JP4737353B2 - Method and apparatus for controlling load sharing between motors driving both shafts of load - Google Patents

Method and apparatus for controlling load sharing between motors driving both shafts of load Download PDF

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JP4737353B2
JP4737353B2 JP2000312140A JP2000312140A JP4737353B2 JP 4737353 B2 JP4737353 B2 JP 4737353B2 JP 2000312140 A JP2000312140 A JP 2000312140A JP 2000312140 A JP2000312140 A JP 2000312140A JP 4737353 B2 JP4737353 B2 JP 4737353B2
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Prior art keywords
load sharing
command value
torque
torque command
motor
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JP2002125392A (en
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敬介 園田
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Yaskawa Electric Corp
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Yaskawa Electric Corp
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Description

【０００１】
【発明の属する技術分野】
本発明は、紙、フィルム、アルミ箔等のウェブの巻取りロールまたは巻戻しロールの両軸端をそれぞれ駆動する２台の電動機間の負荷分担比率を、外部から指示されたトルク指令の大きさに対応して選定する、電動機間負荷分担制御方法とその装置に関する。
【０００２】
【従来の技術】
図３はこの種の電動機負荷分担制御方法を行う駆動装置の従来例の構成を示す。
【０００３】
巻取りロールまたは巻戻しロール１はその両軸１A, １Bにクラッチ１A, ２Bを介してそれぞれ結合された電動機３A（容量MAkW）と電動機３B(容量MBkW）とにより駆動され、電動機３A, ３Bはインバーター４A, ４Bによりそれぞれ駆動される。外部から入力されたトルク指令値TREFは負荷分担比率設定器７A, ７Bにそれぞれ入力され、負荷分担比率KA, KB（但しKA＋KB＝１）をそれぞれ乗じた分担トルク指定値τrefKA（＝TREF×KA）、τrefKB（＝TREF×KB）が、トルク指令リミター６A, ６Bを経てインバータ４A, ４Bにそれぞれ入力される。但し、負荷分担比率KA, KBは電動機３Aの容量MAkWと電動機３Bの容量MBkW とにそれぞれ対応して定められた固定値であり、かつ、MAkW＞MBkWとする。トルク補償指令器５A, ５Bはそれぞれ、軸A側駆動装置とB側駆動装置との機械損失補償と加減速時の慣性補償とのための補償トルク指令τcomA, τcomBを、インバータ４A, ４Bに入力させる。
【０００４】
そこで運転に際してはオペレータが運転に必要なトルク指令値TREFにより片軸駆動か両軸駆動かを判断し、軸停止中にクラッチ操作により片軸駆動（A軸またはB軸）または両軸駆動（A軸＋B軸）に切り替える。一般的にはトルク指令値TREFが低値設定であるときの運転では片軸駆動としている。
【０００５】
【発明が解決しようとする課題】
上述した従来の技術では、トルク指令値TREFが低い設定の場合、A軸・B軸インバータ４A, ４Bに与えられる分担トルク指令τrefKA, τrefKBの値が小さくなり、負荷分担率ＫＡ，ＫＢは固定値であるため両軸駆動で負荷分担比率を掛けている状態では、トルク指令設定分解能低下による分担トルク設定精度の低下によりトルク精度の低下の状態になり、トルク制御精度を確保できないという問題があった。
【０００６】
そのため、軸１Ａ、軸１Ｂに機械的クラッチ２A, ２Bを準備し、低トルク指令時は両軸駆動（軸１Ａ＋軸１Ｂ）から片軸駆動（軸１Ａまたは軸１Ｂ）へのオペレータ操作による切り替え作業の必要性があり、しかも巻取り巻戻し軸運転中の切り替えができない等の問題があった。そこで本発明は、低張力設定時のクラッチ切り替え作業をなくして運転中でも自動的に両軸運転から片軸運転への切り替えを可能として、トルク制御精度確保のできる両軸駆動電動機の負荷分担移行制御方法とその装置を提供することを目的とする。
【０００８】
【課題を解決するための手段】
この目的を達成するために本願発明の負荷分担移行制御方法は、２台の電動機のうち、第１の電動機の負荷分担比率をKAとし第２の電動機の負荷分担比率をKB (＝１−KA)として、（１）トルク指令値TREFがP1以下のときはKA＝０、 KB＝１（２）トルク指令値TREFがP1とP1より大きいP2との間にあるときは
【０００９】
【数３】

Figure 0004737353
（３）トルク指令値がP2より大きいときはKA＝α、 KB＝β、 （α, βは固定値）
としている。この場合、P1≦（第２の電動機定格トルク−トルク補償分）、P2≦（第１および第２の両電動機定格トルクの和−両電動機のトルク補償分の和）、α、βはそれぞれ、トルク指令値TREFがP2のときの負荷分担比率であり、また第２の電動機の定格容量MAkWは第２の電動機の定格容量MBkWより大きいものとする。
【００１０】
上述した負荷分担移行制御方法を使用する両軸駆動負荷分担制御装置では、トルク指令値区分判定回路を用いて外部から入力されたトルク指令値TREFの大きさに対応する区分を自動的に判定する。また、負荷分担移行制御回路はトルク指令値区分判定回路の判定結果にしたがってそのトルク指令値区分において、２台の電動機のうち、第１の電動機の負荷分担比率をKAとし第２の電動機の負荷分担比率をKB(＝１−KA）として、
（１）トルク指令値がP1以下のときは
KA＝０、 KB＝１
（２）トルク指令値がP1とP1より大きいP2との間にあるときは
【００１１】
【数４】
Figure 0004737353
（３）トルク指令値がP2より大きいときは
KA＝α、 KB＝β、 （α, βは固定値）
としている。ここでは、
P1≦（第２の電動機定格トルク−トルク補償分）、
P2≦（第１および第２の両電動機定格トルクの和−両電動機のトルク補償分の和）、
TREFはトルク指令値、
α、βはそれぞれ、トルク指令値TREFがP2のときの負荷分担比率であり、また第２の電動機の定格容量MAkWは第２の電動機の定格容量MBkWより大きいものとする。
【００１２】
このような方法と装置を用いることにより、トルク指令値TREFが低値の場合は容量の小さい電動機のみによる片軸運転としてトルク設定分解能低下によるトルク精度の低下を防止し、トルク指令値TREFの増加に伴い、クラッチ操作を要せずに両軸運転に適宜移行することが可能となる。
【００１３】
【発明の実施の形態】
以下に本発明の実施の形態として、図１に示すブロック構成を有する巻取りロールまたは巻戻しロールの駆動装置例の使用する方法について説明する。図１に示す駆動装置の構成は、上述した図３に示す従来の駆動装置の構成よりクラッチ２A, ２Bを省略するとともに、両軸駆動電動機３A, ３Bのそれぞれに対する負荷分担比率KA, KBを固定値とせず、トルク指令値の大きさに対応する区分を判定するトルク指令値区分判定回路９ならびにトルク指令区分判定回路９の判定によりそれぞれの区分に対応する負荷分担比率KA, KBを出力する負荷分担移行制御回路８をそれぞれ追加したものである。その他の構成については図３の従来例の場合と同様であるので、個々の説明を省略する。
【００１４】
次に、本実施形態例による負荷分担移行制御方法について詳細に説明する。
【００１５】
図２は負荷分担移行制御回路８に内蔵されている負荷分担移行制御図を示しており、横軸のトルク指令値TREFに対応する縦軸の負荷分担比率KA, KBのグラフ線図が示されている。トルク指令判別回路９は入力されたトルク指令値TREFが図２の横軸上に設定されたトルク指令値P1, P2に関して、
区分（１） トルク指令値TREF≦P1、
区分（２） P1＜トルク指令値TREF＜P2、
区分（３） P2＜トルク指令値TREF、
それぞれどの区分にあるかを判別し、負荷分担移行制御回路８に判別した区分を通知する。負荷分担移行制御回路８は入力された区分にしたがって、
区分（１）の場合：KB＝１、KA＝０として、すなわち電動機３Bによる１B軸のみの片軸運転とし、
区分（２）の場合：KA, KBを次の演算式で算出して電動機３A,３Bによる軸１A, 1Bの両軸運転とし、
【００１６】
【数５】
Figure 0004737353
区分（３）の場合：KA＝α、KB＝βとして電動機３A, ３Bによる軸１A, １Bの両軸運転とする。
【００１７】
但し、この場合、α、βはそれぞれ、トルク指令値ＴＲＥＦがＰ2のときの負荷分担比率であり、
α＋β＝１
MAkW ≧MBkW：電動機容量
P1≦（第２の電動機定格トルク−トルク補償分）、
P2≦（第１および第２の両電動機定格トルクの和−両電動機のトルク補償分の和）、
が満足されるものとする。
【００１８】
【発明の効果】
以上述べたように本発明によれば、機械の運転中でも負荷分担トルク値の設定変更が可能となり、低トルク指令値設定時のクラッチ切り替え動作が不用となり機械的なクラッチ機構をなくすことができる。また、両軸駆動時において低トルク設定値時には片軸側のみにトルク設定を分担させることでトルク設定分解能を向上させることによりトルク精度が上がり、巻戻し装置では張力が安定した送り出しができ、巻取り装置では巻き姿の綺麗な製品ロールができるという効果もある。
【図面の簡単な説明】
【図１】本発明の電動機負荷分担移行制御方法を用いる巻取り／巻戻し装置の構成を示すブロック図である。
【図２】負荷分担移行制御回路による負荷分担比率の移行グラフ図である。
【図３】巻取り／巻戻し装置の構成の従来例を示すブロック図である。
【符号の説明】
１ 巻取りまたは巻戻しロール
２A, ２B クラッチ
３A, ３B 電動機
４A, ４B インバータ
５A, ５B トルク補償指令器
６A, ６B トルク指令リミター
７A, ７Ｂ 負荷分担比率設定器
８ 負荷分担移行制御回路
９ トルク指令値区分判定回路
TREF, P1, P2 トルク指令値
KA, KB 負荷分担比率[0001]
BACKGROUND OF THE INVENTION
In the present invention, the load sharing ratio between two electric motors for driving both shaft ends of a roll of web or roll of paper such as paper, film, aluminum foil, etc. is the magnitude of a torque command instructed from the outside. It is related with the load-sharing control method between motors, and the apparatus which select corresponding to.
[0002]
[Prior art]
FIG. 3 shows the configuration of a conventional example of a drive device that performs this type of motor load sharing control method.
[0003]
The take-up roll or rewind roll 1 is driven by an electric motor 3A (capacity MAkW) and an electric motor 3B (capacity MBkW) coupled to both shafts 1A and 1B via clutches 1A and 2B, respectively. Driven by inverters 4A and 4B, respectively. The torque command value TREF input from the outside is input to the load sharing ratio setting devices 7A and 7B, respectively, and the shared torque specification value τrefKA (= TREF × KA) multiplied by the load sharing ratios KA and KB (where KA + KB = 1), respectively. , ΤrefKB (= TREF × KB) is input to the inverters 4A and 4B via the torque command limiters 6A and 6B, respectively. However, the load sharing ratios KA and KB are fixed values determined corresponding to the capacity MAkW of the motor 3A and the capacity MBkW of the motor 3B, respectively, and MAkW> MBkW. Torque compensation commanders 5A and 5B respectively input compensation torque commands τcomA and τcomB for mechanical loss compensation of the shaft A side drive device and the B side drive device and inertia compensation during acceleration / deceleration to the inverters 4A and 4B. Let
[0004]
Therefore, during operation, the operator determines whether it is single-axis drive or double-axis drive based on the torque command value TREF required for operation, and single-axis drive (A-axis or B-axis) or dual-axis drive (A (Axis + B axis). In general, single-axis drive is used when the torque command value TREF is set to a low value.
[0005]
[Problems to be solved by the invention]
In the conventional technology described above, when the torque command value TREF is set to a low value, the shared torque commands τrefKA and τrefKB given to the A-axis / B-axis inverters 4A and 4B become small, and the load sharing ratios KA and KB are fixed values. Therefore, in the state where the load sharing ratio is multiplied by the two-axis drive, there is a problem that the torque control accuracy cannot be ensured due to a decrease in the torque accuracy due to a decrease in the shared torque setting accuracy due to a decrease in the torque command setting resolution. .
[0006]
Therefore, mechanical clutches 2A and 2B are prepared for the shaft 1A and the shaft 1B, and when the low torque command is issued, the switching operation by the operator operation from the double shaft drive (the shaft 1A + the shaft 1B) to the single shaft drive (the shaft 1A or the shaft 1B) is performed. In addition, there is a problem that switching cannot be performed during winding / rewinding shaft operation. Therefore, the present invention eliminates the clutch switching work at the time of low tension setting, and can automatically switch from the double-axis operation to the single-axis operation even during operation, and the load sharing transition control of the double-axis drive motor that can ensure the torque control accuracy. It is an object to provide a method and apparatus.
[0008]
[Means for Solving the Problems]
In order to achieve this object, the load sharing transition control method of the present invention has a load sharing ratio of the first motor of two electric motors as KA and a load sharing ratio of the second motor as KB (= 1−KA). as) (1) [0009 when the torque command value TREF is KA = 0 when the P 1 or less, KB = 1 to (2) the torque command value TREF is between P 1 and P 1 is greater than P 2 ]
[Equation 3]
Figure 0004737353
(3) when the torque command value is greater than P 2 is KA = α, KB = β, (α, β fixed value)
It is said. In this case, P 1 ≦ (second motor rated torque—torque compensation), P 2 ≦ (sum of first and second motor rated torques—sum of torque compensation of both motors), α, β are each torque command value TREF is the load sharing ratio at the time of P 2, also rated capacity MAkW the second electric motor is made larger than the rated capacity MBkW the second electric motor.
[0010]
In the dual-shaft drive load sharing control apparatus using the load sharing transition control method described above, a class corresponding to the magnitude of the torque command value TREF input from the outside is automatically determined using a torque command value class determining circuit. . In addition, the load sharing transition control circuit determines that the load sharing ratio of the first motor out of the two motors is KA and the load of the second motor in the torque command value classification according to the determination result of the torque command value classification determination circuit. The share ratio is KB (= 1-KA)
(1) When the torque command value is P 1 or less
KA = 0, KB = 1
(2) [0011] When the torque command value is between P 1 and P 1 is greater than P 2
[Expression 4]
Figure 0004737353
(3) When torque command value is larger than P 2
KA = α, KB = β, (α, β are fixed values)
It is said. here,
P 1 ≦ (second motor rated torque−torque compensation),
P 2 ≦ (sum of rated torque of both first and second motors−sum of torque compensation of both motors),
TREF is the torque command value,
α and β are load sharing ratios when the torque command value TREF is P 2 , and the rated capacity MAkW of the second motor is larger than the rated capacity MBkW of the second motor.
[0012]
By using such a method and device, when the torque command value TREF is low, a single-axis operation using only a motor with a small capacity prevents a decrease in torque accuracy due to a decrease in torque setting resolution, and an increase in the torque command value TREF. Accordingly, it is possible to appropriately shift to the dual-axis operation without requiring a clutch operation.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
As an embodiment of the present invention, a method of using an example of a winding roll or rewinding roll driving device having the block configuration shown in FIG. 1 will be described. The configuration of the drive device shown in FIG. 1 omits the clutches 2A and 2B from the configuration of the conventional drive device shown in FIG. 3 and also fixes the load sharing ratios KA and KB for the two-axis drive motors 3A and 3B. The load which outputs the load sharing ratios KA and KB corresponding to each of the torque command value category judgment circuit 9 and the torque command category judgment circuit 9 which judge the category corresponding to the magnitude of the torque command value without determining the value. The shared transfer control circuit 8 is added. Other configurations are the same as in the case of the conventional example of FIG.
[0014]
Next, the load sharing transition control method according to the present embodiment will be described in detail.
[0015]
FIG. 2 shows a load sharing transition control diagram built in the load sharing transition control circuit 8, and a graph of the load sharing ratios KA and KB on the vertical axis corresponding to the torque command value TREF on the horizontal axis is shown. ing. The torque command discriminating circuit 9 relates to the torque command values P 1 and P 2 in which the input torque command value TREF is set on the horizontal axis of FIG.
Classification (1) Torque command value TREF ≦ P 1 ,
Classification (2) P 1 <torque command value TREF <P 2
Category (3) P 2 <Torque command value TREF,
Each division is determined, and the determined division is notified to the load sharing transition control circuit 8. The load sharing transfer control circuit 8 follows the input classification.
In the case of category (1): KB = 1, KA = 0, that is, single-axis operation of only the 1B axis by the motor 3B,
For category (2): KA and KB are calculated by the following formula, and both axes 1A and 1B are operated by motors 3A and 3B.
[0016]
[Equation 5]
Figure 0004737353
In the case of category (3): KA = α, KB = β, and both shafts 1A and 1B are operated by the motors 3A and 3B.
[0017]
However, in this case, α and β are load sharing ratios when the torque command value TREF is P 2 , respectively.
α + β = 1
MAkW ≧ MBkW: Motor capacity
P 1 ≦ (second motor rated torque−torque compensation),
P 2 ≦ (sum of rated torque of both first and second motors−sum of torque compensation of both motors),
Is to be satisfied.
[0018]
【The invention's effect】
As described above, according to the present invention, it is possible to change the setting of the load sharing torque value even during the operation of the machine, and the clutch switching operation at the time of setting the low torque command value becomes unnecessary, and the mechanical clutch mechanism can be eliminated. In addition, when both shafts are driven, the torque accuracy is improved by improving the torque setting resolution by sharing the torque setting only on one side at the low torque setting value, and the rewinding device can deliver a stable tension, The take-off device also has the effect of producing a product roll with a beautiful winding shape.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a winding / rewinding device using a motor load sharing transition control method of the present invention.
FIG. 2 is a transition graph of a load sharing ratio by a load sharing transfer control circuit.
FIG. 3 is a block diagram showing a conventional example of the configuration of a winding / rewinding device.
[Explanation of symbols]
1 Winding or rewinding roll 2A, 2B Clutch 3A, 3B Motor 4A, 4B Inverter 5A, 5B Torque compensation command device 6A, 6B Torque command limiter 7A, 7B Load sharing ratio setting device 8 Load sharing transition control circuit 9 Torque command value Classification judgment circuit
TREF, P 1 , P 2 Torque command value
KA, KB load sharing ratio

Claims (2)

紙、フィルム、アルミ箔等のウェブの巻取りロールまたは巻戻しロールの両軸をそれぞれ駆動する２台の電動機間の負荷分担を制御する両軸駆動張力制御方法において、
２台の電動機のうち、第１の電動機の負荷分担比率をKAとし第２の電動機の負荷分担比率をKB (＝１−KA)として、（１）トルク指令値がP1以下のときはKA＝０、 KB＝１（２）トルク指令値がP1とP1より大きいP2との間にあるときは
Figure 0004737353
（３）トルク指令値がP2より大きいときは
KA＝α、 KB＝β、 （α, βは固定値）
とし、ここに、
P1≦（第２の電動機定格トルク−トルク補償分）、
P2≦（第１および第２の両電動機定格トルクの和−両電動機のトルク補償分の和）、
TREFはトルク指令値、
α、βはそれぞれ、トルク指令値TREFがP2のときの負荷分担比率であり、また第２の電 動機の定格容量MAkWは第２の電動機の定格容量MBkWより大きい、
ことを特徴とする電動機間負荷分担移行制御方法。 In the double-axis drive tension control method for controlling the load sharing between two electric motors for driving both axes of a roll of web or roll of paper such as paper, film and aluminum foil,
Of the two motors, the load sharing ratio of the first motor is KA and the load sharing ratio of the second motor is KB (= 1-KA). (1) When the torque command value is P 1 or less, KA = 0, KB = 1 (2) When the torque command value is between P 1 and P 2 greater than P 1
Figure 0004737353
 (3) When torque command value is larger than P2
KA = α, KB = β, (α, β are fixed values)
And here,
P 1 ≦ (second motor rated torque−torque compensation),
P 2 ≦ (sum of rated torque of both first and second motors−sum of torque compensation of both motors),
TREF is the torque command value,
α and β are load sharing ratios when the torque command value TREF is P 2 , and the rated capacity MAkW of the second motor is larger than the rated capacity MBkW of the second motor.
A load sharing shift control method between motors , characterized in that . 紙、フィルム、アルミ箔等のウェブの巻取りロールまたは巻戻しロールの両軸端を、それぞれに駆動する２台の電動機間の負荷分担比率にしたがい駆動する両軸駆動張力制御装置において、
外部より入力されたトルク指令値TREFの大きさに対応する区分を判定するトルク指令値区分判定回路と、
該トルク指令値区分判定回路の判定した区分に対応する所定の負荷分担比率を出力する負荷分担移行制御回路と、
を有し、
前記負荷分担移行制御回路の出力する負荷分担比率は、２台の電動機のうち、第１の電動機の負荷分担比率をKAとし第２の電動機の負荷分担比率をKB(＝１−KA）として、
（１）トルク指令値TREFがP1以下のときは
KA＝０、 KB＝１
（２）トルク指令値TREFがP1とP1より大きいP2との間にあるときは
Figure 0004737353
 （３）トルク指令値がP2より大きいときは
KA＝α、 KB＝β、 （α, βは固定値）
であり、ここに、
P1≦（第２の電動機定格トルク−トルク補償分）、
P2≦（第１および第２の両電動機定格トルクの和−両電動機のトルク補償分の和）、
α、βはそれぞれ、トルク指令値TREFがP2のときの負荷分担比率であり、また第２の 電動機の定格容量MAkWは第２の電動機の定格容量MBkWより大きい、
ことを特徴とする両軸駆動制御装置。 In a double-axis drive tension control device that drives both shaft ends of a roll of web or roll of paper such as paper, film, aluminum foil or the like according to a load sharing ratio between two electric motors that drive each ,
A torque command value category judgment circuit for judging a category corresponding to the magnitude of the torque command value TREF inputted from the outside;
A load sharing transition control circuit that outputs a predetermined load sharing ratio corresponding to the category determined by the torque command value category determining circuit;
Have
Of the two motors, the load sharing ratio output by the load sharing transition control circuit is KA as the load sharing ratio of the first motor and KB (= 1-KA) as the load sharing ratio of the second motor.
(1) When the torque command value TREF is P 1 or less
KA = 0, KB = 1
(2) when the torque command value TREF is between P 1 and P 1 is greater than P 2 is
Figure 0004737353
 (3) When torque command value is larger than P 2
KA = α, KB = β, (α, β are fixed values)
And here,
P 1 ≦ (second motor rated torque−torque compensation),
P 2 ≦ (sum of rated torque of both first and second motors−sum of torque compensation of both motors),
α and β are load sharing ratios when the torque command value TREF is P 2 , and the rated capacity MAkW of the second motor is larger than the rated capacity MBkW of the second motor.
A double-axis drive control device.
JP2000312140A 2000-10-12 2000-10-12 Method and apparatus for controlling load sharing between motors driving both shafts of load Expired - Fee Related JP4737353B2 (en)

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JP2006115664A (en) * 2004-10-18 2006-04-27 Toyota Motor Corp Driving apparatus, vehicle mounted therewith, and method for controlling driving apparatus
JP2011219222A (en) * 2010-04-09 2011-11-04 Seiko Epson Corp Winding apparatus, and recording apparatus including the same
WO2021149194A1 (en) * 2020-01-22 2021-07-29 三菱電機株式会社 Motor control device and motor control system

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JPS62264154A (en) * 1986-05-12 1987-11-17 Mitsubishi Heavy Ind Ltd Control method for web winding concentration and device therefor
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