EP2729397B1 - Method and apparatus for moving a material web - Google Patents
Method and apparatus for moving a material web Download PDFInfo
- Publication number
- EP2729397B1 EP2729397B1 EP12769953.6A EP12769953A EP2729397B1 EP 2729397 B1 EP2729397 B1 EP 2729397B1 EP 12769953 A EP12769953 A EP 12769953A EP 2729397 B1 EP2729397 B1 EP 2729397B1
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- EP
- European Patent Office
- Prior art keywords
- drive unit
- torque
- power
- acceleration
- conveyor means
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 56
- 239000000463 material Substances 0.000 title claims description 32
- 230000001133 acceleration Effects 0.000 claims description 49
- 238000004804 winding Methods 0.000 claims description 31
- 238000004590 computer program Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 239000004744 fabric Substances 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000011888 foil Substances 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000123 paper Substances 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H23/00—Registering, tensioning, smoothing or guiding webs
- B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
- B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
- B65H23/182—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in unwinding mechanisms or in connection with unwinding operations
- B65H23/185—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in unwinding mechanisms or in connection with unwinding operations motor-controlled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H23/00—Registering, tensioning, smoothing or guiding webs
- B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
- B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
- B65H23/195—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations
- B65H23/198—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations motor-controlled (Controlling electrical drive motors therefor)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2220/00—Function indicators
- B65H2220/02—Function indicators indicating an entity which is controlled, adjusted or changed by a control process, i.e. output
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2513/00—Dynamic entities; Timing aspects
- B65H2513/20—Acceleration or deceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
- B65H2515/70—Electrical or magnetic properties, e.g. electric power or current
Definitions
- the invention relates to a method for moving a material web with conveying means which can be driven by at least one drive unit.
- the invention relates to a controller and a machine with at least one drive unit and with by the at least one drive unit driven conveyors. Furthermore, the invention relates to a computer program and a computer program product.
- Such a method and such devices are used in particular where machines move through goods webs by means of electrically driven rollers and cylinders.
- These cylinders and rollers especially in paper, foil and steel processing machines, have large mass inertias depending on the amount of wound material, so that the acceleration and deceleration time can be in the range of several minutes.
- This ramp time depends mainly on the factors friction and inertia.
- the inertia is largely dependent on the amount of wound material, especially in winders (winders and unwinders).
- the acceleration and deceleration values have hitherto been set to a value such that the machine is not electrically and mechanically overloaded.
- a programmable controller is known by means of which a calibration between successive winding and unwinding operations of a belt and an automatic generation of a current reference value for a control of a motor of a winding or unwinding roller in real time is made possible.
- the controller includes a Arithmetic unit for determining the roll diameter and a compensation of a deviation of the belt speed and an inertia compensation.
- EP 1 958 905 A2 further describes a method and apparatus for compensating friction in a winding machine. Further, in EP 1 958 905 A2 discloses a control method for friction compensation in a winding machine.
- the invention has for its object to reduce times for accelerating and decelerating a web through existing drives or to use the same time requirements drives with lower power and torque limits.
- the method can be used in particular in paper, foil or steel processing machines, in which continuous webs are moved by means of electrically driven conveying means.
- These conveying means can be designed, for example, as rollers, cylinders, conveyor belts or the like and, together with the material webs moved therewith, can have a high mass inertia.
- the advantage of the method according to the present invention is the ability to quickly change the movement of a web.
- the method allows a torque and power optimal movement. This is also possible if the inertia of the conveyor or the web changes, for example by winding the web on the funding.
- the concept of acceleration becomes positive or negative speed change understood, so that the speed during acceleration can be greater or smaller in amount.
- two cases are distinguished in the acceleration of one web.
- the distinction is based on the fact that, in particular in electric drives at a low speed or speed, the torque is the limiting magnitude of the acceleration. That At low speed or speed, a drive unit can provide comparatively large torque, whereas the power of the drive unit is comparatively low and increases in proportion to the speed. For higher speeds or speeds, however, the power of the drive unit is the limiting amount of acceleration. In this case, the drive unit can provide a comparatively large power, with the torque decreasing for increasing speeds or speeds.
- a torque and a power can now be specified; otherwise, stored values can be used.
- the at least one drive unit requires a certain torque and a certain amount of power.
- the method now provides to accelerate the conveyor with the predetermined torque, if the power required for it is less than the predetermined power. If the torque required for the acceleration is smaller than the predefinable torque, the conveying means are accelerated with the predetermined power. This can lead to short-term overshoots in real drives, during which a greater torque than the predetermined torque or a higher power than the predetermined power is provided.
- the acceleration is accomplished by the drive unit, which corresponding current setpoints are specified.
- the presetting of the current setpoints may be preceded by further steps, such as a specification of desired ramp times, a determination of speed or speed setpoints by means of a ramp function generator, a comparison of said speed setpoint values with the speed setpoints. or actual speed values and, after a torque limitation, a conversion of the predefinable torque and the specifiable power into current setpoint values.
- the method also provides for ending the acceleration process as soon as a desired movement or speed of the material web has been reached. This can be in particular the run-up of the web to a certain speed or the complete stoppage of the web.
- the specifiable power may be a specific percentage of the rated power of the at least one drive unit and the predefinable torque may be, for example, a specific percentage of the rated torque of the at least one drive unit.
- the predefinable torque of the at least one drive unit is the rated torque of the at least one drive unit and the predefinable power is the rated power of the at least one drive unit.
- the use of the rated torque or the rated power of the at least one drive unit thereby allows the fastest possible acceleration of the funding. So are the funds -. B. from standstill - accelerated using the rated torque until the speed or speed is reached, for which the drive unit requires the rated power. From this speed, the acceleration of the conveyor using the Rated power to be continued, wherein the torque is reduced with increasing speed or speed. Finally, the acceleration process is terminated as soon as the desired movement of the web has been reached.
- this acceleration of the material web executed as deceleration is achieved using the rated power of the at least one drive unit, provided that the torque required for this purpose is smaller than the nominal torque.
- the web is braked by the at least one drive unit using the rated power until the required torque is equal in terms of the nominal torque of the at least one drive unit.
- the web is further braked with the nominal torque of the drive unit, wherein the braking power is now smaller than the rated power of at least one drive unit.
- the at least one drive unit may be, for example, of the form that at least one rectifier, which rectifies an AC voltage of the supply network into an intermediate circuit voltage, at least one DC link capacitor and at least one inverter, which inverts the DC link voltage in an AC voltage of variable frequency, are provided. If a rectifier and several inverters are used, the inverters can have a greater total power than the rectifier, so that the power of the at least one drive unit is limited by the rectifier. In this case, the rated power of the at least one drive unit is given by the rated power of the rectifier.
- a check and a feedback of the method can be carried out in such a way that the current setpoint values for the drive unit are corrected and adapted if necessary.
- the actual values of the torque and the power of the at least one drive unit can be determined in particular by a converter which is included in the at least one drive unit.
- the acceleration of the conveyor is performed as a deceleration of the movement of the web and the at least one drive unit is operated as a generator.
- the generator operation of a drive unit of the machine in terms of environmental protection, energy conservation and cost reduction is particularly interesting. Because when braking the funding can their kinetic Energy are fed back through the at least one drive unit in the form of electrical energy in the power grid. Overall, the machine thus consumes less energy, which is synonymous with a cost reduction and improved environmental protection.
- the acceleration of the conveyor is performed as a deceleration of the movement of the web and the movement of the web is additionally braked by means of a brake.
- a brake By using a brake, a greater acceleration of the conveyor can be achieved, resulting in increased productivity of the machine as the time to decelerate the machine can be reduced to a desired motion. Consequently, the cost can be further reduced.
- the conveying means comprise a winding cylinder, which may also be designed as a roller or another device for winding a web.
- the web is wound up or unwound onto the winding cylinder, and since the web itself has a certain thickness, the material wound on the cylinder has a certain thickness of the winding which is detected.
- the torque needed to accelerate the conveyor which is needed to accelerate the conveyor and / or the current setpoints are detected and stored. This can take place, for example, in a control in which the dependence of the variables mentioned on the detected goods winding thickness of the material web wound on the winding cylinder is thus present.
- the stored information can be used when detecting a specific amount of goods roll presently present on the cylinder.
- a learning process takes place, and a machine on which the procedure is applied is characterized by a certain "intelligence". This is particularly advantageous if different types of webs are used, which have different textures, thicknesses or masses and for each of the different webs said dependence is stored separately.
- Said ratio of the required torque with respect to the maximum achievable torque of a drive unit or the corresponding ratio with respect to the powers expresses whether the considered drive unit is able to effect the desired acceleration. If this is not the case and the desired acceleration can not be achieved, then the determined ratio is greater than 1.
- the ratio for each of the drive units is determined . Should one of the determined ratios be greater than 1, the maximum achievable acceleration is determined for that drive unit which has the largest determined ratio and is therefore the most overstretched.
- the funding is accelerated with the determined maximum achievable acceleration. So that means that the drive unit with the largest determined ratio and which is the most overwhelmed, specifies the acceleration of the funding.
- for machines which have several, for example, as cylinders, rollers or the like running means and have several associated drive units, thus ensuring that the moving web over several funding and is moved uniformly by several drive units.
- FIG. 1 shows a flow diagram of the method according to the present invention for moving a web 1.
- a desired movement of the web 1 is compared with the current movement of the web 1. If in this case the actual movement of the material web 1 is equal to the desired movement of the material web 1, then step 104 is carried out in which the process is ended. However, should the actual movement and the desired movement of the material web 1 be different, the material web 1 is accelerated by means of at least one drive unit 2 drivable conveying means 3, 13. For this purpose, two cases are distinguished, for each corresponding current setpoint values 11 are specified to the at least one drive unit 2.
- step 102 the conveying means 3, 13 are accelerated by the at least one drive unit 2 with a predefinable torque 4 if a power required for this purpose is smaller than a predefinable power 5 of the at least one drive unit 2.
- step 103 the conveying means 3, 13 are accelerated by the at least one drive unit 2 with the predetermined power 5, if a torque required for this purpose is smaller than the presettable torque 4 of the at least one drive unit 2. If step 102 or step 103 has been carried out, step 103 or 102 can subsequently be carried out, or the acceleration process is ended in accordance with 104 as soon as a desired movement of material web 1 has been reached.
- FIG. 2 shows an exemplary time profile of the speed 8 of a web 1, an actual torque value 6 and a power actual value 7 according to the method of the present invention.
- the time is plotted and on the ordinate axis with a scale from 0 to 2000, the speed 8 of a web 1.
- On the ordinate axis are still each with a scale from -150 to 150, an actual torque value 6 and a Actual performance value 7 plotted.
- the two latter variables are expressed as relative size in% with respect to the corresponding nominal values of a drive unit 2, wherein the drive unit 2 can accelerate conveying means 3, 13 which move the web 1.
- FIG. 2 not shown and listed here reference numerals see the other figures.
- the conveyor 3, 13 and the web 1 are first accelerated with comparatively low power, but a torque actual value 6 is used, which the rated torque of the drive unit 2 corresponds. For real drives This can lead to short-term overshoots, during which a larger torque or higher power is provided.
- the speed increases 8. Since the power is both proportional to the torque and proportional to the speed 8 and the speed, the actual power value 7 of the drive unit 2 increases with increasing speed. 8
- the nominal power of the drive unit 2 is reached, so that with further increasing speed 8, the actual power value 7 corresponds to the rated power of the drive unit 2 and the actual torque value 6 is reduced with increasing speed 8.
- the acceleration of the web 1 and the conveying means 3, 13 is finally terminated as soon as the desired movement, ie a desired speed 8, has been reached. In order to maintain a certain speed 8, only that power and that torque are needed, which compensate for the friction losses occurring.
- the drive unit 2 In order to decelerate a material web 1 that is in motion, ie to carry out an acceleration counter to the direction of movement, the drive unit 2 first uses the nominal power of the drive unit as the actual power value 7, using a torque actual value 6 which is smaller than the torque value. Nominal value of the drive unit 2.
- the actual power value 7 is kept constant with decreasing speed 8, whereby the torque actual value thereby increases until the torque nominal value of the drive unit 2 is reached.
- the torque actual value 6 is now kept constant equal to the rated torque of the drive unit 2, and the actual power value 7 is reduced with decreasing speed 8.
- FIG. 3 shows a block diagram of a first embodiment of the method according to the present invention.
- Drive units 2 current setpoints 11 are specified by a ramp generator 24.
- the setpoint values can either be transferred directly to all drive units 2 or via a setpoint scale or via a setpoint cascade.
- the ramp-function generator 24 can also be designed as a ramp generator or the like.
- the drives 2 can perform a movement using a respective torque actual value 6 and a respective actual power value 7, which are registered by a ramp adaptation 21.
- a value for the acceleration rate 22 is determined, which is transmitted to the ramp-function generator 24. This in turn generates the current setpoint values 11, which are specified to the drive units 2.
- FIG. 4 shows a block diagram of a first embodiment of the machine according to the present invention.
- a web 1 is moved via a roller 3 to a winding cylinder 13, on which the web 1 is wound up.
- the wound up on the winding cylinder 13 web 1 has a fabric winding thickness 14.
- the roller 3 and the winding cylinder 13 are each driven via a drive shaft 20 which is provided with a brake 12 and is driven by a drive unit 2.
- the respective drive units 2 receive current setpoints 11 from a controller 15 on which a computer program 18 runs during the performance of the method of the present invention.
- FIG. 5 shows an exemplary time profile of a speed of a web of a torque actual value and a power actual value according to the prior art.
- the representation of the actual torque value 6, the actual power value 7 and the speed 8 corresponds to that in FIG. 2 of the present document.
- the actual torque value 6 remains almost constant during the acceleration phase and is less than about half of the nominal torque value of a corresponding drive unit 2.
- the speed 8 is increasing, the actual power value 7 is continuously increased and while the speed 8 decreases, the power actual value continuously decreases.
- the power actual value 7 does not reach the nominal power value of a corresponding drive unit 2 even at high speeds 8.
- there is no torque or power-optimal movement at any time This results in a longer required period of time to achieve the desired movement.
- the invention relates to a method for moving a web 1 with at least one drive unit 2 drivable conveying means 3, 13. Furthermore, the invention relates to a controller 15 and a machine 16 with at least one drive unit 2 and with at least one drive unit 2 drivable conveying means 3rd 13. The invention further relates to a computer program 18 and a computer program product 19.
Landscapes
- Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
- Control Of Electric Motors In General (AREA)
Description
Die Erfindung betrifft ein Verfahren zum Bewegen einer Warenbahn mit durch zumindest eine Antriebseinheit antreibbaren Fördermitteln.The invention relates to a method for moving a material web with conveying means which can be driven by at least one drive unit.
Weiterhin betrifft die Erfindung eine Steuerung und eine Maschine mit zumindest einer Antriebseinheit und mit durch die zumindest eine Antriebseinheit antreibbaren Fördermitteln. Weiter betrifft die Erfindung ein Computerprogramm und ein Computerprogrammprodukt.Furthermore, the invention relates to a controller and a machine with at least one drive unit and with by the at least one drive unit driven conveyors. Furthermore, the invention relates to a computer program and a computer program product.
Ein derartiges Verfahren und derartige Vorrichtungen kommen insbesondere dort zum Einsatz, wo Maschinen durchlaufende Warenbahnen mittels elektrisch angetriebener Walzen und Zylinder bewegen. Diese Zylinder und Walzen haben vor allem bei papier-, folien- und stahlverarbeitenden Maschinen große, von der Menge des aufgewickelten Materials abhängige Massenträgheiten, so dass die Zeit zum Beschleunigen und Abbremsen im Bereich von mehreren Minuten liegen kann. Um die Zeiten mit Produktion zu verlängern, ist es sinnvoll die kürzest möglichen Rampenzeiten zum Beschleunigen und Abbremsen zu verwenden. Diese Rampenzeit hängt hauptsächlich von den Faktoren Reibung und Massenträgheit ab. Die Massenträgheit ist vor allem bei Wicklern (Auf- und Abwicklern) stark von der Menge des aufgewickelten Materials abhängig. Die Beschleunigungs- und Abbremswerte wurden bisher auf jeweils einen solchen Wert eingestellt, dass die Maschine elektrisch und mechanisch nicht überlastet wird.Such a method and such devices are used in particular where machines move through goods webs by means of electrically driven rollers and cylinders. These cylinders and rollers, especially in paper, foil and steel processing machines, have large mass inertias depending on the amount of wound material, so that the acceleration and deceleration time can be in the range of several minutes. In order to extend the times with production, it makes sense to use the shortest possible ramp times for acceleration and deceleration. This ramp time depends mainly on the factors friction and inertia. The inertia is largely dependent on the amount of wound material, especially in winders (winders and unwinders). The acceleration and deceleration values have hitherto been set to a value such that the machine is not electrically and mechanically overloaded.
Aus der
Der Erfindung liegt die Aufgabe zugrunde, Zeiten zum Beschleunigen und Abbremsen einer Warenbahn durch vorhandene Antriebe zu verringern bzw. bei gleichen zeitlichen Anforderungen Antriebe mit geringeren Leistungs- und Drehmomentgrenzen verwenden zu können.The invention has for its object to reduce times for accelerating and decelerating a web through existing drives or to use the same time requirements drives with lower power and torque limits.
Diese Aufgabe wird erfindungsgemäß durch ein Verfahren zum Bewegen einer Warenbahn mit durch zumindest eine Antriebseinheit antreibbaren Fördermitteln nach den Merkmalen des Anspruchs 1 gelöst.This object is achieved by a method for moving a web with at least one drive unit driven by conveying means according to the features of claim 1.
Diese Aufgabe wird weiter gelöst durch eine Steuerung gemäß Anspruch 8, eine Maschine gemäß Anspruch 9, ein Computerprogramm gemäß Anspruch 10 und ein Computerprogrammprodukt gemäß Anspruch 11.This object is further achieved by a controller according to
Das Verfahren kann insbesondere bei papier-, folien- bzw. stahlverarbeitenden Maschinen eingesetzt werden, bei welchen durchlaufende Warenbahnen mittels elektrisch antreibbaren Fördermitteln bewegt werden. Diese Fördermittel können beispielsweise als Walzen, Zylinder, Förderbänder oder dergleichen ausgeführt sein und können zusammen mit den damit bewegten Warenbahnen eine große Massenträgheit aufweisen. Der Vorteil des Verfahrens gemäß der vorliegenden Erfindung ist die Möglichkeit, die Bewegung einer Warenbahn schnell verändern zu können. Insbesondere bei der Beschleunigung einer Warenbahn erlaubt das Verfahren eine drehmoment- und leistungsoptimale Bewegung. Dies ist auch dann möglich, wenn sich die Massenträgheit der Fördermittel oder der Warenbahn ändert, beispielsweise durch Aufwickeln der Warenbahn auf die Fördermittel. Dabei wird der Begriff der Beschleunigung als positive bzw. negative Geschwindigkeitsänderung verstanden, so dass die Geschwindigkeit während einer Beschleunigung betragsmäßig größer oder kleiner werden kann.The method can be used in particular in paper, foil or steel processing machines, in which continuous webs are moved by means of electrically driven conveying means. These conveying means can be designed, for example, as rollers, cylinders, conveyor belts or the like and, together with the material webs moved therewith, can have a high mass inertia. The advantage of the method according to the present invention is the ability to quickly change the movement of a web. In particular, in the acceleration of a web, the method allows a torque and power optimal movement. This is also possible if the inertia of the conveyor or the web changes, for example by winding the web on the funding. At the same time, the concept of acceleration becomes positive or negative speed change understood, so that the speed during acceleration can be greater or smaller in amount.
Gemäß dem vorliegenden Verfahren werden bei der Beschleunigung, einer Warenbahn zwei Fälle unterschieden. Der Unterscheidung liegt dabei die Tatsache zugrunde, dass insbesondere bei elektrischen Antrieben bei einer geringen Geschwindigkeit oder Drehzahl das Drehmoment die begrenzende Größe der Beschleunigung ist. D.h. bei geringer Drehzahl oder Geschwindigkeit kann eine Antriebseinheit vergleichsweise großes Drehmoment zur Verfügung stellen, wohingegen die Leistung der Antriebseinheit vergleichsweise gering ist und proportional zur Geschwindigkeit oder Drehzahl wächst. Für größere Geschwindigkeiten oder Drehzahlen ist jedoch die Leistung der Antriebseinheit die begrenzende Größe der Beschleunigung. In diesem Fall kann die Antriebseinheit eine vergleichsweise große Leistung zur Verfügung stellen, wobei sich das Drehmoment für zunehmende Geschwindigkeiten oder Drehzahlen verringert.According to the present method, two cases are distinguished in the acceleration of one web. The distinction is based on the fact that, in particular in electric drives at a low speed or speed, the torque is the limiting magnitude of the acceleration. That At low speed or speed, a drive unit can provide comparatively large torque, whereas the power of the drive unit is comparatively low and increases in proportion to the speed. For higher speeds or speeds, however, the power of the drive unit is the limiting amount of acceleration. In this case, the drive unit can provide a comparatively large power, with the torque decreasing for increasing speeds or speeds.
Erfindungsgemäß kann nun ein Drehmoment und eine Leistung vorgegeben werden, andernfalls können hinterlegte Werte verwendet werden. Für die Beschleunigung der Fördermittel und der Warenbahn benötigt die zumindest eine Antriebseinheit ein gewisses Drehmoment und eine gewisse Leistung. Das Verfahren sieht nun vor, die Fördermittel mit dem vorgebbaren Drehmoment zu beschleunigen, falls die dafür benötigte Leistung kleiner als die vorgebbare Leistung ist. Falls das für die Beschleunigung benötigte Drehmoment betragsmäßig kleiner als das vorgebbare Drehmoment ist, werden die Fördermittel mit der vorgebbaren Leistung beschleunigt. Dabei kann es bei realen Antrieben zu kurzzeitigen Überschwingern kommen, während denen ein größeres Drehmoment als das vorgebbare Drehmoment bzw. eine höhere Leistung als die vorgebbare Leistung zur Verfügung gestellt wird. Im Vergleich zu den bekannten Lösungen wird weniger Zeit für das Hoch- bzw. Herunterfahren einer Maschine mit durchlaufenden Warenbahnen benötigt, und es ergibt sich also eine zumindest nahezu optimale Rampenzeit, während der die Fördermittel beschleunigt werden. Dabei wird die Beschleunigung bewerkstelligt durch die Antriebseinheit, welcher entsprechende Strom-Sollwerte vorgegeben werden. Der Vorgabe der Strom-Sollwerte können weitere Schritte vorgeschalten sein, wie zum Beispiel eine Vorgabe von erwünschten Rampenzeiten, eine Bestimmung von Geschwindigkeits- bzw. Drehzahl-Sollwerten mittels eines Hochlaufgebers, ein Vergleich der genannten Geschwindigkeits- bzw. Drehzahl-Sollwerte mit den Geschwindigkeits- bzw. Drehzahl-Istwerten und nach einer Drehmomentbegrenzung eine Umrechnung des vorgebbaren Drehmoments und der vorgebbaren Leistung in Strom-Sollwerte. Das Verfahren sieht weiterhin vor, den Beschleunigungsvorgang zu beenden, sobald eine gewünschte Bewegung bzw. Geschwindigkeit der Warenbahn erreicht wurde. Dies kann insbesondere der Hochlauf der Warenbahn bis zu einer gewissen Geschwindigkeit oder der vollständige Stillstand der Warenbahn sein.According to the invention, a torque and a power can now be specified; otherwise, stored values can be used. For the acceleration of the conveyor and the web, the at least one drive unit requires a certain torque and a certain amount of power. The method now provides to accelerate the conveyor with the predetermined torque, if the power required for it is less than the predetermined power. If the torque required for the acceleration is smaller than the predefinable torque, the conveying means are accelerated with the predetermined power. This can lead to short-term overshoots in real drives, during which a greater torque than the predetermined torque or a higher power than the predetermined power is provided. Compared to the known solutions less time is required for the up or shutdown of a machine with continuous webs, and it results So at least an almost optimal ramp time during which the funds are accelerated. The acceleration is accomplished by the drive unit, which corresponding current setpoints are specified. The presetting of the current setpoints may be preceded by further steps, such as a specification of desired ramp times, a determination of speed or speed setpoints by means of a ramp function generator, a comparison of said speed setpoint values with the speed setpoints. or actual speed values and, after a torque limitation, a conversion of the predefinable torque and the specifiable power into current setpoint values. The method also provides for ending the acceleration process as soon as a desired movement or speed of the material web has been reached. This can be in particular the run-up of the web to a certain speed or the complete stoppage of the web.
Für den Fall einer nachträglich erweiterbaren Maschine oder um anderen Gegebenheiten Rechnung zu tragen, kann die vorgebbare Leistung beispielsweise ein bestimmter Prozentsatz der Nennleistung der zumindest einen Antriebseinheit und das vorgebbare Drehmoment beispielsweise ein bestimmter Prozentsatz des Nenndrehmoments der zumindest einen Antriebseinheit sein.For example, in the case of a subsequently expandable machine or to take other circumstances into account, the specifiable power may be a specific percentage of the rated power of the at least one drive unit and the predefinable torque may be, for example, a specific percentage of the rated torque of the at least one drive unit.
Bei einer vorteilhaften Ausgestaltung des Verfahrens ist das vorgebbare Drehmoment der zumindest einen Antriebseinheit das Nenndrehmoment der zumindest einen Antriebseinheit und die vorgebbare Leistung die Nennleistung der zumindest einen Antriebseinheit. Das Verwenden des Nenndrehmoments bzw. der Nennleistung der zumindest einen Antriebseinheit erlaubt dabei die schnellstmögliche Beschleunigung der Fördermittel. So werden die Fördermittel - z. B. ausgehend vom Stillstand - unter Verwendung des Nenndrehmoments beschleunigt, bis jene Geschwindigkeit oder Drehzahl erreicht wird, für welche die Antriebseinheit die Nennleistung benötigt. Ab dieser Drehzahl kann die Beschleunigung der Fördermittel unter Verwendung der Nennleistung fortgeführt werden, wobei das Drehmoment mit zunehmender Geschwindigkeit oder Drehzahl verringert wird. Schließlich wird der Beschleunigungsvorgang beendet, sobald die gewünschte Bewegung der Warenbahn erreicht wurde. Wird die Warenbahn bewegt und ist ein Abbremsen gewünscht, so wird diese als Abbremsen ausgeführte Beschleunigung der Warenbahn unter Verwendung der Nennleistung der zumindest einen Antriebseinheit erreicht, sofern das dafür benötigte Drehmoment betragsmäßig kleiner als das Nenndrehmoment ist. Für diesen Fall wird die Warenbahn durch die zumindest eine Antriebseinheit unter Verwendung der Nennleistung soweit abgebremst, bis das dafür benötigte Drehmoment betragsmäßig gleich dem Nenndrehmoment der zumindest einen Antriebseinheit ist. Anschließend wird die Warenbahn mit dem Nenndrehmoment der Antriebseinheit weiter gebremst, wobei die Bremsleistung nun kleiner als die Nennleistung der zumindest einen Antriebseinheit ist. Insgesamt ergibt sich somit eine nahezu optimale Rampenzeit, während der die Fördermittel beschleunigt werden und während der die zumindest eine Antriebseinheit die jeweils maximal mögliche Beschleunigung bewirkt. Folglich wird also weniger Zeit für das Hoch- bzw. Herunterfahren einer Maschine mit durchlaufenden Warenbahnen benötigt.In an advantageous embodiment of the method, the predefinable torque of the at least one drive unit is the rated torque of the at least one drive unit and the predefinable power is the rated power of the at least one drive unit. The use of the rated torque or the rated power of the at least one drive unit thereby allows the fastest possible acceleration of the funding. So are the funds -. B. from standstill - accelerated using the rated torque until the speed or speed is reached, for which the drive unit requires the rated power. From this speed, the acceleration of the conveyor using the Rated power to be continued, wherein the torque is reduced with increasing speed or speed. Finally, the acceleration process is terminated as soon as the desired movement of the web has been reached. If the material web is moved and deceleration is desired, then this acceleration of the material web executed as deceleration is achieved using the rated power of the at least one drive unit, provided that the torque required for this purpose is smaller than the nominal torque. For this case, the web is braked by the at least one drive unit using the rated power until the required torque is equal in terms of the nominal torque of the at least one drive unit. Subsequently, the web is further braked with the nominal torque of the drive unit, wherein the braking power is now smaller than the rated power of at least one drive unit. Overall, this results in a nearly optimal ramp time during which the funding is accelerated and during which the at least one drive unit causes the maximum possible acceleration. As a result, less time is needed to start or stop a machine with continuous webs.
Die zumindest eine Antriebseinheit kann beispielsweise der Gestalt sein, dass zumindest ein Gleichrichter, welcher eine Wechselspannung des Versorgungsnetzes in eine Zwischenkreisspannung gleichrichtet, zumindest ein Zwischenkreiskondensator und zumindest ein Wechselrichter, welcher die Zwischenkreisspannung in eine Wechselspannung veränderlicher Frequenz wechselrichtet, vorgesehen sind. Werden ein Gleichrichter und mehrere Wechselrichter verwendet, können die Wechselrichter eine größere Gesamtleistung haben als der Gleichrichter, so dass die Leistung der zumindest einen Antriebseinheit durch den Gleichrichter begrenzt wird. Für diesen Fall ist die Nennleistung der zumindest einen Antriebseinheit durch die Nennleistung des Gleichrichters gegeben. Denkbar ist auch der Einsatz von Motoren in der zumindest einen Antriebseinheit, die ein geringeres oder ein größeres Nenndrehmoment aufweisen als jenes, welches die Einheit aus Gleichrichter, Zwischenkreiskondensatoren und Wechselrichter bewerkstelligen kann. Das Nenndrehmoment der zumindest einen Antriebseinheit ist dann Unterberücksichtigung des schwächsten Glieds der zumindest einen Antriebseinheit zu bestimmen.The at least one drive unit may be, for example, of the form that at least one rectifier, which rectifies an AC voltage of the supply network into an intermediate circuit voltage, at least one DC link capacitor and at least one inverter, which inverts the DC link voltage in an AC voltage of variable frequency, are provided. If a rectifier and several inverters are used, the inverters can have a greater total power than the rectifier, so that the power of the at least one drive unit is limited by the rectifier. In this case, the rated power of the at least one drive unit is given by the rated power of the rectifier. It is also conceivable to use motors in the at least one drive unit, which have a lower or a larger rated torque as that which can accomplish the unit of rectifier, DC link capacitors and inverter. The nominal torque of the at least one drive unit is then to be determined taking into account the weakest link of the at least one drive unit.
Bei einer weiteren vorteilhaften Ausgestaltung des Verfahrens weist das Verfahren die folgenden weiteren Verfahrensschritte auf:
- Ermitteln von Istwerten des Drehmoments und der Leistung, welche die zumindest eine Antriebseinheit zum Beschleunigen der Fördermittel verwendet,
- Anpassen der Strom-Sollwerte, welche an die Antriebseinheit vorgegeben werden, falls der Istwert des Drehmoments betragsmäßig kleiner als das vorgebbare Drehmoment bzw. der Istwert der ermittelten Leistung kleiner als die vorgebbare Leistung ist.
- Determining actual values of the torque and the power which the at least one drive unit uses for accelerating the conveying means,
- Adjusting the current setpoints, which are specified to the drive unit, if the actual value of the torque is smaller in magnitude than the predetermined torque or the actual value of the determined power is less than the predetermined power.
Durch die Ermittlung der Istwerte des Drehmoments und der Leistung und deren Vergleich mit den vorgebbaren Werten für Drehmoment und Leistung kann eine Kontrolle und eine Rücckopplung des Verfahrens derart durchgeführt werden, dass die Strom-Sollwerte für die Antriebseinheit ggf. korrigiert und angepasst werden. Dabei können die Istwerte des Drehmoments und der Leistung der zumindest einen Antriebseinheit insbesondere von einem Umrichter, der von der zumindest einen Antriebseinheit umfasst wird, ermittelt werden.By ascertaining the actual values of the torque and the power and comparing them with the predefinable values for torque and power, a check and a feedback of the method can be carried out in such a way that the current setpoint values for the drive unit are corrected and adapted if necessary. In this case, the actual values of the torque and the power of the at least one drive unit can be determined in particular by a converter which is included in the at least one drive unit.
Bei einer weiteren vorteilhaften Ausgestaltung des Verfahrens wird die Beschleunigung der Fördermittel als Abbremsung der Bewegung der Warenbahn ausgeführt und die zumindest eine Antriebseinheit wird generatorisch betrieben. Weil das Verfahren insbesondere bei Maschinen mit großen Massenträgheiten eingesetzt werden kann, ist der generatorische Betrieb einer Antriebseinheit der Maschine im Hinblick auf Umweltschutz, Energieeinsparung und Kostenreduktion besonders interessant. Denn beim Abbremsen der Fördermittel kann deren kinetische Energie durch die zumindest eine Antriebseinheit in Form von elektrischer Energie in das Stromnetz zurückgespeist werden. Insgesamt verbraucht die Maschine somit weniger Energie, was gleichbedeutend mit einer Kostenreduktion und verbessertem Umweltschutz ist.In a further advantageous embodiment of the method, the acceleration of the conveyor is performed as a deceleration of the movement of the web and the at least one drive unit is operated as a generator. Because the method can be used in particular for machines with large inertia, the generator operation of a drive unit of the machine in terms of environmental protection, energy conservation and cost reduction is particularly interesting. Because when braking the funding can their kinetic Energy are fed back through the at least one drive unit in the form of electrical energy in the power grid. Overall, the machine thus consumes less energy, which is synonymous with a cost reduction and improved environmental protection.
Bei einer weiteren vorteilhaften Ausgestaltung des Verfahrens wird die Beschleunigung der Fördermittel als Abbremsung der Bewegung der Warenbahn ausgeführt und die Bewegung der Warenbahn wird zusätzlich mittels einer Bremse abgebremst. Durch die Verwendung einer Bremse kann eine größere Beschleunigung der Fördermittel erreicht werden, was in einer erhöhten Produktivität der Maschine resultiert, da die Zeit zum Abbremsen der Maschine bis zu einer gewünschten Bewegung reduziert werden kann. Folglich können die Kosten weiter reduziert werden.In a further advantageous embodiment of the method, the acceleration of the conveyor is performed as a deceleration of the movement of the web and the movement of the web is additionally braked by means of a brake. By using a brake, a greater acceleration of the conveyor can be achieved, resulting in increased productivity of the machine as the time to decelerate the machine can be reduced to a desired motion. Consequently, the cost can be further reduced.
Bei einer weiteren vorteilhaften Ausgestaltung des Verfahrens weist das Verfahren die folgenden weiteren Verfahrensschritte auf:
- Ab- bzw. Aufwickeln der Warenbahn von einem bzw. auf einen Wickelzylinder, welcher von den Fördermitteln umfasst ist und welcher durch die zumindest eine Antriebseinheit antreibbar ist,
- Erfassen einer Warenwickeldicke der auf dem Wickelzylinder gewickelten Warenbahn,
- Speichern des zum Beschleunigen der Fördermittel benötigten Drehmoments, der zum Beschleunigen der Fördermittel benötigten Leistung und/oder der Strom-Sollwerte in Abhängigkeit der erfassten Warenwickeldicke.
- Unwinding or winding up of the material web from or onto a winding cylinder, which is encompassed by the conveying means and which is drivable by the at least one drive unit,
- Detecting a fabric winding thickness of the wound on the winding cylinder web,
- Storing the torque required for accelerating the conveying means, the power required for accelerating the conveying means and / or the current setpoint values as a function of the detected goods winding thickness.
Die Fördermittel umfassen einen Wickelzylinder, welcher auch als Walze oder eine andere Vorrichtung zum Aufwickeln einer Warenbahn ausgeführt sein kann. Die Warenbahn wird auf den Wickelzylinder auf- bzw. abgewickelt, und da die Warenbahn selbst eine bestimmte Dicke aufweist, weist das auf dem Zylinder aufgewickelte Material, eine bestimmte Warenwickeldicke auf, welche erfasst wird. Für eine erfasste Warenwickeldicke werden das zum Beschleunigen der Fördermittel benötigte Drehmoment, die zum Beschleunigen der Fördermittel benötigte und/oder die Strom-Sollwerte erfasst und gespeichert. Dies kann beispielsweise in einer Steuerung stattfinden, in welcher somit die Abhängigkeit der genannten Größen von der erfassten Warenwickeldicke der auf den Wickelzylinder gewickelten Warenbahn vorliegt.The conveying means comprise a winding cylinder, which may also be designed as a roller or another device for winding a web. The web is wound up or unwound onto the winding cylinder, and since the web itself has a certain thickness, the material wound on the cylinder has a certain thickness of the winding which is detected. For a recorded roll thickness For example, the torque needed to accelerate the conveyor, which is needed to accelerate the conveyor and / or the current setpoints are detected and stored. This can take place, for example, in a control in which the dependence of the variables mentioned on the detected goods winding thickness of the material web wound on the winding cylinder is thus present.
Bei einer weiteren vorteilhaften Ausführungsform weist das Verfahren dabei die folgenden weiteren Verfahrensschritte auf:
- Erfassen der Warenwickeldicke der auf den Wickelzylinder gewickelten Warenbahn,
- Verwenden der gespeicherten Abhängigkeit des zum Beschleunigen der Fördermittel benötigten Drehmoments, der zum Beschleunigung der Fördermittel benötigten Leistung und/oder der Strom-Sollwerte von der erfassten Warenwickeldicke zur Beschleunigung der Fördermittel bis zur gewünschten Bewegung der Warenbahn.
- Detecting the fabric winding thickness of the wound on the winding cylinder web,
- Using the stored dependency of the torque required to accelerate the conveyor, the power required to accelerate the conveyor, and / or the current setpoints from the detected roll thickness to accelerate the conveyor to the desired movement of the web.
Wurde die Abhängigkeit der genannten Größen von der erfassten Warenwickeldicke einmal bestimmt und abgespeichert, so kann beim Erfassen einer bestimmten, momentan auf dem Zylinder vorliegenden Warenwickeldicke die gespeicherte Information verwendet werden. Es findet somit ein Lernprozess statt, und eine Maschine, auf der das Verfahren angewandt wird, zeichnet sich durch eine gewisse "Intelligenz" aus. Dies ist besonders vorteilhaft, wenn verschiedenartige Warenbahnen verwendet werden, welche unterschiedliche Beschaffenheiten, Dicken oder Massen aufweisen und für jede der unterschiedlichen Warenbahnen die genannte Abhängigkeit separat abgespeichert wird.Once the dependence of the variables mentioned has been determined and stored by the detected fabric winding thickness, then the stored information can be used when detecting a specific amount of goods roll presently present on the cylinder. Thus, a learning process takes place, and a machine on which the procedure is applied is characterized by a certain "intelligence". This is particularly advantageous if different types of webs are used, which have different textures, thicknesses or masses and for each of the different webs said dependence is stored separately.
Bei einer weiteren vorteilhaften Ausführungsform weist das Verfahren die folgenden weiteren Verfahrensschritte auf:
- Ermitteln des Verhältnisses desjenigen Drehmoments bzw. derjenigen Leistung für jede Antriebseinheit, welche für eine gewünschte Beschleunigung benötigt wird, in Bezug auf dasjenige Drehmoment bzw. diejenige Leistung, welche die jeweilige Antriebseinheit maximal zur Verfügung stellen kann,
- falls das ermittelte Verhältnis für mindestens eine Antriebseinheit größer 1 ist:
- Ermitteln einer maximal bewerkstelligbaren Beschleunigung jener Antriebseinheit mit dem größten ermittelten Verhältnis und
- Beschleunigen der Fördermittel mit der ermittelten maximal bewerkstelligbaren Beschleunigung.
- Determining the ratio of that torque or the power for each drive unit, which is required for a desired acceleration, with respect to that torque or the power that can provide the respective drive unit maximum,
- if the determined ratio for at least one drive unit is greater than 1:
- Determining a maximum accomplishable acceleration of the drive unit with the largest determined ratio and
- Acceleration of the funding with the determined maximum accomplishable acceleration.
Das genannte Verhältnis des benötigten Drehmoments in Bezug auf das maximal bewerkstelligbare Drehmoment einer Antriebseinheit bzw. das entsprechende Verhältnis bezüglich der Leistungen drückt aus, ob die betrachtete Antriebseinheit dazu in der Lage ist, die gewünschte Beschleunigung zu bewirken. Sollte dies nicht der Fall sein und die gewünschte Beschleunigung nicht zu bewerkstelligen sein, so ist das ermittelte Verhältnis größer 1. Für den Fall, dass eine Maschine, bei der das Verfahren eingesetzt wird, mehrere Antriebseinheiten umfasst, wird das Verhältnis für jede der Antriebseinheiten ermittelt. Sollte eines der ermittelten Verhältnisse größer 1 sein, so wird für jene Antriebseinheit, die das größte ermittelte Verhältnis aufweist und somit am meisten überfordert ist, die maximal bewerkstelligbare Beschleunigung ermittelt. Schließlich werden die Fördermittel mit der ermittelten maximal bewerkstelligbaren Beschleunigung beschleunigt. Das heißt also, dass jene Antriebseinheit mit dem größten ermittelten Verhältnis und welche am meisten überfordert ist, die Beschleunigung der Fördermittel vorgibt. Insbesondere für Maschinen, welche mehrere, beispielsweise als Zylinder, Walzen oder dergleichen ausgeführte Fördermittel aufweisen und über mehrere zugehörige Antriebseinheiten verfügen, wird somit sichergestellt, dass die bewegte Warenbahn über mehrere Fördermittel und durch mehrere Antriebseinheiten gleichmäßig bewegt wird.Said ratio of the required torque with respect to the maximum achievable torque of a drive unit or the corresponding ratio with respect to the powers expresses whether the considered drive unit is able to effect the desired acceleration. If this is not the case and the desired acceleration can not be achieved, then the determined ratio is greater than 1. In the event that a machine in which the method is used, comprises several drive units, the ratio for each of the drive units is determined , Should one of the determined ratios be greater than 1, the maximum achievable acceleration is determined for that drive unit which has the largest determined ratio and is therefore the most overstretched. Finally, the funding is accelerated with the determined maximum achievable acceleration. So that means that the drive unit with the largest determined ratio and which is the most overwhelmed, specifies the acceleration of the funding. In particular, for machines which have several, for example, as cylinders, rollers or the like running means and have several associated drive units, thus ensuring that the moving web over several funding and is moved uniformly by several drive units.
Im Folgenden wird die Erfindung anhand der in den Figuren dargestellten Ausführungsbeispiele näher beschrieben und erläutert. Es zeigen:
- FIG 1
- ein Flussdiagramm des Verfahrens gemäß der vorliegenden Erfindung zum Bewegen einer Warenbahn,
- FIG 2
- einen beispielhaften zeitlichen Verlauf einer Geschwindigkeit einer Warenbahn, eines Drehmoment-Istwertes und eines Leistungs-Istwertes,
- FIG 3
- ein Blockschaltbild einer ersten Ausführungsform des Verfahrens gemäß der vorliegenden Erfindung,
- FIG 4
- ein Blockschaltbild einer ersten Ausführungsform der Maschine gemäß der vorliegenden Erfindung und
- FIG 5
- einen beispielhaften zeitlichen Verlauf einer Geschwindigkeit einer Warenbahn, eines Drehmoment-Istwertes und eines Leistungs-Istwertes gemäß Stand der Technik.
- FIG. 1
- a flow chart of the method according to the present invention for moving a web,
- FIG. 2
- an exemplary time profile of a speed of a material web, a torque actual value and a performance actual value,
- FIG. 3
- a block diagram of a first embodiment of the method according to the present invention,
- FIG. 4
- a block diagram of a first embodiment of the machine according to the present invention and
- FIG. 5
- an exemplary time profile of a speed of a web, a torque actual value and a power actual value according to the prior art.
Steht die Warenbahn 1 zunächst still und wird dann eine bestimmte Geschwindigkeit 8 der Warenbahn 1 gewünscht, werden die Fördermittel 3, 13 und die Warenbahn 1 zunächst mit vergleichsweise geringer Leistung beschleunigt, wobei jedoch ein Drehmoment-Istwert 6 verwendet wird, welcher dem Nenndrehmoment der Antriebseinheit 2 entspricht. Bei realen Antrieben kann es dabei zu kurzzeitigen Überschwingern kommen, während denen ein größeres Drehmoment bzw. eine höhere Leistung zur Verfügung gestellt wird. Bei konstant hohem Drehmoment-Istwert 6 erhöht sich die Geschwindigkeit 8. Da die Leistung sowohl proportional zum Drehmoment als auch proportional zur Geschwindigkeit 8 bzw. der Drehzahl ist, erhöht sich der Leistungs-Istwert 7 der Antriebseinheit 2 mit zunehmender Geschwindigkeit 8.If the web 1 initially stops and then a
Schließlich wird die Nennleistung der Antriebseinheit 2 erreicht, so dass bei weiter zunehmender Geschwindigkeit 8 der Leistungs-Istwert 7 der Nennleistung der Antriebseinheit 2 entspricht und der Drehmoment-Istwert 6 mit zunehmender Geschwindigkeit 8 reduziert wird. Die Beschleunigung der Warenbahn 1 und der Fördermittel 3, 13 wird schließlich beendet, sobald die gewünschte Bewegung, d.h. eine gewünschte Geschwindigkeit 8 erreicht wurde. Um eine gewisse Geschwindigkeit 8 zu halten, werden dann lediglich diejenige Leistung und dasjenige Drehmoment benötigt, welche die auftretenden Reibungsverluste ausgleichen. Um eine sich in Bewegung befindende Warenbahn 1 abzubremsen, d.h. eine Beschleunigung entgegen der Bewegungsrichtung durchzuführen, verwendet die Antriebseinheit 2 zunächst als Leistungs-Istwert 7 die Nennleistung der Antriebseinheit, wobei ein Drehmoment-Istwert 6 verwendet wird, welcher betragsmäßig kleiner ist als der Drehmoment-Nennwert der Antriebseinheit 2. Der Leistungs-Istwert 7 wird mit abnehmender Geschwindigkeit 8 konstant gehalten, wobei der Drehmoment-Istwert dabei ansteigt, bis der Drehmoment-Nennwert der Antriebseinheit 2 erreicht wird. Um die Warenbahn 1 weiter bis zum Stillstand abzubremsen, wird nun der Drehmoment-Istwert 6 konstant gleich dem Nenndrehmoment der Antriebseinheit 2 gehalten und der Leistungs-Istwert 7 wird mit abnehmender Geschwindigkeit 8 reduziert. Während der Beschleunigungsphasen findet somit immer eine drehmoment- bzw. leistungsoptimale Bewegung statt und die zum Beschleunigen benötigte Zeit ist sehr kurz.Finally, the nominal power of the
Zusammenfassend betrifft die Erfindung ein Verfahren zum Bewegen einer Warenbahn 1 mit durch zumindest eine Antriebseinheit 2 antreibbaren Fördermitteln 3, 13. Weiterhin betrifft die Erfindung eine Steuerung 15 und eine Maschine 16 mit zumindest einer Antriebseinheit 2 und mit durch die zumindest eine Antriebseinheit 2 antreibbaren Fördermitteln 3, 13. Weiter betrifft die Erfindung ein Computerprogramm 18 und ein Computerprogrammprodukt 19.In summary, the invention relates to a method for moving a web 1 with at least one
Um Zeiten zum Beschleunigen und Abbremsen einer Warenbahn 1 durch vorhandene Antriebe 2 zu verringern bzw. bei gleichen zeitlichen Anforderungen Antriebe 2 mit geringeren Leistungs- und Drehmomentgrenzen verwenden zu können, wird vorgeschlagen, eine Warenbahn 1 mit durch zumindest eine Antriebseinheit 2 antreibbaren Fördermitteln 3, 13 unter Verwendung folgender Verfahrensschritte zu bewegen:
- Ermitteln von Drehmoment-Istwert und Leistungs-Istwert, welche die zumindest eine Antriebseinheit (2) zum Beschleunigen der Fördermittel (3, 13) verwendet,
- Anpassen der Strom-Sollwerte, welche an die Antriebseinheit (2) vorgegeben werden, falls der ermittelte Drehmoment-Istwert betragsmäßig kleiner als das vorgebbare Drehmoment bzw. der ermittelte Leistungs-Istwert kleiner als die vorgebbare Leistung ist.
- Vorgeben von Strom-
Sollwerten 11 an diezumindest eine Antriebseinheit 2 derart, dass- die
Fördermittel 3, 13 durch die zumindest eine Antriebseinheit 2 mit einem vorgebbaren Drehmoment 4 beschleunigt werden, falls eine dafür benötigte Leistung kleiner als eine vorgebbare Leistung 5 der zumindest einen Antriebseinheit 2 ist, - die
Fördermittel 3, 13 durch die zumindest eine Antriebseinheit 2 mit der vorgebbaren Leistung 5 beschleunigt werden, falls ein dafür benötigtes Drehmoment 4 betragsmäßig kleiner als das vorgebbare Drehmoment der zumindest einen Antriebseinheit 2 ist,
- die
- Beenden des Beschleunigungsvorgangs, sobald eine gewünschte Bewegung der Warenbahn 1 erreicht wurde.
- Determining torque actual value and actual power value which the at least one drive unit (2) uses to accelerate the conveying means (3, 13),
- Adjusting the current setpoints, which are specified to the drive unit (2), if the determined actual torque value is smaller in magnitude than the predefinable torque or the determined power actual value is smaller than the predetermined power.
- Specifying
current setpoints 11 to the at least onedrive unit 2 such that- the conveying
means 3, 13 are accelerated by the at least onedrive unit 2 with a presettable torque 4, if a power required for this purpose is smaller than a specifiable power 5 of the at least onedrive unit 2, - the conveying
means 3, 13 accelerated by the at least onedrive unit 2 with the predetermined power 5 are, if a torque required for 4 amount is smaller than the predefinable torque of the at least onedrive unit 2,
- the conveying
- Ending the acceleration process as soon as a desired movement of the web 1 has been reached.
Claims (11)
- Method for moving a material web (1) with conveyor means (3, 13) which are able to be driven by at least one drive unit (2), having the following method steps:- determining torque actual value (6) and power actual value (7), which the at least one drive unit (2) uses to accelerate the conveyor means (3, 13),- adapting the current setpoint values (11), which are specified at the drive unit (2), if the determined torque actual value (6) has a lower value than the specifiable torque (4) or the determined power actual value (7) is lower than the specifiable power (5),- specifying current setpoint values (11) at the at least one drive unit (2) such that- the conveyor means (3, 13) are accelerated by the at least one drive unit (2) with a specifiable torque (4), if a power required for this is lower than a specifiable power (5) of the at least one drive unit (2),- the conveyor means (3, 13) are accelerated by the at least one drive unit (2) with the specifiable power (5), if a torque required for this has a lower value than the specifiable torque (4) of the at least one drive unit (2),- terminating the acceleration procedure once a desired movement of the material web (1) has been achieved.
- Method according to claim 1, wherein- the specifiable torque (4) of the at least one drive unit (2) is the rated torque of the at least one drive unit (2) and- the specifiable power (5) of the at least one drive unit (2) is the rated power of the at least one drive unit (2).
- Method according to one of the preceding claims, wherein- the acceleration of the conveyor means (3, 13) is designed as a braking of the movement of the material web (1) and- the at least one drive unit (2) is operated as a generator.
- Method according to one of the preceding claims, wherein- the acceleration of the conveyor means (3, 13) is designed as a braking of the movement of the material web (1) and- the movement of the material web (1) is additionally braked by means of a brake (12).
- Method according to one of the preceding claims, having the following further method steps:- unwinding or winding the material web (1) from a or on a winding cylinder (13), respectively, which is included in the conveyor means (3, 13) and which is able to be driven by the at least one drive unit (2),- acquiring a material winding thickness (14) of the material web (1) wound on the winding cylinder (13),- storing the torque required for acceleration of the conveyor means (3, 13), the power required for acceleration of the conveyor means (3, 13) and/or the current setpoint values (11) depending on the acquired material winding thickness (14).
- Method according to claim 5, having the following further method steps:- acquiring the material winding thickness (14) of the material web (1) wound on the winding cylinder (13),- using the stored dependency of the torque required for acceleration of the conveyor means (3, 13), the power required for acceleration of the conveyor means (3, 13) and/or the current target values (11) upon the acquired material winding thickness to accelerate the conveyor means (3, 13) up to the desired movement of the material web (1).
- Method according to one of the preceding claims, having the following further method steps:- determining the ratio between the torque or the power for each drive unit (2) that is required for a desired acceleration, in relation to the torque or the power that the respective drive unit (2) can supply at a maximum,- if the determined ratio is greater than 1 for at least one drive unit (2):- determining an acceleration which the drive unit (2) with the highest determined ratio is able to achieve at a maximum and- accelerating the conveyor means (3, 13) with the determined maximum achievable acceleration.
- Controller (15) for a machine (16) with at least one drive unit (2) and conveyor means (3, 13) which are able to be driven by the at least one drive unit (2),
wherein the controller (15) has means (17) for carrying out a method according to one of claims 1 - 7. - Machine (16) with- at least one drive unit (2),- conveyor means (3, 13) which are able to be driven by the at least one drive unit (2) and- a controller (15) which is embodied according to claim 8.
- Computer program (18) for carrying out a method according to one of claims 1 - 7 when run in a controller (15) according to claim 8.
- Computer program product (19) on which a computer program (18) according to claim 10 is stored.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011083574A DE102011083574A1 (en) | 2011-09-28 | 2011-09-28 | Method and device for moving a material web |
PCT/EP2012/067285 WO2013045239A1 (en) | 2011-09-28 | 2012-09-05 | Method and apparatus for moving a material web |
Publications (3)
Publication Number | Publication Date |
---|---|
EP2729397A1 EP2729397A1 (en) | 2014-05-14 |
EP2729397B1 true EP2729397B1 (en) | 2019-05-01 |
EP2729397B2 EP2729397B2 (en) | 2023-06-07 |
Family
ID=47008483
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP12769953.6A Active EP2729397B2 (en) | 2011-09-28 | 2012-09-05 | Method and apparatus for moving a material web |
Country Status (6)
Country | Link |
---|---|
EP (1) | EP2729397B2 (en) |
CN (1) | CN103842276B (en) |
DE (1) | DE102011083574A1 (en) |
ES (1) | ES2739624T3 (en) |
FI (1) | FI2729397T4 (en) |
WO (1) | WO2013045239A1 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE112015000612A5 (en) * | 2014-02-03 | 2016-11-03 | Juan Carlos González-Villar | Drive system for conveyor, extruder, push, pull, synchronous and center winder |
EP3173885A1 (en) | 2015-11-24 | 2017-05-31 | Siemens Aktiengesellschaft | Method and control device for controlling a movement of linear drive comprising several segments |
DE102019127838A1 (en) * | 2019-10-15 | 2021-04-15 | Reifenhäuser GmbH & Co. KG Maschinenfabrik | Method for wrapping a rolled up web of material and wrapping device |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1958905A2 (en) * | 2007-02-17 | 2008-08-20 | Robert Bosch GmbH | Method and device for friction compensation |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1189182B (en) * | 1961-08-15 | 1965-03-18 | Licentia Gmbh | Multi-motor drive especially intended for a strip rolling mill |
CA961570A (en) * | 1969-11-27 | 1975-01-21 | Lucio Stabile | Systems for driving reels at controlled speed and power and improved apparatus for effecting such driving |
US4519039A (en) * | 1982-07-23 | 1985-05-21 | Westinghouse Electric Corp. | Digital coil diameter function generator and reel motor drive system embodying the same |
DE3731214A1 (en) * | 1987-09-17 | 1989-03-30 | Koenig & Bauer Ag | DEVICE FOR THE CONTROLLED FEEDING OF TAPE MATERIAL TO PRINTING MACHINES, AND A METHOD AND DEVICE FOR IMPLEMENTING THE METHOD FOR REGULATING A CORRESPONDING CONTROL SIGNAL |
JP2598968B2 (en) * | 1988-06-13 | 1997-04-09 | 津田駒工業株式会社 | Control device for winding machine |
JP3526372B2 (en) * | 1996-06-13 | 2004-05-10 | 富士電機システムズ株式会社 | Winding equipment control method |
DE102004004759B4 (en) * | 2004-01-30 | 2006-03-09 | Koenig & Bauer Ag | Drive for a reel changer |
FI120432B (en) | 2007-02-05 | 2009-10-15 | Abb Oy | Procedure for controlling electricity consumption |
FI125653B (en) * | 2008-09-29 | 2015-12-31 | Valmet Technologies Inc | Electrical drive arrangement of the fibrous web machine part and / or device and method for controlling the electrical drive arrangement of the fibrous web machine part and / or device |
FI122609B (en) | 2009-01-12 | 2012-04-13 | Abb Oy | Method, hardware, and computer program product in unroller |
-
2011
- 2011-09-28 DE DE102011083574A patent/DE102011083574A1/en not_active Ceased
-
2012
- 2012-09-05 ES ES12769953T patent/ES2739624T3/en active Active
- 2012-09-05 WO PCT/EP2012/067285 patent/WO2013045239A1/en active Application Filing
- 2012-09-05 CN CN201280047420.4A patent/CN103842276B/en active Active
- 2012-09-05 EP EP12769953.6A patent/EP2729397B2/en active Active
- 2012-09-05 FI FIEP12769953.6T patent/FI2729397T4/en active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1958905A2 (en) * | 2007-02-17 | 2008-08-20 | Robert Bosch GmbH | Method and device for friction compensation |
DE102007007988A1 (en) * | 2007-02-17 | 2008-08-28 | Robert Bosch Gmbh | Method and apparatus for friction compensation |
Non-Patent Citations (1)
Title |
---|
"ENTWURF ÜBERLAGERTER REGLER", 1 January 2010, HOCHDYNAMISCHE REGELUNG ELEKTRISCHER ANTRIEBE, VDE-VERLAG, PAGE(S) 284-297,393, ISBN: 978-3-8007-3218-0, XP003035158 * |
Also Published As
Publication number | Publication date |
---|---|
EP2729397A1 (en) | 2014-05-14 |
WO2013045239A1 (en) | 2013-04-04 |
CN103842276A (en) | 2014-06-04 |
CN103842276B (en) | 2016-03-09 |
FI2729397T4 (en) | 2024-01-29 |
DE102011083574A1 (en) | 2013-03-28 |
ES2739624T3 (en) | 2020-02-03 |
EP2729397B2 (en) | 2023-06-07 |
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