Drive control device

Abstract

The present invention provides a drive control device that can more appropriately control the speed of a motor used in a rewinding device. [Solution] A drive control device for controlling the drive of a motor of a rewinding device that unwinds a product wound in a roll, comprising: a converter that converts power supplied from a power source into three-phase AC power corresponding to the motor and supplies it to the motor to rotate the motor; a plurality of current detectors that detect the three-phase AC current supplied from the converter to the motor; and a control unit that controls the operation of the converter, wherein the control unit controls the minimum GD of the motor load when unwinding the product. 2 and the maximum GD of the motor load 2 Based on the current load of the motor, GD 2 A drive control device is provided that calculates a speed control gain corresponding to the current load of the motor, and controls the operation of the converter based on the detected value of the three-phase AC current, the detected value of the motor's rotational speed, the speed reference command, and the speed control gain.

Description

[Technical Field]

[0001] Embodiments of the present invention relate to a drive control device. [Background technology]

[0002] In industries such as steel and paper manufacturing, strip-shaped products (such as steel plates and paper) wound into rolls are unwound (unwound) and supplied to equipment in lower-level processes. The unwinding device for unwinding products comprises a rotating shaft for supporting the product so that it can rotate, a motor for rotating the rotating shaft and the product by supplying power to the rotating shaft, and a drive control device for controlling the motor's drive. The drive control device receives a speed reference command input from a higher-level control device and controls the motor's drive so that it rotates at a speed corresponding to the input speed reference command.

[0003] When controlling the speed of a motor, the actual rotational response of the motor to the speed control is determined by the GD of the motor load. 2 It changes according to the (flywheel effect). The motor load is the rotating shaft and the products attached to the rotating shaft. Therefore, the GD of the product changes in diameter (weight) due to rewinding. 2 In a rewinding device where the GD of the product changes, 2 As this changes, the response to speed control also changes.

[0004] For example, the GD of the product immediately after it has been inserted onto the rotating shaft. 2 When the value is high, the response to speed control may become slow. This raises concerns that, for example, it may take time to reach the speed specified by the speed reference command, making it difficult to properly supply the product to equipment in lower-level processes.

[0005] Therefore, it is desirable that the drive control device for the motor used in the rewinding device be able to control the motor speed more appropriately. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Japanese Unexamined Patent Publication No. 2007-31097 [Summary of the Invention] [Problem to be Solved by the Invention]

[0007] An embodiment of the present invention provides a drive control device capable of more appropriately performing speed control of a motor used in a rewinding device. [Means for Solving the Problem]

[0008] According to an embodiment of the present invention, there is provided a drive control device that performs drive control of a motor used in a rewinding device that rewinds a belt-shaped product wound into a roll, the drive control device being connected to the motor and connected to a power supply, a converter that converts electric power supplied from the power supply into three-phase AC power corresponding to the motor and supplies the converted three-phase AC power to the motor, thereby rotating the motor; a plurality of current detectors that detect the three-phase AC current supplied from the converter to the motor; and a control unit that receives input of detected values of the three-phase AC current from the plurality of current detectors, receives input of a detected value of the rotational speed of the motor and a speed reference command, and controls the operation of the converter to rotate the motor at a rotational speed corresponding to the speed reference command based on the input detected value of the three-phase AC current, the input detected value of the rotational speed of the motor, and the speed reference command. The control unit detects the minimum GD of the motor load in a standalone machine state where the product is not attached to the rotating shaft of the rewinding device 2 and the maximum GD of the motor load in a state immediately after the product is attached to the rotating shaft 2 is obtained, and when rewinding the product, based on the minimum GD 2 and the maximum GD 2 the GD of the current load of the motor is calculated based on 2 while calculating, the GD of the current load of the motor 2Based on the above, a drive control device is provided that calculates a speed control gain corresponding to the current load of the motor, and controls the operation of the converter so as to rotate the motor at a rotation speed corresponding to the speed reference command, based on the detected value of the three-phase AC current, the detected value of the rotational speed of the motor, the speed reference command, and the speed control gain. [Effects of the Invention]

[0009] A drive control device is provided that can more appropriately control the speed of the motor used in a rewinding device. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic block diagram showing a drive control device according to an embodiment. [Figure 2] This graph schematically illustrates an example of the operation of the drive control device according to the embodiment. [Modes for carrying out the invention]

[0011] Each embodiment will be described below with reference to the drawings. Please note that the drawings are schematic or conceptual, and the relationships between the thickness and width of each part, as well as the ratios of the sizes of the parts, are not necessarily identical to those of reality. Furthermore, even when representing the same part, the dimensions and ratios may differ between drawings. In this specification and in each figure, elements similar to those described above are denoted by the same reference numerals, and detailed explanations are omitted as appropriate.

[0012] Figure 1 is a schematic block diagram showing a drive control device according to an embodiment. As shown in Figure 1, the drive control device 10 comprises a converter 12, a control unit 14, and a plurality of current detectors 16a, 16b.

[0013] The drive control device 10 controls the drive of the motor 2. The drive control device 10 is used in the rewinding device together with the motor 2. The rewinding device unwinds (unwinds) a strip-shaped product that has been wound into a roll, and supplies the product to the equipment of a lower process. The rewinding device is equipped with a rotating shaft for supporting the product so that it can rotate. The motor 2 rotates the rotating shaft and the product by supplying power to the rotating shaft.

[0014] The product may be, for example, a thin sheet of steel or paper. The drive control device 10 (rewinding device) is used, for example, in a steel plant or a paper mill. However, the product is not limited to the above and may be, for example, a resin sheet. The product may be any strip-shaped product that is wound into a roll. The drive control device 10 is applicable to any rewinding device that unwinds a roll-shaped product. Furthermore, the rewinding device may have the function of winding up the product in addition to unwinding it. In other words, the rewinding device may be a winding device that also has a rewinding function.

[0015] The rewind device is equipped with a speed detector 3. The speed detector 3 detects the rotational speed of the motor 2. The drive control device 10 receives the detected value SP_F of the rotational speed of the motor 2 from the speed detector 3.

[0016] Furthermore, the drive control device 10 is connected to the main control unit 4. The drive control device 10 communicates with the main control unit 4 and receives a speed reference command SP_R representing the rotational speed of the motor 2 from the main control unit 4. The drive control device 10 controls the motor 2 so that it rotates at a rotational speed corresponding to the speed reference command SP_R input from the main control unit 4.

[0017] The device that inputs the speed reference command SP_R to the drive control device 10 is not limited to the main control unit 4, but can be any device. The drive control device 10 may receive the speed reference command SP_R from, for example, the terminal of an operator operating the rewind device. The drive control device 10 may also receive the speed reference command SP_R from, for example, an operation panel provided on the drive control device 10 based on manual operation by an operator. The method of inputting the speed reference command SP_R to the drive control device 10 is not limited to the above, and can be any method that allows the speed reference command SP_R to be appropriately input to the drive control device 10.

[0018] The converter 12 is connected to the motor 2 and also to a power supply (not shown in the diagram). The converter 12 converts the power supplied from the power supply into three-phase AC power corresponding to the motor 2, and rotates the motor 2 by supplying the converted three-phase AC power to the motor 2. The power supply is, for example, a power grid. The power supplied from the power supply is, for example, AC power. The converter 12 converts the AC power supplied from the power supply into three-phase AC power corresponding to the motor 2. In other words, the motor 2 is an AC motor. However, the power supplied from the power supply is not limited to AC power; it may also be DC power, etc. The power supplied from the power supply may be any power capable of rotating the motor 2.

[0019] Multiple current detectors 16a and 16b detect the three-phase AC current supplied from the converter 12 to the motor 2 and input the detected values ​​of the three-phase AC current to the control unit 14. In this example, the drive control device 10 has two current detectors 16a and 16b and detects the AC current of two phases of the three-phase AC current supplied from the converter 12 to the motor 2. The drive control device 10 may, for example, have three current detectors and detect the AC current of each phase of the three-phase AC current supplied from the converter 12 to the motor 2.

[0020] The control unit 14 controls the operation of the power conversion by the converter 12. The control unit 14 receives input of detected values ​​of three-phase AC current from multiple current detectors 16a and 16b, as well as input of the detected value SP_F of the rotational speed of the motor 2 from the speed detector 3, and the input of the speed reference command SP_R from the main control unit 4. Based on the input detected values ​​of the three-phase AC current, the detected value SP_F of the rotational speed of the motor 2, and the speed reference command SP_R, the control unit 14 controls the operation of the converter 12 so that the motor 2 rotates at a rotational speed corresponding to the speed reference command SP_R.

[0021] The detected rotational speed SP_F of motor 2 may be input to the control unit 14 from sources other than the speed detector 3, for example, the main control unit 4. The method of inputting the detected rotational speed SP_F of motor 2 to the control unit 14 is not limited to the above, and any method that allows the detected value SP_F to be appropriately input to the control unit 14 is acceptable.

[0022] The control unit 14 includes a subtractor 20, a speed control calculation unit 21, an excitation current calculation unit 22, a divider 23, an excitation current weakening control calculation unit 24, subtractors 25 and 26, a current control calculation unit 27, a two-phase to three-phase conversion unit 28, a three-phase to two-phase conversion unit 29, and GD 2 It has an arithmetic unit 30.

[0023] The subtractor 20 receives the detected rotational speed SP_F of the motor 2 input from the speed detector 3 and the speed reference command SP_R input from the main control unit 4. The subtractor 20 calculates the difference between the speed reference command SP_R and the detected rotational speed SP_F, and inputs the calculated difference to the speed control calculation unit 21.

[0024] The speed control calculation unit 21 calculates a torque reference T_R, which represents the magnitude of the torque output from the motor 2, based on the deviation input from the subtractor 20, in order to bring the rotational speed of the motor 2 closer to the speed reference command SP_R. The speed control calculation unit 21 calculates the torque reference T_R according to the deviation by, for example, performing proportional-integral control on the deviation.

[0025] The excitation current calculation unit 22 receives the detected value SP_F of the rotational speed of the motor 2 input from the speed detector 3. Based on the input detected value SP_F of the rotational speed, the excitation current calculation unit 22 calculates the magnetic flux reference FL_R. The excitation current calculation unit 22 calculates the magnetic flux reference FL_R based on, for example, the field weakening characteristic. The field weakening characteristic is, for example, a characteristic in which the magnetic flux reference FL_R is kept constant up to the base speed of the motor 2, and when the rotational speed of the motor 2 exceeds the base speed of the motor 2, the magnetic flux reference FL_R is decreased inversely proportional to the rotational speed of the motor 2.

[0026] The divider 23 receives the torque reference T_R calculated by the speed control calculation unit 21 and the magnetic flux reference FL_R calculated by the excitation current calculation unit 22 as inputs. The divider 23 calculates the torque current reference IQ_R from the torque reference T_R and magnetic flux reference FL_R by dividing the torque reference T_R by the magnetic flux reference FL_R. In other words, the torque current reference IQ_R is the reference current for the q-axis component of the three-phase AC power supplied to the motor 2.

[0027] The excitation current reduction control calculation unit 24 receives the magnetic flux reference FL_R calculated by the excitation current calculation unit 22 as input. The excitation current reduction control calculation unit 24 calculates the magnetic flux current reference ID_R according to the magnetic flux reference FL_R. The excitation current reduction control calculation unit 24 calculates the magnetic flux current reference ID_R based, for example, on input / output characteristics that take into account magnetic flux saturation. In other words, the magnetic flux current reference ID_R is the reference current for the d-axis component of the three-phase AC power supplied to the motor 2.

[0028] The three-phase to two-phase conversion unit 29 performs three-phase to two-phase conversion on the detected values ​​of the three-phase AC current detected by the multiple current detectors 16a and 16b, thereby calculating the detected torque current (q-axis current) IQ_F and the detected magnetic flux current (d-axis current) ID_F from the detected values ​​of the three-phase AC current.

[0029] The subtractor 25 receives the torque current reference IQ_R and the detected torque current IQ_F as inputs. The subtractor 25 calculates the difference between the torque current reference IQ_R and the detected torque current IQ_F.

[0030] The subtractor 26 receives the magnetic flux current reference ID_R and the detected magnetic flux current ID_F as inputs. The subtractor 26 calculates the difference between the magnetic flux current reference ID_R and the detected magnetic flux current ID_F.

[0031] The current control calculation unit 27 receives the deviations calculated by the subtractor 25 and the deviations calculated by the subtractor 26 as inputs. Based on the deviations calculated by the subtractor 25, the current control calculation unit 27 calculates a q-axis voltage reference EQ_R to bring the detected torque current value IQ_F closer to the torque current reference IQ_R, and also calculates a d-axis voltage reference ED_R to bring the detected magnetic flux current value ID_F closer to the magnetic flux current reference ID_R, based on the deviations calculated by the subtractor 26. The current control calculation unit 27 calculates the q-axis voltage reference EQ_R and the d-axis voltage reference ED_R based on each deviation, for example, by proportional-integral control.

[0032] The two-phase to three-phase conversion unit 28 receives inputs of the q-axis voltage reference EQ_R and the d-axis voltage reference ED_R. The two-phase to three-phase conversion unit 28 performs two-phase to three-phase conversion on the input q-axis voltage reference EQ_R and the d-axis voltage reference ED_R, and calculates the AC voltage references Vu_R, Vv_R, and Vw_R for each phase of the three-phase AC voltage output from the motor 2 based on the q-axis voltage reference EQ_R and the d-axis voltage reference ED_R.

[0033] The two-phase to three-phase conversion unit 28 inputs the calculated AC voltage references Vu_R, Vv_R, and Vw_R for each phase to the converter 12. The converter 12 performs power conversion so as to output voltages corresponding to the input AC voltage references Vu_R, Vv_R, and Vw_R for each phase.

[0034] As a result, the control unit 14 controls the operation of the converter 12 so that the motor 2 rotates at a rotational speed corresponding to the speed reference command SP_R. However, the configuration of the control unit 14 is not limited to the above, and may be any configuration that is capable of appropriately controlling the operation of the converter 12 so that the motor 2 rotates at a rotational speed corresponding to the speed reference command SP_R.

[0035] Figure 2 is a graph schematically illustrating an example of the operation of the drive control device according to the embodiment. Figure 2 schematically illustrates examples of the detected rotational speed SP_F, the torque current reference IQ_R, and the torque reference T_R. In Figure 2, the detected rotational speed SP_F, the torque current reference IQ_R, and the torque reference T_R are shown as relative values ​​when the maximum rotational speed of motor 2 is set to 100%.

[0036] The control unit 14 controls the GD of the motor 2 load when the machine is in a standalone state with no product attached to the rotating shaft. 2 Measurement of the GD of the load on motor 2 immediately after the product is attached to the rotating shaft. 2 The following measurements are taken: GD of the load on motor 2 in the machine-only state. 2 In other words, the GD of the axis of rotation 2 Furthermore, the GD of the load on motor 2 in the machine-only state is... 2 In other words, the minimum GD of the load on motor 2. 2 The GD of the load on motor 2 immediately after the product is attached to the rotating shaft is... 2 In other words, the GD of the rotation axis and the product combined 2 Furthermore, the GD of the load on motor 2 immediately after the product is attached to the rotating shaft is also given. 2 In other words, the maximum GD of the load on motor 2 in the product. 2 That is the case.

[0037] GD of the load of motor 2 2 The measurement is performed, for example, by temporarily operating motor 2 in the state where the product is not attached to the rotating shaft, and immediately after the product is attached to the rotating shaft, as shown in Figure 2. This operation of motor 2 is sometimes called inching or chuck. The GD of the load on motor 2 immediately after the product is attached to the rotating shaft. 2 The measurement may be performed in conjunction with operations such as feeding plates to equipment in lower-level processes.

[0038] The control unit 14 controls, for example, the GD of the load of the motor 2. 2The control unit 14 has an operation in a measurement mode that performs the measurement of the GD of the motor 2 load in the machine-only state without a product attached to the rotating shaft. 2 Measurement of the GD of the load on motor 2 immediately after the product is attached to the rotating shaft. 2 The measurement will be taken.

[0039] In the measurement mode, the control unit 14 temporarily operates the motor 2, for example, as shown in Figure 2, to accelerate the motor 2 to its maximum speed, then decelerate and stop it. Note that the maximum speed is not the maximum rotational speed designed for the motor 2 (the maximum rotational speed under no-load conditions), but rather the maximum rotational speed at which the motor 2 can actually rotate depending on the load conditions. In other words, the maximum speed is the rotational speed of the motor 2 when the magnetic flux current (field current) is reduced to its minimum.

[0040] In the operation of the measurement mode, the control unit 14 acquires, as shown in Figure 2, the rotational speeds SP1 and SP2 of the motor 2 at any two points during acceleration or deceleration, torque references TR1 and TR2 at any two points, the time difference td between any two points, the maximum speed SPt, and the torque reference TRt at the maximum speed SPt. The control unit 14 acquires the rotational speeds SP1 and SP2 and the maximum speed SPt based on the output of the speed detector 3, for example. The control unit 14 acquires the torque references TR1, TR2, and TRt based on the output of the speed control calculation unit 21, for example. The control unit 14 acquires the time difference td based on the internal clock, for example.

[0041] The control unit 14 obtains the rotational speeds SP1 and SP2, torque references TR1 and TR2, time difference td, maximum speed SPt, and torque reference TRt, and then uses these to calculate the GD of the motor 2 load based on the following equations (1) to (9). 2 Perform the calculation. BS%(%) = SPb / SPt × 100 …(1) tt(sec)=td×100 / (SP2-SP1)…(2) MLt(%)=TRt×(1 / (SPt / 100))…(3) ML1(%) = MLt × SP1 / 100…(4) ML2(%) = MLt × SP1 / 100…(5) MLave(%)=(ML1+ML2) / 2…(6) TRave(%)=(TR1+TR2) / 2-MLave…(7) Tacc(sec)=tt / (100 / TRave)×(BS% / 100)…(8) GD 2 (kgf·m 2 ) = Tacc × 365 × P / SPb 2 ×1000…(9)

[0042] In equation (1), SPb represents the base speed of motor 2. The base speed SPb is set according to the characteristics of motor 2. BS% represents the ratio of the base speed SPb to the maximum speed SPt. In equation (2), tt represents the time it takes to reach the maximum speed SPt from a standstill. In equation (3), MLt represents the mechanical loss at the maximum speed SPt. In equation (4), ML1 represents the mechanical loss at rotational speed SP1. In equation (5), ML2 represents the mechanical loss at rotational speed SP2. In equation (6), MLave represents the average mechanical loss between rotational speed SP1 and rotational speed SP2. In equation (7), TRave represents the average torque reference between rotational speed SP1 and rotational speed SP2. In equation (8), Tacc represents the time it takes to reach the base speed SPb from a standstill. In equation (9), P represents the rated capacity (kW) of motor 2. The rated capacity P of motor 2 is set according to the characteristics of motor 2.

[0043] Note that equation (7) is the calculation formula for acceleration (when rotational speed SP2 is faster than rotational speed SP1). During deceleration (when rotational speed SP2 is slower than rotational speed SP1), the average torque reference TRave is calculated by the following equation (10). TRave(%)=(TR1+TR2) / 2+MLave…(10)

[0044] As a result, the control unit 14 measures the GD of the motor 2 load by operating in measurement mode. 2 The control unit 14 measures (calculates) the minimum GD of the motor 2 load in the machine-only state without a product attached to the rotating shaft, by performing the operation of the measurement mode in both the state without a product attached to the rotating shaft and the state immediately after a product has been attached to the rotating shaft. 2 , and the maximum GD of the load on motor 2 immediately after the product is attached to the rotating shaft. 2 Measure each of them.

[0045] Thus, the control unit 14, for example, by performing the operation of the measurement mode, minimizes the GD 2 and the largest GD 2 The measurement mode operation may be performed by another control device, such as the main control unit 4. The control unit 14 obtains the minimum GD by, for example, communicating with another control device. 2 and the largest GD 2 You may obtain the minimum GD. 2 and the largest GD 2 The method of obtaining the minimum GD is not limited to the above, and the control unit 14 obtains the minimum GD 2 and the largest GD 2 Any method that can appropriately obtain it is acceptable.

[0046] The control unit 14 determines the minimum GD of the motor 2 load when the machine is in a standalone state with no product attached to the rotating shaft. 2 , and the maximum GD of the load on motor 2 immediately after the product is attached to the rotating shaft. 2 After obtaining each of them, the smallest GD obtained 2 and the largest GD 2 Each of them is GD2 The calculation unit 30 stores the data.

[0047] GD 2 When the calculation unit 30 rewinds the product, it uses the smallest stored GD 2 and the largest GD 2 Based on this, the GD of the current load of motor 2 2 Perform the following calculation.

[0048] GD 2 The calculation unit 30 acquires, for example, information on the scheduled time from the start to the end of the product rewinding. 2 The calculation unit 30 obtains, for example, scheduled time information from the main control unit 4. The scheduled time information is based on, for example, product information (length) and speed reference command SP_R, and GD 2 The result may also be obtained by performing calculations in the calculation unit 30.

[0049] GD 2 The calculation unit 30 calculates, for example, the smallest GD 2 and the largest GD 2 Based on the information and the scheduled time, the GD of the load on motor 2 2 The slope of the change is calculated. Then, GD 2 The calculation unit 30 calculates, for example, the current load GD of the motor 2 based on the calculated slope and the elapsed time from the start of product rewinding. 2 It performs the calculation. In other words, GD 2 The calculation unit 30 calculates the GD of the load of the motor 2. 2 Based on the slope of the change and the elapsed time, the GD of the current load of motor 2 is calculated proportionally. 2 Perform the calculation.

[0050] GD 2 The calculation unit 30 calculates the GD of the current load of motor 2. 2 After performing the above calculation, the current load Tacc of motor 2 is calculated using equation (11) below. Tacc=(GD 2 ×SPb 2 ) / (365×P×1000)…(11)

[0051] And then, GD2 The calculation unit 30 calculates the Tacc of the current load of motor 2, and then calculates the speed control gain ASPR_P corresponding to the current load of motor 2 using the following equation (12). More specifically, the speed control gain ASPR_P is the speed control proportional gain. ASPR_P=40.96×ωc×Tacc×SPt / SPb)…(12)

[0052] In equation (12), ωc represents the target response (rad / s). More specifically, the target response ωc represents the target value of the rotational speed (angular velocity) of motor 2 when the rotational speed of motor 2 is made to follow the speed reference command SP_R.

[0053] The target response ωc is the GD of the load on motor 2. 2 It changes depending on the situation. Therefore, GD 2 The calculation unit 30 calculates the GD of the current load of motor 2. 2 After calculating the GD of the current load on motor 2, 2 The target response ωc is calculated accordingly.

[0054] GD 2 The calculation unit 30 calculates, for example, a predetermined GD of the load of the motor 2. 2 It has information on the target response ωc of the corresponding standard, and the GD of the current load of motor 2. 2 The GD of the current load of motor 2 is calculated by proportional calculation based on the reference target response ωc. 2 The target response ωc is calculated accordingly.

[0055] And then, GD 2 The calculation unit 30 calculates the current load of motor 2 (Tacc) and the current load of motor 2 (GD). 2 Based on the target response ωc and the calculation result, the speed control gain ASPR_P corresponding to the current load of motor 2 is calculated using equation (12).

[0056] However, the target response ωc may be a preset constant. On the other hand, as described above, the GD of the current load of motor 2 2When calculating the target response ωc accordingly, the speed control gain ASPR_P can be calculated more appropriately compared to when the target response ωc is a constant. For example, the calculation accuracy of the speed control gain ASPR_P can be improved, and the speed control gain ASPR_P corresponding to the current load of motor 2 can be calculated more appropriately.

[0057] GD 2 The calculation unit 30 inputs the calculated speed control gain ASPR_P to the speed control calculation unit 21. The speed control calculation unit 21 calculates the torque reference T_R based on the deviation input from the subtractor 20, and corrects the torque reference T_R by multiplying the torque reference T_R calculated based on the deviation by the speed control gain ASPR_P. The speed control calculation unit 21 inputs the corrected torque reference T_R, which has been corrected by multiplying by the speed control gain ASPR_P, to the divider 23.

[0058] In other words, the speed control calculation unit 21 calculates the GD of the current load of motor 2 by multiplying the deviation between the speed reference command SP_R and the detected rotational speed SP_F by the speed control gain ASPR_P. 2 The rotation speed of motor 2 can be corrected accordingly.

[0059] As described above, in the drive control device 10 according to this embodiment, the control unit 14 performs the minimum GD when rewinding the product. 2 and the largest GD 2 Based on this, the GD of the current load of motor 2 2 The calculation is performed, and the GD of the current load of motor 2 is also calculated. 2 Based on this, the control unit calculates the speed control gain ASPR_P corresponding to the current load of motor 2, and controls the operation of the converter 12 to rotate motor 2 at a rotation speed corresponding to the speed reference command SP_R, based on the detected value of the three-phase AC current, the detected value of the rotational speed of motor 2 SP_F, the speed reference command SP_R, and the speed control gain ASPR_P. In other words, the control unit 14 calculates the speed control gain ASPR_P based on the current load of motor 2 GD 2 The rotation speed of motor 2 can be corrected accordingly.

[0060] Accordingly, in the drive control device 10 according to the present embodiment, the GD of a product that changes with changes in the diameter (weight) of the product due to rewinding 2 the speed control gain ASPR_P corresponding to the above can be set. Therefore, in the drive control device 10 according to the present embodiment, the operation of the converter 12 can be controlled more appropriately than, for example, when the speed control gain ASPR_P is set to a predetermined value.

[0061] In the drive control device 10 according to the present embodiment, for example, the GD of the product 2 suppresses changes in response to speed control accompanying changes in the above, enabling more appropriate speed control of the motor 2. For example, it is possible to suppress problems such as that it takes time to reach the speed corresponding to the speed reference command SP_R, making it difficult to appropriately supply the product from the rewinding device to a downstream process device or the like.

[0062] In the drive control device 10 according to the present embodiment, the control unit 14 sets the GD of the current load of the motor 2 2 based on the above, calculates the target response ωc corresponding to the GD of the current load of the motor 2 2 and calculates the speed control gain ASPR_P based on the calculated target response ωc and the GD of the current load of the motor 2 2 As a result, as described above, the speed control gain ASPR_P can be calculated more appropriately than, for example, when the target response ωc is a constant. For example, the calculation accuracy of the speed control gain ASPR_P can be further improved, and the speed control gain ASPR_P corresponding to the current load of the motor 2 can be calculated more appropriately.

[0063] In the drive control device 10 according to the present embodiment, the control unit 14 multiplies the deviation between the speed reference command SP_R and the detected rotational speed value SP_F by the speed control gain ASPR_P, thereby obtaining the GD of the current load of the motor 2 2 according to the above, enabling correction of the rotational speed of the motor 2. Accordingly, for example, the GD of the product 2it is possible to more appropriately suppress changes in response to speed control accompanying changes, and more appropriately perform speed control of the motor 2.

[0064] In the drive control device 10 according to the present embodiment, the control unit 14 controls the GD of the load of the motor 2 in a state where no product is attached to the rotating shaft and in a state immediately after the product is attached to the rotating shaft. 2 Through measurement, the minimum GD 2 and the maximum GD 2 are obtained. Thereby, the minimum GD 2 and the maximum GD 2 can be appropriately obtained.

[0065] The present embodiment includes the following aspects. (Supplementary Note 1) A drive control device that performs drive control of a motor used in a rewinding device that rewinds a band-shaped product wound into a roll, comprising: a converter connected to the motor and connected to a power source, converts the power supplied from the power source into three-phase AC power corresponding to the motor, and supplies the converted three-phase AC power to the motor to rotate the motor; a plurality of current detectors that detect three-phase alternating current supplied from the converter to the motor; a control unit that receives input of detection values of three-phase alternating current from the plurality of current detectors, receives input of a detection value of the rotation speed of the motor and a speed reference command, and controls the operation of the converter to rotate the motor at a rotation speed corresponding to the speed reference command based on the input detection value of three-phase alternating current, the input detection value of the rotation speed of the motor, and the speed reference command; wherein the control unit obtains the minimum GD of the load of the motor in a machine-only state where the product is not attached to the rotating shaft of the rewinding device 2 and the maximum GD of the load of the motor in a state immediately after the product is attached to the rotating shaft 2 and when rewinding the product, uses the minimum GD 2 and the maximum GD 2Based on this, the GD of the current load of the motor 2 The calculation is performed, and the GD of the current load of the motor is also calculated. 2 A drive control device that calculates a speed control gain corresponding to the current load of the motor based on the detected value of the three-phase AC current, the detected value of the rotational speed of the motor, the speed reference command, and the speed control gain, and controls the operation of the converter so that the motor rotates at a rotational speed corresponding to the speed reference command.

[0066] (Note 2) The control unit determines the target response, which represents the target value of the motor's rotational speed when the motor's rotational speed is made to follow the speed reference command, and the GD of the motor's current load. 2 Based on the above, the speed control gain is calculated, and the current load of the motor is calculated. 2 Based on this, the GD of the current load of the motor 2 The target response is calculated accordingly, and the GD of the calculated target response and the current load of the motor is calculated. 2 A drive control device according to Appendix 1 that performs the calculation of the speed control gain based on the above.

[0067] (Note 3) The control unit multiplies the speed control gain by the deviation between the speed reference command and the detected value of the rotational speed, thereby determining the current load of the motor. 2 A drive control device according to Appendix 1 or 2 that can correct the rotational speed of the motor accordingly.

[0068] (Note 4) The control unit controls the GD of the motor load in the state when the product is not attached to the rotating shaft and immediately after the product is attached to the rotating shaft. 2 By performing the measurement, the minimum GD 2 and the maximum GD 2 A drive control device described in any one of the appendices 1 to 3 that acquires the following.

[0069] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. [Explanation of symbols]

[0070] 2…Motor, 3…Speed ​​detector, 4…Main control unit, 10…Drive control unit, 12…Converter, 14…Control unit, 16a, 16b…Current detector, 20…Subtractor, 21…Speed ​​control calculation unit, 22…Excitation current calculation unit, 23…Divider, 24…Excitation current weakening control calculation unit, 25, 26…Subtractor, 27…Current control calculation unit, 28…Two-phase to three-phase conversion unit, 29…Three-phase to two-phase conversion unit, 30…GD 2 Arithmetic section

Claims

1. A drive control device for controlling the drive of a motor used in a rewinding device that unwinds a roll-shaped strip of product, A converter is connected to the motor and a power supply, which converts the power supplied from the power supply into three-phase AC power corresponding to the motor, and supplies the converted three-phase AC power to the motor to rotate the motor. A plurality of current detectors for detecting the three-phase alternating current supplied from the converter to the motor, A control unit receives input of detected values ​​of three-phase AC current from the plurality of current detectors, as well as input of detected values ​​of the motor's rotational speed and a speed reference command, and controls the operation of the converter to rotate the motor at a rotational speed corresponding to the speed reference command based on the input detected values ​​of the three-phase AC current, the detected values ​​of the motor's rotational speed and the speed reference command, Equipped with, The control unit determines the minimum GD of the motor load when the machine is in a standalone state with the product not attached to the rotating shaft of the rewinding device. ２ , and the maximum GD of the motor load immediately after the product is attached to the rotating shaft. ２ When obtaining the product and performing a rollback, the minimum GD ２ and the maximum GD ２ Based on the current load of the motor, GD ２ The calculation is performed, and the current load of the motor is calculated as GD ２ A drive control device that calculates a speed control gain corresponding to the current load of the motor based on the detected value of the three-phase AC current, the detected value of the rotational speed of the motor, the speed reference command, and the speed control gain, and controls the operation of the converter so that the motor rotates at a rotational speed corresponding to the speed reference command.

2. The control unit is configured to obtain, based on a target response representing a target value of the rotational speed of the motor when causing the rotational speed of the motor to follow the speed reference command, and the GD of the current load of the motor ２ , calculate the speed control gain, and based on the GD of the current load of the motor ２ , calculate the GD of the current load of the motor ２ calculate the target response corresponding to the above, and calculate the speed control gain based on the calculated target response and the GD of the current load of the motor ２ The drive control device according to claim 1, wherein the speed control gain is calculated based on:

3. The control unit multiplies the difference between the speed reference command and the detected rotational speed by the speed control gain, thereby determining the current load of the motor. ２ The drive control device according to claim 1, which allows the rotational speed of the motor to be corrected accordingly.

4. The control unit controls the GD of the motor load in the state where the product is not attached to the rotating shaft and in the state immediately after the product is attached to the rotating shaft. ２ By performing the measurement, the minimum GD ２ and the maximum GD ２ A drive control device according to claim 1 that obtains

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