JP2805562B2 - Plant motor control system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control system for a process plant, and more particularly, to a motor control system for driving process equipment in accordance with changes in process operating conditions and operating conditions.

[0002]

2. Description of the Related Art Examples of a process plant include a strip material processing plant such as a rolling plant, a rolled material annealing plant, a film plant, a papermaking plant, and a magnetic tape plant. Typically, these plants are comprised of one or more process equipment disposed along a strip running line. Since the operating conditions of the process equipment are closely related to changes in the operating conditions of the process line and the like, each process equipment is controlled by a process computer and / or a plant controller (hereinafter collectively referred to as a plant controller). Control is being done. For example, in the case of a rolling plant or an annealing plant, it is configured to include a plurality of process devices such as a winder for a rolled material coil, a rolling roll, a bridle roll, a tension roll, and a helper roll. In such a plant, it is required to coordinately control the speed of a motor that drives each process device in accordance with operating conditions. Conventionally, in order to satisfy this demand, a speed command is sent from a plant controller to a control device for each motor, and each motor control device controls the speed of the motor based on the command.

However, the moment of inertia of the motor motion system (hereinafter referred to as load inertia moment) fluctuates due to a change in the thickness of the rolled material and the like. There is a problem that the quality of the rolled material is degraded due to fluctuations in the tension applied to the motor, and some motors are tripped by overload.

[0004] In particular, when the tail end comes close to the winding machine, the winding machine of the band material is used for tension control so that the tail end of the strip material stops at a predetermined position of the winding coil. Is switched from the current control to the speed control to perform the tail end stop position control. In this case, since the moment of inertia changes 10 to 20 times depending on the winding diameter, unless the speed control gain is changed in accordance with the change in the winding diameter, the tail end position control accuracy is reduced.

Therefore, conventionally, as proposed in Japanese Patent Application Laid-Open No. 4-85604, a plant controller adjusts, for example, the thickness, material and width of a rolled material in accordance with changes in the operating conditions of a process plant. According to the rolling conditions or the change in the coil diameter of the unwinder or the winder, the change of the load inertia moment of each motor is calculated as needed, and the updated value of the speed control gain of the motor controller is set based on the change, This is transmitted to the motor controller, and the motor controller updates the speed control gain according to the transmitted updated value, thereby maintaining the uniformity of each motor and preventing the tension variation of the rolled material. ing.

[0006]

However, according to the system proposed in the above publication, the updated value of the speed control gain is transmitted from the host plant computer to the motor controller, and the motor controller updates the speed control gain. Therefore, there are the following problems.

(1) Data transmission from a plant controller to each motor controller is generally performed in a time- division manner by converting control commands such as target speed and target torque into serial signals. Therefore, when the updated value of the speed control gain is added as the transmission data, the number of words in the transmission frame increases. Therefore, there is a problem that the transmission time for making a round through all the motor controllers becomes longer by the increased amount, and the high-speed responsiveness of the control is impaired accordingly. In particular, when the number of motors to be controlled is large, the effect becomes large.

(2) If the speed control means on the motor controller side is configured using analog elements, it is not easy to make the control gain variable, so that
The system of the above publication cannot be applied as it is. Similarly, it is difficult to apply to an existing motor control system because it involves a significant modification.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a plant motor control system capable of equivalently varying the response of a speed control system without directly changing the speed control gain of a motor controller.

[0010]

In order to achieve the above object, the present invention provides a method in which information necessary for calculating a moment of inertia of a load can be acquired by a plant controller.
Also, it is considered that the gain of the speed control system of the motor controller can be equivalently changed by correcting the target speed transmitted to each motor according to the change in the moment of inertia of the load.

That is, a motor control system according to the present invention controls a plant controller that totally controls a process device based on operating conditions of a plant, and a motor that drives the process device based on a control command given from the plant controller. A motor control system including a motor controller that performs the operation, the plant controller inputs operating conditions of the plant and load conditions of the motor, and sets a target speed of the motor based on the operating conditions. a target speed setting means, an inertia moment calculation means for calculating the moment of inertia of the load based on the load condition of the motor, and gain setting means for setting an output gain of the target speed based on the moment of inertia obtained the said Set by the target speed setting means
Subtraction to find the difference between the set target speed and the detected speed of the motor
Means for multiplying the output of the subtraction means by the output gain
Multiplying means, and an output of the multiplying means, wherein the detected speed of the motor is
Adding means for adding
Output means for transmitting to the motor controller as a target speed, the motor controller comprising: input means for capturing the target speed transmitted from output means of the plant controller; and the motor based on the captured target speed. And speed control means for controlling the speed of the vehicle.

In this case, the gain setting means sets, as an output gain, a ratio of the load inertia moment to the initial value of the load inertia moment of the motor used when setting the gain of the speed control system of the motor controller. You can do it.

[0013]

[0014]

Here, the plant controller can be formed by a computer, and the speed control means of the motor controller may be a digital processor or an analog element.

Further, when the motor controller is used for controlling a motor for driving a winder of a strip material plant, the plant controller may operate the plant, load the motor, and operate the winder. Input means for receiving a rotation angle detection signal and a tail end detection signal output from a tail end detection means for a strip material provided in the vicinity of the winding machine; and winding of the winding machine based on the operating conditions. Winding diameter calculating means for calculating a diameter; target speed setting means for setting a target speed of the motor based on the winding diameter and the operating conditions and stopping the function in response to the tail end detection signal; Positioning control means which is activated in response to the tail end detection signal and sets a target speed according to a preset positioning speed pattern; and a load inertia based on the winding diameter. Moment calculating means for calculating a moment of inertia, gain setting means for setting an output gain of a target speed outputted from the target speed setting means and the positioning control means based on the obtained moment of inertia, and the set output. Target speed correcting means for correcting the target speed based on a gain, and output means for transmitting the corrected target speed to the motor controller.

In this case, the positioning control means determines whether the tail end reaches a predetermined stop position based on the band-shaped material data such as the winding diameter and the thickness at the timing when the tail end detection signal is input. Reference rotation angle setting means for setting the rotation angle of the winder as a reference rotation angle,
Rotation detecting means for detecting the rotation angle of the winder after the input of the tail end detection signal based on the taken rotation angle detection signal of the winder, the detected rotation angle and the reference rotation angle And a positioning speed pattern generating means for gradually lowering the target speed according to the difference between the two.

Further, the tail end detection signal includes an operation signal of a well-known combination of a light emitting element and a light receiving element or a tail end detecting means composed of a combination of an ultrasonic transmitting element and a receiving element, and an operation signal of a cutter for cutting the strip. Can be used.

[0019]

According to the present invention, the above object can be achieved by the following operation.

[0020] First, the inertia moment calculation means, the moment of inertia of the load based on the load condition of the motor is calculated, the output gain of the target speed of the motor based on the moment of inertia by the gain setting means is set, the output
The force gain is the deviation between the target speed and the actual speed detected by the motor.
Responsiveness is improved according to the speed deviation.
Is the corrected target speed.
Therefore, since the corrected target speed is a value corrected by a gain corresponding to the load inertia moment, the motor controller controls the motor speed based on the target speed to change the load inertia moment. Speed responsiveness can be realized. That is, the response of the speed control system can be equivalently varied without directly changing the speed control gain of the motor controller.

Thus, the motor of each process device is
Cooperative control is performed by control characteristics in accordance with changes in operating conditions, thereby suppressing fluctuations in the tension of the strip due to a change in the thickness of the strip or a change in the winding diameter, and the accuracy of tail end stop position control can be secured.

Further, since the speed control gain of the motor controller can be substantially varied without increasing the data transmission capacity from the plant controller to the motor controller, a decrease in responsiveness due to an increase in transmission time can be avoided.

Further, since the gain of the speed control means of the motor controller may be fixed, the speed control system may be constructed using analog elements or may be provided as it is. The invention can be applied.

[0024]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 to 3 show an embodiment of a motor control system in which the present invention is applied to a rolled material annealing plant. FIG. 2 is an overall configuration diagram of a motor control system of a rolling material annealing plant, and FIG. 1 is a block configuration diagram of main parts of a plant controller and a motor controller of the present embodiment.

As shown in FIG. 2, in the annealing plant of this embodiment, a rolled material 2 unwound from a rewinding machine 1 is passed through a group of entrance bridle rolls 4 composed of a plurality of bridle rolls 3A to 3D. To the annealing equipment 6 including the helper rolls 5A to 5N, and after performing an annealing process, sequentially passes through a delivery bridle roll group 8 including a plurality of bridle rolls 7A to 7C and winds them up to a winder 9. Has become. The rewinding machine 1 is driven by a motor 10A, and the entrance side bridle rolls 3A to 3D are driven by motors 10B to 10E.
A to N are driven by motors 10F to 10J, output side bridle rolls 7A to 7C are driven by motors 10K to M, and winder 9 is driven by motor 10N.

In such an annealing plant, in order to maintain the quality and stable operation of the equipment, in order to keep the tension of the rolled material in each part at a constant value, it is necessary to satisfy the uniformity of the speed response of each motor 10. Is the most important issue. In particular, when operating conditions such as the thickness and material of the rolled material 2 change, the moment of inertia acting on the motion system of each motor 10 (load inertia moment of the motor) changes, and the speed response changes in inverse proportion to this change. I do. That is, since the rate of change of the moment of inertia due to the change of the material or the like differs for each motor, the speed response of each motor control device differs. Therefore, in order to satisfy the uniformity of the speed response, it is necessary to adjust the control characteristics of each motor in coordination with changes in the operating conditions. Next, a motor control system according to the present embodiment that satisfies this requirement will be described.

Each of the motors 10A to 10N is controlled by a plurality of motor controllers 20A to 20N corresponding to each other or provided for each certain group. In order to simplify the illustration, some motor controllers are not shown. Each of the motor controllers 20 </ b> A to 20 </ b> N receives various control commands such as an operation stop command, a speed command, and a torque command from the plant controller 30 via the transmission path 51. Also, necessary information can be transmitted from the motor controllers 20A to 20N to the plant controller 30. Further, the actual operation information of the required process equipment is input to the plant controller 30 from the various sensor groups 54. The plant controller 30 is connected to the upper process computer 5.
0 is connected.

The process computer 50 outputs various operation commands to the plant controller 30 based on the operating conditions and the actual operation information from the plant controller 30. In this operation command, data on the material of the rolled material, such as the type of the rolled material, the sheet thickness, the sheet width, etc., speed conditions necessary to set the traveling speed of each part of the rolled material, and the tension of each part of the rolled material are set. And the tension conditions necessary for the above . Plant controller 30, based on the operation instruction given, as will be described later, the speed of each motor 10, generates a control command of the current, and outputs to the motor controller 20. At this time, the operation state is determined based on the actual operation information from the sensor group 54 and the operation information from each motor controller 20. The motor controllers 20 </ b> A to 20 </ b> N control the corresponding motors 10 according to control commands given from the plant controller 30.

Here, the configurations of the plant controller 30 and the motor controller 20 are shown in FIGS.
This will be described with reference to FIG. FIG. 3A is a functional block diagram of a main part of the plant controller 30 and shows only a part corresponding to one motor. As shown in the figure, the plant controller 30 takes in input data from outside via input means (not shown). The speed condition is input to the target speed setting means 32, and the target speed ω (rpm) of the motor to be controlled is set by calculation according to a predetermined procedure. This target speed ω is input to the transmitting means 36 via the subtracting means 33, the gain multiplying means 34, and the adding means 35. The motor rotation angle signal θ is input from rotation angle detection means such as a pulse generator (not shown), and is a pulse train signal of a number proportional to the rotation angle of the motor. The rotation angle signal θ is input to the speed detector 37, where the actual rotation speed ωa (rpm) of the motor is
Is converted to This actual rotation speed ωa is input to the (−) terminal of the subtraction means 33 and to the (+) terminal of the addition means 35, respectively. The load condition is entered in GD ² calculation unit 38. This load condition is data necessary for calculating the load inertia moment of the motor load that fluctuates.
For example, it is data such as GD ² of the process equipment body such as the material, thickness, plate width, and roll of the rolled material, and the winding coil diameter of the winding machine. Also, of the moment of inertia of the motor load, the GD ² minutes without change as GD ² such as the GD ² and the power transmission mechanism of the motor itself, GD ² calculation means 38
It is set in the memory of. The obtained GD ² is input to the gain setting means 39, where it calculates a gain K capable of obtaining a desired response characteristic, and outputs it to the gain multiplier 34. As the gain K, for example, the current load inertia GD ^2, the initial value GD ₀ ² and the ratio of the load inertia moment using the reference speed response characteristics of the motor controller, i.e. K = GD ² / GD ₀ ²
To be selected. Therefore, the target speed ω * output to the motor controller 20 via the transmission means 36 is as follows.

Ω * = (ω−ωa) K + ωa (1) Further, depending on the process equipment, the torque may be controlled for reasons of the tension control of the rolled material and the control method. In such a case, the target torque setting unit 21 calculates a target torque τ based on the input torque condition, converts the torque τ into a target current I of the motor, and outputs the target current I to the motor controller via the transmission unit 36. It has become.

The transmission means 36 of the present embodiment transmits data to each of the motor controllers 20A to 20N via a radial transmission path. However, the present invention is not limited to this, and it is also possible to connect the motor controllers 20 </ b> A to 20 </ b> N with a loop transmission path and transmit data via the loop transmission path. The transmission means 36 generates the transmission data 58 of one frame in accordance with the transmission format shown in FIG. 3 and transmits the transmission data 58 to one of the motor controllers 20A to 20N corresponding to a predetermined transmission cycle. Output continuously. The transmission data 58 of one frame includes, for example, five words as illustrated. One word before and after is a front data HEAD and a rear data E for transmission control.
ND has been assigned. Control data DATA1 to 3 are assigned to the three intermediate words. An operation stop command D / S, a target speed ω *, and a target current I are assigned to these DATA1 to DATA3, respectively.

On the other hand, the motor controller 20
It has a basic configuration as shown in FIG.
1, speed control means (ASR) 22, current control means (A
CR) 23 and a motor driver 24 such as an inverter. Further, in the case of the present embodiment, a speed detecting means 25 for detecting the actual speed ωa based on the rotation angle signal θ inputted from the motor rotation angle detecting means 12, and the actual speed ωa is negatively fed back to the speed control means 22. Subtraction means 26
Is provided. Further, an adding means 27 for adding the target current I input from the plant controller 30 to the output of the speed control means 22 and a current limiter 28 for limiting the upper and lower limits of the output are provided. Further, a subtraction unit 29 for negatively feeding back the actual current Ia detected by the motor current detection unit 14 is provided at the input of the current control unit 23. The receiving means 21 fetches the control data input via the transmission line 51, decodes the control data according to the transmission format, and outputs it to each means. The speed control means 22 performs a proportional integration process on the deviation between the target speed ω * and the actual speed ωa, and outputs a current command for making the deviation zero. That is, the input signal of the speed control means 22 is (ω-ωa) K from the relationship with the above equation (1). The current control means 23 generates and outputs an output voltage command of the motor driver 24 in order to reduce the deviation between the current command output from the limiter 28 and the actual current Ia to zero. Motor driver 24
Operates faithfully according to the input output voltage command, and controls the speed of the motor 10.

Here, how the response speed of the speed control system of the motor controller 20 can be changed by correcting the output gain of the target speed according to the load inertia moment by the plant controller 30 will be described with reference to FIG. FIG. 4A is a simplified block diagram of the speed control system of the entire motor control system.
Elements corresponding to the respective parts in FIG. 1 are denoted by the same reference numerals. Further, the transfer function Gn60 is
And a transfer function of the entire speed control system including the motor 10.

First, the case where the transfer function Gn is a first-order lag system represented by the following equation (3) will be described. In the equation, T ₁ is a response time constant, and s is a Laplace operator.

[0036]

(Equation 1)

Next, in order to obtain ω / ωa, FIG. 2A is converted to FIG. 2B by using an equivalent conversion equation of a transfer function. The transfer function G ₂ 61 in this case can be expressed by the following equation (4).

[0038]

(Equation 2)

Further, assuming that the transfer function of the entire drawing (B) is G ₁ , the transfer function can be expressed by the following equation (5).

[0040]

(Equation 3)

Here, when Equation (4) is substituted into G ₂ of Equation (5) and rearranged, Equation (6) is obtained.

[0042]

(Equation 4)

By substituting equation (3) into equation (6), the following equation (7) is obtained.

[0044]

(Equation 5)

As is apparent from a comparison between the equations (7) and (3), the transfer function G of the speed control system on the motor controller side is obtained.
It can be seen that the time constant T _{1 of} n changes to a time constant T ₁ / K according to the invention. Therefore, the plant controller 3
It is apparent that by changing the gain K on the 0 side, the response of the speed control system on the motor controller 20 side can be equivalently changed.

Next, the case where the transfer function Gn is a second-order lag system will be discussed. Gn in this case can be expressed by the following equation (8).

[0047]

(Equation 6)

[0048] This equation, as in FIG. 1 (B), corresponds to the case where the response time constant is the speed control system of the proportional compensation T _1, the minor current control system response time constant T ₂ is provided. When this equation (8) is substituted into the above equation (6), the following equation (9) is obtained.

[0049]

(Equation 7)

As is apparent from a comparison of the equations (8) and (9), the transfer function G of the speed control system on the motor controller side is obtained.
Since the time constant T _{1 of} n changes to the time constant T ₁ / K according to the present invention, the response of the speed control system of the motor controller 20 can be equivalently varied as in the case of the first-order lag system. Is evident.

Further, the case where the transfer function Gn is a (second-order delay + first-order advance) system will be considered. Gn in this case can be expressed by the following equation (10).

[0052]

(Equation 8)

This equation is based on the response time constant T ₁ and the time constant T ₃
Response time constant T _{2 in} the (proportional + integral) compensated speed control system
Corresponds to the case where the minor current control system is provided. When this equation (10) is substituted into the above equation (6), the following equation (11) is obtained.
become.

[0054]

(Equation 9)

Also in this case, as is clear from comparison of equations (10) and (11), according to the present invention, the time constant T ₁ of the transfer function Gn of the speed control system on the motor controller side is equal to the time constant T _{From the} change to ₁ / K, it is clear that the response of the speed control system on the motor controller 20 side can be equivalently varied.

As described above, according to the embodiment of FIG. 1, by varying the gain K on the plant controller 30 side, the response of the speed control system on the motor controller 20 side can be equivalently varied. Since the response time constant T ₁ on the motor controller side is proportional to the inertia moment GD ² of the motor load, the gain is adjusted in accordance with the change in GD ² by the GD ² calculation means 38 and the gain setting means 39 on the plant controller side. by changing the K, regardless of the change of the load inertia, to hold the entire transfer function G ₁ to the same.

Further, since the data of the load inertia moment need not be transmitted from the plant controller 30 to the motor controller 30, the transmission capacity can be reduced and a response delay due to an increase in data transmission time can be prevented.

Further, even if the speed control system of the motor controller is constituted by analog elements, or if the motor controller is an existing facility, it can be easily handled.

Next, an embodiment in which the present invention is applied to control the stop position of the winder 9 of the annealing plant of FIG. 1 will be described with reference to FIGS. FIG. 5 is an enlarged view of the area around the winder 9. The rolled material 2 is wound around the winder 9 via a deflector roll 71. The coil wound by the winding machine 9 is supported by a receiving base 72 having two rollers. Then, the winding machine 9 is driven to rotate by the motor 10N, and when the annealing process of the rolled material 2 ends, the stop positioning control is performed so that the tail end of the rolled material stops at the illustrated position 73 as is well known. It has become. The detection of the tail end 75 is performed by the tail end detection means 74 (a, b) provided on the upstream side of the deflector roll 71.
Do with. As the tail end detecting means 74, a known detecting means such as a combination of a pair of a light emitting element and a light receiving element can be used.

The winding machine 9 is driven by the tension control mainly by the current control system during the normal winding operation, but the tail end positioning control is switched from speed to speed control, so that the position control accuracy is reduced. To increase it, the gain of the speed control system must be changed in accordance with the load inertia moment as described above. In particular, the winding coil diameter D changes greatly, and the moment of inertia GD ² 10 to 2
Since there is a 0-fold change, it is essential to change the gain of the speed control system. Therefore, in this embodiment, as shown in FIG.
Than is the output gain of the target speed during positioning control was set to change with the changing load inertia GD ² to be output from the plant controller 30.

FIG. 6 shows a portion corresponding to the control of the winder 9 of the plant controller 30. FIG. 1 (A)
Since the portions denoted by the same reference numerals have the same functions and configurations, the description will be omitted. In this case, the motor controller 2
0 is the same as that shown in FIG. 6 is different from FIG. 1A in that a θref calculating means 41 for calculating a reference angle θref for position control and a rotation angle detecting means 42 for counting the rotation angle θ of the take-up reel.
And a tail end positioning control means comprising a positioning speed pattern generating means 44 and a winding diameter D
Is provided.

When the tail end detection signal is input, the target speed setting means 32 and the target torque setting means 4 which have been functioning up to that point are used.
The function 0 is stopped, and the function of the positioning control means starts operating. First, the θref calculating means 41 calculates the rolling material 2
The rotation angle of the winder 9 when the tail end 75 reaches the stop position 73 from the position of the tail end position detecting means 74 is determined as the reference angle θref. In this case, the current winding diameter D, the thickness of the rolled material, and other mechanical system correction data are fetched to obtain the reference angle θ.
Calculate ref. On the other hand, the rotation angle detecting means 42 counts the rotation angle θ of the winder 9 from the timing when the tail end detection signal is input. Then, the difference Δθ between the rotation angle θ and the reference angle θref is obtained by the subtraction means 43. A deceleration speed pattern corresponding to the difference Δθ is preset in the positioning speed pattern generation means 44, and outputs a positioning target speed ω corresponding to the input Δθ. This target speed is set in the same manner as in the case of normal operation, by the production reducing means 33 and the gain
4. The gain is corrected by the adding means 35 and output to the motor controller 20N. Gain K at this time
It has become a value which reflects the moment of inertia GD ² corresponding to the current winding diameter D determined successively by the winding diameter calculation means 45.

As described above, according to the embodiment of FIG. 6, in addition to the effect of the above-described embodiment, the response time constant of the speed control system in the stop position control of the winding machine 9 is changed by the fluctuation of the winding diameter D. from being changed in accordance with the load inertia moment GD ^2, can always ensure a high speed responsiveness, it is possible to enhance the control accuracy of the position.

The above-mentioned stop positioning control is also applied to the winding machine (tension reel) of the rolling plant shown in FIG. That is, the final rolling stand 8
The rolled material 82 coming out of 1 is taken up by a winder 84 via a deflector roll 83. The coil wound by the winder 84 is rotatably supported by the receiving base 85.
Then, when the winding machine 84 winds the rolled material 82 by a predetermined length, the cutting machine 86 operates to cut the rolled material. When the tail end of the rolled material 82 due to this cutting reaches a predetermined position 87, the winding machine 84 is controlled to stop. The configuration of the plant controller in this case is the same as that of the embodiment of FIG. 6, and the configuration of the motor controller is as shown in FIG.
Is the same as

In each of the above embodiments, when the rotation angle signal θ contains noise, it is preferable to insert a filter 90 on the output side of the speed detection means 37 of the plant controller 30 as shown in FIG. The transfer function Gf of the filter 90 is as shown in the following equation (12), when the first-order delay constant T _4.

[0066]

(Equation 10)

By selecting the value of T ₄ in accordance with the following equation (13) with respect to the time constant T _1, it is preferable to reduce the overall responsiveness due to the insertion of the filter.

T ₄ = T ₁ (1/3 to 1/10) · 1 / K (13) As described above, the motor control system that drives the rolls and the winding machine of the annealing plant, and the winding of the rolling plant Although the present invention has been described by taking the motor control system for driving the machine as an example, the present invention is not limited to these. For example,
When replacing a work roll of a rolling mill, the roll is rotated and replaced.However, in this case, when the motor system and the roll are attached and detached, the load inertia moment greatly changes. It is preferable to adjust the responsiveness of the speed control system according to the change of the speed. In this case, the gain K = 1 when there is a roll, and K <1 when there is no roll.

The present invention can be applied not only to a rolling plant or an annealing plant, but also to a motor control system having a configuration in which a motor controller is generally controlled by a higher-order controller.

[0070]

As described above, according to the present invention,
The plant controller that controls the motor controller can adjust the gain of the speed control system of the motor controller equivalently, so that the transmission capacity can be reduced and the speed control system of the motor controller is composed of analog elements. However, even if the motor controller is already provided, there is an effect that the response of the speed control can be easily adjusted according to the change in the load inertia moment.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a main part of a motor control system according to an embodiment of the present invention, in which (A) is a configuration diagram of a main portion of a plant controller, and (B) is a configuration diagram of a main portion of a motor controller.

FIG. 2 is an overall configuration diagram in which an embodiment of the present invention is applied to an annealing plant.

FIG. 3 is a diagram showing a format of transmission data of the embodiment in FIG. 1;

4A and 4B are block diagrams for explaining the operation of the present invention, wherein FIG. 4A is a block diagram of the entire motor speed control system, and FIG. 4B is a block diagram equivalent to FIG. is there.

FIG. 5 is an enlarged view around the winder of FIG. 2;

FIG. 6 is a block diagram of a plant controller according to an embodiment having a stop positioning control means of the winding machine.

FIG. 7 is an enlarged view around a winder of a rolling plant.

FIG. 8 is a configuration diagram of an embodiment in which a filter is inserted in a rotation speed feedback route of a plant controller.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Rewinding machine, 2 Rolled material, 3 Inlet bridle roll, 5 Helper roll, 7 Outlet bridle roll, 9 Winding machine, 10 Motor, 20 Motor controller, 30 Plant controller 50 Process computer, 51 transmission line, 21 reception means, 22 speed control means, 23 current control means, 24 motor driver, 25 speed detection means, 28 current limiter, 32 target speed setting means, 33 subtraction means, 34 gain multiplication means , 35 adding means, 36 transmitting means 37 speed detecting means, 38 GD ² calculation section, 39 gain setting means, 40 a target torque setting means, 41 .theta.ref calculating means 42 rotation angle detecting means, 44 position the speed pattern generating means, 45 Winding diameter calculating means, 71 Deflector roll, 72 Cradle, 74 Tail end detecting means, 81 Rolling Stand, 83 deflector roll, 84 take-up machine, 85 cradle, 86 cutting machine, 90 filter.

Claims (11)

(57) [Claims] 1. A plant controller that performs overall control of process equipment based on operating conditions of a plant, and feeds back a speed of a motor that drives the process equipment based on a target speed command given from the plant controller via a transmission line. A motor controller for a plant, comprising: a motor controller for controlling the plant controller, wherein the plant controller determines the target speed of the motor by inputting the operating conditions, and inputs the detected speed of the motor to change the speed relative to the target speed. A deviation is obtained, a load condition of the motor is input, a moment of inertia of the load of the motor is calculated, a gain determined according to the calculated moment of inertia is multiplied by the speed deviation, and the multiplied value is used as the detected speed. And sends the sum to the motor controller as the target speed command. Plant motor control system according to claim and. 2. A plant controller for controlling the process equipment on the basis of operating conditions of the plant, and a speed of a motor for driving the process equipment based on a target speed command given from the plant controller via a transmission line. A motor controller for controlling the motor controller of the plant, wherein the plant controller inputs the operating condition to determine a target speed of the motor, and inputs a load condition of the motor to input an inertia of a load of the motor. calculating the moment determine the gain according to moment of inertia the operational, the motor
Input the detected speed of the motor and set the gain to the target speed.
A value obtained by multiplying the detection speed by the gain from the multiplied value.
And a value obtained by adding the detected speed to the subtracted value is sent as the target speed command to the motor controller. 3. A plant controller for integrally controlling process equipment based on operating conditions of a plant, and a motor controller for controlling a motor for driving the process equipment based on a control command given from the plant controller. The plant controller inputs operating conditions of the plant and load conditions of the motor, and sets target speed of the motor based on the operating conditions. Moment of inertia calculating means for calculating a moment of inertia of a load, gain setting means for setting an output gain of the target speed based on the obtained moment of inertia, a target speed set by the target speed setting means and a motor speed of the motor. Subtraction means for obtaining a difference from the detection speed; and an output of the subtraction means, Multiplying means for multiplying the output of the motor, adding means for adding the detected speed of the motor to the output of the multiplying means, and output means for transmitting the output of the adding means to the motor controller as a corrected target speed, The motor controller has input means for capturing the target speed transmitted from output means of the plant controller, and a speed for controlling the speed of the motor based on a difference between the captured target speed and the detected speed of the motor. A motor control system for a plant, comprising: a control unit. 4. The output gain according to claim 3, wherein the gain setting means outputs a ratio of the load inertia moment to an initial value of the load inertia moment of the motor used in setting a gain of a speed control system of the motor controller. A motor control system for a plant, which is set as: 5. The plant motor control system according to claim 1, wherein the plant controller is formed by a computer, and the speed controller of the motor controller is formed by an analog element. 6. A plant controller for integrally controlling process equipment on the basis of operating conditions of a strip processing plant, and a motor controller for controlling a motor of the strip winding machine based on a control command given from the plant controller. The plant controller comprises: operating conditions of the plant, load conditions of the motor, a rotation angle detection signal of the winding machine, and a tail end detecting means of a strip provided near the winding machine. Input means for capturing a tail end detection signal output from the apparatus, winding diameter calculating means for calculating a winding diameter of the winding machine based on the operating conditions, and, based on the winding diameter and the operating conditions. Target speed setting means for setting a target speed of the motor and stopping its function in response to the tail end detection signal, and in response to the tail end detection signal Positioning control means for moving and setting a target speed according to a preset positioning speed pattern; inertia moment calculating means for calculating a moment of inertia of a load based on the winding diameter; and setting the target based on the determined inertia moment. Gain setting means for setting an output gain of a target speed output from the speed setting means and the positioning control means; target speed correction means for correcting the target speed based on the set output gain; Output means for transmitting a target speed to the motor controller, the motor controller comprising: input means for capturing the target speed transmitted from output means of the plant controller; and the motor based on the captured target speed. Speed control means for controlling the speed of the plant. Over motor control system. 7. The output gain according to claim 6, wherein the gain setting means sets a ratio of the load inertia moment to a load inertia moment initial value of the motor used when setting a gain of a speed control system of the motor controller. A motor control system for a plant characterized by setting. 8. The subtraction means according to claim 6, wherein said target speed correction means of said plant controller calculates a difference between a target speed set by said target speed setting means and a detected speed of said motor. And a multiplying means for multiplying the output by the output gain. 9. The method according to claim 6, wherein the target speed correction means of the plant controller calculates a difference between a target speed set by the target speed setting means and a detected speed of the motor, and the subtraction means. Multiplying means for multiplying the output by the output gain, and adding means for adding the detected speed of the motor to the output of the multiplying means. The speed control means of the motor controller comprises: A motor control system for a plant, wherein the speed of the motor is controlled based on a difference from a detected speed of the motor. 10. The positioning control means according to claim 6, wherein the positioning control means is configured to execute the following processing based on the band material data such as the winding diameter and the thickness at the timing when the tail end detection signal is input.
A reference rotation angle setting unit configured to set a rotation angle of the winder until the tail end reaches a predetermined stop position as a reference rotation angle, and the rotation angle detection signal based on the captured rotation angle detection signal of the winder. Rotation detection means for detecting the rotation angle of the winder after the input of the tail end detection signal, positioning speed pattern generation means for gradually reducing the target speed according to the difference between the detected rotation angle and the reference rotation angle, A motor control system for a plant, comprising: 11. The motor control system according to claim 6, wherein the tail end detection signal is an operation signal of a cutter for cutting the strip.