JP3190785B2 - Motor control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a facility for conveying a material of a metal pipe such as a seamless steel pipe and cutting the defective tip to produce a product. In order to stop at the position, the slip generated between the metal tube and the transport roller is predicted, and the metal tube is preferably stopped at an optimum position to cut the defective portion of the metal tube tip.
The present invention relates to a motor control device.

[0002]

2. Description of the Related Art Generally, in a facility for transporting a material of a metal pipe such as a seamless steel pipe and cutting the defective end portion into a product, the defective end portion of the metal pipe is stopped at a position of a cutting means. At this time, slip may occur at the contact surface between the metal pipe and the transport roller, and the metal pipe may not be able to be stopped at the optimal cutting position.

FIG. 1 is a configuration diagram of a conventional motor control device for cutting a defective portion of a metal pipe at a predetermined position as described above.

[0004] In FIG. 3, in order to transport the metal tube 1, the electric motor 3 drives a plurality of transport rollers 4, and when the tip of the metal tube 1 is detected by the material detecting means 5, the metal tube 1 is moved.
Cutting means 6 and material detecting means 5 for cutting a defective portion of the tip
And the transport control means 7 that determines the stop timing of the electric motor 3 and cuts off the operation command v so that the metal pipe stops at a distance L that is the sum of the distance L1 and the length L2 of the defective end portion. It indicates that you want to.

[0005]

In accordance with the conventional motor control device, it is true that the length L2
Could be stopped after being sent to the rear of the cutting machine and cut.

However, due to the difference in the weight of the metal tubes being conveyed one after another and the degree of cooling after heating necessary for rolling the metal tubes in the upstream process, that is, the difference in the temperature of the metal tubes,
Indefinite slip occurs between the metal tube and the transport roller. The degree of the slip depends on various factors such as the material of the metal pipe, the material of the transport roller and the environment of the equipment other than the weight and the temperature, and cannot be specified by a mathematical expression. There is a problem of poor yield, such that the metal pipe must be transported excessively and the tip of the metal pipe must be cut extra.

The present invention monitors the weight and temperature of a metal tube,
Using these, a calculation is performed to predict the degree of occurrence of slip occurring between the metal tube and the transport roller.
By providing the fuzzy processing means configured by the output type fuzzy processing method, for various factors of indeterminate slip generated between the metal tube and the transport roller as described above,
The problem of poor yield is that the metal tube is transported more than the stop position due to the difference in weight and temperature of each metal tube, which is the biggest factor, and the tip of the metal tube has to be cut extra. Provided is a motor control device for controlling the operation of the motor by predicting the degree of the occurrence of slip as empirical data based on the measured values of the weight and temperature of the metal tube and solving the problem. The purpose is to do.

[0008]

SUMMARY OF THE INVENTION An electric motor control device according to the present invention comprises a conveying roller for conveying a metal tube to a predetermined position, an electric motor for driving the conveying roller, and a material detecting means for detecting a tip of the metal tube. A cutting means for cutting a defective portion of a metal pipe, a weight detecting means for weighing a metal pipe material before rolling before rolling the metal pipe and detecting a weight value of the metal pipe, and a temperature value of the metal pipe. Temperature detecting means for detecting, fuzzy processing means for estimating the degree of occurrence of slippage of the metal tube on the conveying roller from the weight value and the temperature value, and a conveying roller for estimating the detected value by the fuzzy processing means and the material detecting means Calculate the degree of metal tube slip occurrence on the
And a transport control means for controlling the electric motor based on the degree of occurrence of the lip to stop the metal pipe at a cutting position for cutting the metal tip portion and giving a cutting command to the cutting means.

[0009]

In the motor control device of the present invention, the metal tube is transported to a predetermined position, the tip of the metal tube is detected, the defective portion of the metal tube is cut off, and the metal tube is rolled before rolling. The metal pipe material is weighed in advance, the weight value of the metal pipe is detected, the temperature value of the metal pipe is detected, and the degree of occurrence of slip of the metal pipe on the transport roller is predicted from the weight value and the temperature value, and fuzzy Calculate the degree of slippage of the metal pipe on the transport roller predicted by the detection values of the processing means and the material detection means, stop the metal pipe at a cutting position where the metal tip is cut, and give a cutting command to the cutting means. It is characterized by.

[0010]

Next, an embodiment of a motor control device according to the present invention will be described. In FIG. 1, a transport roller 4 is a device that transports a metal tube to a predetermined position. The electric motor 3 is a driving device that drives the transport roller 4. The material detecting means 5 is a means such as a detector for detecting the tip of the metal tube 1 conveyed by the conveying roller 4. The cutting means 6 is a means such as a cutting machine which is disposed behind the material detecting means 5 and cuts a defective end portion of the conveyed metal tube 1. The weight detecting means 8 is a means such as a detector for measuring the weight value of the metal tube 1 by weighing the metal tube material before rolling before rolling the metal tube 1 in advance. The temperature detecting means 9 is a means such as a temperature detector which is installed above the metal tube 1 and detects a temperature value of the metal tube 1. The fuzzy processing means 10 is connected to the weight detecting means 8 and the temperature detecting means 9, and generates a slip of the metal tube 1 at the transport roller 4 from the weight value sent from the weight detecting means 8 and the temperature value sent from the temperature detecting means 9. Means for predicting the degree of The transport control means 7 is connected to the fuzzy processing means 10 and the material detecting means 7,
Is a means for calculating the degree of slippage of the metal tube on the transport roller 4 predicted by the detection value of the above, stops the metal tube 1 at the cutting position where the metal tip is cut, and gives a cutting command to the cutting means.

As described above, the embodiment is an apparatus for cutting a defective portion of the material of the metal tube 1 to produce a product. When an indeterminate slip occurs during the period 4, the weight and the temperature of the metal tube 1 are monitored, and the degree of the slip is calculated by fuzzy processing from the degree of the size.
The defective end of the metal tube 1 is cut to a minimum, thereby improving the yield of the product.

(1) If the weight of the metal tube is large and the temperature is high, it is determined that the degree of occurrence of slip is small.

(2) In the case where the weight is slightly large and the temperature is slightly high, it is determined that the degree of occurrence of the slip is slightly small.

(3) If the weight in the above is slightly smaller and the temperature is slightly lower, it is determined that the degree of occurrence of slip is slightly higher.

(4) If the weight is small and the temperature is low, it is determined that the degree of occurrence of slip is large.

As described above, the circuit for calculating the degree of slip generated between the metal tube 1 and the transport roller 4 from the weight and temperature of the metal tube 1 is constituted by the fuzzy processing means. The defective part can be accurately stopped at the position of the cutting machine and cut to improve the product yield.

That is, in order to transport the metal tube 1, the electric motor 3
Drives the plurality of transport rollers 4, and when the leading end of the metal tube 1 is detected by the material detecting unit 5, the distance L1 between the cutting unit 6 for cutting the defective end of the metal tube 1 and the material detecting unit 5,
Further, the control unit 7 is configured to determine the stop timing of the electric motor 3 and to stop the operation command v so that the metal pipe 1 stops at the distance L including the length L2 of the defective end portion. ing.

Further, the weight m of the metal pipe 1 measured by the weight detecting means 8 before the rolling of the metal pipe material 2 before the rolling of the metal pipe 1 and the temperature detecting means 9 installed on the transport roller 4. Fuzzy processing means 10 for performing calculation for estimating the degree S of slip generated between the metal pipe 1 and the plurality of transport rollers 4 from the temperature t _H of the metal pipe 1 measured by the fuzzy control means. The transfer control means 7 determines the stop timing of the electric motor 3 at the time when the degree S of the occurrence of slip is taken into account at the timing when the tip of the metal tube 1 is inputted as the material detection signal 5a by the material detection means 5. Is to judge.

Next, a method of fuzzy processing when calculating the degree of slip S from the weight m of the metal tube 1 and the temperature t _H will be described.

FIG. 2 shows fuzzy processing rules and membership functions applied to the present fuzzy processing.

In FIG. 2, A11, A12, A21, A22,
A31, A32, A41, A42, B1, B2, B3
B4 is a membership function, and R1, R2, R3,
R4 is a fuzzy processing rule.

In this fuzzy control, an inference method based on the MIN operation method is used. Here, the input (premise) for the inference is the weight m of the metal tube and the temperature t _H , the output (conclusion) is the degree S of the occurrence of slip, and what connects the input and the output is the fuzzy processing rules R1 and R2. , R3, R4.

The premise is a m = m1 and t _H = t _H1.

The fuzzy processing rule is as follows: R1: If m is A11 and t _H is A12, S is B1
It is.

R2: If m is A21 and t _H is A22, S is B2.

R3: If m is A31 and t _H is A32, S is B3.

R4: If m is A41 and t _H is A42, S is B4.

Therefore, the conclusion is that S = S1.

However, A11, A12, A21, A22,
A31, A32, A41, A42, B1, B2 are fuzzy processing rules, B3, B4 are membership functions, R1, R2, R3, R4 are fuzzy processing rules, m,
m1 is the weight of the metal tube, t _H and t _H1 are the temperature of the metal tube, S,
S1 is the degree of occurrence of slip.

Next, the fuzzy processing rule membership function will be described.

(1) For the fuzzy processing rule R1, the membership function A11 indicates the size of the metal tube weight.
The horizontal axis is the weight of the metal tube, and the vertical axis is the degree of fitness that the weight is large.

The membership function A12 indicates the magnitude of the metal tube temperature. The horizontal axis is the temperature of the metal tube, and the vertical axis is the degree of matching that the temperature is high.

The membership function B1 sets the degree of occurrence of slip between the metal tube and the transport roller.

The fitness of the membership function A11 for a certain weight is compared with the fitness of the membership function A12 for a certain temperature, and the membership function B1 is cut with the smaller fitness value. The S coordinate of the center of gravity of the figure of the cut membership function B1 is the degree of occurrence of slip inferred by the fuzzy processing rule R1.

(2) With respect to the fuzzy processing rule R2, the membership functions A21, A22, and B2 satisfy the above A1
1, A12, and B1 mean the same form, and the vertical axis indicates the degree of conformity that the weight is slightly larger, the degree of suitability that the temperature is slightly higher, and the degree of occurrence of slip, respectively.

Then, similarly to the above R1, the degree of occurrence of slip is inferred by the fuzzy processing rule R2.

(3) Regarding the fuzzy processing rule R3, the membership functions A31, A32, B3
A12 and B1 mean the same form, and the vertical axis indicates the degree of conformity when the weight is slightly small, the degree of conformity when the temperature is slightly low, and the degree of occurrence of slip, respectively.

In the same manner, the degree of occurrence of slip of R1 is inferred by the fuzzy processing rule R3.

(4) Regarding the fuzzy processing rule R4, the membership functions A41, A42, B4
1, A12, and B1 mean the same form, and the vertical axis indicates the degree of suitability that the weight is small, the degree of suitability that the temperature is low, and the degree of occurrence of slip.

Then, similarly to R1, the fuzzy processing rule R
4, the degree of occurrence of slip is inferred.

The above fuzzy processing rules R1, R2,
The S-coordinate of the center of gravity of the membership function B0 created by superimposing the membership functions B1, B2, B3, and B4 cut by R3 and R4, which indicates the degree of occurrence of slip, is used as a fuzzy processing rule R1, R2. R
3, R4 is the degree of occurrence of slip occurring between the metal tube and the transport roller.

Here, referring to FIG. 2, when a metal tube is being conveyed, the weight m of the metal tube is m1, and the temperature t _H is t.
_The process of obtaining the degree S1 of occurrence of slip in the case of _H1 will be described.

(1) Inference by Fuzzy Processing Rule R1 When the weight m of the metal tube is m1, the degree of conformity of “heavy weight” obtained by the membership function A11 is ω1. When the temperature t _{H of the} metal tube is t _H1 , the degree of conformity of “high temperature” determined by the membership function A12 is ω2.

In this example, since ω1> ω2, the membership function B1 is cut at the value of ω2, and the shaded portion of B1 is the degree of slip occurrence inferred by the fuzzy processing rule R1.

(2) Inference by Fuzzy Processing Rule R2 By the same inference method as in (1) above, the degree of conformity of "slightly large" is ω3, and the degree of conformity of "temperature is slightly high" is ω4.

In this example, since ω3> ω4, the membership function B2 is cut at the value of ω4, and the shaded portion of B2 is the degree of slip occurrence inferred by the fuzzy processing rule R2.

(3) Inference by Fuzzy Processing Rule R3 By the same inference method as in (1) above, the fitness of "slightly lighter" is ω5, and the fitness of "slightly lower temperature" is ω6. .

In this example, since ω5> ω6, the membership function B3 is cut at the value of ω5, and the shaded portion of B3 is the degree of slip occurrence inferred by the fuzzy processing rule R3.

(4) Inference by Fuzzy Processing Rule R4 "Inferior weight" by an inference method similar to (1) above.
Is ω7 (zero), and the degree of “low temperature” is ω8.

Therefore, the membership function (B) indicating the degree of slip occurrence inferred by the fuzzy processing rule R4
4) does not exist.

As described above, in the case of this example, the membership functions B1, B2, B indicating the degree of occurrence of the slip inferred by the fuzzy processing rules R1, R2, R3, R4.
The S-coordinate of the center of gravity of the figure of the membership function B0 created by superimposing the shaded portions 3 and B4 respectively becomes the degree of occurrence of slip at the time of the weight m1 and the temperature t _H1 .

Another embodiment can be described as follows.

(1) Membership function A1 shown in FIG.
1, A12, A21, A22, A31, A32, A4
1, A42, B1, B2, B3, and B4 are adjusted when actually applied to the present motor control device, and the figures thereof are variable.

(2) The membership functions A11 and A
Reference numerals 21, A31, and A41 are membership functions indicating the weight of a metal tube to be a product. The number of the membership functions can be added when actually applied to the present motor control device.

(3) The membership functions A12, A
Reference numerals 22, A32 and A42 denote membership functions indicating the height of the temperature of the metal tube, and the numbers thereof can be added when actually applied to the present motor control device.

[0056]

According to the present invention, in a facility for cutting a defective portion of a material such as a metal tube into a product by cutting, the difference between the weight and the temperature of the metal tube causes a difference between the metal tube and the transport roller. If an indeterminate slip occurs in between, by monitoring the weight and temperature of the metal tube and predicting the degree of slip occurrence by fuzzy processing from the degree of their size,
It is possible to realize a motor control device for cutting the defective portion of the metal tube at a minimum and improving the product yield.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a motor control device showing one embodiment of the present invention.

FIG. 2 is an operation explanatory diagram of a fuzzy processing means in FIG. 1;

FIG. 3 is a configuration diagram of a conventional motor control device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 3 electric motor 4 transport roller 5 material detecting means 6 cutting means 7 transport controlling means 8 weight detecting means 9 temperature detecting means 10 fuzzy processing means

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B23D 33/02 B21B 39/00 B23D 47/00 B23D 55/00 G05B 13/02

Claims (1)

(57) [Claims] 1. A conveying roller for conveying a metal tube to a predetermined position, an electric motor for driving the conveying roller, a material detecting means for detecting a tip of the metal tube, and cutting a defective end of the metal tube. Cutting means to perform, a weight detection means for measuring the weight value of the metal pipe before weighing the metal tube material before rolling the metal pipe before rolling, and a temperature detection means for detecting the temperature value of the metal pipe Fuzzy processing means for predicting the degree of occurrence of slippage of the metal tube on the transport roller from the weight value and the temperature value, and the transportation predicted by the fuzzy processing means and the detection value of the material detection means. Calculate the degree of slippage of the metal tube on the rollers, and based on the degree of slippage,
Controlled by stopping the metal tube to a cutting position for cutting the metal tip portion, a motor control device characterized by comprising a, a conveyance control means for giving a cutting command to the cutting means.