JP3782007B2 - Rotary cutter control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a rotary cutter control device, and more particularly to a rotary cutter control device that controls a rotary cutter that cuts a web (material) while traveling.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a rotary cutter control device that controls a rotary cutter (also referred to as a rotary shear or a flying shear) that cuts a running web into a predetermined length while running is known.
[0003]
FIG. 3 is a block diagram showing a configuration of a web cutting system using a rotary cutter provided with a conventional rotary cutter control device. As shown in FIG. 3, the rotary cutter controller 1 includes a remaining length calculator 2, a first speed converter 3a, a second speed converter 3b, a subtractor 4, a low-pass filter 5, a third speed converter 3c, and It has a speed regulator (ASR) 6.
[0004]
The rotary cutter control device 1 is a software servo controller that performs software processing using a computer or a programmable servo controller.
[0005]
A web W such as a steel strip, paper, or film travels toward the rotary cutter 7 as a material to be cut by the rotary cutter 7 (see an arrow), and is cut to a predetermined length by the rotary cutter 7. The rotary cutter 7 is driven by the driving force of the motor 8 being transmitted via the speed reducer 7a. The speed of the web W is detected by a pulse encoder (PG) 7c connected to the measuring roll 7b and input to the remaining length calculator 2 as a pulse train signal a.
[0006]
On the other hand, the rotational speed of the rotary cutter 7 is detected by a pulse encoder (PG) 8 a connected to the motor 8 and input to the remaining length calculator 2 as a pulse train signal b. The remaining length calculator 2 calculates the remaining length ΔL of the web W (material) from the cutting set length L ₀ , the rotary cutter circumferential length B ₀ , the material moving length A, and the rotary cutter rotating circumferential length B using the following equation: To calculate.
[0007]
ΔL = (L ₀ −A) − (B ₀ −B)
The material movement length A and the rotary cutter rotation circumferential length B can be obtained by integrating and counting the pulse train signal a and the pulse train signal b, respectively, with the cutting completion point of the web W being zero.
[0008]
The pulse train signal a is converted into the material speed V _A by the first speed converter 3a, and the remaining length ΔL is converted into the error speed V _C by the second speed converter 3b. The difference between the material speed V _A and the error speed V _C is calculated by the subtractor 4 to become a speed command (V _A −V _C ), and the speed command (V _A −V _C ) is sent to the speed regulator 6 as a speed reference. Is entered as
[0009]
On the other hand, the pulse train signal b is smoothed by the low-pass filter 5 to become the pulse train signal c, and further converted into the rotation detection speed V _B of the rotary cutter 7 by the third speed converter 3c, and as speed feedback to the speed regulator 6. Entered.
[0010]
The torque command d, which is the output of the speed regulator 6, is amplified by the power converter 9 and input to the motor 8, the rotary cutter 7 is driven to rotate via the motor 8 driven by the torque command d, and the web W is Disconnected. Therefore, if the speed control of the motor 8 is performed by the speed command (V _A -V _C ), the web W can be cut with the cut set length L ₀ .
[0011]
[Problems to be solved by the invention]
However, in recent years, there is a tendency that the calculation processing of the software servo controller that performs software processing is accelerated. For example, the scan time of the speed control loop is 1 mS, but the speed has increased to several hundreds μs.
[0012]
Therefore, when the frequency of the pulse train signal b is low, the number of pulses per scan decreases, and the rotation detection speed V _B of the rotary cutter 7 converted by the third speed converter 3c pulsates. Since the pulsating rotation detection speed V _B is affected by the phase delay caused by the low-pass filter 5, the gain of the speed regulator 6 cannot be sufficiently increased, and the accuracy of the web cutting length is inevitably lowered.
[0013]
An object of the present invention is to provide a rotary cutter control device that can sufficiently increase the gain of a speed regulator that adjusts the rotational speed of the rotary cutter and does not cause a reduction in the accuracy of the web cutting length.
[0014]
[Means for Solving the Problems]
In order to achieve the above object, a rotary cutter control device according to the present invention is the rotary cutter control device that controls a rotary cutter that cuts a traveling material driven by a motor into a predetermined length. It has a transversal filter that smoothes and outputs a speed pulse train signal without being affected by a phase delay and feeds back the speed to a speed regulator that adjusts the rotational speed of the rotary cutter.
[0015]
With the above-described configuration, the rotary cutter control device that controls the rotary cutter that cuts the traveling material driven by the motor into a predetermined length has a phase-delay pulse train signal of the rotational speed of the rotary cutter by the transversal filter. The output is smoothed without being affected, and the output is fed back to a speed regulator that adjusts the rotational speed of the rotary cutter. As a result, the gain of the speed regulator that adjusts the rotational speed of the rotary cutter can be sufficiently increased, and the accuracy of the web cutting length is not reduced.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0017]
FIG. 1 is a block diagram showing the configuration of a web cutting system using a rotary cutter provided with a rotary cutter control device according to an embodiment of the present invention. As shown in FIG. 1, the rotary cutter control device 10 includes a remaining length calculator 11, a first speed converter 12, a second speed converter 13, a subtractor 14, a transversal filter (FIR) 15, and a third speed conversion. And a speed regulator (ASR) 17.
[0018]
The rotary cutter control device 10 is a software servo controller that performs software processing using a computer or a programmable servo controller.
[0019]
A web W such as a steel strip, paper, or film travels toward the rotary cutter 18 as a material to be cut by the rotary cutter 18 (see an arrow), and is cut to a predetermined length by the rotary cutter 18. The rotary cutter 18 is rotationally driven by the driving force of the motor 20 transmitted through the speed reducer 19. The traveling speed of the web W is detected by a pulse encoder (PG) 22 connected to the measuring roll 21 and input to the remaining length calculator 11 as a pulse train signal a.
[0020]
On the other hand, the rotational speed of the rotary cutter 18 is detected by a pulse encoder (PG) 23 connected to the motor 20 and input to the remaining length calculator 11 as a pulse train signal b. The remaining length calculator 11 uses the following equation to determine the remaining length ΔL of the web W (material) as the cutting set length L ₀ , the rotary cutter circumferential length B ₀ , the material movement length A, and the rotary cutter rotation circumferential length B. Calculate and output.
[0021]
ΔL = (L ₀ −A) − (B ₀ −B)
The material movement length A and the rotary cutter rotation circumferential length B can be obtained by integrating and counting the pulse train signal a and the pulse train signal b, respectively, with the cutting completion point of the web W being zero.
[0022]
The pulse train signal a is converted into the material speed V _A by the first speed converter 12, and the remaining length ΔL is converted into the error speed V _C by the second speed converter 13. The difference (V _A −V _C ) between the material speed V _A and the error speed V _C is calculated by the subtractor 14, and the calculation result is output as a speed command. The speed command (V _A -V _C ) is input to the speed regulator 17 as a speed reference.
[0023]
On the other hand, the pulse train signal b is smoothed by a transversal filter (FIR) 15 to become a pulse train signal c, and further converted into a rotation detection speed V _B of the rotary cutter 18 by a third speed converter 16, and a speed adjuster 17. Input as speed feedback.
[0024]
The torque command d, which is the output of the speed regulator 17, is amplified by the power converter 24 and input to the motor 20, and the rotary cutter 18 is rotationally driven via the motor 20 driven by the torque command d, so that the web W is Disconnected. Therefore, if the speed control of the motor 20 is performed by the speed command (V _A -V _C ), the web W can be cut with the cut set length L ₀ .
[0025]
FIG. 2 is a block diagram showing the configuration of the transversal filter of FIG. As shown in FIG. 2, the transversal filter 15 includes an A / D converter 25, a plurality of shift registers 26a, 26b, 26c, and 26d, a clock generator 27, and a plurality of multipliers 28a, 28b, 28c, 28d, and 28e. , And an adder 29.
[0026]
The pulse train signal b input to the transversal filter 15 becomes data e digitized by the A / D converter 25. The digitized data e is sequentially sent to the shift registers 26a, 26b, 26c, and 26d, and the shift pulse f generated by the clock generator 27 is passed through the shift registers 26a, 26b, 26c, and 26d. Shifts in order in synchronization with. That is, the shift registers 26a, 26b, 26c, and 26d serve as delay circuits.
[0027]
Since the delay time of each stage is determined by the frequency of the shift pulse f, the frequency of the shift pulse f needs to be sufficiently high so that the operation of the transversal filter 15 is completed within the scan time of the speed control loop.
[0028]
On the other hand, the digitized data e and the outputs g, h, i, j of the shift registers 26a, 26b, 26c, 26d are respectively multiplied by multipliers 28a, 28b, 28c, 28d, 28e, and tap gain coefficient W0. , W1, W2, W3, W4 are multiplied.
[0029]
The outputs k, l, m, n, and o of the multipliers 28a, 28b, 28c, 28d, and 28e are input to the adder 29, summed, and then output as a pulse train signal c. The tap gain coefficients W0, W1, W2, W3, and W4 are used to give individual weights to the digitized data e and the outputs g, h, i, and j of the shift registers 26a, 26b, 26c, and 26d, respectively. It is a numerical value set in advance.
[0030]
All of these operations are processed based on the program by controlling the operation of the computer or programmable servo controller by the program consisting of each step recorded in the software.
[0031]
Since the transversal filter 15 can set the phase delay smaller than that of the conventional low-pass filter (see FIG. 3), the phase delay of the rotation detection speed V _B of the rotary cutter 18 can be reduced. As a result, the gain of the speed regulator 17 can be increased.
[0032]
Thus, according to the present invention, the rotary cutter control device 10 is different from the conventional rotary cutter control device (see FIG. 3) in that the low-pass filter is used for noise reduction of the pulse train signal b. Instead of this, a transversal filter 15 is used.
[0033]
The transversal filter 15 smoothes and outputs the input pulse train signal of the rotational speed of the rotary cutter 18 without being affected by the phase delay, and outputs the speed train to the speed adjuster 17 that adjusts the rotational speed of the rotary cutter 18. Give feedback.
[0034]
In other words, the pulse train signal b of the pulse encoder 23 attached to the motor 20 that drives the rotary cutter 18 that cuts the running web W (material) to a predetermined length while running is smoothed by the transversal filter 15, and the software servo controller A speed regulator 17 in a certain rotary cutter control apparatus 10 is input as speed feedback. This transversal filter 15 is processed by software.
[0035]
Therefore, not only the noise on the pulse train signal b of the pulse encoder 23 can be reduced, but also the speed loop gain, that is, the gain of the speed regulator 17 can be sufficiently increased. In particular, when the rotational speed of the motor 20 is close to zero, that is, when the frequency of the pulse train signal b is low, the speed loop gain can be increased to about 2 to 3 times the conventional speed loop gain. .
[0036]
Increasing the speed loop gain means that the difference between the (+) input and the (−) input of the speed regulator (ASR) 17, that is, the speed command (V _A −V _C ) and the rotation detection speed V _B of the rotary cutter 17. The error is close to zero. Therefore, the rotary cutter control device 10 can improve the accuracy of the web cutting length by the rotary cutter 18.
[0037]
In the above embodiment, the rotary cutter control device 10 that controls the rotary cutter 18 is described. However, the control target is not limited to this, and other industrial machines such as transfer machines and feeders are controlled. The present invention can also be applied to a control device.
[0038]
【The invention's effect】
As described above, according to the present invention, a rotary cutter control device that controls a rotary cutter that cuts a material that is driven by a motor into a predetermined length is a pulse train of a rotational speed of the rotary cutter by a transversal filter. The signal is smoothed and output without being affected by the phase delay, and the output is fed back to the speed regulator that adjusts the rotational speed of the rotary cutter, so the gain of the speed regulator that adjusts the rotational speed of the rotary cutter. Can be sufficiently increased, and the accuracy of the web cutting length is not reduced.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a web cutting system using a rotary cutter provided with a rotary cutter control device according to an embodiment of the present invention.
2 is a block diagram showing a configuration of a transversal filter in FIG. 1. FIG.
FIG. 3 is a block diagram showing a configuration of a web cutting system using a rotary cutter equipped with a conventional rotary cutter control device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Rotary cutter control apparatus 11 Remaining length calculator 12 1st speed converter 13 2nd speed converter 14 Subtractor 15 Transversal filter 16 3rd speed converter 17 Speed regulator 18 Rotary cutter 19 Reducer 20 Motor 21 Measuring Roll 22 Pulse encoder 23 Pulse encoder 24 Power converter 25 A / D converter 26a, 26b, 26c, 26d Shift register 27 Clock generator 28a, 28b, 28c, 28d, 28e Multiplier 29 Adder W Web W0, W1, W2, W3, W4 Tap gain coefficient a Pulse train signal b Pulse train signal c Pulse train signal d Torque command e Data f Shift pulse g, h, i, j, k, l, m, n, o Output

Claims (3)

In a rotary cutter control device that controls a rotary cutter that cuts a traveling material driven by a motor into a predetermined length,
It has a transversal filter that smoothes and outputs the input pulse train signal of the rotational speed of the rotary cutter without being affected by the phase delay, and feeds back the speed to the speed regulator that adjusts the rotational speed of the rotary cutter. A rotary cutter control device. The transversal filter is
An A / D converter that converts the input pulse train signal into digitized data and outputs the data;
A clock generator that generates and outputs a shift pulse; and
A plurality of shift registers that sequentially shift and output the digitized data in synchronization with the shift pulse;
A plurality of multipliers for multiplying and outputting a tap gain coefficient to the digitized data and the output of each shift register;
The rotary cutter control device according to claim 1, further comprising an adder that outputs the pulse train signals after summing up the outputs of the multipliers. The transversal filter;
The remaining speed calculator that inputs the traveling speed of the material to be cut by the rotary cutter and the rotational speed of the rotary cutter as a pulse train signal, calculates the remaining length of the material, and outputs it,
A first speed converter that inputs a pulse train signal of the travel speed of the material, converts the palace train signal into a material speed, and
A second speed converter that converts the remaining length of the material input from the remaining length calculator into an error speed and outputs the error speed;
A subtractor that calculates a difference between the material speed input from the first speed converter and the error speed input from the second speed converter and outputs it as a speed command;
A third speed converter that receives a pulse train signal smoothed by the transversal filter, converts the pulse train signal into a rotation detection speed of the rotary cutter, and outputs the rotation speed;
The rotary cutter control device according to claim 1, further comprising: a speed regulator that inputs a rotation detection speed of the rotary cutter as speed feedback and outputs a torque command for driving the motor.

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