JP2597367B2 - Method and control device for optimally changing acceleration / deceleration rate of rotary cutter - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention automatically converts a sheet material (hereinafter simply referred to as a sheet) such as a steel sheet, paper, and corrugated cardboard which is continuously fed at a high speed to a predetermined desired size. TECHNICAL FIELD The present invention relates to a method and a control device for optimally changing the acceleration / deceleration rate of a rotary cutter for cutting or printing.

2. Description of the Related Art FIG. 2 is a perspective view showing a mechanical structure of an example of the above-described rotary cutter. As shown in FIG. 2, a reduction gear portion is provided on a main shaft 3 of a pair of rotors 2 having a blade 1 on an axial circumferential surface. 4 are attached. A motor 5 for driving the rotor 2 is coupled to the reduction gear section 4. The motor 5 has a tacho generator 6 for detecting the rotation speed thereof, and a rotation angle of the motor 5, that is, the rotation of the rotor 2. A pulse generator PGb for detecting an angle is provided. on the other hand,
A length measuring wheel 7 which is fed at a substantially constant speed through a space between the pair of rotors 2, always comes into contact with one surface of a sheet X to be cut at a predetermined pressure, and is driven by the traveling of the sheet X is provided. 8, the rotation amount, that is, the sheet X
Another pulse generator PGa is coupled to detect the travel amount of the vehicle. Further, the blade 1 of the rotor 2
A cutting completion position detecting sensor 9 such as a proximity switch for detecting a position where the cutting of the sheet X by the cutting is completed and generating a cutting completion signal is provided.

In such a rotary cutter, a sheet X is accurately cut to a predetermined length.
That is, every time the cutting completion position detecting sensor 9 generates a cutting completion signal, the difference L ₁ between the cutting length L ₀ and the circumference B ₀ of the rotor 2 =
The number of pulses corresponding to L ₀ −B ₀ is read into a register, and the number of pulses φ _a generated by the pulse generator PGa with the traveling of the sheet X (that is, representing the traveling amount of the sheet X) is calculated with the rotation of the rotor 2. the difference phi _a -.phi _b between the pulse pulse generator PGb occurs phi _{b (i.e.} representing the amount of rotation of the rotor 2), while subtracting from the L ₁ (i.e. R =
L ₀ −B ₀ − (φ _a −φ _b ), a compensation voltage V _C = f (R) corresponding to the difference R, and a pulse generator
Frequency output of PGa - voltage (F / V) conversion by a voltage obtained, i.e. the difference between V ₀ which the voltage V _a that represents the traveling speed of the sheets X
= V _a -V _c is given to the control circuit of the motor 5 as a speed command only when V ₀ > 0, and the blade 1 of the rotor 2 passes the cutting completion position detecting sensor 9 to complete the cutting. each time a signal is generated, with reads the number of pulses phi _s corresponding to the stopping distance of preset blades of the rotor 2, then the reversible counter which subtracts the number of pulses phi _b representing the amount of rotation of the rotor 2, and the reversible a stop control circuit having a D / a converter for converting the contents of the counter into a DC voltage V _b proportional thereto, to determine the polarity of V _0, generates a signal S _n indicating the that when V ₀ ≦ 0 a polarity discrimination comparator, a V ₀ when the comparator does not generate a signal S _n, also the comparator signal to
When generating the S _n is the fixed-length cutting control device and a switching circuit to provide the motor control circuit V _b as the final speed command voltage V _r is used. (Special Publication 61-
No. 33679).

In such a fixed-length cutting control unit subtracts a compensation voltage V _c with respect to the speed voltage V _a of the seat X, in accordance with the R, as well as compensate for the speed of the sheet X, at the time of cutting it said R is V _c = 0 becomes zero, that is, the speed of the rotor 2 is synchronized with the speed of the sheet X as V ₀ = V _a, and during which phi _a, the one of the phi _b advances or delays with respect to the other By performing digital servo control for accelerating and decelerating the motor so that the difference becomes zero, the sheet X can be accurately cut to a desired length.

Invention is to Solve Problems However, in the conventional standard dimension cutting apparatus as described above, cut length L ₀ is the acceleration rate during acceleration of the rotor is larger than the circumferential length B ₀ of the rotor 2, and cutting length L ₀ is the rotor deceleration rate during deceleration when the circumferential length B ₀ is smaller than the rotor 2 becomes a fixed value that is determined by the gain of the D / a converter to obtain a compensation voltage V _c, the cutting length L ₀ rotor 2 of the circumferential length B ₀ deceleration rate during deceleration of the rotor is greater than is a fixed value that is determined by the gain of the D / a converter of the stop control circuit.

That is, the rotor 2 always accelerates / decelerates at a fixed acceleration / deceleration rate regardless of the cutting length or the traveling speed of the sheet X. And the fixed acceleration / deceleration rate is sheet X
Is set to a value that satisfies the case where the running speed is the maximum and the cutting length requires the rotor to temporarily stop (this case requires the steepest acceleration / deceleration rate). Then, a motor having a rated torque capable of achieving the acceleration / deceleration rate is selected and used.

As described above, in the conventional fixed-length cutting control device, the rotor 2 is accelerated / decelerated at a steep acceleration / deceleration rate that is meaningless even when unnecessary, so that an excessive load is applied to the reduction gear unit 4 and the like. However, there is a problem that a meaningless large current flows to the motor, and the life of the machine and the motor is shortened.

Further, in the conventional standard dimension disconnect control unit, regardless of the running speed of the cut length L ₀ and sheets X, always for acceleration and deceleration rate is constant, there is efficient cleavage problems that can not be performed (production) .

Further, Japanese Patent Application Laid-Open No. Sho 61-182717 discloses that an acceleration / deceleration proportional to the square of a traveling speed of a material is calculated to control the speed of an electric motor for driving a cutting machine. However, in this method, when the cutting length L ₀ is sufficiently long (L ₀ ≧ 2B ₀ −B _w ,
However, B _w is the circumference of the cutting area of the rotor), and there is no problem when the rotor has a stop period. However, when the cut length is a length near the circumference of the rotor and there is no stop period, If the cutting length is shorter than the circumference of the rotor and the speed of the rotor exceeds the running speed of the material, the above-mentioned problems have not yet been completely solved.

An object of the present invention is to use a computer CPU to calculate an optimal acceleration / deceleration rate suitable for a cutting length and a sheet traveling speed from data such as a cutting length and a sheet traveling speed so as to perform optimal acceleration / deceleration. It is another object of the present invention to provide a method and a control device for optimally changing the acceleration / deceleration rate of a rotary cutter capable of performing efficient cutting.

SUMMARY OF THE INVENTION The present invention is directed to a rotary cutter having a digital servo loop configured to control the position and speed of the rotor at an arbitrary ratio to the travel distance and speed of the seat. In the method of optimally varying the deceleration rate, the peripheral length B ₀ of the rotor and the cutting angle W _k, ie, the peripheral length B _w of the cutting area of the rotor, which are the detailed mechanical data, are (W _k / 360).
B ₀ , maximum rotor peripheral speed V _m , maximum rotor acceleration / deceleration rate R _m ,
Acceleration / deceleration rate ratio K _{r of} the rotor and cutting dimensions
The L _0, is set in advance CPU, wherein the CPU, on the basis of the various mechanical Shogen data, by calculating the minimum deceleration rate which the cutting length and had a sheet traveling speed, calculates the control data Outputting the control data to the digital servo loop so as to control the acceleration / deceleration rate of the rotor to be the calculated acceleration / deceleration rate; and that the calculated acceleration / deceleration rate is the maximum acceleration / deceleration rate.
If it exceeds R _m, as the calculated deceleration rate is equal to or less than the maximum deceleration rate R _m, it is controlled to lower the sheet traveling speed, of the motor for driving the rotary cutter in a limited rated torque range, when cutting a cutting length away from the perimeter of the low production rotor disconnects the following slower sheet speed the maximum deceleration rate R _m, a lot of production rotor when cutting the length of around circumferential length to allow for mass cut at a faster sheet traveling speed below the maximum deceleration rate R _m, and to eliminate the acceleration or deceleration of the unnecessary abrupt rotor It is characterized by a mushroom.

Further, the optimal variable control device for acceleration / deceleration rate of the rotary cutter according to the present invention is provided in a setting section for setting mechanical details data and cutting dimensions of the rotary cutter, and a length measuring wheel for detecting a traveling amount of the sheet. A seat travel speed detection circuit that converts the output of the first pulse generator into a value proportional to the frequency and outputs the output as a seat travel speed; mechanical detail data and cutting dimensions that have been set; and a sheet traveling speed, to calculate the minimum acceleration rate and deceleration rate of the rotor in accordance with and the sheet traveling speed can be cut the cutting dimension, find the ratio multiplication constant K _a and rate multiplier constant K _s And a CPU that outputs a preset value _Kb , and converts the output of the first pulse generator into a voltage proportional to the frequency to convert the traveling speed of the seat. Frequency generating a sheet traveling speed voltage V _a which is proportional to the time - voltage (F / V) converter and, from the output of the first pulse generator, a sheet travel distance detection for generating a pulse phi _a representative of the traveling amount of the sheet Circuit and a second motor provided to the motor for driving the rotary cutter.
Of the output of the pulse generator, a rotor rotation amount detection circuit for generating a pulse phi _b representing the amount of rotation of the rotor, the preset value K _b that is being output from the CPU, by subtracting the count in the pulse phi _a, pulse phi _a is by generating pulses phi _d whenever the input for a preset value K _b the CP
Fill in U, increase or decrease with increasing amounts or subtracting the amount of said ratio multiplier constant K _a and speed multiplication constant K _s in CPU, and depends on the acceleration rate and deceleration rate the calculated each time the pulse phi _d is generated and preset type down counter to, the ratio multiplication constant K _a, which is output from the CPU, and the ratio multiplying the pulse phi _a, rate of its output as a position command pulse φ _{c =} K _a × φ _a - a multiplier, and the position command pulse phi _c, and the pulse phi _b and the position error calculation unit for calculating a position error E _r = φ _c -φ _b of the rotor is a difference, the position error E _r, speed and D / a converter for converting the position compensation voltage V _c proportional to, the speed multiplication constant K _s that is output from the CPU, and multiplying the sheet traveling speed voltage V _a, the output Multiplying type D that outputs as compensation voltage V _s = K _s × V _a / And A converter, the velocity compensation voltage V _s and the position compensation voltage V _c and a motor control circuit for controlling the motor the sum by computing the speed command voltage V _r = V _s + V _c as an output to the operational amplifier It is characterized by comprising.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a method and a control device for optimally changing the acceleration / deceleration rate of a rotary cutter according to the present invention will be described.
Description will be made with reference to the block diagram of FIG. The mechanical configuration of the rotary cutter is the same as that shown in FIG.

FIG. 1 shows a control device for implementing a method for optimally varying the acceleration rate of a rotary cutter.

Reference numeral 10 denotes a setting unit, which is mechanical detailed data of the rotary cutter, such as rotor circumference B ₀ , cutting angle W _k , maximum rotor speed V _m , maximum rotor acceleration rate R _m , and rotor acceleration rate / The deceleration rate ratio K _r and the cutting length L ₀ are set using a keyboard or the like.

Reference numeral 11 denotes a CPU (microprocessor) that calculates the minimum acceleration rate and deceleration rate of the rotor 2 capable of cutting the cut length from the set mechanical detail data and the cut length. Data is sequentially output and set to each hardware so that the rotor is controlled by the value.

12 is a frequency / voltage (F / V) converter converts the output of the pulse generator PGa the voltage proportional to the frequency, to generate a voltage or sheet traveling speed voltage V _a is proportional to the running speed of the sheets X .

13 is a seat travel distance detection circuit, which is a pulse generator
A required coefficient process is performed from the output of PGa to generate _a pulse number φa representing the traveling amount of the sheet X.

14 is a rotor rotation amount detection circuit, and a pulse generator PG
The required coefficient processing is performed from the output of _b to generate a pulse number φb representing the rotation amount of the rotor 2.

Reference numeral 15 denotes a preset type subtraction counter, which counts down _a preset value _Kb output from the CPU 11 by a pulse φa supplied from the seat traveling distance detection circuit 13 in accordance with the traveling of the sheet X, and then the counter value becomes 0. Pulse φ _d
Is generated, the preset value _Kb output from the CPU 11 is preset again, and the counter is counted down. In other words, in the range to generate a pulse phi _d every time the pulse phi _a is input for a preset value K _b.

16 is a rate multiplier, a ratio calculation number K _a, which is outputted from the CPU 11, and a pulse phi _a fed from the sheet travel distance detecting circuit 13 with the travel of the sheet X to the ratio multiplied, the output Output as position command pulse φ _c = K _a × φ _a .

17 is a position error calculation unit, and the position command pulse phi _c output from the rate multiplier 16, a pulse phi _b supplied from the rotor rotation amount detecting circuit 14 with the rotation of the rotor 2
The difference between, i.e. computing a position error E _r = φ _c -φ _b of the rotor.

18 is a D / A converter converts the position error pulses E _r outputted constantly from the position error calculation unit 17, a DC voltage that is, the position compensation voltage V _c = f (E _r) proportional thereto.

19 is a multiplication type D / A converter, by multiplying the speed multiplication constant K _s that is output from the CPU 11, and a sheet traveling speed voltage V _a is the output of the F / V converter 12, the speed and the output Compensation voltage V _s =
Output as K _s × V _a .

20 is a operational amplifying unit, speed compensation voltage V _s and the position compensation voltage V _c
Motor control circuit for controlling the motor 5 by calculating the sum of
And outputs as a 50 speed command voltage V _r = V _s + V _c of.

Reference numeral 21 denotes a rotor absolute position detection counter.
By the absolute position detecting sensor 9 but which generates an absolute position signal phi _z each time passing, it is cleared every time the absolute position signal phi _z is input to the 0, supplied from the rotor rotation amount detecting circuit 14 with the rotation of the rotor 2 is the added counted by pulse phi _b, and outputs to the CPU11 the counted value as the absolute position data K _p of every moment of the rotor.

22 is a seat traveling speed detection circuit, which is a pulse generator
The output of PGa is converted into a value proportional to the frequency, and outputs the CPU11 as the running speed data K _h of momentary sheet X.

FIGS. 3A to 3I are time charts showing the movement of the rotor of the embodiment of the optimum variable speed control device for the rotary cutter, and its theoretical formula will be described below.

Now, B ₀ mm circumferential length of the rotor, the W _k of the cutting angle, the maximum peripheral speed of the rotor 2 V _m mm / sec, the maximum acceleration and deceleration rates R _m mm / sec ² of the rotor, the rotor of the acceleration rate / Deceleration rate ratio
_Assuming that K _r , the cutting length is L ₀ mm, the sheet running speed is V _h mm / sec, and the circumferential length of the cutting area of the rotor is B _w = (W _k / 360) B ₀ , the minimum acceleration rate of the rotor is _Ra mm. / sec ² and the minimum deceleration rate R _d mm / sec ² of the rotor are represented by the following equations.

(I) When 2B ₀ −B _w > L ₀ ≧ B ₀ The relationship between the rotor speed and the time t in this case is shown in FIG. 3I.

If you are satisfied The relationship between the rotor speed and the time t in this case is shown in FIG. 3 II.

If you are satisfied The relationship between the rotor speed and the time t in this case is shown in FIG.
Indicated by

According to FIG. 3, when the fixed length cutting is performed by the rotor and cutter, if the traveling speed of the sheet X is the same, the cutting length is (2B
₀ −B _w ), the cutting length L ₀ and the circumference B of the rotor 2
_The smaller the difference L ₁ = L ₀ −B ₀ or L _s = B ₀ −L _{0 from 0} ,
Even if the rotor 2 is accelerated / decelerated at a slower acceleration / deceleration rate than in the case where the difference is large, the rotor 2 can be cut to a desired size,
If the cutting length is the same, it is possible to cut at a desired size even if the rotor 2 is accelerated / decelerated at a slower acceleration rate as the traveling speed of the sheet X is slower than when the traveling speed of the sheet X is faster. Recognize.

The operation of the control device of this embodiment having the configuration shown in FIG. 1 will be described first with reference to a time chart of FIG. CPU11 at the time of monitoring the position data K _p of the absolute position of the rotor 2 is constantly outputted from the rotor absolute position detection counter 21 constantly the position data has reached the position where the blade 1 of the rotor 2 starts cutting, Rotary circumference B ₀ , cutting angle W _k , maximum rotor speed V _m , maximum rotor acceleration / deceleration rate R _m , rotor acceleration rate, which are preset mechanical details of the rotary cutter / Deceleration rate ratio K _r , cutting length set value L ₀ set at that time,
And than the running speed data K _h of sheets X to be constantly Utsuriryoku from the sheet running speed detection circuit 22, calculates the optimum acceleration rate R _a and deceleration rate R _d by the equation.

It is first cutting length setting value _{L 0, 2B 0 -B w>} L 0 ≧ B 0, or B _0> or the determining L ₀ are within the scope of the throat. If the cut length setting value L ₀ is in the range of B ₀ −B _w > L ₀ ≧ B ₀ , the optimal acceleration rate _Ra and deceleration rate R _d in that case are determined from equations (1) and (2). Ask. Cutting length setting value L ₀ is B ₀
If it is within the range of> L ₀ , it is first determined whether or not Expression (7) is satisfied. If satisfied, the optimal acceleration rate _Ra and deceleration rate R _d are obtained from equations (3) and (4).
Ask for. If not satisfied, equations (5) and (6)
More optimal acceleration rate _Ra and deceleration rate in that case
Find R _d .

Then, the calculated acceleration rate _Ra and deceleration rate
And R _d, is compared with the maximum deceleration rate R _a of the rotor, when towards the calculated deceleration rate is greater than R _m is below the acceleration rate R _a and deceleration rate R _d is the maximum deceleration rate R _m Is calculated, and a signal for urging the user to reduce the sheet traveling speed until the seat traveling speed is reduced is output to the outside.

The acceleration rate R _a and deceleration rate R _d is calculated by the above method is used after the transformation of the dimension for use in controlling the hardware. Further, in order to cut the cut length set value L ₀ set at that time, the cut length L ₀ is set to be smaller than the circumference B _{0 of the} rotor 2 from the time when the current cut is completed to the start of the next cut. If larger, cut length L ₀
A number of pulses corresponding to the difference L ₁ = L ₀ -B ₀ and the circumferential length B ₀ of the rotor 2, the number of pulses phi _a representative of the travel amount with the running of the sheet, the amount of rotation with the rotation of the rotor is possible if ask more passes than the number of pulses phi _b representing a, L ₀ may B ₀ smaller than, only the number of pulses corresponding to the difference L _s = B ₀ -L _0,
Since the phi _b can be if caused to pass through more than phi _a, it calculates the number of pulses phi _s corresponding to the pulse number phi ₁ or L _s corresponding to the difference L _1.

Control apparatus according to this embodiment, by multiplying the ratio by a ratio multiplier constant K _a and rate multiplier 16 the output from the pulse number phi _a and CPU11 representing the travel distance of sheets X, free sheet X by CPU11 is it possible to generate a pulse phi _c of any ratio of travel distance. Furthermore, at the same time CPU11 is, by outputting the multiplication type D / A converter 19 the value of the same ratio as the ratio multiplier constant K _a as the speed multiplier constant K _s, arbitrary ratio (the pulse with respect to the seat traveling speed voltage V _a the voltage of the same proportions) as the phi _c, so that the can be generated as a speed compensation voltage V _s. For example, if CPU11 outputs a _{K a = K s = 1,} φ c sheet X
As many pulses as the running amount occurred, V _s is the same voltage as the sheet traveling speed voltage V _a is generated. Also, the CPU 11 determines that K _a = K
When outputting the _s = 0.5, _{φ c} is pulse is generated corresponding to half the travel of the sheet X, V _s is half the voltage of the sheet running speed voltage V _a is generated. If CPU11 has output _{K a = K s = 2,} φ c is pulse is generated corresponding to the multiple of the travel of the sheet X, V _s is doubled in voltage of the sheet running speed voltage V _a is generated. That CPU11 makes it possible to produce a pulse phi _c and the voltage V _s of any proportion with respect to the travel distance and speed of the sheet. Further, the pulse phi _c and the position command pulse. the difference between the number of pulses phi _b representing the phi _c and rotation of the rotor 2, i.e. a position error computing section 17 for computing a position error E _r = φ _c -φ _b of the rotor, the position error pulses E _r
D / A that generates a position compensation voltage V _c = f (E _r ) proportional to
A converter 18, an operational amplifier 20 to be output as a position compensation velocity command voltage of the voltage motor control circuit 50 which calculates the sum of V _c and the velocity compensation voltage V _s to control the motor _{5 V r = V s + V} c These form a position-compensated position digital servo loop for controlling the position and speed of the rotor 2.

That is, the data from the CPU11 The controller K _a and K _s
, The position and speed of the rotor 2 can be freely controlled to any ratio to the travel distance and speed of the seat.

Next, the operation of the control device of this embodiment will be described first by referring to the cutting length L _0.
Is in the range of 2B ₀ −B _w > L ₀ ≧ B ₀ with reference to FIG. CPU11 monitors the position data K _p of the absolute position of the rotor 2 is constantly outputted from the rotor absolute position detection counter 21 constantly at the time the position data has reached the position where the blade 1 of the rotor 2 starts cutting , Next cutting length
Read the L _0, equation (1), and acceleration rate R _a and deceleration rate R _d is calculated, and cut length L ₀ and the circumferential length B ₀ of the rotor 2 at the cut length L ₀ performs the operation of (2) Difference L ₁ = L ₀ −
It calculates the number of pulses phi ₁ corresponding to B _0. Then, while the position where the blade 1 of the rotor 2 has finished cutting from a position to start cutting, CPU 11 is a ratio multiplier constant K _a is the output data for the rate multiplier 16, and outputs a K _a = 1. Since thereby the position command pulse φ _{c =} K _a × φ _a is the output pulse of rate multiplier 16 is the K _a = 1, the φ _{c =} φ _a. That, phi _c is the number of pulses representing the traveling amount of the sheet. At the same time CPU11 is the speed multiplication constant K _s is the output data for the multiplier D / A converter 19, K _s
= 1. Thereby, the multiplication type D / A converter 19
Since the speed compensation voltage V _s = K _s × V _a, which is the output voltage of, is K _s = 1, V _s = V _a . That, V _s is the same voltage as the voltage V _a which is proportional to the running speed voltage of the sheet. In other words, the rotor 2 rotates at the same speed as the speed of the sheet X, (equal advances of phi _a of proceeds and phi _b) further sheet X moves by the same amount as the amount that has moved.

During this period, the speed of the rotor 2 is displaced relative to the speed of the sheet X, phi is generated by an amount position compensation voltage V _c corresponding to the deviation of the phi _b for _a, a servo loop of the motor 5 accelerates or decelerates By the control, control is performed to make the rotor speed follow the sheet speed. With the above control, the blade 1 of the rotor 2 is maintained at the same speed as the speed of the sheet X from the position where the blade 1 starts cutting to the position where the cutting ends.
The sheet X is moved by the same amount as the moved and cuts the sheet X.

When the blade 1 of the rotor 2 reaches the position where the cutting is completed, CP
U11 the ratio multiplier constant K _a is the output data for the rate multiplier 16, and the multiplying D / against A converter 19 the rate multiplication constant K _s is the output data reduction was calculated time of starting the cutting rate R The value of _d is subtracted by the values ΔK _a and ΔK _{s obtained} by converting the value of _{d into} a value independent of the traveling speed of the sheet X having the dimension of [Δ rotor pulse number / sheet traveling pulse number] (K _a = K _a −ΔK). _a , K _s = K _s -Δ
K _s), the output pulse φ _{for d} is faster cycle of occurrence of the ratio multiplicative constant K _a and speed multiplication constants Preset subtraction counter 15 as the traveling speed of the sheets X is faster to output the value
Period of subtraction and the output of K _s is faster, the deceleration rate is steep. The input voltage V _a of the multiplication type D / A converter 19, the voltage higher traveling speed of the sheets X is faster increases, speed compensation when the speed multiplication constant K _s was constant amount varying voltage V _s = K _s
The amount of change × V _a (deceleration rate) increases in proportion to the running speed of the sheet X. Similarly, rate / multiple pliers 16
The frequency of the input pulse number phi _a of, for traveling speed of the sheet X is higher the faster the change in the frequency of the position command pulse φ _{c =} K _a × φ _a when the ratio multiplication constant K _a was a certain amount changes The amount (acceleration / deceleration rate) increases in proportion to the traveling speed of the seat X. That is, the deceleration rate of the rotor 2 is controlled so as to increase in proportion to the square of the traveling speed of the seat X, and to decrease in proportion to the square of the traveling speed of the seat X.

The number of pulses φ representing the amount of travel as the seat travels
_a is a position command pulse which is an output pulse of the rate multiplier 16 every time the preset value _{Kb of the} preset type subtraction counter 15 is inputted, that is, every period in which the output pulse φ _d of the preset type subtraction counter 15 is generated. φ _c is K _a ×
K _b only are output, the rotor 2 moves by a distance corresponding to the pulse number of _{φ c = K a × K b} . That is, when proportional multiplicative constant which is the output data for the rate multiplier 16 is K _a, the output pulse phi _d of the preset formula subtraction counter 15 CP
Along with the travel of the sheet for each cycle of input to U11, a pulse number phi _a representative of the travel amount, the number of pulses phi _a -.phi _b passing through more than a pulse number phi _b representing the amount of rotation of the rotor, K _b ( 1
−K _a ). From this, the CPU 11 outputs the output value K at that time.
from _b and K _a, it is possible to know the difference between the pulse phi pulse number per _{cycle d} inputs phi _a pulse number phi _b. CPU11
, During deceleration period, every time the output pulse phi _d always Preset subtraction counter 15 is input, the number of pulses the number of pulses phi _a has passed more than a pulse number phi _b from the start of deceleration to the time the value obtained by accumulating the phi _a -.phi _b, in addition the number of difference pulses between the pulse number phi _a pulse number phi _b required when accelerated to the sheet running speed at a constant acceleration rate from that point, its value Cutting length calculated at the start of cutting
L ₀ and to determine if differences or L ₁ = consistent with the number of pulses phi _1, which corresponds to L ₀ -B ₀ and the circumferential length B ₀ of the rotor 2, is greater if the value matches the L ₁ is Switch to acceleration control.

When CPU11 switches the acceleration control in conditions described above, acceleration rate R _a that is calculated on the ratio multiplicative constant K _a and rate multiplier constant K _s is output at that time, the time of start of cutting
Is the [Δ rotor pulse number / sheet traveling pulse number] dimension, and adds the values ΔK _a and ΔK _s converted into values independent of the traveling speed of the sheet X, respectively (K _a = K _a +
ΔK _a , K _s = K _s + ΔK _s ), and output the value. Moreover, until the value of the output (K _a and K _s) is set to "1", each time the output pulse phi _d of the preset formula subtraction counter 15 is input to the CPU, repeating the addition and output. That is, the speed of the rotor 2 is gradually increased at a constant rate until the speed of the seat X becomes equal to the running speed of the seat X, and finally the seat acceleration tuning control for synchronizing the speed of the rotor 2 with the running speed of the seat X is performed. Similarly to the deceleration rate, the acceleration rate at the time of acceleration increases in proportion to the square of the traveling speed of the seat X, and decreases in proportion to the square of the traveling speed of the seat X. Is controlled. And the ratio multiplication constant
When the K _a and rate multiplier constant K _s are both turned K _a = K _s = 1, i.e., when the traveling speed of the speed and the sheet X of the rotor 2 is matched, just start the blades 1 of the rotor 2 is cut Position. Further, up to this point, the difference L ₁ between the cutting length L ₀ calculated at the time of starting the previous cutting and the circumferential length B ₀ of the rotor 2.
= Only the number of pulses phi _1, which corresponds to L ₀ -B _0, the pulse number phi _a representative of the travel amount with the running of the sheet is passing through more than a pulse number phi _b representing the amount of rotation with the rotation of the rotor since, sheets X will be cut at the desired cut length L _0. Thereafter, the above operation is repeated.

Next, FIG. 3 shows a case where the cutting length L ₀ is in the range of B ₀ > L ₀ .
This will be described with reference to I and III. The operation is basically the same as in the above case. When the blades 1 of the rotor 2 reaches the position for starting the cutting, CPU 11 reads the next cut length L _0, it is determined whether or not satisfying the expression (7), the cut length L ₀
Acceleration rate _Ra , deceleration rate _Rd , and rotor 2 at
The number of pulses φ _s corresponding to the difference L _s = B ₀ −L ₀ between the circumference B ₀ and the cutting length L ₀ of the pulse is calculated. And as above, OPU11 Until a position to end the disconnection from the position where the blade 1 of the rotor 2 starts to cut, the ratio multiplication constant K _a and rate multiplier constant K _s K _a
By outputting as = K _s = 1, control is performed to make the rotor speed follow the sheet speed, and the sheet X is cut. When the blades 1 of the rotor 2 reaches the position to end the cutting, CPU 11 is the ratio multiplier constant K _a and rate multiplier constant K _s,
The value of the acceleration rate R _a that is calculated in the time of starting the cutting [Δ
The number ΔK _a and ΔK _s obtained by converting the number of rotor pulses / the number of seat running pulses] into dimensions are added (K _a = K _a + ΔK _a , K _s = K _s + ΔK _s ), and the resulting value is calculated. Output.

Furthermore, the output pulse φ of the preset type subtraction counter 15
Each _{time d} is inputted, the start pulse number phi _b representing the amount of rotation with the rotation of the rotor up to that point from the with the travel of the sheet more passes than the number of pulses phi _a representative of the traveling amount of acceleration To the accumulated value of the obtained pulse numbers φ _b -φ _a and the pulse number of the difference between the pulse number φ _b and the pulse number φ _a required when decelerating to the sheet traveling speed at a constant speed rate from that point in time. It is determined whether or not the value matches the pulse number φ _s corresponding to the difference L _s = B ₀ −L ₀ between the circumference B ₀ of the rotor 2 and the cut length L ₀ calculated at the time of starting the cut. Te, if the value is less than L _s adds each [Delta] K _a and [Delta] K _s the ratio multiplicative constant K _a and rate multiplier constant K _s, and continues the acceleration control by outputting the value, that value If it matches the L _s large, it starts cutting the ratio multiplication constant K _a and rate multiplier constant K _s The value of the deceleration rate calculated at the point of time is subtracted by the values ΔK _a and ΔK _{s obtained} by converting the value of [Δ number of rotor pulses / number of seat traveling pulses] into dimensions (K _a = K _a −ΔK _a). , K _s = K _s −ΔK _s ), and by outputting the value, control for switching to deceleration control is performed.

Furthermore, if the ratio multiplication constant K _a and rate multiplier constant K _s in the acceleration period has reached a value of [sheets maximum running speed in the case of the maximum circumferential speed V _m / cut length L ₀ of the rotor], the ratio multiplication constant K _a
And speed multiplication constants more addition of K _s is not carried out, by the deceleration point and the value is maintained until it reaches, and controls such that the speed of the rotor 2 does not exceed the maximum peripheral speed V _m.

Preset subtraction counter during deceleration period as above
Each time 15 output pulse phi _d of is inputted to the CPU 11, the ratio a multiplicative constant K _a and rate multiplier constant K _s is until "1" to repeat the subtraction and outputs the value. That is, deceleration control is performed at a constant rate until the speed of the rotor 2 and the traveling speed of the sheet X are synchronized. And when it becomes K _a = K _s = 1, i.e.,
The point in time when the speed of the rotor 2 matches the traveling speed of the sheet X is the position where the blade 1 of the rotor 2 starts cutting. Further, up to this point, the number of pulses φ _s corresponding to the difference L _s = B ₀ −L ₀ between the circumference B ₀ of the rotor 2 and the cutting length L ₀ calculated at the time of starting the previous cutting, and the number of pulses of the rotor 2 since the pulse number phi _b representing the amount of rotation thereof with rotation is passing through more than a pulse number phi _a representative of the travel amount with the running of the sheet, in that the sheet X is to be cut at the desired cut length L ₀ Become. Thereafter, the above operation is similarly repeated.

Effects of the Invention As described in detail above, according to the method and apparatus for optimally changing the acceleration / deceleration rate of the rotary cutter of the present invention,
Using the computer's CPU, calculate the optimal acceleration / deceleration rate for the cutting length and sheet traveling speed from data such as cutting dimensions and sheet traveling speed, and perform optimal acceleration / deceleration. It is possible to extend the life of the machine and the motor by eliminating a significant sudden acceleration and deceleration of the rotor.

Furthermore, according to the present invention, the cutting length L ₀ and the circumferential length B _{0 of the} rotor 2
The difference L ₁ = L ₀ -B ₀ or larger L _s = B ₀ -L ₀ and, if sudden acceleration or deceleration rate cuts the cutting length required, the deceleration rate to satisfy the rated motor torque Cutting is performed by slowing the traveling speed of the sheet X so as to become loose, and the difference L ₀ = L ₁ −B ₀ or L _s = B ₀ −L ₀ between the cutting length L ₀ and the circumferential length B ₀ of the rotor 2.
If the cutting speed is small and a sufficient acceleration / deceleration rate is sufficient for cutting, the cutting speed is increased by increasing the traveling speed of the sheet X until the acceleration / deceleration rate reaches the motor rated torque. When cutting a distant cutting length, cutting can be performed with a low sheet running strength, and when cutting a cutting length near the rotor circumference with high production volume, a large amount of cutting can be performed at a high sheet running speed, Efficient cutting (production) can be performed.

[Brief description of the drawings]

FIG. 1 is a block diagram of an embodiment of an optimal variable speed control device for a rotary cutter according to the present invention, FIG. 2 is a perspective view showing a mechanical structure of an example of a rotor cutter, and FIG.
FIGS. I to III are time charts each showing the movement of the rotor of the embodiment of the optimal variable speed control device for the rotary cutter according to the present invention. 1 is a blade, 2 is a rotor, 3 is a main shaft, 4 is a reduction gear section, 5
Is a motor, 6 is a tacho generator, 7 is a length measuring wheel, 9 is a cutting completion position detecting sensor, 10 is a mechanical detailed data and cutting length setting unit of a rotary cutter, and 11 is a CPU.
(Microprocessor), 12 is an F / V converter, 13 is a seat travel distance detection circuit, 14 is a rotor rotation amount detection circuit, 15 is a preset type subtraction counter, 16 is a rate multiplier, and 17 is a position error calculator. , 18 is D / A converter, 19 is multiplication type D
/ A converter, 20 is an operational amplifier, 21 is a rotor absolute position detection counter, 22 is a seat traveling speed detection circuit, and 50 is a motor control circuit.

 ──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-61-182717 (JP, A) JP-B-58-53965 (JP, B1)

Claims (3)

(57) [Claims] An acceleration / deceleration rate of a rotary cutter having a digital servo loop configured to control a position and a speed of a rotor at an arbitrary ratio to a travel distance and a speed of a seat. In the method, the peripheral length B ₀ of the rotor and the cutting angle W _k, ie, the peripheral length B _W of the cutting region of the rotor, which are the mechanical detailed data, are: W _k / 360
B ₀ , maximum rotor peripheral speed V _m , maximum rotor acceleration / deceleration rate R _m ,
Acceleration / deceleration rate ratio K _{r of} the rotor and cutting dimensions
The L _0, is set in advance CPU, wherein the CPU, on the basis of the various mechanical Shogen data, to calculate the minimum acceleration and deceleration rates were in the cutting length and the sheet traveling speed, calculates the control data Outputting the control data to the digital servo loop to control the acceleration / deceleration rate of the rotor to be the calculated acceleration / deceleration rate; and that the calculated acceleration / deceleration rate is the maximum acceleration / deceleration rate R _m
If it exceeds, like the calculated deceleration rate is equal to or less than the maximum deceleration rate R _m, and controls the sheet to lower the running speed, limit of the motor for driving the rotary cutter within the rated torque range that is, when cutting the cutting length away from the perimeter of the low production rotor disconnects the following slower sheet speed the maximum deceleration rate R _m, large rotor circumference of production when cutting the length of the near long to be able to perform a large number cut at a faster sheet traveling speed below the maximum deceleration rate R _m, and to eliminate the deceleration of unnecessary abrupt rotor A method for optimally varying the acceleration / deceleration rate of a rotary cutter. 2. A setting section for setting data of mechanical details of a rotary cutter and a cutting dimension, and an output of a first pulse generator provided on a length measuring wheel for detecting a traveling amount of a sheet, A sheet travel speed detection circuit that converts the value into a value proportional to and outputs it as a sheet travel speed;
From the sheet travel speed, the minimum acceleration rate and deceleration rate of the rotor capable of cutting the cutting dimension and corresponding to the sheet travel speed are calculated, and a ratio multiplication constant is calculated.
With K for _a and seeking speed multiplication constant K _s output, and a CPU for outputting a preset value K _b, the output of the first pulse generator, in proportion to the traveling speed of the sheet is converted into voltage proportional to the frequency a sheet travel distance detecting circuit for generating a pulse phi _a representative voltage (F / V) converter, the output of the first pulse generator, the traveling amount of the sheet, - the frequency for generating a sheet traveling speed voltage V _a that the output of the second pulse generator provided on a motor that drives the rotary cutter, the rotor rotation detection circuit which generates a pulse phi _b representing the amount of rotation of the rotor, the preset value K _b that is being output from the CPU and by subtracting the count in the pulse phi _a, to generate a pulse phi _d every time the pulse phi _a is input for a preset value K _b the CPU
Entered, the pulse phi _d is the ratio multiplied by a constant K _a and speed multiplication constant K _s to the CPU each generation, increased or decreased by increasing the amount or subtracting the amount depends on the acceleration rate and deceleration rate was the calculated and preset type down counter, and the ratio multiplier constant K _a, which is output from the CPU, and the ratio multiplying the pulse phi _a, rate of its output as a position command pulse φ _{c =} K _a × φ _a and multipliers, and the position command pulse phi _c, and computing a position error E _r = φ _c -φ _b of the rotor which is a difference between the pulse phi _b and the position error calculation unit, the position error E _r, which a D / a converter for converting the position compensation voltage V _c proportional to, the speed multiplication constant K _s that is output from the CPU, and multiplying the sheet traveling speed voltage V _a, the speed compensate for the output multiplier for outputting a voltage V _s = K _s × V _a D / the A converter, the velocity compensation voltage V _s between the speed command voltage of the motor control circuit for controlling the front motor by computing the sum of the position compensation voltage V _c
An operational amplifier that outputs V _r = V _s + V _c , and an acceleration / deceleration rate optimal variable control device for a rotary cutter. An absolute position detection sensor 3. A blade rotor absolute position signal generated every passing, the absolute position signal is cleared every time it is inputted, added by the pulse phi _b with the rotation of the rotor A rotor absolute position detection counter that counts, and outputs the counted value to the CPU as position data of the absolute position of the rotor, the CPU monitors the position data, and the position data is stored in the rotor blade. When you reach the position to start cutting,
3. The optimal variable speed control device for a rotary cutter according to claim 2, wherein the acceleration rate and the deceleration rate are calculated.