a correction value; the rotational inertia coefficient storage unit 133 of the reel material stores the estimated correction. The value of the moment of inertia coefficient of the reel material; the mechanical moment of inertia coefficient storage unit 134 stores the mechanical moment of inertia coefficient as an estimated correction value; the rotational inertia coefficient of the reel material torque conversion unit 143 converts the rotational inertia coefficient of the reel material is a torque unit; and the torque conversion unit 144 of the rotational inertia coefficient of the winding machine converts the rotational inertia coefficient of the machine into a torque unit.

＜Estimation of mechanical loss coefficient of reel material and mechanical loss coefficient of machinery＞ The estimation of the mechanical loss coefficient of the reel material and the mechanical loss coefficient of the machine is the same as in the third embodiment.

<Estimation of the moment of inertia coefficient of the reel material and the moment of inertia coefficient of the machine> [Moment of the system when estimating the rotational inertia coefficient of the reel material and the machine's rotational inertia coefficient] When estimating the rotational inertia coefficient of the reel material and the machine's rotational inertia coefficient, the tension data, roll diameter data, torsion data and angular acceleration data that satisfy one of the following conditions are input to the tension control device 100 . In order to estimate the rotational inertia coefficient of the reel material and the rotational inertia coefficient of the machine, it is necessary to meet the conditions of tension data, roll diameter data, torsion data, and angular acceleration data of more than two points, as well as the mechanical loss coefficient of the reel material and the mechanical loss of the machine. coefficient.

The output method of tension data and roll diameter data is the same as that of Embodiment 1. The output method of torque data is the same as that of Embodiment 3. The method of outputting angular acceleration data is the same as in the second embodiment.

One of the conditions is that the angular acceleration of the reel is outside 0 and becomes constant. The value of the angular acceleration when the tension data and roll diameter data of the point part are obtained is different from the torque data and angular acceleration data. Moreover, like Embodiment 2, linear velocity or linear acceleration may be used instead of angular acceleration.

[Estimation method of the moment of inertia coefficient of the reel material and the moment of inertia coefficient of the machine] Using formula (6), when the tension at the first point is regarded as "F ₁ ", the roll diameter at the first point is regarded as "D ₁ ", and Let the torque at the first point be "T _b1 ", let the angular acceleration at the first point be "α ₁ ", let the tension at the second point be "F ₂ ", let the winding diameter at the second point be "D ₂ ", let When the torque at the second point is "T _b2 " and the angular acceleration at the second point is "α ₂ ", they become two linear equations of two variables (Formula (13) and Formula (14)).

[Number 13]

[Number 14]

From the two 2-dimensional linear equations, find two variables (the rotational inertia coefficient of the reel material X _lr and the rotational inertia coefficient of the machine X _lo ). There are a plurality of ways to find it, so the method can be arbitrary. However, there may be situations where it is impossible to obtain solutions to the variables based on the data obtained. In this case, by obtaining the tension data, roll diameter data, torque data and acceleration and deceleration data of the third point, take out the third 2-element linear equation and find the two variables (the moment of inertia coefficient X of the reel material _lr , the solution of the mechanical moment of inertia coefficient X _lo ). Even so, if _it is not found, until the solution of the two variables ( _moment of inertia coefficient of the reel material Add and subtract the degree data and repeatedly create the equation to find the solution.

[Movement of the tension control device 100 when estimating the rotational inertia coefficient of the reel material and the machine's rotational inertia coefficient] In the tension control device 100 shown in FIG. 8, two or more points that satisfy the conditions are input from the tension data input unit 111. The tension data is input from the roll diameter data input part 112, and the roll diameter data of two or more points that meet the conditions are input. From the torque data input part 113, the torque data of two or more points that meet the conditions are input, and from the angular acceleration data input part 114, Input the angular acceleration data of two or more points that meet the conditions, and use the mechanical loss coefficient _" The mechanical loss coefficient of the machine _{" lr} , mechanical moment of inertia coefficient X _lo ). The estimated rotational inertia coefficient X _lr of the reel material is stored in the reel material rotational inertia coefficient storage unit 133 , and the machine's rotational inertia coefficient X _lo is stored in the machine's rotational inertia coefficient storage unit 134 .

<Correction> [Movement of the tension control device 100 during correction] When actually performing tension control, the mechanical loss coefficient of the reel material is used in the torque conversion unit 141, and the formula (2) is used to memorize the mechanical loss coefficient of the reel material. The mechanical loss coefficient _"

The machine's mechanical loss coefficient torque conversion unit 142 uses the formula (3) to calculate the correction of the machine's mechanical loss in torque units based on the machine's mechanical loss coefficient _" value.

The rotational inertia coefficient torque conversion unit 143 of the reel material uses the formula (4), and uses the rotational inertia coefficient _" The input roll diameter data and the angular acceleration data input from the angular acceleration data input unit 114 are used to calculate the correction value of the moment of inertia of the roll material in torque units.

The mechanical moment of inertia coefficient torque conversion unit 144 uses formula (5), and the mechanical moment of _inertia coefficient " Using the angular acceleration data, calculate the correction value of the mechanical moment of inertia in torque units.

The tension control calculation unit 150 performs calculations for controlling the tension of the winding paper material 5 so that the calculated value is used to add or subtract the mechanical loss of the reel material, the mechanical loss of the machine, the moment of inertia of the reel material, and the moment of inertia of the machine. The subsequent torque correction value part and the corrected actuator control command are output to the actuator control device 8 .

The correction value is added or subtracted depending on the system structure called push-out, take-up, and control methods. Moreover, if the actuator control command can correct the torque similarly to Embodiment 1, it may be any command.

[Movement of the tension control system during correction] The actuator control device 8 controls the actuator 7 based on the received actuator control command. The actuator 7 is directly connected to the reel, or indirectly connected through gears, belts, etc., to drive the reel, whereby the tension of the rolled paper material 5 can be corrected and controlled at the same time. In the actual rolling and coiling machine, the roll diameter and angular acceleration are continuously changing. Therefore, in accordance with the changes in the roll diameter and angular acceleration, the roll diameter data output device 2 inputs the roll diameter data to the tension control device 100, and the roll diameter data is input to the tension control device 100. The acceleration data output device inputs the angular acceleration data to the tension control device 100, so that it can be corrected according to the winding diameter and angular acceleration.

When the tension control system of Embodiment 4 is used, in addition to the mechanical loss of the reel material and the mechanical loss of the machine, the rotational inertia of the reel material and the rotational inertia of the machine can be estimated and corrected. Accordingly, in Embodiment 3, the tension fluctuation can be further suppressed by increasing the number of components for estimation and correction.

Furthermore, in Embodiment 4, as in Embodiment 3, the torque of the actuator 7 does not need to be a constant condition as in Embodiment 1. Therefore, the restriction on the control method of the actuator 7 becomes smaller. Can be adapted to a wider range of tension control systems.

Fig. 9 is a diagram showing an example of the hardware structure of the tension control device according to Embodiments 1 to 4. The tension control device 100 includes: a processor 101 to perform various processes; and a memory 102 to store information. The processor 101 and the memory 102 can send/receive information to each other via the bus 103.

The mechanical loss coefficient storage unit 131 of the reel material, the mechanical loss coefficient storage unit 132 of the machine, the rotational inertia coefficient storage unit 133 of the reel material, and the rotational inertia coefficient storage unit 134 of the machine are realized by the memory 102 .

The processor 101 reads and executes the program stored in the memory 102, and functions as a mechanical loss coefficient estimating unit 121 for the reel material, a mechanical loss coefficient estimating unit 122 for the machine, and a moment of inertia coefficient estimating unit 123 for the reel material. , Mechanical moment of inertia coefficient estimation unit 124, Mechanical loss coefficient torque conversion unit of reel material 141, Mechanical mechanical loss coefficient torque conversion unit 142, Mechanical moment of inertia coefficient torque conversion unit 143, Mechanical moment of inertia coefficient torque conversion unit 144, and the functions of the tension control calculation unit 150.

The processor 101 is, for example, an example of a processing circuit, including one or more of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a system LSI (Large Scale Integration).

The memory 102 includes one of RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory). above. In addition, the memory 102 includes a recording medium in which a computer-readable program is recorded. Relevant recording media include one or more of non-volatile or volatile semiconductor memory, magnetic disk, soft memory, optical disk, compressed disk, and DVD (Digital Versatile Disc). Furthermore, the processing units 12 and 43 may also include integrated circuits such as ASIC (Application Specific Integrated Circuit) and FPGA (Field Programmable Gate Array).

The structure shown in the above embodiment is an example, and may be combined with other well-known techniques, or the embodiments may be combined, and the structure may be omitted or changed within the scope of the gist. a part.

1: Tension data output device

2:Roll diameter data output device

3: Angular acceleration data output device

4: Torque data output device

5:Rolling paper material

6:Roller shaft

7: Actuator

8: Actuator control device

100: Tension control device

101: Processor

102:Memory

103:Bus

111: Tension data input part

112:Roll diameter data input part

113:Torque data input part

114: Angular acceleration data input part

121: Mechanical loss coefficient estimation part of reel materials

122: Mechanical loss coefficient estimation department of machinery

123: Estimation part of the moment of inertia coefficient of the reel material

124: Machinery moment of inertia coefficient estimation part

131: Mechanical loss coefficient memory part of reel material

132: Mechanical loss coefficient memory part of machinery

133: Rotational inertia coefficient memory part of reel material

134: Mechanical moment of inertia coefficient memory part

141: Mechanical loss coefficient torque conversion part of reel material

142: Mechanical loss coefficient torque conversion part of machinery

143: Torque conversion part of rotational inertia coefficient of reel material

144: Mechanical moment of inertia coefficient torque conversion part

150: Tension control calculation department

Fig. 1 is a diagram showing a structural example of the tension control system according to Embodiment 1. Fig. 2 is a diagram showing a structural example of the tension control device according to the first embodiment. Fig. 3 is a diagram showing a structural example of a tension control system according to Embodiment 2. Fig. 4 is a diagram showing a structural example of a tension control device according to Embodiment 2. Fig. 5 is a diagram showing a structural example of a tension control system according to Embodiment 3. FIG. 6 is a diagram showing a structural example of a tension control device according to Embodiment 3. FIG. Fig. 7 is a diagram showing a structural example of a tension control system according to Embodiment 4. Fig. 8 is a diagram showing a structural example of a tension control device according to Embodiment 4. Fig. 9 is a diagram showing an example of the hardware structure of the tension control device according to Embodiments 1 to 4.

1: Tension data output device

2:Roll diameter data output device

5:Rolling paper material

6:Roller shaft

7: Actuator

8: Actuator control device

100: Tension control device

Claims (8)

A tension control device, which includes: a first mechanical loss coefficient estimating unit that, when a winding core as a rotary body rotates, is based on the tension of an object that is wound by the winding core and is wound or pushed out by the rotating winding core. , and the winding diameter of the object wound by the winding core, and estimates the mechanical loss coefficient changed due to the winding diameter; and the calculation part performs correction using the mechanical loss coefficient changed due to the winding diameter to generate rotation The control instructions for this core. The tension control device of claim 1, which further includes: a first moment of inertia coefficient estimator, which estimates the change due to the roll diameter based on the tension, the roll diameter, and the angular acceleration of the roll core when the roll core rotates. The moment of inertia coefficient; and the second moment of inertia coefficient estimating unit estimates the moment of inertia coefficient that has not changed due to the roll diameter based on the tension and the angular acceleration when the winding core rotates. The calculation unit uses the rotational inertia coefficient because of the roll diameter. The changed mechanical loss coefficient, the rotational inertia coefficient changed due to the roll diameter, and the correction of the rotational inertia coefficient not changed due to the roll diameter are used to generate a control command for rotating the roll core. For example, the tension control device of claim 1, wherein the first mechanical loss coefficient estimating part is based on the tension and the winding diameter when the winding core rotates and the torsion between the winding core and the winding core to estimate the reason for the winding diameter. The changed mechanical loss coefficient also includes a second mechanical loss coefficient estimation part that estimates the mechanical loss coefficient that is not changed due to the roll diameter based on the tension, the roll diameter, and the torque when the roll core rotates, and the calculation part , which performs correction using the mechanical loss coefficient that changes due to the winding diameter and the mechanical loss coefficient that does not change due to the winding diameter, to generate a control command for rotating the winding core. The tension control device of claim 3, wherein the first mechanical loss coefficient estimating part estimates based on the tension, the roll diameter, the torsion and the angular acceleration of the roll core when the roll core rotates. The mechanical loss coefficient that changes due to the roll diameter, the second mechanical loss coefficient estimation part, is based on the tension and the roll diameter, the torsion and the angular acceleration when the roll core rotates, to estimate that there is no change due to the roll diameter. The changed mechanical loss coefficient also includes: a first moment of inertia coefficient estimating part, which estimates the moment of inertia coefficient changed by the winding diameter based on the tension, the winding diameter, the torsion and the angular acceleration when the winding core rotates; and a second moment of inertia coefficient estimation unit that estimates the moment of inertia coefficient that is not changed by the winding diameter based on the tension, the winding diameter, the torsion force, and the angular acceleration when the winding core rotates. The calculation unit uses The mechanical loss coefficient changed because of the curling diameter, the mechanical loss coefficient not changed because of the curling diameter, the rotational inertia coefficient changed because of the curling diameter, and the correction of the rotational inertia coefficient not changed because of the curling diameter, to Generate control instructions for rotating the core. A tension control system, which includes: the tension control device of claim 1; a tension output part, which outputs information indicating the tension to the tension control device; and a roll diameter output part, which outputs information indicating the roll diameter to the tension control device. information. A tension control system, which includes: the tension control device of claim 2; a tension output part to output information indicating the tension to the tension control device; a roll diameter output part to output information indicating the roll diameter to the tension control device Information; and an angular acceleration output unit outputs information indicating the angular acceleration to the tension control device. A tension control system, which includes: the tension control device of claim 3; a tension output part, which outputs information indicating the tension to the tension control device; a roll diameter output part, which outputs information indicating the roll diameter to the tension control device. information; and The torque output part outputs information indicating the torque to the tension control device. A tension control system, which includes: the tension control device of claim 4; a tension output part, which outputs information indicating the tension to the tension control device; a roll diameter output part, which outputs information indicating the roll diameter to the tension control device. Information; the angular acceleration output unit outputs information representing the angular acceleration to the tension control device; and the torque output unit outputs information representing the torque to the tension control device.

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