JP3447561B2 - Synchronous control device for winding machine - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a synchronous control device for a winding machine, and more particularly, to an independent drive means for the main shaft and traverse shaft, an encoder provided on the main shaft, and the traverse shaft for the main shaft. The present invention relates to a synchronous control device for a winding machine, which is provided with control means for performing position control in synchronization with.

[0002]

2. Description of the Related Art Conventionally, there has been used a winding machine capable of winding a wire uniformly on a winding bobbin by reciprocating the winding width of the winding bobbin while supplying the wire. There is.

FIG. 26 shows a schematic configuration diagram of a conventional winding machine 100. In FIG. 26, the winding machine 100 includes a spindle 102 and a winding bobbin 10 mounted on the spindle 102.
4. Reciprocating the winding width of bobbin 104 for winding 1
08, a traverse shaft 106, a synchronous encoder 110 that detects the rotational speed and position of the main shaft 102, a pulley 112 of the main shaft 102, a spindle shaft motor 114 that is a servo motor for rotating the main shaft, and a spindle shaft motor 11
4 pulley 116, the rotation of the pulley 116 the pulley 112
A traverse shaft motor 1 such as a servo motor for rotating the traverse shaft 106 in the forward and reverse directions, which is a ball screw 120 formed on the traverse shaft 106 and a belt 118 that is transmitted to the vehicle.
22, a spindle servo amplifier 124 that rotationally drives the spindle axis motor 114, a traverse axis servo amplifier 126 that rotationally drives the traverse axis motor 122, and a traverse axis servo amplifier 126 that is synchronously controlled based on a position signal of the spindle 102 from the synchronous encoder 110. And a controller unit 12 for driving and controlling the spindle servo amplifier 124.
8 and the like.

Further, the controller unit 128 of the winding machine
26, the I / F circuit 130 for receiving the output signal from the synchronous encoder 110, the spindle 1
When 02 is rotated once, the traverse shaft 106 turns the winding 10
Conversion gain unit 13 for advancing by the diameter of 8
2. A rotation direction reversing unit 134 for reversing the rotation direction when the traverse shaft 106 advances by the winding width of the winding bobbin 104, a timing measurement command unit 136 for measuring and commanding the timing for reversing the traverse shaft 106, and a spindle. A rotation command creating unit 138 that gives a rotation command to the servo amplifier 124.
It is composed of.

Next, the operation will be described. The spindle shaft motor 114 rotates at a constant speed to rotate the main shaft 102. The traverse shaft motor 122 is the main shaft 1
In accordance with the position signal from the synchronous encoder 110 directly connected to 02, the winding bobbin 104 is moved to the winding bobbin 104 by performing a synchronous operation of repeating forward and reverse rotations with the winding width of the winding bobbin 104 attached to the main shaft 102. The winding 108 is aligned and wound. In this way, in order to wind the windings 108 in a line, the traverse shaft 10 is rotated once the main shaft 102 makes one rotation.
No. 6 needs to be moved accurately by a distance corresponding to the diameter of the winding wire, and the traverse shaft 106 must be accurately reciprocated by the winding width of the winding bobbin 104.

Rotation command generation unit 1 of controller unit 128
In 38, the main shaft 102 is accelerated / constant / decelerated based on winding specifications such as the number of windings and the winding speed of the winding 108. For example, the number of windings of the winding 108 is 500 times. At this time, the rotation command generator 138 sets the spindle 102 to just 5
Rotate 00 and rotate by the amount to stop. In this way, by rotating the main shaft 102, the output signal from the synchronous encoder 110 is received by the I / F circuit 130, and the timing measurement command unit 136 measures the timing at which the traverse shaft 106 should be inverted from the output signal. To do. For example, when the winding width W = 10 mm, the winding pitch P is 1
In mm, the traverse shaft 106 is reversed when the main shaft 102 makes 10 turns within the winding width W. The timing measurement command unit 136 determines the timing for reversing the traverse shaft 106.

Further, the conversion gain section 132 includes a spindle 102.
Is to determine the amount of movement of the traverse shaft 106 per one rotation, and, for example, if the lead of the ball screw 120 is 5 mm, the traverse shaft motor 122 will rotate 10 mm for two revolutions. Therefore, if the traverse shaft 106 is rotated 1/5 when the main shaft 102 is rotated once, the winding pitch can be advanced by 1 mm. For example, if the synchronous encoder 110 of the spindle 102 is set to 10
00 pulse / revolution, traverse axis servo amplifier 1
If 26 is 2000 pulses / revolution, the traverse shaft 106 rotates once when a command of 2000 pulses is given to the traverse axis servo amplifier 126. Therefore, in the conversion gain unit 132, 2000 × (1/5) / 1000
= 0.4. That is, when the main shaft 102 makes one rotation, 1000 × 0.4 = 400 pulses are output, and the pulse causes the motor of the traverse shaft 106 to move to 400/400.
2000 = 1/5 rotation.

Further, the rotation direction reversing unit 134 switches whether the pulse from the conversion gain unit 132 is rotated in the normal rotation or in the reverse rotation according to the reversal command from the timing measurement commanding unit 136.

As described above, the conventional winding machine 100 is constructed, and the controller section 128 thereof controls the traverse axis synchronously. Therefore, as shown in FIG.
(B) shows a comparison of the relationship between the winding width and the winding speed of the winding bobbin 104 with the passage of time in a diagram of an actual winding path and an ideal winding path.

[0010]

However, in such a conventional synchronous control device for a winding machine, as shown in FIG. 26, after receiving the signal of the synchronous encoder 110 provided on the main shaft 102, Since the traverse shaft is controlled, there is an inconvenience that an operation delay occurs between the I / F circuit 130 and the traverse shaft motor 122.

Further, since the traverse shaft motor 122 itself for driving the traverse shaft 106 is heavy, the traverse timing for reversing the traverse shaft (see FIG. 27).
At the timings of T1 and T2 shown in (b), there is a disadvantage that the traverse axis speeds are the same and the rotation directions cannot be instantaneously reversed.

Further, since the traverse axis servo amplifier 126 for controlling the traverse axis motor 122 is delayed from the command, the winding width is equal to the area (AB) subtracted from the shaded areas A and B in FIG. There was an inconvenience that there was a shortage.

In the conventional synchronous control device for the winding machine, the traverse shaft operation with respect to the winding bobbin deviates from the ideal winding path indicated by the broken line in FIG. Then, since it operates in the actual winding path indicated by the solid line, a phase delay ts and a winding width shortage occur.

As a result, the winding wound on the actual winding bobbin 104, as shown in FIG. 28 for explaining the problem of the conventional example, has a winding width shortage S from the wall surface of the winding bobbin 104. However, the winding 108 becomes insufficient, and the winding 108 is biased toward the end, resulting in inconvenience that thick winding portions 108a and 108b occur.

As a prior art document, Japanese Patent Laid-Open No.
No. 254730, JP-A-7-256338, and JP-A-9-118476 are disclosed.
No sufficient solution has been provided to solve the above problems.

The present invention has been made in view of the above, and the operation of the traverse shaft is synchronously controlled with respect to the main shaft so that the bobbin can be alignedly wound so that the winding can be wound evenly over the full width of the bobbin. An object is to obtain a synchronous control device for a winding machine.

[0017]

[0018]

[0019]

[0020]

[0021]

Was to achieve the above object, there is provided a means for solving]
In order, in the synchronous control device of the winding machine according to this invention, a first drive means for the bobbin for winding the line is rotationally driven via the main shaft, the traverse axis relative to the winding width of the bobbin Second driving means for supplying a wire while reciprocating;
A winding machine having an encoder that detects a rotation state of the main shaft and a control unit that controls the second drive unit so that the traverse shaft is driven in synchronization with the main shaft based on an output signal of the encoder. In the synchronous control device of
The control means includes a phase advancing means for advancing the signal phase of the main shaft detected by the encoder by a predetermined amount, and a speed at which the traverse axis is reversed proportional to a value obtained by dividing a position loop gain value of the traverse axis servo. An amplitude compensation value creating means for creating an amplitude compensation value corresponding to a value multiplied by a constant, and as a position command value for the traverse axis,
The amplitude compensation value is added to the output signal from the phase advance means before the traverse axis is inverted.

According to this, the phase advancing means and the amplitude compensation value creating means are added to the control means for controlling the second driving means so that the traverse axis is driven in synchronization with the main axis based on the output signal of the encoder. By providing the position command value for the traverse axis, the amplitude compensation value from the amplitude compensation value creating means is added to the output signal from the phase advancing means before the traverse axis is inverted, so that the traverse axis is driven. However, the amplitude can be compensated so that the winding width of each winding wound on the bobbin matches the ideal winding width.

In the synchronous control device for the winding machine according to the next invention, the first drive means for rotating the bobbin for winding the wire through the main shaft, and the traverse shaft for the winding width of the bobbin. Second driving means for supplying a wire while reciprocating, an encoder for detecting a rotation state of the main shaft, and the traverse shaft based on an output signal of the encoder so that the traverse shaft is driven in synchronization with the main shaft. In a synchronous control device for a winding machine having a control means for controlling two driving means, the control means includes a phase advancing means for advancing a signal phase of the spindle detected by the encoder by a predetermined amount and a spindle for accelerating. The first time the traverse axis is reversed, the speed at which the traverse axis is reversed is divided by the position loop gain value of the servo for the traverse axis, and the value is multiplied by the proportional constant. Degree is divided by the gain value obtained by advancing the signal phase of the main axis by a predetermined amount to create a main compensation value, and when the traverse axis is reversed for the second and subsequent times, the speed at which the traverse axis is reversed is set to the traverse axis. An amplitude compensating means for creating an amplitude compensation value corresponding to a value obtained by multiplying a value obtained by dividing the position loop gain value of the servo for servo by a proportional constant, and reversing the traverse axis as a position command value to the traverse axis. The main compensating value and the amplitude compensating value are added to the output signal from the phase advancing means before the operation.

According to this, the phase advancing means and the amplitude compensating means are provided in the control means for controlling the second driving means so that the traverse axis is driven in synchronization with the main axis based on the output signal of the encoder. , As the position command value to the traverse axis, the main compensation value and the amplitude compensation value are added to the output signal from the phase advance means before reversing the traverse axis according to the number of reversal of the traverse axis. It is possible to perform compensation so as to match the ideal winding width during both the first reversal of the traverse axis and the second and subsequent reversals when the vehicle is started and accelerated.

In the synchronous control device for the winding machine according to the next invention, the first drive means for rotating the bobbin for winding the wire through the main shaft, and the traverse shaft with respect to the winding width of the bobbin. Second driving means for supplying a wire while reciprocating, an encoder for detecting a rotation state of the main shaft, and the traverse shaft based on an output signal of the encoder so that the traverse shaft is driven in synchronization with the main shaft. In a synchronous control device for a winding machine having a control means for controlling two drive means, the control means is provided with a value obtained by subtracting a previous main spindle speed from twice the present main spindle speed at which the traverse axis is reversed, The traverse shaft is provided with a first speed estimating means for estimating the traverse shaft speed at the time of reversing when the traverse shaft reaches the next winding width.

According to this, since the traverse shaft is driven in synchronization with the main shaft based on the output signal of the encoder, the control means for controlling the second driving means is provided with the first speed estimating means. By automatically estimating the value obtained by subtracting the previous spindle speed from twice the current spindle speed when the traverse axis reverses, as the traverse axis speed when the traverse axis reverses when it reaches the next winding width. , Can be used as a correction value calculation formula variable.

In the synchronous control device for the winding machine according to the next invention, the first drive means for rotating the bobbin for winding the wire through the main shaft, and the traverse shaft for the winding width of the bobbin. Second driving means for supplying a wire while reciprocating, an encoder for detecting a rotation state of the main shaft, and the traverse shaft based on an output signal of the encoder so that the traverse shaft is driven in synchronization with the main shaft. In a synchronous control device for a winding machine having a control means for controlling two driving means, the control means is provided with a value calculated from an operation pattern for producing a main spindle speed and a traverse shaft speed and converted into a next traverse shaft speed. A second speed estimating means for estimating the traverse shaft speed when the traverse shaft is reversed at the time when the traverse shaft reaches the next winding width is provided.

According to this, since the traverse shaft is driven in synchronization with the main shaft on the basis of the output signal of the encoder, the control means for controlling the second drive means is provided with the second speed estimating means. By calculating from the operation pattern that creates the main shaft speed and traverse shaft speed and converting it to the next traverse shaft speed, by estimating as the traverse shaft speed when the traverse shaft reverses when it reaches the next winding width, It can be used as a correction value calculation formula variable.

In the synchronous control device for a winding machine according to the next invention, in the synchronous control device for a winding machine according to claim 1 or 2 , the control means does not perform amplitude correction. When measuring the position of the main axis and the traverse axis at the minimum time difference that can be regarded as the same timing at the time or when the amplitude correction is not performed, the difference between the positions is automatically added to the correction value. 1 It is equipped with an auto tuning means.

According to this, since the traverse shaft is driven in synchronization with the main shaft on the basis of the output signal of the encoder, the control means for controlling the second drive means is provided with the first auto tuning means. When amplitude correction is not performed or when amplitude correction is not performed,
By measuring the positions of the main shaft and the traverse shaft with a minimum time difference that can be regarded as the same timing, and automatically adding the difference between the positions to the correction value, it is possible to correct the winding width shortage due to the traverse shaft.

In the synchronous control device for a winding machine according to the next invention, in the synchronous control device for a winding machine according to claim 1 or 2 , the traverse axis is reversed in the control means. , 2nd Auto which measures the position of the traverse axis at the moment when the actual speed of the traverse axis is zero or the rotation direction is reversed with the minimum time delay, and automatically adds the difference from the theoretical traverse axis as the correction value. It is equipped with tuning means.

According to this, since the traverse shaft is driven in synchronization with the main shaft based on the output signal of the encoder, the control means for controlling the second drive means is provided with the second auto tuning means. The position of the traverse axis at the moment when the traverse axis reverses and the actual speed of the traverse axis becomes zero or the direction of rotation reverses is measured with the minimum time delay, and the difference from the theoretical traverse axis is automatically used as the correction value. The phase delay amount of the traverse axis can be corrected by adding

[0033]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a synchronous control device for a winding machine according to the present invention will be described below in detail with reference to the drawings.

Embodiment 1. FIG. 1 is a diagram for explaining the configuration of a synchronous control device for a winding machine common to the present embodiment. (A) is an overall configuration diagram of the winding machine, (b) is a traverse shaft It is a diagram showing an operating state, and (c) is a cross-sectional view in which windings are aligned and wound on a bobbin. FIG. 2 shows a controller unit 3 that performs synchronous control of the winding machine according to the first embodiment.
81 is a block diagram, FIG. 3 is a detailed diagram of main blocks of FIG. 2, and FIG. 4 is a diagram for explaining an operation state according to the first embodiment. FIG. 4 is a diagram showing a relationship between a spindle speed and lapse of time, and FIG. 6B is a diagram showing a relationship between traverse shaft speed and lapse of time.

This winding machine 10 is shown in FIG.
Spindle 12, winding bobbin 1 attached to the spindle 12
4, a traverse shaft 16 that supplies the winding 18 while reciprocating the winding width (W) of the winding bobbin 14, a synchronous encoder 20 that detects the rotational speed and position of the main shaft 12, and the main shaft 12
22, a spindle shaft motor 24 that is a servo motor for rotating the main shaft, a spindle shaft motor 24
The pulley 26 provided on the
2. The belt 28 transmitting to 2 and the male screw 3 on the traverse shaft 16
0a and a female screw 30b are formed, a traverse shaft motor 32 such as a servo motor for reciprocating the traverse shaft 16 by driving the traverse shaft 16 in the forward / reverse direction, a spindle servo amplifier 34 for rotationally driving the spindle shaft motor 24, a traverse. Consists of a traverse axis servo amplifier 36 that rotationally drives the axis motor 32, a controller section 38 that synchronously controls the traverse axis servo amplifier 126 based on the position signal of the spindle 12 from the synchronous encoder 20, and drives and controls the spindle servo amplifier 34. Has been done.

Then, the controller section 38 of FIG.
The spindle servo amplifier 34 rotates the spindle shaft motor 24 at a constant speed to rotate the spindle 12 via the belt 28, and the winding bobbin 14 turns the winding 18
Is taken up. Further, the controller unit 38 is
The traverse shaft servo amplifier 36 drives the traverse shaft motor 32 in the forward and reverse directions at a constant speed in accordance with the detection position from the synchronous encoder 20 directly connected to the main shaft 12 (see FIG. 1B). The winding width W of the winding bobbin 14 attached to the winding wire 12 is aligned with the winding pitch P which is the same as the diameter of the winding 18 (FIG. 1).
(See (c)). As described above, in order to wind the winding wire 18 around the winding bobbin 14 in an aligned manner, the traverse shaft 16 must be accurately moved by the distance of the winding pitch P while the main shaft 12 is rotated once. Also, the traverse shaft 16
Needs to accurately reciprocate the winding width W of the winding bobbin 14.

Therefore, in the first embodiment, as shown in FIG.
The controller unit 38 is configured as the controller unit 381 in FIG. That is, the controller unit 38
1, the I / F circuit 40 for receiving the output signal from the synchronous encoder 20 and the conversion gain unit for advancing the traverse shaft 16 by the diameter P of the winding 18 when the main shaft 12 is rotated once. 46, a rotation direction reversing unit 48 for reversing the rotation direction when the traverse shaft 16 advances by the winding width W of the winding bobbin 14, a timing measurement command unit 50 for measuring and commanding the timing for reversing the traverse shaft 16, The rotation command creating unit 52 that gives a rotation command to the spindle servo amplifier 34 is the same as the controller unit 128 of the conventional example described in FIG.
Encoder phase advance unit 4 that advances the phase of the output signal from the synchronous encoder 20 for detecting the position and the phase of
The feature is that 2 is provided.

The encoder phase advancing unit 42 is configured as shown in FIG. 3 here, and uses only the signal AA input through the I / F circuit 40 as the output signal Vs from the synchronous encoder 20. Is the same as the prior art. The encoder phase advance unit 42 adds a pulse obtained by multiplying the change amount by 1 / KA to the signal AA as the signal AB when the magnitude of the input pulse changes.
Are formed by a differential circuit of the input pulse from the I / F circuit 40.

When this is seen in FIG. 4, the input pulse changes from zero at time T0 at the start start timing of the traverse shaft. At this time, the signal AA is output, and at time T1, time T
A signal AB having the same magnitude as 0 but the opposite sign is output.
The output of the encoder phase advance unit 42 at this time is shown in FIG.
It becomes like the broken line in the diagram of the spindle speed shown in. At this time, if 1 / KA is set so as to advance the phase by the delay of the phase of the traverse axis, the delay of the phase of the main axis and the traverse axis can be eliminated.

Next, the operation will be described. Figure 4
In (a), the solid line waveform of the spindle speed represents the actual spindle speed Vs, and the traverse axis speed when this spindle speed Vs is detected by the synchronous encoder 20 and the synchronization signal is added to the traverse axis is: As shown by the solid line in FIG. 4B, the traverse shaft speed without compensation (same as in the case of the conventional technique) is obtained. That is, with respect to the main axis, time t0
A phase delay will occur by the amount. As described above, this is due to the delay of the controller unit for performing the synchronous control, the traverse axis servo amplifier, and the traverse axis motor.

Therefore, in the first embodiment, by adding the element of the encoder phase advance section 42 shown in FIG. 3, the spindle speed is advanced by the time T0 as shown by the broken line in FIG. 4 (a). And the phase delay to
By compensating for the actual spindle speed (solid line in FIG. 4A) Vs, the traverse shaft speed in the compensated case shown by the broken line in FIG. It is possible to start the traverse axis at regular traverse timing with no delay.

As described above, according to the first embodiment, since the signal phase of the main shaft input from the synchronous encoder is advanced by the encoder phase advancing unit by the amount required for correction, the traverse axis is started. The timing can be corrected so that the actual position and the phase of the main spindle match, and the winding bobbin can be properly aligned and wound.

Embodiment 2. FIG. 5 shows the second embodiment.
A block diagram of a controller unit 382 that performs synchronous control of the winding machine according to the present invention is shown, FIG. 6 shows a detailed view of main blocks of FIG. 5, and FIG. 7 shows an operation according to the second embodiment. The figure explaining a state is shown, (a) is a diagram which shows the relationship between traverse shaft position and time progress, (b) is a diagram which shows the relationship between traverse shaft speed and time progress.

Therefore, in the second embodiment, as shown in FIG.
The controller unit 38 is configured as the controller unit 382 of FIG. That is, the controller unit 38
2, the I / F circuit 40, the encoder phase advance unit 4
2, the conversion gain unit 46, the rotation direction reversing unit 48, and the rotation command creating unit 52 are the same as those of the controller unit 381 of the first embodiment described in FIG. 2, but the timing measurement command unit 50 of FIG. The feature is that the element is replaced by the inversion timing determination unit 60.

Referring to FIG. 6, which shows the inversion timing determining unit 60 in detail, the inversion timing determining unit 60, when determining the inversion timing of the traverse axis as in the timing measurement commanding unit 50 of FIG. Instead of determining only by the width W, the gain KA for advancing the phase of the main axis by the encoder phase advancing unit 42, the position loop gain Kp of the servo amplifier for controlling the traverse axis, and the speed of the traverse axis are inverted next time. Speed of timing V
The inversion timing is corrected by using t and a constant of proportionality k (generally k = 0.693).

Then, the concrete meanings of the respective values shown in the inversion timing determining section 60 will be described. First, k ×
Vt / Kp in Vt / Kp is a droop pulse while the traverse shaft motor 32 is operating at the speed Vt. In the case of reversing the velocity with respect to this drooping pulse, since it advances by the area X (0.307 × Vt / Kp) shown in FIG. 7,
Subtracting it yields 0.693 x Vt / Kp. Also, V
Regarding t / KA, the inversion timing is delayed by an amount corresponding to the virtual advance of the phase of the main axis described in the first embodiment.

Next, the operation will be described. Figure 7
The solid line shown in (a) shows the ideal traverse axis position, and in the first embodiment, the reverse command is output to the traverse axis servo amplifier 36 at the timing shown by the solid line. However, in the second embodiment, since the traverse shaft motor 32, which is the servo motor, is rotating at the speed Vt at the moment when the controller unit 382 issues the reversal command, it is impossible to reverse the speed at this moment. There is actually a velocity that can be represented by an exponential function according to the position loop gain Kp, as indicated by the broken line in the traverse axis velocity in FIG. 7B. In this case, the traverse shaft 16 is advanced and inverted by a distance corresponding to the area X of the shaded portion shown in FIG. 7B. Therefore, the actual traverse axis position is shown in FIG.
It becomes as shown by the broken line. At this time, the inversion is delayed by the time tx with respect to the ideal traverse timing (traverse axis position). Therefore, in order to correct this, the inversion timing determining unit 60 is used to compensate for the time delay, and thus the actual traverse is performed. The axis reversal timing (broken line) can be advanced by time tx to approach the ideal traverse axis reversal timing (solid line).

As described above, according to the second embodiment, by using the reversal timing determination unit 60, the reversal command is given to the traverse axis, and only the delay time until the speed of the traverse axis becomes zero. By advancing the reversal timing of the traverse axis, it is possible to correct the actual position of the main axis and the phase at the timing of each traverse of the traverse axis.

Embodiment 3. FIG. 8 shows the third embodiment.
9 is a block diagram of a controller unit 383 for performing synchronous control of the winding machine according to the present invention, FIG. 9 is a detailed view of main blocks of FIG. 8, and FIG. 10 is an operation when the main correction is not performed. The figure which shows a state is shown, (a) is a diagram which shows the relationship between traverse shaft position and time progress, (b) is a diagram which shows the relationship between traverse shaft speed and time progress. Further, FIG. 11 shows a diagram showing the relationship between the traverse shaft speed and the passage of time, and FIG. 12 shows a diagram for explaining the correction operation according to the third embodiment. It is a diagram which shows the relationship between a traverse axis position and time progress, (b) is a diagram which shows the relationship between traverse shaft speed and time progress.

Therefore, in the third embodiment, as shown in FIG.
The controller section 38 is configured as the controller section 383 in FIG. That is, the controller unit 38
3, the I / F circuit 40, the encoder phase advance unit 4
2, the conversion gain unit 46, the rotation direction reversing unit 48, the timing measurement commanding unit 50, and the rotation command creating unit 52 are the same as those of the controller unit 381 of the first embodiment described in FIG. The amplitude compensation value creation unit 70 is added to the controller unit 381 of the above, and a switch 72 for selectively adding the compensation value created by the amplitude compensation value creation unit 70 to the rotation direction reversing unit 48 is provided. The point is characteristic.

As shown in FIG. 9, the amplitude compensation value creating section 70 gives an extra amount of the compensation value created by the amplitude compensation value creating section 70 to a value proportional to the traverse axis command value proportional to the main axis. Indicates that. The value created by the amplitude compensation value creation unit 70 is deducted from the value given as the previous correction value, and the speed Vt at the next traverse axis inversion is divided by the position loop gain Kp of the traverse axis servo amplifier 36. A value obtained by multiplying the constant of proportionality k (generally k = 0.693) is added, and a value divided by the number of control samplings until the next traverse is added for each sampling. The switch 72 is closed only while the calculated value is added from the current reverse timing of the traverse axis.

Next, the operation will be described. FIG. 10 shows the position and speed of the traverse axis when this correction is not performed. In FIG. 10, the ideal traverse axis position, that is, the command position is indicated by a solid line. The command speed when reversing the traverse axis is from -Vt to Vt.
However, the actual traverse axis changes exponentially as shown by the broken line in FIG. Therefore, as the traverse shaft speed shown in FIG. 10 (b) deviates from the command speed, the actual traverse shaft position changes with respect to the winding width W of the winding bobbin as shown in FIG. 10 (a). It's getting less.

The area (X1-X2) of the shaded portion of the traverse shaft speed shown in FIG. 10B corresponds to the distance (L1 + L2) of the traverse shaft position shown in FIG. 10A.
1.386 x Vt when the traverse shaft speed is constant
/ Kp. The area X4 of the shaded portion shown in FIG. 11 is 2 × Vt / Kp. The area X5 shown in FIG. 10B is X5 = X2 = 0.307 × Vt / K
becomes p. Insufficient amount of traverse axis (L1 + L
2) is (X1-X2), which is obtained by subtracting the amount of progress (area X2) at the time of reversal from the shaded area X1.
4-X5) -X2 = 2 * Vt / Kp-0.307 * Vt
/Kp-0.307.times.Vt /Kp=1.386.times.Vt/
It becomes Kp.

However, in reality, the speed at the time of traversing the traverse axis is not always the same. Therefore, at the traverse shaft speed of FIG.
Considering the period from 00 to time t01, it is an operation in the case of starting at point a of the traverse axis position of FIG. 10 (a) and passing point b at a constant speed. Even in this case, the shortage amount of the traverse axis is L2, which is the area of the traverse axis velocity in the figure {(X1-X3) -X2}, and this amount is 0.
It becomes 693.times.Vt / Kp. Then, the previous correction value in the amplitude compensation value creation unit 70 shown in FIG.
It is a value calculated for the distance L1 in (a), and this total becomes a correction value when moving from M1 to M2 in the figure.

The correction method will be described with reference to FIGS. 10 and 12. That is, from the current traverse point M1 shown in FIG. 7A, the amount obtained by adding 0.693 × Vt / Kp and the absolute value of the previous correction value to the estimated value Vt of the next speed is added to the next traverse. A constant value is added for each sampling number of. What indicates this is the traverse shaft speed shown in FIG. As shown by the broken line in FIG. 12A, the actual traverse axis position at this time is an operation in which the ideal traverse axis position (theoretical value) is overtaken during the operation, and is delayed by that amount when reversing.

As described above, according to the third embodiment, by adding the amplitude compensation value creating section 70 and the switch 72 to the controller section 383 of the winding machine, the winding width of the traverse axis is idealized every time. Can be corrected to the winding width W of.

Fourth Embodiment FIG. 13 shows a controller unit 384 that performs synchronous control of the winding machine according to the fourth embodiment.
FIG. 14 shows a detailed block diagram of the main blocks shown in FIG. Therefore, the fourth embodiment
Then, the controller unit 383 of FIG. 8 of the third embodiment described above.
In place of the amplitude compensation value creation unit 70, another amplitude compensation unit 80, which is another compensation element, is added. The amplitude compensator 80 is configured as shown in FIG. That is, after the main shaft 12 is started, the traverse shaft 16 is
A switch 84 is provided which is switched to the a side only when reversing for the second time and is switched to the b side for the second and subsequent reversals. Then, the compensating element provided on the side of a sets the estimated velocity Vt of the first traverse axis to the position loop gain Kp.
Divided by the proportional constant k1 (generally 1.386) and subtracted by the value obtained by dividing the estimated velocity Vt of the first traverse axis by the gain KA in the encoder phase advance section 42 ( This compensation).

The compensating element provided on the b side is the same as that of the amplitude compensating value creating section 70 in the third embodiment, and the value given as the previous correction value is subtracted to reverse the traverse axis next time. This is an amount obtained by dividing the velocity Vt at time by the position loop gain Kp of the traverse axis servo amplifier 36 and multiplying it by a proportional constant k (generally k = 0.693) (amplitude compensation). Further, for both the a-side compensation element and the b-side compensation element, a value divided by the number of control samplings until the next traverse is added for each sampling. And
The switch 82 is closed only while the above calculated value is added from the current reverse timing of the traverse axis.

Next, the operation will be described. In the above-described second embodiment, when the phase compensation by the reversal timing determination unit 60 shown in FIG. 5 is performed, the phase of the reversal timing of the traverse shaft 16 advances by Vt / KA when the main shaft 12 is started. Therefore, in the fourth embodiment, since the advance of the phase is corrected and the amplitude value is set to W, it is necessary to perform the main compensation only at the first reversal of the traverse axis. However, since the second and subsequent traverse axis inversion intervals are constant regardless of the presence or absence of phase compensation by the inversion timing determination unit 60 in FIG. 5, amplitude compensation similar to that in the third embodiment is sufficient. Therefore, the main compensation and the amplitude compensation are switched by the switch 84 according to the number of traverse axis inversions to perform compensation.

As described above, when the spindle is started and is accelerating, the amplitude compensation value creation in the third embodiment is performed due to the influence of the phase of the encoder phase advance section 42 described in the first embodiment. Even if an error occurs in the compensation value by the unit 70, by adding the amplitude compensating unit 80 and the switch 82 to the controller 384 of the winding machine as in the fourth embodiment, the error in the compensation value can be reduced. Since it can be eliminated, the winding can always be wound with an ideal winding width.

Embodiment 5. FIG. 15 is a diagram for explaining the operation of the synchronous control device for a winding machine according to the fifth embodiment, and (a) shows the spindle rotation speed V and the spindle rotation speed arrival time.
A diagram showing an example of the velocity waveform of the spindle when a command of ta (acceleration / deceleration time ta) is given, (b) is the reciprocating movement amount W of the traverse axis
16 is a diagram showing a velocity waveform example of a traverse shaft that operates in synchronization with the spindle at (winding width W) and winding pitch P, and FIG. 16 (c) is a diagram showing the spindle velocity waveform during acceleration. 9 shows a flowchart for explaining the operation of the fifth embodiment.

First, the speed of the main shaft and the speed of the traverse shaft which are performing the synchronous operation have the following relationship. Traverse shaft speed VT = Spindle speed V x (converted gain for allowing the traverse shaft to advance by the winding diameter P when the main shaft makes one revolution) Therefore, during acceleration of the main shaft, the traverse shaft also accelerates. While performing a reciprocating motion. Then, during this acceleration, speed estimation at the time when the traverse axis is reversed next time will be described with reference to FIG.

FIG. 15C shows a spindle velocity waveform during acceleration. The velocity V (n) is the present spindle velocity in which the traverse axis is reversed, and V (n-1) is the traverse. It shows the previous spindle speed when the axis was reversed. Then, the movement amount at the elapsed time t from the time of the previous traverse to the time of the current traverse is (V (n) -V (n-1)) x
It can be represented by t / 2. That is, when the main shaft moves by the above amount, the traverse shaft turns back the winding width W. Similarly, the amount of movement of the main shaft until the next traverse axis turns back the winding width W is defined as (V (n + 1) −V (n ))
It can be represented by xt / 2.

As for the movement amount of the spindle, if the movement amount of this time is the same as the movement amount of the next time, (V (n + 1)-
V (n)) × t / 2 = (V (n) -V (n-1)) × t / 2,
The speed of the main shaft when the traverse shaft turns back next time is V (n +
1) = 2V (n) -V (n-1). Therefore, the speed at which the next traverse axis is reversed can be estimated based on the speed at which the traverse axis has been reversed this time and the speed at which the traverse axis has been reversed the previous time. Furthermore, the traverse axis speed is
VT (n-1) = (2V (n) -V (n-1)) x (conversion gain for moving the traverse shaft by the diameter P of the winding when the main shaft makes one revolution) be able to.

Next, we explain the operation of the fifth embodiment with reference to the flowchart of FIG. 16. The feature of the fifth embodiment is that each time the traverse shaft performs the folding operation,
The traverse speed at the time of the next turn back operation is estimated and used as the "next traverse axis turn back speed" which is a variable of the correction value calculation formula.

First, when the main shaft is started and the synchronous operation of the traverse shaft is started, the previous turn-back speed (V (n-1)) is set to 0 for the first time in step S100. Next, when the traverse axis passes the turning point at step S102, the spindle speed at the turning point of the traverse axis is stored as the spindle speed (V (n)) at the turning point at this time (step S104), and the spindle speed at this time is calculated. Two
A value obtained by subtracting the previous spindle speed from the double is estimated as the next spindle speed (step S106), and it is determined whether or not the calculated next spindle speed exceeds the commanded spindle rotation speed (step S108).

In step S108, if the next spindle speed exceeds the command spindle rotation speed, the next spindle speed V (n + 1) is set as the command spindle rotation speed in step S11.
Move to 2. In step S108, if the next spindle speed does not exceed the command spindle rotation speed,
The process directly proceeds to step S112, the main shaft speed is converted into the traverse shaft speed, and the calculated traverse shaft speed is used as a speed estimation value at the time of traverse shaft turning back which is a variable of the correction value calculation formula (step S114). Next, the measured traverse shaft speed (V (n)) is replaced with the previous traverse shaft speed, and the above step S1 is executed again.
Returning to 02, the above process is repeated.

As described above, according to the fifth embodiment, a value obtained by subtracting the previous spindle speed from twice the spindle speed of the present time when the traverse axis is reversed in the control unit is subtracted from the traverse axis of the next time. By providing an estimator that estimates the traverse axis speed when reversing when reaching the width, the speed at which the traverse axis reverses next time is automatically estimated and can be used as a variable in the correction value calculation formula. it can.

Sixth Embodiment FIG. 17 is a diagram for explaining the operation of the synchronous control device for a winding machine according to the sixth embodiment, and (a) is a waveform diagram of the spindle speed during spindle acceleration,
(B) is a waveform diagram of the spindle speed during spindle deceleration,
FIG. 18 shows a flowchart for explaining the operation of the sixth embodiment. The feature of the sixth embodiment is that, in the above-described fifth embodiment, the speed at the next turning point of the traverse axis cannot be estimated until the first traverse axis turning point is passed. And the traverse axis operation pattern, all the velocities at the time of turning back of all traverse axes in the operation pattern are automatically estimated before the synchronous operation, and can be utilized in the above-described second or third embodiment. .

First, as shown in FIG. 17 (a), the first traverse position during acceleration is equal to the start angle (the pulse conversion amount of the spindle angle for starting the synchronous operation).
It becomes (angle + W), which is obtained by adding the winding width movement amount W. When this is expressed by the relationship between speed and time, V1.t1 / 2 = angle + W.

If the acceleration is constant, t1 = V1.ta / Vs holds, and the velocity at the time of the first traverse axis turning is V1 = √ {(angle + W) .2Vs / ta}. Similarly, the velocity at the turning point of the Kth traverse axis during acceleration is VK = √ {(angle + K · W) · 2Vs / ta}, and the above equation is used until the spindle reaches a constant speed (command rotation speed). Thus, the speed at the time when the traverse axis is turned back is established.

As shown in FIG. 17 (b), the traverse remaining winding width at the time of deceleration or when deceleration is started (tD in the figure) is WR, and the traverse speed at the first turning point after deceleration. When WR is expressed by the relationship between (V10) and the time (t10) from the time when deceleration is started, (V10 + Vs) .t10 / 2 = WR.

As for deceleration, since the acceleration is constant, t10 = ta (1-V10 / Vs) is established from the commanded spindle rotation speed Vs and the acceleration / deceleration time ta, and the speed at the time of the first traverse axis turning after deceleration. Is V10 = √ (Vs ² −2 · Vs · WR / ta).

Similarly, the speed at the time when the traverse axis turns back at the Kth time after deceleration is VK0 = √ {Vs ² -2.Vs. [(K-1) .W + WR /
ta]}, which holds until the spindle rotation speed becomes zero.

Next, the operation of the sixth embodiment will be described with reference to the flowchart of FIG. The setting is completed by programming (step S200). Next, in step S202, initialization is performed to set the turn-back number K to 1, and the K-th turn-back velocity VK is calculated (step S).
204). That is, VK = √ {(angle + K · W) · 2Vs / ta} is calculated.

Then, in step S206, VK ≧ V
s? As a result, it is determined whether the vehicle is accelerating or decelerating. If the vehicle is accelerating, the process proceeds to step S208, the number of turns K is increased, and the process returns to step S204. If the vehicle is decelerating in step S206, step S21
0, the command speed Vs is changed to the turn-back speed VK,
In step S212, it is determined whether deceleration has started,
If deceleration has not started, the process proceeds to step S214, the number of turns K is increased and the above step S212 is performed.
Return to. When deceleration is started in step S212,
After deceleration, the number of turns is initialized (step S21).
6) Then, the K-th turning speed VK is calculated using the following equation (step S218). That is, VK = √ {Vs ² -2.Vs. [(N-1) .W + WR /
ta]} is calculated.

Next, in step S220, it is determined whether the vehicle is decelerating or stopped.
Is increased and the process returns to step S218. If it is stopped in step S220, K in step S224.
The speed estimation is completed by setting the turnaround speed VK at the 0th time to zero.

As described above, according to the sixth embodiment, the speed estimation when the traverse shaft is reversed at the time when the traverse shaft reaches the next winding width is determined by the operation pattern for creating the main shaft speed and the traverse shaft operation program. The speed at the time when the traverse axis turns back, which is obtained by automatically estimating the speed at which all traverse axes reverse during the operation pattern, is a variable in the correction value calculation formula, "When the next traverse axis turns Can be used as "speed".

Embodiment 7. FIG. 19 is a diagram for explaining the operation of the synchronous control device for a winding machine according to the seventh embodiment, where (a) is a waveform diagram of a traverse command and (b) is a diagram.
20 is a waveform diagram of the traverse axis position, FIG. 20 is a block diagram illustrating a part of the configuration of the seventh embodiment, and FIG. 21 is a diagram of the winding machine according to the seventh embodiment. It is a figure explaining a synchronous control device in detail, (a) is a traverse axis actual position waveform diagram, (b) is a traverse axis actual velocity waveform diagram, and in FIG. 22, operation | movement of this Embodiment 7 is carried out. A flowchart illustrating the above is shown.

The feature of the seventh embodiment is that the positions of the main axis and the traverse axis are measured with a minimum time difference that can be regarded as the same timing when the amplitude correction is not performed or when the amplitude correction is not performed. The point is that it has an amplitude correction adjustment function as a first auto tuning means for automatically adding the difference between the positions to the correction value.

First, as shown in FIG. 19, the position where the phase of the traverse axis is most delayed from the theoretical value when the amplitude is not corrected or when the amplitude is not corrected is shown in FIG. ), The traverse command is reversed and the motor decelerates to "0" (Pt). Further, in the block diagram of FIG. 20, with respect to the target position PM which is the ideal position at the moment when the motor speed reverses,
The difference from the actual position Pt at the moment the motor speed reverses is an amount that is insufficient for the theoretical winding width. That is, this is the conversion gain Ksn for performing the winding width correction, and the winding width correction value Hsn (n) can be derived from this conversion gain Ksn.

A method for automatically measuring and correcting the amount of insufficient winding with respect to the above theoretical winding width will be described with reference to FIG. FIG. 21 shows the traverse axis actual position waveform (at the same figure (a)) read at the sampling time t and the traverse axis actual velocity waveform (at the same figure (b)). It can be seen from FIG. 21 (b) that the traverse axis is folded back in the traverse axis reversal section where the actual speed of the traverse axis changes from normal rotation to reverse rotation. The closer to the turning position, the closer the absolute value of traverse shaft speed becomes to zero. From this,
When the traverse axis position and the traverse axis speed are read at the same timing, the speed before and after the speed polarity is reversed is read, and if | Vt (n) |> | Vt (n-1) |, then Pt = Pt (n -1) If | Vt (n) | ≤ | Vt (n-1) |, it is determined that Pt = Pt (n) (the slower point is the turning point), and the traverse at the turning It is possible to measure the position with high accuracy.

Further, in the seventh embodiment, by accumulating and averaging the measurement results, it is possible to further increase the accuracy and automatically calculate the insufficient amount.

Next, the operation of the seventh embodiment will be described with reference to the flowchart of FIG. After confirming that the spindle speed is stable in step S300, the actual position of the spindle is read by the synchronous encoder (step S302). Next, in step S304, the ideal traverse axis position is calculated from the read actual position of the main shaft, and the traverse axis actual position Pn is read from the serial data of the traverse axis (step S30).
Simultaneously with 6), the traverse axis actual speed Vn is read from the reading of the traverse axis serial data (step S308).

Then, in step S310, it is determined whether or not the polarity of the read traverse axis speed is reversed,
When there is no polarity reversal and the traverse axis is not folded back, the data is held (step S312), the number of times of reading is increased (step S314), the process returns to step S300, and the process is repeated again. In step S310, when the polarity is reversed and the traverse axis is turned back, the accurate turning point (Pt) is calculated using the following equation. If | Vt (n) |> | Vt (n-1) |, then Pt = Pt (n-1) | Vt (n) | ≤ | Vt (n-1) | If Pt = Pt (n)

In step S318, the winding width shortage is calculated from the difference between the ideal traverse shaft position (PRn) calculated from the actual position of the main shaft and the actual traverse shaft position (Pt), and the calculated winding width is calculated. By averaging the shortages every time, the accuracy of the shortages of the winding width can be improved (step S320). Then, the winding width shortage amount obtained in step S320 is automatically added to the winding width correction value.
Furthermore, if the synchronous operation continues (step S32)
4) Return to step S314 to increase the number of readings, and return to step S300 to repeat the above process.

As described above, according to the seventh embodiment, at the timing when the amplitude correction is not performed or when the amplitude correction is not performed, the main shaft and the traverse are traversed with the minimum time difference that can be regarded as the same timing. By measuring the position of the shaft and automatically adding the difference between the measured position of the main shaft and the ideal traverse shaft position to the correction value (auto tuning), the winding shortage can be corrected.

Eighth Embodiment FIG. 23 is a diagram for explaining the operation of the synchronous control device for a winding machine according to the eighth embodiment, and FIG. 23 (a) is a diagram showing the relationship between the speed command of the traverse axis and the passage of time, (b) is a diagram showing the relationship between the actual position of the traverse axis and the passage of time, (c) is a diagram showing the relationship between the spindle position obtained from the actual position of the traverse axis and the passage of time,
FIG. 24 shows a diagram showing a calculation procedure for obtaining the phase delay correction value, and FIG. 25 shows a flowchart for explaining the operation of the eighth embodiment.

The feature of the eighth embodiment is that the traverse shaft position is measured at the moment when the traverse shaft is reversed and the actual speed of the traverse shaft motor is zero, or the rotation direction is reversed with a minimum time delay. This is that it has a phase correction adjusting function as a second auto tuning means for automatically adding a difference from the theoretical traverse axis position to the phase correction value.

First, in the traverse axis speed command shown in FIG. 23A, when the polarity of the command changes, the actual position Pt () of the traverse axis in FIG. t-1) and the actual position Ps of the spindle shown in FIG.
(t-1) and are read at the same time. Then, the actual position Pt (t-1) of the traverse axis is converted into a spindle position (the converted spindle position is defined as P't (t-1)). In theory without phase delay, the read actual position Ps (t-1) of the spindle and the converted spindle position P't (t-
Since 1) is the same, the difference between Ps (t-1) and P't (t-1) is the phase difference caused by the phase delay of the traverse axis. This phase difference is used as a phase delay correction value, and this correction value is automatically added to the phase delay correction value every time the traverse axis turns back to correct the phase.

As shown in FIG. 24, Ps (n) is the spindle position, P't (n) is the spindle conversion position, KIh is the phase delay conversion gain, and P '(n) is the amplitude correction value (spindle conversion). , HIh (n) are phase delay correction values. As shown in FIG. 24, a value obtained by subtracting the amplitude correction value (spindle conversion) P ′ (n) from the spindle converted position P′t (n) is further subtracted from the spindle position Ps (n), and the result is phased. By converting with the delay conversion gain KIh, the phase delay correction value HIh (n) can be obtained.

Next, the operation of the eighth embodiment will be described with reference to the flowchart of FIG. First, when the synchronous operation operation of the traverse axis with respect to the main axis is started, it is confirmed in step S400 that the main axis speed is stable, and the speed command of the traverse axis is read (step S402). Next, in step S404, after reading the actual position of the main axis and the actual position of the traverse axis, it is determined in step S406 whether the polarity of the speed command value of the traverse axis is reversed.

If the polarity is not reversed in step S406, the process returns to step S400 and the above processing is repeated. However, if the polarity is reversed, the polarity of the speed command value of the traverse axis is determined in the next step S408. The actual position Ps (t-1) of the main spindle just before reversing and the actual position Pt of the traverse axis
Read (t-1) and.

Then, in step S410, the actual position of the traverse axis is converted into the spindle position, and the phase delay amount is calculated from this spindle position and the actual spindle position (step S41).
2). The accuracy of the phase delay can be improved by averaging the calculated phase delay each time (step S414). And this step S414
Based on the averaged phase lag amount obtained in step 1, the phase lag correction value is automatically converted (step S41).
6). The above process is repeated during the synchronous operation (step S418).

As described above, according to the eighth embodiment, the traverse position is measured with the minimum time delay at the moment when the traverse command is reversed and the motor speed of the traverse shaft is zero or the rotation direction is reversed. Then, the difference from the theoretical traverse axis is automatically added to the correction value.
The phase delay can be corrected.

[0096]

[0097]

[0098]

As described in the foregoing, according to the synchronous control device of a winding machine according to this invention, it is possible to every winding width of the traverse axis is corrected so as to coincide with the winding width W of the ideal .

With the synchronous control device for a winding machine according to the next invention, it is possible to correct the winding width at the time of the first reversal of the traverse shaft in which the main shaft is started to match the ideal winding width. .

In the synchronous control device for a winding machine according to the next invention, the reversal speed of the next traverse axis is estimated from the current main spindle speed in which the traverse axis is reversed and the previous main spindle speed, and the correction value calculation formula is calculated. It can be used as a variable.

In the synchronous control device for a winding machine according to the next invention, the reversal speeds of all traverse axes in the operation pattern are estimated and corrected by using the operation pattern for producing the main axis speed and the traverse axis operation program. It can be used as a variable in the value calculation formula.

With the synchronous control device for a winding machine according to the next invention, it is possible to correct the insufficient winding amount.

With the synchronous control device for a winding machine according to the next invention, the phase delay can be corrected.

[Brief description of drawings]

FIG. 1 is a diagram illustrating a configuration of a synchronous control device for a winding machine common to an embodiment of the present invention, (a) is an overall configuration diagram of the winding machine, and (b) is an operating state of a traverse shaft. Diagram showing,
(C) is a cross-sectional view in which windings are aligned and wound on a bobbin.

FIG. 2 is a block diagram of a controller unit that performs synchronous control of the winding machine according to the first embodiment of the present invention.

FIG. 3 is a detailed view of the main blocks of FIG.

4A and 4B are diagrams illustrating an operating state according to the first embodiment of the present invention, in which FIG. 4A is a diagram showing the relationship between the spindle speed and the passage of time, and FIG. 4B is a diagram showing the traverse shaft speed and the passage of time. It is a diagram showing a relationship.

FIG. 5 is a block diagram of a controller unit that performs synchronous control of the winding machine according to the second embodiment of the present invention.

FIG. 6 is a detailed view of the main blocks of FIG.

FIG. 7 is a diagram illustrating an operating state according to the second embodiment of the present invention, (a) is a diagram showing a relationship between traverse shaft position and time passage, and (b) is a traverse shaft speed and time. It is a diagram which shows the relationship with progress.

FIG. 8 is a block diagram of a controller unit that performs synchronous control of the winding machine according to Embodiment 3 of the present invention.

9 is a detailed view of the main blocks of FIG.

FIG. 10 is a diagram showing an operation state in the case where this correction is not carried out, (a) is a diagram showing a relationship between traverse axis position and lapse of time, and (b) shows a relationship between traverse axis speed and lapse of time. It is a diagram showing.

FIG. 11 is a diagram showing a relationship between traverse shaft speed and lapse of time.

12A and 12B are views for explaining the correction operation according to the third embodiment of the present invention, where FIG. 12A is a diagram showing the relationship between traverse axis position and elapsed time, and FIG. 12B is traverse axis speed and elapsed time. It is a diagram showing the relationship of.

FIG. 13 is a block diagram of a controller unit that performs synchronous control of a winding machine according to Embodiment 4 of the present invention.

FIG. 14 is a detailed view of the main blocks of FIG.

FIG. 15 is a diagram for explaining the operation of the synchronous control device for a winding machine according to the fifth embodiment of the present invention, in which (a) shows a spindle rotation speed and a spindle rotation speed arrival time command. A diagram showing an example of a velocity waveform, (b) a diagram showing an example of a velocity waveform of a traverse shaft that operates in synchronization with the traverse shaft reciprocating amount and winding pitch of the traverse shaft, and (c) a spindle during acceleration. It is a diagram showing a velocity waveform.

FIG. 16 is a flowchart illustrating an operation according to the fifth embodiment of the present invention.

FIG. 17 is a diagram for explaining the operation of the synchronous control device for a winding machine according to the sixth embodiment of the present invention, (a) is a waveform diagram of the spindle speed during spindle acceleration, and (b) is a spindle speed deceleration. It is a waveform diagram of a spindle speed.

FIG. 18 is a flowchart illustrating the operation of the sixth embodiment of the present invention.

FIG. 19 is a diagram for explaining the operation of the synchronous control device for a winding machine according to the seventh embodiment of the present invention, (a) is a waveform diagram of a traverse command, and (b) is a waveform diagram of a traverse axis position. .

FIG. 20 is a block diagram illustrating a part of the configuration of the seventh embodiment.

FIG. 21 is a diagram illustrating in detail a synchronous control device for a winding machine according to a seventh embodiment, where (a) is a traverse shaft actual position waveform diagram and (b) is a traverse shaft actual velocity waveform diagram. .

FIG. 22 is a flowchart illustrating the operation of the seventh embodiment.

FIG. 23 is a diagram for explaining the operation of the synchronous control device for a winding machine according to Embodiment 8 of the present invention, in which (a) is a diagram showing the relationship between the speed command of the traverse axis and the passage of time;
(B) is a diagram showing the relationship between the actual position of the traverse axis and the passage of time, and (c) is a diagram showing the relationship between the spindle position obtained from the actual position of the traverse axis and the passage of time.

FIG. 24 is a diagram showing a calculation procedure for obtaining a phase delay correction value.

FIG. 25 is a flowchart illustrating the operation of the eighth embodiment.

FIG. 26 is a schematic configuration diagram of a conventional winding machine.

FIG. 27 is a diagram comparing the relationship between the winding width and the winding speed of the winding bobbin with respect to the passage of time in a diagram of an actual winding path and an ideal winding path.

FIG. 28 is a diagram illustrating a problem of a conventional example.

[Explanation of symbols]

12 spindles, 14 winding bobbins, 16 traverse shafts, 18 windings, 20 synchronous encoders, 22 pulleys,
24 spindle shaft motor, 26 pulley, 28 belt, 30 ball screw, 32 traverse shaft motor, 3
4 spindle servo amplifier, 36 traverse axis servo amplifier, 38 controller section, 381, 382, 383
384 controller section, 40 I / F circuit, 42 encoder phase advance section, 46 conversion gain section 46, 48
Rotation direction reversing unit, 50 timing measurement command unit, 52
Rotation command generation unit, 60 Inversion timing determination unit, 70
Amplitude compensation value creation unit, 72 switch, 80 Amplitude compensation unit, 82 switch.

─────────────────────────────────────────────────── ─── Continuation of front page (56) Reference JP-A-7-196241 (JP, A) JP-A-1-209277 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B65H 54/28

Claims (6)

(57) [Claims] 1. A first driving means for rotating a bobbin for winding a wire through a main shaft, a second driving means for supplying a wire while reciprocating a traverse shaft with respect to a winding width of the bobbin, and A winding machine having an encoder that detects a rotation state of a main shaft and a control unit that controls the second drive unit so that the traverse shaft is driven in synchronization with the main shaft based on an output signal of the encoder. In the synchronous control device, the control means includes a phase advancing means for advancing a signal phase of the spindle detected by the encoder by a predetermined amount, and a speed at which the traverse axis is reversed by a position loop gain value of a traverse axis servo. Amplitude compensation value creating means for creating an amplitude compensation value corresponding to a value obtained by multiplying the divided value by a proportional constant, and, as a position command value for the traverse axis, The output signal from the phase advance means before reversing the berths axis, the synchronization control unit of the winding machine, characterized by adding the amplitude compensation value. 2. A first driving means for rotationally driving a bobbin for winding a wire through a main shaft, a second driving means for supplying a wire while reciprocating a traverse shaft with respect to a winding width of the bobbin, A winding machine having an encoder that detects a rotation state of a main shaft and a control unit that controls the second drive unit so that the traverse shaft is driven in synchronization with the main shaft based on an output signal of the encoder. In the synchronous control device, the control means includes a phase advancing means for advancing a signal phase of the spindle detected by the encoder by a predetermined amount, and the spindle is accelerated to reverse the traverse axis for the first time.
A value obtained by dividing the speed when the traverse axis reverses by the position loop gain value of the traverse axis servo by a proportional constant, and then dividing the spindle speed by the gain value obtained by advancing the signal phase of the spindle by a predetermined amount. The main compensation value obtained by subtracting is calculated, and when the traverse axis is reversed for the second and subsequent times, the value obtained by dividing the speed at which the traverse axis is reversed by the position loop gain value of the traverse axis servo is multiplied by a proportional constant. An amplitude compensating means for creating an amplitude compensating value corresponding to, as a position command value to the traverse axis, in the output signal from the phase advancing means before reversing the traverse axis, the main compensation value and A synchronous control device for a winding machine characterized by adding amplitude compensation values. 3. A first driving means for rotationally driving a bobbin for winding a wire through a main shaft, a second driving means for supplying a wire while reciprocating a traverse shaft with respect to a winding width of the bobbin, and A winding machine having an encoder that detects a rotation state of a main shaft and a control unit that controls the second drive unit so that the traverse shaft is driven in synchronization with the main shaft based on an output signal of the encoder. In the synchronous control device, when the traverse axis reverses a value obtained by subtracting the previous spindle speed from twice the current spindle speed at which the traverse axis is reversed, when the traverse axis reaches the next winding width. 1. A synchronous control device for a winding machine, comprising: a first speed estimating means for estimating the traverse shaft speed of the above. 4. A first driving means for rotationally driving a bobbin for winding a wire through a main shaft, a second driving means for supplying the wire while reciprocating a traverse shaft with respect to a winding width of the bobbin, A winding machine having an encoder that detects a rotation state of a main shaft and a control unit that controls the second drive unit so that the traverse shaft is driven in synchronization with the main shaft based on an output signal of the encoder. In the synchronous control device, the control means inverts a value converted from the operation pattern for producing the main shaft speed and the traverse shaft speed and converted into the next traverse shaft speed, when the traverse shaft reaches the next winding width. Second to estimate as traverse axis speed
A synchronous control device for a winding machine, comprising a speed estimating means. 5. The position of the main shaft and the traverse axis is controlled by the control means with a minimum time difference that can be regarded as the same timing when amplitude correction is not performed or timing when amplitude correction is not performed. Found to claim 1 or, characterized in that it comprises a first auto-tuning means for adding the difference in its position automatically corrected value
2. A synchronous control device for a winding machine according to 2 . 6. The control means measures the position of the traverse shaft at the moment when the traverse shaft is reversed and the actual speed of the traverse shaft is zero or the rotating direction is reversed with a minimum time delay, and the theoretical synchronous control device of a winding machine according to claim 1 or 2, characterized in that a has a second auto-tuning means for automatically added to the correction value the difference between the traverse axis.