Tension control device and tension control system

Abstract

The tension control device (100) includes: a first mechanical loss coefficient estimation unit that estimates a mechanical loss coefficient that varies according to the winding diameter based on the tension of the foil material (5) wound around the roller (6) when the roller (6) as a rotating body rotates and the winding diameter of the foil material (5) wound around the roller (6); and an arithmetic unit that performs correction using the mechanical loss coefficient that varies according to the winding diameter and generates a control command for rotating the roller (6).

Description

Technical Field

[0001] The present invention relates to a tension control device and a tension control system for correcting tension fluctuations of an object wound around a core during winding or unwinding of the object. Background Art

[0002] When performing processing such as printing and molding on a foil material (object) such as paper, film, wire, linear material, and metal foil, the foil material is sometimes unwound from a core or wound around a core. When the object is unwound or wound, in order to prevent deformation and breakage of the object, it is necessary to control the tension applied to the foil material so that the tension is within a constant range. On the other hand, mechanical losses and moments of inertia of the machine and the reel become disturbances to the tension control, causing tension fluctuations. Therefore, in order to control the tension with high precision and stability, it is necessary to correct the mechanical losses and moments of inertia of the machine and the reel.

[0003] In an actual field, an adjuster repeatedly changes the correction value and performs a trial operation to determine the correction value of the mechanical loss and the moment of inertia. If the correction value is not appropriate, high-precision and stable tension control cannot be performed. If an attempt is made to obtain an appropriate correction value, there is a problem that the number of trial operations increases and a large amount of man-hours are spent. In addition, when calculating the correction value theoretically based on design drawings, materials used, etc., there is a problem that a deviation from the optimum value of the correction value may occur due to manufacturing errors such as deviations from the theoretical value of the device, mis-settings when adjusted by an adjuster, and human factors such as individual differences. In response to the above problems, in Patent Document 1, the rotational speed of the core is controlled to estimate the correction value of the mechanical loss and the moment of inertia, and the tension fluctuation is corrected based on the estimated correction value.

[0004] Patent Document 1: Japanese Patent Laid-Open No. 58-202243 Summary of the Invention

[0005] In Patent Document 1, the correction value is estimated by controlling the rotational speed of the core. Therefore, the actuator that drives the core needs to correspond to the speed control. However, there is also an actuator dedicated to torque control that cannot control the speed. In the above-described case, there is a problem that the correction value cannot be estimated.

[0006] The present invention has been made in view of the above circumstances, and an object thereof is to obtain a tension control device that can estimate a correction value and perform tension control even when the rotational speed of the core cannot be controlled.

[0007] In order to solve the above problems and achieve the object, the tension control device according to the present invention has: a first mechanical loss coefficient estimation unit that estimates a mechanical loss coefficient that varies according to the winding diameter based on the tension of an object wound around a core as a rotating body and wound or unwound by the rotation of the core, and the winding diameter of the object wound around the core; and an arithmetic unit that performs correction using the mechanical loss coefficient that varies according to the winding diameter and generates a control command for rotating the core.

[0008] Effects of the Invention

[0009] According to the present invention, there is an effect that a tension control device capable of estimating a correction value and performing tension control even when the rotation speed of the core cannot be controlled is obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a diagram showing a structural example of the tension control system according to Embodiment 1.

[0011] Figure 2 It is a diagram showing a structural example of the tension control device according to Embodiment 1.

[0012] Figure 3 It is a diagram showing a structural example of the tension control system according to Embodiment 2.

[0013] Figure 4 It is a diagram showing a structural example of the tension control device according to Embodiment 2.

[0014] Figure 5 It is a diagram showing a structural example of the tension control system according to Embodiment 3.

[0015] Figure 6 It is a diagram showing a structural example of the tension control device according to Embodiment 3.

[0016] Figure 7 It is a diagram showing a structural example of the tension control system according to Embodiment 4.

[0017] Figure 8 It is a diagram showing a structural example of the tension control device according to Embodiment 4.

[0018] Figure 9 It is a diagram showing an example of the hardware structure of the tension control device according to Embodiments 1 to 4. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, the tension control device and the tension control system according to the embodiments of the present invention will be described in detail with reference to the drawings.

[0020] Embodiment 1.

[0021] <System Structure>

[0022] Figure 1 It is a diagram showing a structural example of the tension control system according to Embodiment 1. The tension control system includes: a tension data output device (tension output unit) 1 that outputs data equivalent to the tension to the tension control device 100; a roll diameter data output device (roll diameter output unit) 2 that outputs data equivalent to the roll diameter to the tension control device 100; a foil material 5 that is an object whose tension during conveyance is controlled by being wound around a roller 6 serving as a core; the roller 6 that is connected to an actuator 7 and winds the foil material 5; the actuator 7 that drives the roller 6; an actuator control device 8 that controls the actuator 7; and a tension control device 100 that performs tension control of the foil material 5 and estimation and correction of correction values.

[0023] In addition, the foil material 5 wound around the roller 6 is called a reel material, and the roller 6 and the foil material 5 wound around the roller 6 are collectively called a reel. In the case of an unwinder, the tension control system of the present Embodiment 1 continuously draws out (unwinds) the foil material 5 from the reel, and in the case of a winder, the foil material 5 is continuously wound around the reel. The foil material 5 is a long, freely deformable material, and can be a linear material in addition to a strip-shaped sheet such as paper or a film.

[0024] <Structure of Tension Control Device 100>

[0025] Figure 2 It is a diagram showing a structural example of the tension control device according to Embodiment 1. As Figure 2 shown, the tension control device 100 includes: a tension data input unit 111 that inputs tension data from outside the tension control device 100; a roll diameter data input unit 112 that inputs roll diameter data from outside the tension control device 100; a mechanical loss coefficient estimation unit for the reel material (first mechanical loss coefficient estimation unit) 121 that estimates the mechanical loss coefficient of the reel material as a correction value; a mechanical loss coefficient storage unit 131 for the reel material that stores the estimated correction value, i.e., the mechanical loss coefficient of the reel material; a mechanical loss coefficient torque conversion unit 141 for the reel material that converts the mechanical loss coefficient of the reel material into torque units; and a tension control arithmetic unit 150 that actually performs tension control and outputs an instruction for the actuator 7 to the actuator control device 8.

[0026] <Estimation of Correction Value>

[0027] [Actions of the System during Estimation]

[0028] When estimating the mechanical loss coefficient of the reel material, the tension data and the reel diameter data that satisfy the following two conditions are input to the tension control device 100. For the estimation, two points of tension data and reel diameter data that meet the conditions are required. More specifically, they are the data at different times during the winding or unwinding process of the foil material 5. In addition, the tension data and the reel diameter data need to be different between the two points.

[0029] The tension data is output from the tension data output device 1. Since there are multiple methods for the tension data output device 1 to obtain the tension data and input it to the tension control device 100, if the data equivalent to the tension can be input to the tension control device 100, it is not limited to this method.

[0030] As an example of the method for obtaining the tension data, in addition to the method of directly measuring the tension using a tension detector, there are also methods of calculating the tension through data different from the tension (such as the position of the floating roller, the slack of the foil material 5, the vibration frequency, etc.) or signals (such as the pulse signal of the reel), and methods of estimating the value equivalent to the tension through a simulator, AI, etc.

[0031] As an example of the method for inputting the tension data to the tension control device 100, in addition to the method of directly inputting from the tension data output device 1 by converting the tension data into a voltage value, there are also methods of directly manually inputting the tension data value read by a person from the output of the tension data output device 1 to the tension control device 100, and methods of directly inputting from a tension detector, etc. without passing through the tension data output device 1 to the tension control device 100. In the case of directly inputting from a tension detector, etc., the tension detector becomes the tension output part.

[0032] The reel diameter data is output from the reel diameter data output device 2. The reel diameter data output device 2 obtains the reel diameter data. Since there are multiple methods for inputting it to the tension control device 100, if the data equivalent to the reel diameter can be input to the tension control device 100, it is not limited to this method.

[0033] For example, in addition to the method of directly measuring the reel diameter using an ultrasonic sensor, etc., there are also methods of calculating the reel diameter through data different from the reel diameter (such as the linear velocity, the material thickness, etc.) or signals (such as the pulse signal of the reel, the start signal of the operation, etc.), and methods of estimating the value equivalent to the reel diameter through a simulator, AI, etc.

[0034] As an example of a method for inputting the winding diameter data, in addition to a method of directly inputting from the winding diameter data output device 2 to the tension control device 100 such as converting the winding diameter data into a voltage value and inputting it, there are also methods such as a person directly manually inputting the winding diameter data value into the tension control device 100, and a method of directly inputting from an ultrasonic sensor or the like to the tension control device 100 without passing through the winding diameter data output device 2.

[0035] The first condition is that the torque of the actuator 7 becomes constant. The actuator control device 8 controls the torque output by the actuator 7, whereby the first condition can be satisfied. In addition, in the case of the actuator 7 where the current for driving the actuator 7 and the torque of the actuator 7 are in a one-to-one relationship, by setting the actuator current to be constant, the first condition can be satisfied.

[0036] The second condition is that the angular acceleration of the reel becomes 0. In addition, when the foil material 5 is not extremely thick, by setting the linear velocity to a constant velocity, even if the linear acceleration is set to 0, it becomes the same condition. The linear velocity is proportional to the product of the winding diameter and the rotational speed. When the foil material 5 is not extremely thick, if the change in the winding diameter during the period for obtaining the data for estimation is substantially 0, the winding diameter can be regarded as a constant. In this case, since the linear velocity and the rotational speed are proportional, when the linear acceleration is 0, the angular acceleration of the reel becomes the same condition as 0.

[0037] [Estimation method]

[0038] If the tension applied to the foil material 5 is set as "F", the winding diameter that increases or decreases according to the number of windings of the foil material 5 around the reel is set as "D", the load torque applied to the reel from the actuator 7 is set as "T b ", the mechanical loss torque that changes according to the winding diameter is set as "T mr ", the mechanical loss torque that does not change according to the winding diameter is set as "T mo ", the inertia torque that changes according to the winding diameter is set as "T lr ", the inertia torque that does not change according to the winding diameter is set as "T lo ", then according to the relationship between the tension, torque, and winding diameter, the relationship of Equation (1) holds.

[0039]

Equation 1

[0040]

[0041] The mechanical loss torque "T mr " that changes according to the winding diameter can be expressed, as shown in Equation (2), by the coefficient of mechanical loss that changes according to the winding diameter, that is, the mechanical loss coefficient "X mr " of the reel material and the winding diameter "D". The mechanical loss coefficient "X mris a coefficient determined by mechanical structures such as the friction of bearings provided on rotating parts like reels, the density of the foil material 5, the foil width, etc., and the foil material 5.

[0042]

Equation 2

[0043] T mr = X mr D 2 …(2)

[0044] The mechanical loss torque “T mo ” that does not change according to the roll diameter can be expressed, as shown in Equation (3), as the coefficient of mechanical loss that does not change according to the roll diameter, i.e., the mechanical loss coefficient of the machine “X mo ”. The mechanical loss coefficient of the machine “X mo ” is a coefficient determined by mechanical structures such as the driving loss of gears and the friction of bearings.

[0045]

Equation 3

[0046] T mo = X mo …(3)

[0047] The inertia torque “T lr ” that changes according to the roll diameter can be expressed, as shown in Equation (4), by the inertia moment coefficient that changes according to the roll diameter, i.e., the inertia moment coefficient of the reel material “X lr ”, the roll diameter “D”, and the angular acceleration “α” of the reel. The inertia moment coefficient of the reel material “X lr ” is a coefficient determined by the foil material 5 such as the density of the foil material 5 and the foil width.

[0048]

Equation 4

[0049] T lr = X lr D1 4 α…(4)

[0050] The inertia torque “T lo ” that does not change according to the roll diameter can be expressed, as shown in Equation (5), by the inertia moment coefficient that does not change according to the roll diameter, i.e., the inertia moment coefficient of the reel material “X lo ” and the angular acceleration “α” of the reel. The inertia moment coefficient of the reel material “X lo ” is a coefficient determined by mechanical structures such as the inertia moment of gears, the actuator 7, and the weight of the reel core of the reel.

[0051]

Equation 5

[0052] T lo = X lo α…(5)

[0053] If the expressions (2) to (5) are substituted into the expression (1), it is expressed as the expression (6).

[0054]

Expression 6

[0055]

[0056] According to the expression (6), if the tension at the first point is set as "F1", the winding diameter at the first point is set as "D1", the tension at the second point is set as "F2", the winding diameter at the second point is set as "D2", and the angular acceleration "α" of the reel is set to 0 starting from the conditions at the time of data acquisition, the mechanical loss coefficient "X mr " of the reel material is expressed as the expression (7).

[0057]

Expression 7

[0058]

[0059] [Operation of the tension control device 100 at the time of estimation]

[0060] The tension data of two points that meet the conditions are input from the tension data input unit 111 to the Figure 2 tension control device 100 shown, and the winding diameter data of two points that meet the conditions are input from the winding diameter data input unit 112 to the Figure 2 tension control device 100 shown. The calculation of the expression (7) is performed by the mechanical loss coefficient estimation unit 121 of the reel material, thereby estimating the mechanical loss coefficient "X mr " of the reel material. The estimated mechanical loss coefficient "X mr " of the reel material is stored in the mechanical loss coefficient storage unit 131 of the reel material.

[0061] <Correction>

[0062] [Operation of the tension control device 100 at the time of correction]

[0063] When actually performing tension control, through the mechanical loss coefficient torque conversion unit 141 of the reel material, using the expression (2), the correction value of the mechanical loss of the reel material in torque units is calculated by using the mechanical loss coefficient "X mr " of the reel material stored in the mechanical loss coefficient storage unit 131 and the winding diameter data input from the winding diameter data input unit 112.

[0064] The tension control arithmetic unit 150 performs an operation for controlling the tension of the foil material 5, and outputs an actuator control command corrected by adding or subtracting the torque correction value to the actuator control device 8.

[0065] Adding a correction value or subtracting a correction value varies depending on the system configuration such as unwinding, winding, and control methods. Additionally, the actuator control instruction can be any instruction as long as it can correct the torque. For example, in addition to the method of directly adding or subtracting the torque correction value from the torque instruction of the actuator 7 for the reel, there is also a method of converting the torque correction amount into current based on the current characteristics using the torque of the actuator 7 of the reel and adding or subtracting the current instruction for correction. In the case of controlling the tension by the rotational speed difference between the reel and the drive shafts of the front and rear stages (the rear stage in the case of the unwinding shaft and the front stage in the case of the winding shaft), the torque correction amount is converted into a rotational speed difference, and correction is implemented by adding or subtracting the rotational speed instruction for the actuator 7 of the reel, etc.

[0066] [Operation of the Tension Control System during Correction]

[0067] The actuator control device 8 controls the actuator 7 based on the received actuator control instruction. The actuator 7 is directly connected to the reel or indirectly connected to the reel through gears, belts, etc. to drive the reel, thereby enabling control while correcting the tension of the foil material 5. In an actual unwinding / winding machine, the coil diameter does not easily change. Therefore, by inputting the coil diameter data from the coil diameter data output device 2 to the tension control device 100 in accordance with the change in the coil diameter, correction matching the coil diameter can be performed.

[0068] According to the tension control system described above, the correction value for the mechanical loss of the reel material applicable to the unwinding / winding machine can be calculated theoretically based on the design drawing, material usage, etc. Without the need for the adjuster to repeatedly change the correction value and conduct trial runs for the estimation of the correction value and the alignment of the deviation from the theoretical value caused by manufacturing errors, the man-hours required for adjustment can be reduced.

[0069] In addition, the correction value for the mechanical loss of the reel material applicable to the unwinding / winding machine can be calculated. Therefore, for the correction value to be calculated, human factors such as manufacturing errors due to deviations from the theoretical value of the device, individual differences of the adjuster, and incorrect settings can be excluded. Additionally, by performing correction based on the estimated mechanical loss coefficient of the reel material, there is an effect of being able to suppress the tension variation caused by the mechanical loss of the reel material during actual tension control.

[0070] In addition, the first condition for estimating the mechanical loss coefficient of the reel material is that the torque of the actuator 7 is constant, and it is only necessary to correct the torque of the actuator 7 during the correction of the mechanical loss of the reel material. Therefore, even for the actuator 7 whose rotational speed cannot be controlled, tension control can be performed. As described above, the actuator applicable to Embodiment 1 is not only the actuator 7 dedicated to rotational speed control, but also the actuator 7 dedicated to torque control, so it can be applied to various tension control systems. In addition, if the actuator 7 can switch between rotational speed control and torque control, the control mode of the actuator 7 is switched during estimation and correction, thereby enabling it to be applied to a wider range of tension control systems.

[0071] Embodiment 2.

[0072] <System Structure>

[0073] In Embodiment 2, the structures different from those in Embodiment 1 will be mainly described. Figure 3 FIG. is a structural example diagram of the tension control system according to Embodiment 2. The tension control system of Embodiment 2 has an angular acceleration data output device (angular acceleration output unit) 3 that is added to Embodiment 1 and outputs data equivalent to angular acceleration to the tension control device 100.

[0074] <Structure of Tension Control Device 100>

[0075] Figure 4 FIG. is a structural example diagram of the tension control device according to Embodiment 2. As Figure 4 shown, the tension control device 100 has an angular acceleration data input unit 114 that is added to Embodiment 1 and inputs angular acceleration data from outside the tension control device 100, a reel material moment of inertia coefficient estimation unit (first moment of inertia coefficient estimation unit) 123 that estimates the moment of inertia coefficient of the reel material as a correction value, a mechanical moment of inertia coefficient estimation unit (second moment of inertia coefficient estimation unit) 124 that estimates the moment of inertia coefficient of the machine as a correction value, a reel material moment of inertia coefficient storage unit 133 that stores the estimated correction value, i.e., the moment of inertia coefficient of the reel material, a mechanical moment of inertia coefficient storage unit 134 that stores the estimated correction value, i.e., the moment of inertia coefficient of the machine, a reel material moment of inertia coefficient torque conversion unit 143 that converts the moment of inertia coefficient of the reel material into torque units, and a winding machine moment of inertia coefficient torque conversion unit 144 that converts the moment of inertia coefficient of the machine into torque units.

[0076] <Estimation of Mechanical Loss Coefficient of Reel Material>

[0077] The method for estimating the mechanical loss coefficient of the reel material is the same as that in Embodiment 1.

[0078] <Estimation of the Moment of Inertia Coefficient of the Reel Material>

[0079] [Operation of the System during Estimation of the Moment of Inertia Coefficient of the Reel Material]

[0080] When estimating the moment of inertia coefficient of the reel material, the tension data, the reel diameter data, and the angular acceleration data that satisfy the following two conditions are input to the tension control device 100. Two points of the tension data and the reel diameter data, one point of the angular acceleration data, and the mechanical loss coefficient of the reel material that need to be satisfied for the estimation.

[0081] The output methods of the tension data and the reel diameter data are the same as those in the first embodiment. The angular acceleration data is output from the angular acceleration data output device 3. Since there are multiple methods for the angular acceleration data output device 3 to obtain the angular acceleration data and input it to the tension control device 100, any method is acceptable as long as the data equivalent to the angular acceleration can be input to the tension control device 100. For example, in addition to the method of directly measuring the angular acceleration using an angular acceleration sensor, etc., there are also methods of calculating the angular acceleration through data different from the angular acceleration (linear velocity, linear acceleration, reel diameter, material thickness, position of the reel, rotational speed of the reel, etc.) or signals (pulse signal of the reel rotation, encoder signal of the wire, etc.), methods of estimating the value equivalent to the angular acceleration through a simulator or AI, etc.

[0082] As an example of the method of inputting the angular acceleration data, in addition to the method of directly inputting from the angular acceleration data output device 3 such as converting the angular acceleration data into a voltage value and inputting it to the tension control device 100, there are also methods of directly manually inputting the angular acceleration data value read by a person from the output of the angular acceleration data output device 3 to the tension control device 100, and methods of directly inputting from an angular acceleration sensor, etc. without passing through the angular acceleration data output device 3 to the tension control device 100.

[0083] The first condition is that the torque of the actuator 7 becomes constant. The actuator control device 8 controls the torque output by the actuator 7, whereby the first condition can be satisfied. In addition, in the case of the actuator 7 where the current for driving the actuator 7 and the torque of the actuator 7 are in a one-to-one relationship, by setting the actuator current to be constant, the first condition can be satisfied.

[0084] The second condition is that the angular acceleration of the reel becomes a constant value other than 0, and the values of the angular acceleration when obtaining the tension data and the reel diameter data corresponding to two points become the same. In addition, when the foil material 5 is not extremely thick, even if the linear acceleration is set to a constant value other than 0, the second condition can be satisfied. The linear velocity is proportional to the product of the reel diameter and the rotational speed. When the foil material 5 is not extremely thick, if the change in the reel diameter during the period of obtaining the data for estimation is approximately 0, the reel diameter can be regarded as a constant. In this case, since the linear velocity is proportional to the rotational speed, when the linear acceleration is a constant value other than 0, the second condition that the angular acceleration of the reel becomes a constant value other than 0 can be satisfied. In addition, the angular acceleration "α" of the reel is expressed by Equation (8) according to the linear acceleration "a" and the reel diameter "D".

[0085]

Equation 8

[0086]

[0087] [Method for Estimating Inertia Moment Coefficient of Reel Material]

[0088] According to Equation (6), if the tension at the first point is set to "F1", the reel diameter at the first point is set to "D1", the tension at the second point is set to "F2", the reel diameter at the second point is set to "D2", and the angular acceleration of the reel is set to "α", then the inertia moment coefficient "X lr " of the reel material is expressed by Equation (9).

[0089]

Equation 9

[0090]

[0091] [Operation of Tension Control Device 100 during Estimation of Inertia Moment Coefficient of Reel Material]

[0092] The tension data of two points that satisfy the conditions are input from the tension data input unit 111 to the Figure 4 tension control device 100 shown, the reel diameter data of two points that satisfy the conditions are input from the reel diameter data input unit 112 to the Figure 4 tension control device 100 shown, the angular acceleration data of one point is input from the angular acceleration data input unit 114 to the Figure 4 tension control device 100 shown, and using the mechanical loss coefficient "X mr " of the reel material stored in the mechanical loss coefficient storage unit 131 of the reel material, the calculation of Equation (9) is performed by the inertia moment coefficient estimation unit 123 of the reel material, thereby estimating the inertia moment coefficient "X lr " of the reel material. The estimated inertia moment coefficient "X lr " of the reel material is stored by the inertia moment coefficient storage unit 133 of the reel material.

[0093] <Estimation of Mechanical Moment of Inertia Coefficient>

[0094] [System Operation during Estimation of Mechanical Moment of Inertia Coefficient]

[0095] When estimating the mechanical moment of inertia coefficient, the tension data, coil diameter data, and angular acceleration data that satisfy the following two conditions are input to the tension control device 100. For the estimation, two points of tension data and coil diameter data, two points of angular acceleration data, the mechanical loss coefficient of the reel material, and the mechanical moment of inertia coefficient are required. The output methods of the tension data, coil diameter data, and angular acceleration data are the same as those during the estimation of the moment of inertia coefficient of the reel material.

[0096] The first condition is that the torque of the actuator 7 becomes constant. The actuator control device 8 controls the torque output by the actuator 7. In addition, in the case of the actuator 7 where the current for driving the actuator 7 and the torque of the actuator 7 are in a one-to-one relationship, by setting the actuator current to be constant, the first condition can be satisfied.

[0097] The second condition is that the angular acceleration of the reel becomes a non-zero constant value, and the angular acceleration values when obtaining the tension data and coil diameter data corresponding to two points are different. In addition, similar to the estimation of the moment of inertia coefficient of the reel material, the linear velocity or linear acceleration can be used instead of the angular acceleration.

[0098] [Method for Estimating Mechanical Moment of Inertia Coefficient]

[0099] According to Equation (6), if the tension at the first point is set as "F1", the coil diameter at the first point is set as "D1", the angular acceleration at the first point is set as "α1", the tension at the second point is set as "F2", the coil diameter at the second point is set as "D2", and the angular acceleration at the second point is set as "α2", then the mechanical moment of inertia coefficient "X lo " is expressed according to Equation (10).

[0100] [Equation 10]

[0101]

[0102] [Operation of Tension Control Device 100 during Estimation of Mechanical Moment of Inertia Coefficient]

[0103] The tension data of two points that satisfy the conditions is input from the tension data input unit 111 to the Figure 4 shown tension control device 100, the coil diameter data of two points that satisfy the conditions is input from the coil diameter data input unit 112 to the Figure 4 shown tension control device 100, and the angular acceleration data of two points that satisfy the conditions is input from the angular acceleration data input unit 114 to theFigure 4 The shown tension control device 100 uses the mechanical loss coefficient “X” of the reel material stored in the mechanical loss coefficient storage unit 131 of the reel material mr ” and the moment of inertia coefficient “X” of the reel material stored in the mechanical loss coefficient storage unit 132 of the machine, and calculates the formula (10) through the moment of inertia coefficient estimation unit 124 of the machine, thereby estimating the moment of inertia coefficient “X” of the machine. lr ” of the machine. The estimated moment of inertia coefficient “X” lo ” of the machine is stored in the moment of inertia coefficient storage unit 134 of the machine. lo

[0104] <Correction>

[0105] [Operation of the tension control device 100 during correction]

[0106] When actually performing tension control, the mechanical loss coefficient torque conversion unit 141 of the reel material uses the formula (2) to calculate the correction value of the mechanical loss of the reel material in torque unit according to the mechanical loss coefficient “X” of the reel material stored in the mechanical loss coefficient storage unit 131 of the reel material mr ” and the reel diameter data input from the reel diameter data input unit 112.

[0107] The moment of inertia coefficient torque conversion unit 143 of the reel material uses the formula (4) to calculate the correction value of the moment of inertia of the reel material in torque unit according to the moment of inertia coefficient “X” of the reel material stored in the moment of inertia coefficient storage unit 133 of the reel material lr ”, the reel diameter data input from the reel diameter data input unit 112 and the angular acceleration data input from the angular acceleration data input unit 114.

[0108] The moment of inertia coefficient torque conversion unit 144 of the machine uses the formula (5) to calculate the correction value of the moment of inertia of the machine in torque unit according to the moment of inertia coefficient “X” of the machine stored in the moment of inertia coefficient storage unit 134 of the machine lo ” and the angular acceleration data input from the angular acceleration data input unit 114.

[0109] The tension control operation unit 150 performs an operation for controlling the tension of the foil material 5, and outputs an actuator control command corrected by adding and subtracting the torque correction value obtained by combining the mechanical loss of the reel material, the moment of inertia of the reel material, and the moment of inertia of the machine with the operation value to the actuator control device 8.

[0110] Adding a correction value or subtracting a correction value varies depending on the system configuration such as unwinding, winding, and control methods. Additionally, similar to Embodiment 1, any command can be used as long as the actuator control command can correct the torque.

[0111] [Operation of the Tension Control System during Correction]

[0112] The actuator control device 8 controls the actuator 7 based on the received actuator control command. The actuator 7 is directly connected to the reel or indirectly connected to the reel through gears, belts, etc. to drive the reel, thereby enabling control while correcting the tension of the foil material 5. In an actual unwinding / winding machine, the reel diameter and angular acceleration do not easily change. Therefore, by inputting the reel diameter data from the reel diameter data output device 2 and the angular acceleration data from the angular acceleration data output device 3 in accordance with the changes in the reel diameter and angular acceleration to the tension control device 100, correction matching the reel diameter and angular acceleration can be performed.

[0113] In addition to the mechanical losses of the reel material, the moment of inertia of the reel material and the mechanical moment of inertia can be estimated and corrected. As a result, the elements for estimation and correction increase, so that tension fluctuations can be further suppressed.

[0114] Furthermore, similar to Embodiment 1, the first condition during the estimation of various coefficients is that the torque of the actuator 7 is constant, and as long as the torque of the actuator 7 can be corrected during correction, even an actuator 7 that cannot control the rotational speed can perform tension control. As described above, the actuator applicable to Embodiment 2 is not only the actuator 7 dedicated to rotational speed control but also the actuator 7 dedicated to torque control, so it can be applied to various tension control systems. Additionally, if the actuator 7 can switch between rotational speed control and torque control, the control mode of the actuator 7 is switched during estimation and correction, thereby enabling application to a wider range of tension control systems.

[0115] Embodiment 3.

[0116] <Structure of the System>

[0117] In Embodiment 3, the structure different from that of Embodiment 1 will be mainly described. Figure 5 This is a diagram showing a structural example of the tension control system according to Embodiment 3. The tension control system of Embodiment 3 has a torque data output device (torque output unit) 4 that is added to Embodiment 1 and outputs data equivalent to torque to the tension control device 100.

[0118] <Structure of the Tension Control Device 100>

[0119] Figure 6This is a diagram showing a structural example of the tension control device according to Embodiment 3. As Figure 6 shown, the tension control device 100 has a torque data input unit 113 that is added to Embodiment 1 and inputs torque data from the outside of the tension control device 100, a mechanical mechanical loss coefficient estimation unit (second mechanical loss coefficient estimation unit) 122 that estimates the mechanical loss coefficient of the machine as a correction value, a mechanical mechanical loss coefficient storage unit 132 that stores the estimated mechanical loss coefficient of the machine as a correction value, and a mechanical mechanical loss coefficient torque conversion unit 142 that converts the mechanical loss coefficient of the machine into torque units.

[0120] <Estimation of Mechanical Loss Coefficient of Reel Material, Mechanical Loss Coefficient of Machine>

[0121] [System Operation during Estimation of Mechanical Loss Coefficient of Reel Material, Mechanical Loss Coefficient of Machine]

[0122] When estimating the mechanical loss coefficient of the reel material and the mechanical loss coefficient, tension data, reel diameter data, and torque data that satisfy one of the following conditions are input to the tension control device 100. Tension data, reel diameter data, and torque data at two or more points that need to satisfy the conditions for estimation are required.

[0123] The output methods of the tension data and the reel diameter data are the same as those in Embodiment 1. The torque data is output from the torque data output device 4. Since there are multiple methods for the torque data output device 4 to calculate the torque data and input it to the tension control device 100, any method is acceptable as long as data equivalent to the torque can be input to the tension control device 100. For example, in addition to the method of directly measuring the torque using a torque sensor, etc., there are also methods of calculating the torque based on data different from the torque (current of the actuator 7, strain of the drive shaft, etc.) or signals (pulse signal of the reel rotation, etc.), methods of estimating a value equivalent to the torque through a simulator or AI, etc.

[0124] As an example of the method of inputting torque data, in addition to the method of directly inputting the torque data from the torque data output device 4 to the tension control device 100 by converting the torque data into a voltage value, etc., there are also methods of directly manually inputting the torque data value read by a person from the output of the torque data output device 4 to the tension control device 100, methods of directly inputting from a torque sensor, etc. to the tension control device 100 without passing through the torque data output device 4.

[0125] One condition is that the angular acceleration of the reel becomes 0. Additionally, similar to Embodiment 1, the linear velocity can be set to a constant velocity and the linear acceleration can be set to 0.

[0126] [Method for estimating mechanical loss coefficient of reel material and mechanical loss coefficient of machine]

[0127] According to Equation (6), if the tension at the first point is set as "F1", the reel diameter at the first point is set as "D1", and the torque at the first point is set as "T b1 ", the tension at the second point is set as "F2", the reel diameter at the second point is set as "D2", and the torque at the second point is set as "T b2 ", and the angular acceleration "α" of the reel is set to 0 according to the conditions at the time of data acquisition, then two linear equations with two variables (Equations (11) and (12)) are obtained.

[0128]

Equation 11

[0129]

[0130]

Equation 12

[0131]

[0132] Two variables (mechanical loss coefficient X of the reel material mr , mechanical loss coefficient X of the machine mo ) are obtained from the two linear equations with two variables. There are multiple methods of obtaining them, so the method is not limited. However, there may be cases where the variables cannot be solved from the acquired data. In such cases, the tension, reel diameter, and torque data at the third point are acquired, and by obtaining the third linear equation with two variables, the solutions of the two variables (mechanical loss coefficient X of the reel material mr , mechanical loss coefficient X of the machine mo ) are obtained. If the solutions still cannot be obtained even in this way, then until the solutions of the two variables (mechanical loss coefficient X of the reel material mr , mechanical loss coefficient X of the machine mo ) are obtained, the tension, reel diameter, and torque data are additionally acquired, and the equations are repeatedly created and solved.

[0133] [Operation of tension control device 100 when estimating mechanical loss coefficient of reel material and mechanical loss coefficient of machine]

[0134] The tension data of two points that meet the conditions are input from the tension data input unit 111 to the Figure 6 shown tension control device 100, the reel diameter data of two points that meet the conditions are input from the reel diameter data input unit 112 to the Figure 6 shown tension control device 100, and the torque data of two points that meet the conditions are input from the torque data input unit 113 to the Figure 6The shown tension control device 100 performs the above calculations through the mechanical loss coefficient estimation unit 121 of the reel material and the mechanical loss coefficient estimation unit 122 of the machine, thereby estimating two variables (the mechanical loss coefficient X of the reel material mr , the mechanical loss coefficient X of the machine mo ). The estimated mechanical loss coefficient “X mr ” of the reel material is stored by the mechanical loss coefficient storage unit 131 of the reel material, and the mechanical loss coefficient “X mo ” of the machine is stored by the mechanical loss coefficient storage unit 132 of the machine.

[0135] <Calibration>

[0136] [Operation of the tension control device 100 during calibration]

[0137] During actual tension control, through the mechanical loss coefficient torque conversion unit 141 of the reel material, using Equation (2), based on the mechanical loss coefficient “X mr ” of the reel material stored in the mechanical loss coefficient storage unit 131 of the reel material and the reel diameter data input from the reel diameter data input unit 112, the correction value of the mechanical loss of the reel material in torque units is calculated.

[0138] Through the mechanical loss coefficient torque conversion unit 142 of the machine, using Equation (3), based on the mechanical loss coefficient “X mo ” stored in the mechanical loss coefficient storage unit 132 of the machine, the correction value of the mechanical loss of the machine in torque units is calculated. The tension control operation unit 150 performs an operation for controlling the tension of the foil material 5, and outputs an actuator control command to the actuator control device 8, which is corrected by adding or subtracting the torque correction value obtained by combining the mechanical loss of the reel material and the mechanical loss of the machine with the operation value.

[0139] Whether to add or subtract the correction value depends on the system structure such as unwind, wind, and control method. Additionally, similar to Embodiment 1, any command can be used as long as the actuator control command can correct the torque.

[0140] [Operation of the tension control system during calibration]

[0141] The actuator control device 8 controls the actuator 7 based on the received actuator control instruction. The actuator 7 is directly connected to the reel or indirectly connected to the reel through gears, belts, etc. to drive the reel, thereby enabling control while correcting the tension of the foil material 5. In an actual unwinding / winding machine, the reel diameter does not easily change. Therefore, by inputting the reel diameter data from the reel diameter data output device 2 to the tension control device 100 in accordance with the change in the reel diameter, correction matching the reel diameter can be performed.

[0142] In addition to the mechanical loss of the reel material, the mechanical loss of the machine can be estimated and corrected. As a result, the elements for estimation and correction increase, so that tension fluctuations can be further suppressed. In addition, there is no condition of keeping the torque of the actuator 7 constant when estimating the correction value as in Embodiment 1, so it can also be applied to the actuator 7 for which the torque cannot be kept constant.

[0143] In Embodiment 3, the conditions for estimating the correction value can be satisfied in actual tension control. If the operating mode in tension control can satisfy the conditions, the adjustment operation for estimating the correction value can be made unnecessary, and the man-hours for adjustment can be reduced. In addition, the mechanical loss of the reel material and the mechanical loss of the machine do not easily change the correction value due to the surrounding environment of the machine, the maintenance condition, and the deterioration over time, etc. Correction can be performed without appropriately adjusting the changed correction value.

[0144] In addition, in Embodiment 3, there is no need for the condition of constant torque of the actuator 7 as in Embodiment 1. Therefore, the limitation on the control method of the actuator 7 is reduced, and it can be applied to a wider range of tension control systems.

[0145] Embodiment 4.

[0146] <Structure of the system>

[0147] In Embodiment 4, the structure different from that of Embodiment 3 will be mainly described. Figure 7 It is a diagram showing a structural example of the tension control system according to Embodiment 4. The tension control system of Embodiment 4 has an angular acceleration data output device 3 added to Embodiment 3, which outputs data equivalent to angular acceleration to the tension control device 100.

[0148] <Structure of the tension control device 100>

[0149] Figure 8 It is a diagram showing a structural example of the tension control device according to Embodiment 4. As Figure 8As shown, the tension control device 100 has, in addition to the third embodiment, an angular acceleration data input unit 114 for inputting angular acceleration data from the outside of the tension control device 100, a moment of inertia coefficient estimation unit 123 of the reel material for estimating the moment of inertia coefficient of the reel material as a correction value, a moment of inertia coefficient estimation unit 124 of the machine for estimating the moment of inertia coefficient of the machine as a correction value, a moment of inertia coefficient storage unit 133 of the reel material for storing the estimated moment of inertia coefficient of the reel material as a correction value, a moment of inertia coefficient storage unit 134 of the machine for storing the estimated moment of inertia coefficient of the machine as a correction value, a moment of inertia coefficient torque conversion unit 143 of the reel material for converting the moment of inertia coefficient of the reel material into torque units, and a moment of inertia coefficient torque conversion unit 144 of the winding machine for converting the moment of inertia coefficient of the machine into torque units.

[0150] <Estimation of mechanical loss coefficient of reel material and mechanical loss coefficient of machine>

[0151] The estimation of the mechanical loss coefficient of the reel material and the mechanical loss coefficient of the machine is the same as that in the third embodiment.

[0152] <Estimation of moment of inertia coefficient of reel material and moment of inertia coefficient of machine>

[0153] [Operation of the system when estimating the moment of inertia coefficient of the reel material and the moment of inertia coefficient of the machine]

[0154] When estimating the moment of inertia coefficient of the reel material and the moment of inertia coefficient of the machine, tension data, coil diameter data, torque data, and angular acceleration data that satisfy one of the following conditions are input to the tension control device 100. To estimate the moment of inertia coefficient of the reel material and the moment of inertia coefficient of the machine, it is necessary to have tension data and coil diameter data, torque data, angular acceleration data at two or more points that satisfy the conditions, and the mechanical loss coefficient of the reel material and the mechanical loss coefficient of the machine.

[0155] The output methods of the tension data and the coil diameter data are the same as those in the first embodiment. The output method of the torque data is the same as that in the third embodiment. The output method of the angular acceleration data is the same as that in the second embodiment.

[0156] One condition is that the angular acceleration of the reel becomes a non-zero constant value, and the angular acceleration values are different when obtaining the tension data, coil diameter data, torque data, and angular acceleration data corresponding to the number of points. In addition, similar to the second embodiment, linear velocity or linear acceleration can be used instead of angular acceleration.

[0157] [Estimation method of moment of inertia coefficient of reel material and moment of inertia coefficient of machine]

[0158] According to Equation (6), if the tension at the first point is set as "F1", the winding diameter at the first point is set as "D1", the torque at the first point is set as "T b1 ", the angular acceleration at the first point is set as "α1", the tension at the second point is set as "F2", the winding diameter at the second point is set as "D2", the torque at the second point is set as "T b2 ", and the angular acceleration at the second point is set as "α2", then two linear equations with two variables (Equations (13) and (14)) are formed.

[0159]

Equation 13

[0160]

[0161]

Equation 14

[0162]

[0163] Two variables (the inertia moment coefficient X of the reel material lr , the inertia moment coefficient X of the machine lo ) are obtained based on the two linear equations with two variables. There are multiple methods of obtaining them, so the method is not limited. However, there may be cases where the solutions of the variables cannot be obtained from the acquired data. In such cases, the tension data, winding diameter data, torque data, and acceleration / deceleration data at the third point are acquired, and by obtaining the third linear equation with two variables, the solutions of the two variables (the inertia moment coefficient X of the reel material lr , the inertia moment coefficient X of the machine lo ) are obtained. If the solutions still cannot be obtained even in this way, then until the solutions of the two variables (the inertia moment coefficient X of the reel material lr , the inertia moment coefficient X of the machine lo ) are obtained, additional tension data, winding diameter data, torque data, and angular acceleration / deceleration data are acquired, and equations are repeatedly created and solved.

[0164] [Operation of the tension control device 100 when estimating the inertia moment coefficient of the reel material and the inertia moment coefficient of the machine]

[0165] Tension data of two or more points that meet the conditions are input from the tension data input unit 111 to the Figure 8 shown tension control device 100, winding diameter data of two or more points that meet the conditions are input from the winding diameter data input unit 112 to the Figure 8 shown tension control device 100, torque data of two or more points that meet the conditions are input from the torque data input unit 113 to the Figure 8 shown tension control device 100, and angular acceleration data of two or more points that meet the conditions are input from the angular acceleration data input unit 114 to the Figure 8The shown tension control device 100 uses the mechanical loss coefficient "X" of the reel material stored in the mechanical loss coefficient storage unit 131 of the reel material mr " and the mechanical loss coefficient "X" of the machine stored in the mechanical loss coefficient storage unit 132 of the machine mo ", and performs the above calculations through the moment of inertia coefficient estimation unit 123 of the reel material and the moment of inertia coefficient estimation unit 124 of the machine, thereby estimating two variables (the moment of inertia coefficient X of the reel material lr , the moment of inertia coefficient X of the machine lo ). The estimated moment of inertia coefficient X of the reel material lr is stored in the moment of inertia coefficient storage unit 133 of the reel material, and the moment of inertia coefficient X of the machine lo is stored in the moment of inertia coefficient storage unit 134 of the machine.

[0166] <Correction>

[0167] [Operation of the tension control device 100 during correction]

[0168] During actual tension control, through the mechanical loss coefficient torque conversion unit 141 of the reel material, using Equation (2), based on the mechanical loss coefficient "X" of the reel material stored in the mechanical loss coefficient storage unit 131 of the reel material mr " and the reel diameter data input from the reel diameter data input unit 112, the correction value of the mechanical loss of the reel material in torque units is calculated.

[0169] Through the mechanical loss coefficient torque conversion unit 142 of the machine, using Equation (3), based on the mechanical loss coefficient "X" of the machine stored in the mechanical loss coefficient storage unit 132 of the machine mo ", the correction value of the mechanical loss of the machine in torque units is calculated.

[0170] Through the moment of inertia coefficient torque conversion unit 143 of the reel material, using Equation (4), based on the moment of inertia coefficient "X" of the reel material stored in the moment of inertia coefficient storage unit 133 of the reel material lr ", the reel diameter data input from the reel diameter data input unit 112, and the angular acceleration data input from the angular acceleration data input unit 114, the correction value of the moment of inertia of the reel material in torque units is calculated.

[0171] Through the moment of inertia coefficient torque conversion unit 144 of the machine, using Equation (5), based on the moment of inertia coefficient "X" of the machine stored in the moment of inertia coefficient storage unit 134 of the machine lo " and the angular acceleration data input from the angular acceleration data input unit 114, the correction value of the moment of inertia of the machine in torque units is calculated.

[0172] The tension control operation unit 150 performs an operation for controlling the tension of the foil material 5, and outputs an actuator control command to the actuator control device 8, which is obtained by adding and subtracting a torque correction value obtained by combining the mechanical loss of the reel material, the mechanical loss of the machine, the moment of inertia of the reel material, and the moment of inertia of the machine with the operation value.

[0173] Whether to add or subtract the correction value depends on the system structure such as unwinding, winding, and control method. In addition, similar to Embodiment 1, any command can be used as long as the actuator control command can correct the torque.

[0174] [Operation of the tension control system during correction]

[0175] The actuator control device 8 controls the actuator 7 based on the received actuator control command. The actuator 7 is directly connected to the reel or indirectly connected to the reel through gears, belts, etc. to drive the reel, so that the tension of the foil material 5 can be corrected while being controlled. In an actual unwinding / winding machine, the coil diameter and angular acceleration do not easily change. Therefore, by inputting the coil diameter data to the tension control device 100 from the coil diameter data output device 2 and the angular acceleration data from the angular acceleration data output device in accordance with the changes in the coil diameter and angular acceleration, correction matching the coil diameter and angular acceleration can be performed.

[0176] According to the tension control system according to Embodiment 4, in addition to the mechanical loss of the reel material and the mechanical loss of the machine, the moment of inertia of the reel material and the moment of inertia of the machine are estimated and corrected. Thus, compared with Embodiment 3, the elements to be estimated and corrected increase, and the tension variation can be further suppressed accordingly.

[0177] In addition, in Embodiment 4, similar to Embodiment 3, the condition that the torque of the actuator 7 is constant as in Embodiment 1 is not required. Therefore, the limitation on the control method of the actuator 7 becomes smaller, and it can be applied to a wider range of tension control systems.

[0178] Figure 9 It is a diagram showing an example of the hardware structure of the tension control device according to Embodiments 1 to 4. The tension control device 100 includes a processor 101 that executes various processes and a memory 102 that stores information. The processor 101 and the memory 102 can communicate with each other through a bus 103.

[0179] The mechanical loss coefficient storage unit 131 of the reel material, the mechanical loss coefficient storage unit 132 of the machine, the moment of inertia coefficient storage unit 133 of the reel material, and the moment of inertia coefficient storage unit 134 of the machine are implemented by the memory 102.

[0180] The processor 101 reads out and executes a program stored in the memory 102, whereby the mechanical loss coefficient estimation unit 121 for the reel material, the mechanical loss coefficient estimation unit 122 for the machine, the moment of inertia coefficient estimation unit 123 for the reel material, the moment of inertia coefficient estimation unit 124 for the machine, the mechanical loss coefficient torque conversion unit 141 for the reel material, the mechanical loss coefficient torque conversion unit 142 for the machine, the moment of inertia coefficient torque conversion unit 143 for the reel material, the moment of inertia coefficient torque conversion unit 144 for the machine, and the tension control arithmetic unit 150 come into play.

[0181] The processor 101 is, for example, an example of a processing circuit and includes at least one of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a system LSI (Large Scale Integration).

[0182] The memory 102 includes at least one of a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory). In addition, the memory 102 includes a recording medium on which a computer-readable program is recorded. The recording medium includes at least one of a non-volatile or volatile semiconductor memory, a magnetic disk, a flexible memory, an optical disk, a compact disk, and a DVD (Digital Versatile Disc). Further, the processing units 12 and 43 may also include integrated circuits such as an ASIC (Application Specific Integrated Circuit) and an FPGA (Field Programmable Gate Array).

[0183] The structures shown in the above embodiments represent an example, and can also be combined with other known technologies, and the embodiments can also be combined with each other. A part of the structure can also be omitted or changed without departing from the gist.

[0184] Description of reference numerals

[0185] 1 Tension data output device, 2 Coil diameter data output device, 3 Angular acceleration data output device, 4 Torque data output device, 5 Foil material, 6 Roller shaft, 7 Actuator, 8 Actuator control device, 100 Tension control device, 101 Processor, 102 Memory, 103 Bus, 111 Tension data input section, 112 Coil diameter data input section, 113 Torque data input section, 114 Angular acceleration data input section, 121 Mechanical loss coefficient estimation section of the reel material, 122 Mechanical loss coefficient estimation section of the machine, 123 Moment of inertia coefficient estimation section of the reel material, 124 Moment of inertia coefficient estimation section of the machine, 131 Mechanical loss coefficient storage section of the reel material, 132 Mechanical loss coefficient storage section of the machine, 133 Moment of inertia coefficient storage section of the reel material, 134 Moment of inertia coefficient storage section of the machine, 141 Mechanical loss coefficient torque conversion section of the reel material, 142 Mechanical loss coefficient torque conversion section of the machine, 143 Moment of inertia coefficient torque conversion section of the reel material, 144 Moment of inertia coefficient torque conversion section of the machine, 150 Tension control operation section.

Claims

1. A tension control device, characterized in that, comprising: a first mechanical loss coefficient estimation unit that estimates a mechanical loss coefficient that varies according to the winding diameter based on the tension of an object wound around the core and passing through the core as the core, which is a rotating body, rotates, and the winding diameter of the object wound around the core; and an arithmetic unit that performs correction using the mechanical loss coefficient that varies according to the winding diameter and generates a control command for rotating the core; Let the tension of the object be F, the winding diameter of the object be D, and the load torque applied to the core and the object be T b , and let the mechanical loss coefficient of the machine be X mo , and let the inertia torque coefficient of the reel material be T lr , let the angular acceleration of the reel be α, and the inertia torque coefficient of the reel material be T lo , the first mechanical loss coefficient estimation unit uses Equation (1) to estimate X representing the mechanical loss coefficient mr for estimation 2. The tension control device according to claim 1, characterized in that, further comprising: a first moment of inertia coefficient estimation unit that estimates a moment of inertia coefficient that varies according to the winding diameter based on the tension, the winding diameter, and the angular acceleration of the core when the core rotates; and a second moment of inertia coefficient estimation unit that estimates a moment of inertia coefficient that does not vary according to the winding diameter based on the tension and the angular acceleration of the core when the core rotates; the arithmetic unit performs correction using the mechanical loss coefficient that varies according to the winding diameter, the moment of inertia coefficient that varies according to the winding diameter, and the moment of inertia coefficient that does not vary according to the winding diameter, and generates a control command for rotating the core.

3. The tension control device according to claim 1, characterized in that, the first mechanical loss coefficient estimation unit estimates the mechanical loss coefficient that varies according to the winding diameter based on the tension, the winding diameter, and the mechanical loss coefficient of the core that varies according to the winding diameter based on the torque of the core; the tension control device further comprises a second mechanical loss coefficient estimation unit that estimates a mechanical loss coefficient that does not vary according to the winding diameter based on the tension, the winding diameter, and the torque of the core when the core rotates; the arithmetic unit performs correction using the mechanical loss coefficient that varies according to the winding diameter and the mechanical loss coefficient that does not vary according to the winding diameter, and generates a control command for rotating the core.

4. The tension control device according to claim 3, characterized in that, the first mechanical loss coefficient estimation unit estimates the mechanical loss coefficient that varies according to the winding diameter based on the tension, the winding diameter, the torque, and the angular acceleration of the core when the core rotates; the second mechanical loss coefficient estimation unit estimates a mechanical loss coefficient that does not vary according to the winding diameter based on the tension, the winding diameter, the torque, and the angular acceleration of the core when the core rotates; the tension control device further comprises: a first moment of inertia coefficient estimation unit that estimates a moment of inertia coefficient that varies according to the winding diameter based on the tension, the winding diameter, the torque, and the angular acceleration of the core when the core rotates; and a second moment of inertia coefficient estimation unit that estimates a moment of inertia coefficient that does not vary according to the winding diameter based on the tension, the winding diameter, the torque, and the angular acceleration of the core when the core rotates; the arithmetic unit performs correction using the mechanical loss coefficient that varies according to the winding diameter, the mechanical loss coefficient that does not vary according to the winding diameter, the moment of inertia coefficient that varies according to the winding diameter, and the moment of inertia coefficient that does not vary according to the winding diameter, and generates a control command for rotating the core.

5. A tension control system, characterized in that, comprising: the tension control device according to claim 1; a tension output unit that outputs information indicating the tension to the tension control device; and A roll diameter output unit that outputs information indicating the roll diameter toward the tension control device.

6. A tension control system, characterized in that, Comprising: The tension control device according to claim 2; A tension output unit that outputs information indicating the tension toward the tension control device; A roll diameter output unit that outputs information indicating the roll diameter toward the tension control device; And An angular acceleration output unit that outputs information indicating the angular acceleration toward the tension control device.

7. A tension control system, characterized in that, Comprising: The tension control device according to claim 3; A tension output unit that outputs information indicating the tension toward the tension control device; A roll diameter output unit that outputs information indicating the roll diameter toward the tension control device; A torque output unit that outputs information indicating the torque toward the tension control device.

8. A tension control system, characterized in that, Comprising: The tension control device according to claim 4; A tension output unit that outputs information indicating the tension toward the tension control device; A roll diameter output unit that outputs information indicating the roll diameter toward the tension control device; An angular acceleration output unit that outputs information indicating the angular acceleration toward the tension control device; And A torque output unit that outputs information indicating the torque toward the tension control device.

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