JP3358285B2 - Roller drive device for belt-like sheet traveling path - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a plastic film, least three provided on the belt-like sheet travel path of the paper or the like
Driving the rollers of the belt-like sheet conveying rotary relates to roller drive equipment of the belt-like sheet travel path.

[0002]

2. Description of the Related Art As a conventional roller driving device for a belt-like sheet traveling path, a motor common to each roller of the belt-like sheet traveling path is provided, and a rotation of this motor is transmitted by a common driving shaft, a transmission device such as a belt and a pulley and the like. Ru Monogaa which is adapted to transmit at a gear ratio fixed to each roller using.

[0003] Also, as the roller driving device of another conventional belt-like sheet travel path, and transmitted to the common drive shaft rotation of a common motor to the rollers, from the drive shaft, for example the individual consisting of harmonic gears by transmitting to each roller through the continuously variable transmission, Ru Monogaa like the tension and elongation of the belt-like sheet can be finely adjusted from time to time.

[0004] Further, as the roller driving device of another conventional belt-like sheet travel path, each of a plurality of regions in the running route of the belt-like sheet, instead of transmitting the rotation from a common motor to the roller via a continuously variable transmission Or, for each roller, equipped with a motor for driving the roller, while obtaining a reference input signal of each motor based on the line speed signal, detecting the output rotation speed of each motor, the reference input signal and the There is a type in which each roller is rotated in conjunction with each other by performing feedback control of a motor speed based on a detected output rotation speed signal.

[0005]

In the traveling path of the belt-like sheet, it is desirable that the belt-like sheet be run so as not to cause permanent distortion or wrinkles and to generate elongation or tension suitable for processing and processing. The elongation or tension of the running strip may vary depending on the difference between the feed rate and the take-off rate of the strip. In the traveling path of the belt-like sheet, the supply speed and the take-up speed of the belt-like sheet are generally determined according to the peripheral speed of the roller driven to rotate. Therefore, by changing the peripheral speed of the roller, the tension is individually applied to the region before and after the roller.

However, in the above-described roller driving apparatus for the belt-like sheet traveling path, in which the rotation of the common motor is transmitted to the individual rollers at a fixed speed ratio using a transmission device or the like, the rollers between the rollers are moved while the belt-like sheet travels. Since the speed difference cannot be finely adjusted, it cannot be applied to a portion where the tension and elongation need to be finely adjusted as needed. In addition, the oil supply to the bearing part, such as the replacement of the belt, it is necessary to regular maintenance of the transmission, that written time and effort.

[0007] their in this conveys the output rotation of the motor to a common drive shaft, by transmitting to the roller via a continuously variable transmission in a transmission device for branching from the common drive shaft, and adjust each roller individually If a roller drive device driven at a rotational speed is used, the tension and elongation of the belt-shaped sheet can be finely adjusted as needed in each region.

However, when the speed of one of a number of rollers driven by the driving device is changed by operating the continuously variable transmission, the peripheral speed difference between the rollers adjacent to the roller changes. In other words, the influence may extend to other areas where the elongation or tension does not need to be changed, so that it is necessary to sequentially adjust the peripheral speed difference of the other rollers. Therefore, the operation is troublesome, and it is difficult to quickly respond.

In order to avoid such inconvenience, the rotation of the motor common to each roller is transmitted to one roller, and the rotation of the roller is transmitted to the next roller via a continuously variable transmission. A continuously variable transmission is provided between the preceding roller and the next roller so that the rotation of the roller is transmitted to the next roller via the next continuously variable transmission, and the rotation of the previous roller is performed. Is sequentially transmitted to the next roller via the continuously variable transmission, and the roller is rotationally driven.

However, in this case, each continuously variable transmission needs to transmit all the driving force of each subsequent roller, and a continuously variable transmission closer to the motor requires a larger capacity. the number of large and the transmission mechanism becomes larger structure and expensive, impractical at an unsupported.

[0011] Also, the motor provided by dividing the strip-shaped sheet running path into a plurality of regions for each of the regions, in the conventional driving device for rotating the roller by feedback control of the rotational speed of the motor, the same strip Even with rollers provided in the sheet travel path, the magnitude of each load and inertia varies in accordance with the purpose, and the response of each motor varies.Therefore, when accelerating and decelerating, there is a difference in the peripheral speed of each roller. occur or changes in tension and elongation of the belt-like sheet, the product failure occurs not ease the belt-like sheet and the roller is or slip.

[0012] their in this, the present invention has been made in view of the problems as described above, complex without the need for gearing and a continuously variable transmission of a large structure, to provide a stable extended or tension on the belt-like sheet to be conveyed occurs rollers It is an object of the present invention to provide a roller driving device for a belt-shaped sheet conveyance path that can rotationally drive the roller.

[0013]

[MEANS FOR SOLVING THE PROBLEMS] To achieve the above object
Roller driving apparatus of the belt-like sheet travel route of the present invention, there in roller drive equipment for rotating least three belt-like sheet rollers for conveying the provided in the belt-like sheet travel path
Te, comprising the an AC induction motor which is provided for each roller, respectively outputs a speed command signal to the inverter for the AC induction motor, and a speed control device for each AC induction motor, the
Each speed control device has a setting unit for obtaining a target value signal.
And a speed detector that detects the output speed of the AC induction motor
And feed-forward controller with adaptive function
And based on the detection signal input from the speed detector.
The feedback amount and the target value signal from the setting unit.
To generate an adaptive error signal by comparing
Adaptive error signal to the feedforward controller
Feed, the adaptive error from the feedforward controller
Receives a compensation signal for zero convergence, and this compensation signal and
By adding and amplifying the adaptive error signal
Obtaining a speed command signal, wherein the at least three
Of the speed controller corresponding to the first of the rollers
The setting section has a belt-like shape from the front of the belt-like sheet travel route.
Send the sheet feed linear velocity signal to other rollers.
In the setting section of the speed control device, adjacent to the respective roller
Eyes from the setting section of the speed controller corresponding to the preceding roller
The standard value signal or the detection signal from the speed detector is
Each of the setting sections is input as a
Fine-tune the input preceding belt-shaped sheet feed speed signal
It is characterized in that a target value signal can be obtained .

While unwinding the belt-like sheet from the material roll,
Belt running path of the present invention applied to a winding device
Roller driving device is provided with a small number of rollers
At least three belt-like sheet conveying rollers are driven to rotate.
A roller driving device, wherein AC induction is provided for each roller.
Speed commands to the motor and the AC induction motor inverter
Speed control device for each AC induction motor that outputs signals
And the speed control devices each output a target value signal.
Setting section for detecting and detecting output speed of AC induction motor
Speed detector and feed forward with adaptive function
With a speed controller and input from the speed detector
The feedback amount based on the detection signal and the setting unit
The adaptive error signal is compared with a reference input based on the
And the adaptive error signal is fed-forward
Controller to the feed-forward controller
Receiving a compensation signal for zero convergence of the adaptive error from
The compensation signal and the adaptive error signal are added and amplified.
The speed command signal is obtained by performing
Feeding speed of the belt-shaped sheet of at least three rollers
To the setting part of the speed control device corresponding to the reference roller
Inputs the speed setting signal set in the speed setting device.
And the speed control corresponding to the other rollers
In the setting section of the control device,
The target value signal from the setting unit of the speed controller corresponding to the roller
Signal or the detection signal from the speed detector
Input as supply speed signal, corresponding to the other roller
The setting part of the speed control device is a
The target value signal can be obtained by fine-tuning the
It is characterized by being able to.

[0015]

Feedforward controller of the action] speed controller automatically adjusts the adaptive parameters to adaptive error is zero convergence, constitute the inverse system of the plant in the feed forward path. Therefore, even if the dynamic characteristics of each roller are not known in advance, not only in a steady state but also in a transient state, the deviation between the detected speed of the roller rotation speed of the traveling path and the reference input is made substantially zero in a very short time. be able to. Therefore, it is possible to reduce an error of the peripheral speed between adjacent rollers always very, Ru can prevent variations in elongation and tension of the belt-like sheet. And said at least three
Speed control device corresponding to the first of the rollers
In the setting section of the position, from the previous stage of the belt-shaped sheet travel route
The linear feed speed signal of the belt-like sheet is compatible with other rollers
In the setting section of the speed control device,
From the setting section of the speed control device corresponding to the preceding roller
The target value signal or the detection signal from the speed detector
Input as a shape sheet supply speed signal, each of the setting units,
Fine adjustment of the preceding belt-shaped sheet supply speed signal input respectively
To obtain the target value signal
Since the speed of each subsequent roller is controlled based on the rotation speed of the immediately preceding roller, if the speed of one roller in the transport path is changed, the speed of each subsequent roller also changes at a uniform rate. Therefore, it does not change the elongation of the sheet between the rollers mutually neighboring other. Therefore, the rotation of the plurality of rollers can be finely adjusted individually without affecting the elongation of the belt-shaped sheet between the other rollers.

[0016]

1 to 3 show an embodiment of a roller driving apparatus for a belt-like sheet traveling path according to the present invention. This strip-shaped sea
The roller driving device on the driving path is a film from the T die.
Applied to the take-up device and provided on the belt-like sheet traveling path
Casting drum R1, roller R2, roller R3
Roller driving devices D1, D2, D3 for driving
I can. In FIG. 1, a belt-shaped sheet 1 is a known T-die 2.
The molten film material 3 extruded from the slit is guided onto a casting drum R1 rotated and driven by a roller driving device D1, and cooled and solidified on the casting drum R1 to form a film. Then, the sheet is conveyed to the next step by rollers R2 and R3 for temperature adjustment and conveyance which are rotationally driven by roller driving devices D2 and D3. According to this embodiment, the rollers R2 and R3 are cooling rollers each having a film cooling function.

A casting drum R1, a roller R2,
Each of R3 is provided with a nip roller 4. Each of the nip rollers 4 presses the belt-shaped sheet 1 against the surfaces of the casting drum R1, the rollers R2, and R3 so as to be in close contact therewith.
The cooling effect of the belt-shaped sheet 1 is enhanced.

Each of the roller driving devices D1, D2, and D3 has the same configuration, and includes an AC induction motor 5 corresponding to the size of a load and an inverter 6 for the AC induction motor 5.
And a speed control device 7 for outputting a speed command signal.
The inverter 6 receives the speed command signal output from the speed control device 7 and rotates the AC induction motor 5 at a rotation speed based on the speed command signal.
The power is supplied so that the output shaft rotates. The speed control device 7 has a setting unit 8 for obtaining a target value signal and a speed detector 9 for detecting the output speed of the AC induction motor 7. Further, in the present invention, the speed control device 7 has a feedforward controller 10 having an adaptive function.

The output rotation of each AC induction motor 7 of the roller driving devices D1, D2, D3 is transmitted to the casting drum R1, rollers R2, R3 at a predetermined speed ratio. Then, a belt-shaped sheet supply speed signal from a preceding stage of the belt-shaped sheet traveling path is input to the roller driving devices D1, D2, and D3. That is, in the case of this embodiment, the feed linear velocity signal ω0 of the film material 3 extruded from the T-die 2 is input to the setting unit 8 of the roller driving device D1, and the setting unit 8 of the roller driving device D2 receives the roller The target value signal ω1 is input from the setting unit 8 of the driving device D1 as a belt-shaped sheet supply speed signal of the casting drum R1, and the setting unit 8 of the roller driving device D3 receives the target value signal ω2 from the setting unit 8 of the roller driving device D2. Is input as a belt-shaped sheet supply speed signal of the roller R2. Instead of using the target value signal from the setting unit 8 as the belt-like sheet supply speed signal, a detection signal from the preceding stage speed detector 9 may be used as necessary.

In FIG. 2, the speed control device 7 converts the detection signal ω input from the speed detector 9 into a feedback amount in the detection unit 11 and sends it to the comparison unit 12. Further, the target value signal ω1 sent from the setting unit 8 is
Is sent to the comparison unit 12 and the feedforward controller 10 in place of the reference input.

In the comparing section 12, the reference input sent from the target value input section 13 and the feedback signal sent from the detecting section 11 are compared to generate an adaptive error signal e. This adaptive error signal e is supplied to the feedforward controller 10.
Is given to the adder 14.

The compensation signal c and the adaptive error signal e output from the feedforward controller 10 are added by an adder 14, and the added signal is amplified by an amplifier 15 and output to the inverter 6 as a speed command signal u. .

In this embodiment, the setting section 8 adjusts the band-shaped sheet supply speed signal ω0 of the preceding stage at any time.
The signal is converted into a minute signal proportional to the band-shaped sheet supply speed signal ω0 by a, and this signal and the band-shaped sheet supply speed signal ω0 are added by the adder 8b to output the target value signal ω1 to the target value input unit 13. .

FIG. 3 is a block diagram of a speed control system in the roller driving device shown in FIG. In FIG. 3, D is a differential operator, and c is a feedforward controller 10.
, Ω1 is the speed reference input, ω is the speed output of the motor,
α is a coefficient of the speed detector, e is an adaptive error, u is an input voltage of the inverter, d is a disturbance, Vc is a constant input, and k is a fixed feedback gain.

The transfer function from the input voltage to the speed output of the induction motor is approximately given by the following equation (1).

(Equation 1)

From Equation 1 and the block diagram, the following Equation 2,
Equations 3, 4, and 5 are obtained.

(Equation 2)

(Equation 3)

(Equation 4)

(Equation 5) Note that Gm (D) is a transfer function of the electric motor given by Expression 1.

From these equations, the following equations (6), (7), (8), (9), (10) and (11) are obtained.

(Equation 6)

(Equation 7)

(Equation 8)

(Equation 9)

(Equation 10)

[Equation 11]

The feedforward controller 10 is composed of three adaptive parameters of vectors W0, W1 and Wn, and is adjusted using the adaptive error e using the equations 9, 10 and 11 so that the adaptive error converges to zero. Is done.

The vector P (t) in Equation 11 represents a parameter vector, the vector Φ in Equation 10 represents an input vector, and T represents transposition. Γ is an adaptive gain. Vectors W1 and W0 of the adaptation parameters are used to construct the inverse system of the corresponding plant,
Vector Wn is Ru have <br/> provided to compensate for the constant disturbance d.

[0030] FIG. 4 is applied to the scan-liter rewinder
FIG. 5 is an explanatory diagram of another embodiment of the present invention, and FIG. 5 is an explanatory diagram of a drive system of the slitter rewinder shown in FIG.

The belt-shaped sheet 1 is rewound from the material roll 24 and rolled by rollers R15, R16, R17, R18, R1.
9, R20, R21, R22, and reaches a roller R23, is divided into a plurality of strips by a slitter 25, and the divided sheet 1a is distributed to distribution rollers R24, R25. The sheet is wound around a core 27 to be formed into a sheet roll 28.

The central axis 24a of the material roll 24, the roller R
15, R16, R17, R18, R19, R20, R2
1, R22, R23 and sorting rollers R24, R25
Are roller driving devices D9, D8, D7, D6, D5, D4, D3, which are similar to the roller driving devices shown in FIG.
It is rotationally driven by D2, D1, D10, D11 and D12.

Roller driving device D for driving roller R23
A setting unit (not shown) of the first speed control device is input with a speed setting signal based on the time versus feeding speed pattern or the winding amount versus feeding speed pattern set by the speed setting device 29. , This speed setting signal becomes the target value signal. Then, from the roller driving device D1,
The rotation speed signal of the roller R23 is a roller driving device D10,
It is input to D11 and D2. Further, the roller driving device D
3, D4, D5, D6, D7, D8, and D9 are provided with rollers R23, R22,
R21, R20, R19, R18, R17, R16, R
Fifteen rotation speed signals are output from the roller driving devices D2, D3, D
4, D5, D6, D7, and D8 are sequentially input.

Driving device D1 for the center axis 24a of the material roll
2 is provided with a speed calculating unit 31. The speed calculating unit receives the rotation speed signal of the roller R15 from the roller driving device D9, and detects the radius of the material roll 24 in the detecting unit 29.
The rotation speed of the center shaft 24a is calculated by the speed calculation unit 30 based on the radius detection signal of the material roll 24 and the rotation speed signal of the roller R1, and is input to a setting unit (not shown) of the driving device D12. .

In this embodiment, since the rotation speed of the roller R23 is used as a reference for the feeding speed of the belt-shaped sheet 1, the roller R23 is driven by the roller driving device D1 which receives a speed setting signal from the speed setting device 29. Which roller is used as a reference for the feeding speed varies in various ways, and the supply destination of the feeding speed of the belt-shaped sheet can be changed accordingly.

Roller drive of belt-like sheet running path of the present invention
The apparatus comprises a belt-like sheet running device having three or more driven rollers.
If the line path, a <br/> in only the film take-up equipment from T-die Ku, longitudinal stretching equipment of supplied from the film take-off device from the T-die film, a film take-up instrumentation from the lateral stretching device
Location, electrodes row intends device causing surface treatment of the strip sheet to corona discharge than, be applied to a machine for performing a combined or coating paste by running wheel rolling printing press, the band-shaped sheet
However, the embodiments can be variously changed according to design conditions.

[0037]

According to the present invention, the rollers are driven by the AC induction motor, and the inverter for the AC induction motor is provided with:
Since the speed control device with a feedforward controller having an adaptive function issues a speed command signal to control the rotation speed of the AC induction motor, the load and inertia of the roller are not affected even when accelerating or decelerating the belt-like sheet traveling speed. Even if it is not known beforehand, the rotation speed of the roller can be made to accurately follow the supply speed of the belt-shaped sheet. For this reason, the belt-shaped sheet can always be stably run with an appropriate tension so that permanent deformation, scratches, and the like do not occur in the belt-shaped sheet.
Further, since the rollers are driven by the AC induction motor, there is no brush in the drive source. Therefore, there is no fear that the belt-shaped sheet is stained by carbon or the like scattered from the brush. Therefore, the occurrence of defective products is reduced in the processing and processing of the belt-shaped sheet, and the yield is improved. Further, there is no need to take measures against contamination of the motor.

Furthermore, the large-capacity electric motor common to a large number of rollers eliminates the need to drive the rollers via a complicated transmission, so that the structure of the drive system can be simplified and downsized. In addition, maintenance work be ing easy.

Further , the elongation or tension of the belt-like sheet in each region of the belt-like sheet traveling path can be easily adjusted individually. Further, there is no need to prepare a complicated and large-capacity continuously variable transmission for finely adjusting the peripheral speed of the roller with respect to the belt-like sheet feeding speed from the immediately preceding roller as in the related art.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of one embodiment of a roller driving device for a belt-like sheet traveling path of the present invention applied to a film take-up device from a T-die .

FIG. 2 is an explanatory diagram of a roller driving device for each roller .

FIG. 3 is a block diagram of a speed control system in FIG. 2;

FIG. 4 shows another example of the present invention applied to a slitter rewinder .
FIG. 4 is an explanatory diagram of the embodiment .

FIG. 5 shows a roller drive of the slitter rewinder shown in FIG .
It is explanatory drawing of a dynamic system .

[Explanation of symbols]

D1 to D9 roller driving equipment R 1 a casting drum R2, R3 temperature adjusting and conveying rows la R 15～R25 row La 1 belt-like sheet 2 T-die 3 film material 4 nip roller 5 AC induction motor 6 Inverter 7 speed control device 8 sets Unit 9 speed detector 10 feedforward controller having adaptive function
La

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B65H 23/192 B29C 47/08 B65H 35/02

Claims (2)

(57) [Claims] At least one provided on a belt-like sheet traveling path.
3 a strip sheet roller for conveying the present a roller drive equipment for rotating the AC induction motor provided for each of the respective rollers, respectively outputs a speed command signal to the inverter for the AC induction motor, each A speed control device for each AC induction motor , wherein each of the speed control devices obtains a target value signal.
Setting unit for detecting the output speed of the AC induction motor.
Speed detector and feedforward with adaptive function
It has a controller and detects the speed input from the speed detector.
Feedback amount based on the output signal, and
The adaptive error signal is compared with a reference input based on the target value signal.
And apply this adaptive error signal to the feedforward code.
Controller and the feed-forward controller
Receives a compensation signal for zeroing the adaptive error from
The amplification signal is added by adding the compensation signal of
To obtain a speed command signal.
Speed corresponding to the first of at least three rollers
In the setting section of the degree control device,
Send the linear velocity signal of the belt-like sheet from the step to another row.
The setting section of the speed control device corresponding to the
Speed control device corresponding to the previous roller adjacent to the
The target value signal from the fixed part or the detection signal from the speed detector
It is input as the preceding belt-shaped sheet supply speed signal, and
The fixed part is a belt-shaped sheet feeding speed signal of the preceding stage
A roller driving device for the belt-like sheet traveling path, wherein a target value signal can be obtained by finely adjusting the distance. 2. The apparatus according to claim 1 , wherein at least one of the belt-like sheet traveling paths is provided.
Roller that rotates three belt-like sheet conveying rollers
A drive device, comprising: an AC induction motor provided for each of the rollers.
Speed command signal to the motive and the AC induction motor inverter.
Speed control device for each AC induction motor that outputs each signal
Each of the speed control devices obtains a target value signal.
Setting unit for detecting the output speed of the AC induction motor.
Speed detector and feedforward with adaptive function
It has a controller and detects the speed input from the speed detector.
Feedback amount based on the output signal, and
The adaptive error signal is compared with a reference input based on the target value signal.
The making, the feed-forward co-this adaptation error signal
Controller and the feed-forward controller
Receives a compensation signal for zeroing the adaptive error from
The amplification signal is added by adding the compensation signal of
To obtain a speed command signal.
Of the feeding speed of the belt-shaped sheet of at least three rollers
In the setting section of the speed control device corresponding to the reference roller
Inputs the speed setting signal set in the speed setting device.
And the speed control corresponding to the other rollers
In the setting section of the control device,
The target value signal from the setting unit of the speed controller corresponding to the roller
Signal or the detection signal from the speed detector
Input as supply speed signal, corresponding to the other roller
The setting part of the speed control device is a
The target value signal can be obtained by fine-tuning the
A roller driving device for a belt-shaped sheet traveling path, which is capable of being driven.