motor controller configured to rotate a roll of material, and, sheet handling system for use with a

专利摘要:
REGULATOR AND SYSTEM FOR TURNING A MATERIAL ROLL IN A CONTROLLED WAY. A motor regulator is configured to rotate a roll of material. The regulator includes a drive speed regulator configured to generate an initial torque command based on a difference between the speed setpoints and the measured drive speed of the motor. The regulator also includes an observer module configured to estimate a material roll density error. The initial torque command is adjusted based on the density error to obtain a total torque command. The regulator also includes a speed regulator configured to control the engine based on the full torque command.
公开号:BR112014027423B1
申请号:R112014027423-1
申请日:2013-04-01
公开日:2021-03-16
发明作者:Mark Gary Dollevoet；Vivek Moreshwar Karandikar；Jason Michael Julien；Jeffrey George Skarda
申请人:Kimberly-Clark Worldwide, Inc；
IPC主号:

专利说明:

FIELD
[01] This invention relates generally to the handling of sheets of material, and more particularly, to a controller and a system for rotating a roll of material in a controlled manner. BACKGROUND OF THE INVENTION
[02] Various handling processes are employed to process continuous sheets of material in defined segments, such as discrete sheets from a continuous sheet for further processing. In general, a production line on which discrete sheets are used includes a pre-winding roll of the web of material, which is unrolled by a suitable drive mechanism (often through several stations on the production line) to a station cutting, in which the sheet is cut sequentially into discrete sheets of material. Normally, the web is kept tensioned as it is transported from the wound roll to the cutting station. The discrete sheets are then transported from the cutting station to another station on the production line, where the discrete sheets are assembled with other components of the product being formed.
[03] In general, the drive mechanism attempts to maintain a constant tension on the material sheet, as unexpected changes in tension at one or more points on the production line can result in undesirable tears or breaks in the material web. Such tears or ruptures interrupt the manufacturing process and can cause downtime and / or significant costs.
[04] One or more speed adjustment points are used to control the unwinding speed of the web of material. If the variation occurs between the speed setpoint and the actual sheet speed at different points along the sheet of material, the tension may become incompatible across the sheet of material. The drive mechanism attempts to track the actual speed of the sheet to the set point, controlling the torque generated by the motor.
[05] As the roll of material is unrolled, the inertia of the roll changes. More specifically, the roll inertia is based on the density of the material and the amount of material remaining on the roll. At least some known systems use inertia compensation algorithms to adjust the torque of the drive mechanism to compensate for the change in inertia due to the roll unwinding. The algorithms generally include a "coded" or static material density value, for example, based on a reference material density, as measured at an earlier point in time. However, the density of the material may change according to environmental factors, such as humidity, temperature, and the like and / or based on other factors. Thus, the algorithms used in the industry today do not accurately compensate for the inertia of the material roll, since it is unrolled due to variations in density, thus causing a risk that the continuous sheet of material may break or tear. SUMMARY
[06] In one application, a motor controller is configured to rotate a roll of material. The controller includes a drive speed regulator configured to generate an initial torque command based on a difference between the speed set points and the measured drive speed of the motor. The controller also includes an observer module configured to estimate a material roll density error. The initial torque command is adjusted based on the density error to obtain a total torque command. The controller also includes a speed regulator configured to control the engine based on the full torque command.
[07] In another embodiment, a sheet handling system for use with a roll of material includes a motor configured for the unwinding and winding of material, and a controller configured to control the speed of motor drive. The controller includes a drive speed regulator configured to generate an initial torque command based on a difference between the speed set points and the measured drive speed of the motor. The controller also includes an observer module configured to estimate a material roll density error. The initial torque command is adjusted based on the density error to obtain a total torque command. The controller also includes a speed regulator configured to control the engine based on the full torque command. BRIEF DESCRIPTION OF THE DRAWINGS
[08] FIG. 1 is a schematic diagram of an embodiment of a sheet handling system for unwinding a continuous sheet of material; FIG. 2 is a schematic diagram of an unwinding axis, the coiled roll of sheet material, and a unwinding tension monitoring system of the sheet handling system of FIG. 1; and FIG. 3 is a schematic block diagram of an embodiment of a drive controller that can be used with the sheet handling system of FIG. 1.
[09] Corresponding reference characters indicate the corresponding parts in the drawings. DETAILED DESCRIPTION
[10] With reference now to the drawings, FIG. 1 is a schematic diagram of an example of a sheet handling system, generally indicated at 21, for creating discrete sheets 23a of material, such as absorbent material, after the sheets are cut from a continuous sheet of material 23b, and more particularly from a coiled roll 25 of a web of such material. The illustrated sheet handling system 21 adequately feeds an absorbent product production line (a part of which is generally indicated by the number 29 in FIG. 1), in which several components of an absorbent product are assembled together as components, and, consequently, the absorbent product in its various stages of assembly is transferred through the production line in an MD machine direction. Examples of such absorbent products include, without limitation, paper towels, facial fabrics, bath fabrics, napkins and the like.
[11] It is understood, however, that the sheet handling system 21 and the methods described herein can be used individually to produce discrete sheets, or to feed a production line to manufacture other articles of absorbent products, and to maintain within the scope of the present invention. As used herein, the term "machine direction" refers to the direction in which the sheet 23b (and the discrete sheets 23a after cutting) are moved through the sheet handling system 21.
[12] Although the system and methods illustrated and described herein are for a sheet handling system 21 in which a continuous sheet is cut into discrete segments of sheet material, it is also understood that the sheet handling system and the methods written here can be used to control the length of specific segments (for example, discrete segments) of a continuous sheet of absorbent material, such as between registration marks or other markers on a continuous sheet, after processing the sheet during which it is tensioned and subsequently released in all or part of that tension. Consequently, the term "discrete segment" as used herein is taken to refer to a cut segment of the cut sheet material or to be a defined segment of sheet material (eg, between registration marks or others) markers) across a continuous sheet.
[13] The sheet handling system 21 suitably includes an unwinding spindle 27 (generally an unwinding device) on which the coiled roll 25 of the web 23b of absorbent material is mounted. The illustrated system 21 particularly includes a second unwinding axis 27 and another wound web 25 of continuous sheet 23b of absorbent material. With this arrangement, when one of the rollers 25 is fully unrolled and needs to be replaced, the system 21 picks up from another coiled roll while the unrolled roll is being replaced. It is understood, however, that a single unwinding device and coiled roll 25 can be used without departing from the scope of this publication. It is also contemplated that two or more sheets 23b can be taken from the respective coiled and laminated rolls or stuck together to form a continuous sheet of absorbent material before the sheet is cut into discrete sheets 23a.
[14] A suitable drive mechanism, such as in the form of a rotatingly driven propeller roller 31, operates to extract the web 23b from the coiled roll 25 (thereby unwinding the coiled roll) to move the sheet in the machine direction MD to the along a first path P1 of the system 21. The unwinding axis 27, according to an embodiment, can also be driven. As the web 23b is unwound from the coiled roll 25, it is removed along the path P1 through a series of guide rollers 33 (sometimes also referred to as stationary rollers, or tension rollers) and then, a movable roller or stationary dancer roller 35 (generally, a sheet tension control) before reaching the drive roller 31. In one embodiment, dancer roller 35 may be, or may include, a tension roller that includes a load cell for measuring web tension 23b. A ballerina roller 35 is commonly used to control the tension on a moving sheet within a predetermined range of stresses. For example, while sheet tension should generally remain constant, it can vary due to factors such as non-uniform sheet properties, irregularly wound rolls or sheet misalignment, speed changes in the propeller roll and other factors. The dancer roll 35 can also be used to monitor the tension on the sheet 23b when it is removed from the wound roll 25 to the propeller roll 31 (for example, based on the pre-defined tension range within which the dancer roll is initially configured to keep the sheet in tension). It is to be understood that, while the coiled roll 25 is described herein as being unwound by the drive mechanism and the sheet handling system 21, the drive mechanism and the sheet handling system can also be used for winding, or adding material to the spooled roll and / or rotate the spooled roll to act as described herein.
[15] It is envisaged that other sheet tension controls can be used to control the tension in the moving sheet 23b after it is removed from the wound roll 25. For example, a cable curtain (not shown) can be used in instead of, in addition to the dancer roll 35 to control and monitor the tension on sheet 23b.
[16] The rotational speed of the drive roller 31 generally determines the speed of the MD machine direction of the sheet 23b that moves along the path P1 of the wound roller 25 to the drive roller. The tension in the web 23b along the path P1 is also, at least in part, a function of the speed of rotation of the unwinding axis 27 if the axis is driven (ie, a function of the differential between the rotational speed of the propeller roller and the driven speed of the unwinding axis). When the unwinding axis 27 is not driven (that is, generally free to rotate), the tension in the moving sheet 23b along the path P1 is a function of the rotational speed of the propeller roller 31 and the inertia of the coiled roller 25 and unwinding axis.
[17] A vacuum feed roller 37, located downstream of the drive roller 31 in the machine direction MD of system 21, is rotationally driven to further pull web 23b towards the machine along a path P2 of the roller propellant to the feed roller. Additional guide rollers 39 are positioned along the path P2, along with a load cell 41 used in a conventional way to monitor the tension on the sheet 23b as it is pulled along the path P2 from the drive roller 31 to the feed roller. vacuum 37. The tension on the sheet 23b along the path P2 is generally a function of the rotational speed differential between the vacuum feed roller 37 and the drive roller 31. It is contemplated that an adequate tension control, such as another ballet dancer, cable curtain or other suitable control can also be arranged between the drive roller 31 and the vacuum feed roller 37, instead of or as an addition to the load cell 41.
[18] The driven rotation of the vacuum feed roller 37 feeds the web 23b, still under tension, to a cutting station, generally indicated at 43, of the sheet handling system 21. The cutting station 43 adequately comprises , a blade roller 45 and a rotating anvil roller 47, with one or more cutting mechanisms (eg cutting blades), arranged on the cutting roller to continuously cut web 23b into discrete sheets 23a (a roughly, discrete segments) at regular intervals. That is, the length of the discrete sheet 23a at the cutting station (referred to below as the "cut length" of the discrete sheets of absorbent material) generally depends on the driven rotation speed of the anvil roll 47, the vacuum level of the anvil roll and the speed of the feed roller 37, and where more than one anvil roller is used, also depends on the spacing between the anvils. Thus, the cutting length can be pre-defined by the operator of the sheet handling system 21, defining the rotation speed and vacuum level of the anvil roll 47, and / or rotation speed of the feed roll, or can be controlled by an appropriate speed control (not shown) based on a predetermined target cut length. The path of the machine direction MD along which the sheet 23b is transferred from the vacuum feed roller 37 to the anvil roller 47 is identified as the path P3 in FIG. 1.
[19] The term "length", as used in reference to sheet 23b, or discrete sheet 23a (ie, discrete segment), of material refers to its length in the machine direction MD, that is, the direction in which the sheet is stretched before, and afterwards, collected for further cutting and / or processing. The length does not necessarily refer to the largest planar dimension of the discrete sheet 23a after cutting (or discrete segment of a continuous sheet after processing). Propeller roller 31, vacuum feed roller 37 and anvil roller 47 together here broadly define a delivery system that is operable to unwind web 23b from coiled roll 25 and supply web to cutting station 43.
[20] A vacuum transfer roller 49 receives the discreet sheet 23a from the anvil roll 47 after cutting and transfers the discreet sheets over a suitable transfer device, for example a vacuum conveyor 50, for transport in the machine direction MD away from the cutting station. Additional transfer devices (not shown) transport more discrete sheets 23a to production line 29, where the discrete sheets can be assembled with (eg, adhered to or attached to) other components of the absorbent product moving along the production line.
[21] One or more monitoring or detection systems to detect and determine the length or other suitable characteristics of discrete sheets 23a at particular locations or at some point after cutting are arranged at predetermined locations, such as between the transfer roller vacuum 49 and production line 29. For example, in the illustrated embodiment of an inspection system 55, and more properly a visual inspection system, it is located downstream (in the machine direction MD) from the roller vacuum transfer 49 at a distance thereof to determine the length of the discrete sheet 23a as it approaches the production line 29.
[22] It should be recognized that detection or monitoring systems, such as the inspection system 55, are optional and can be omitted in some embodiments. In addition, the cutting station 43 and the vacuum transfer roller 49 can be omitted in some embodiments. For example, web 23b can be unwound, as described above, and can be fed through an intermediate process, such as calendering. The web 23b can be rewound in a later stage or process, as desired. It should be recognized that the embodiments described above are illustrative, rather than limiting, and the embodiments, processes and / or components of the sheet handling system 21 can be added, removed or modified as desired.
[23] The distances from the machine direction MD between the various components and stations of the sheet handling system 21 and the production line 29 illustrated in FIG. 1 are not necessarily to scale, but are an indication of a relative spacing between such components. Thus, taking into account the speed of the moving sheet 23b (which can be monitored using various speed sensors, not shown, arranged along the paths P1, P2, or in other places along the sheet handling system 21) and the distance from the MD machine direction between two stations or machine components, the time it takes the sheet to reach any particular station or component can be readily determined.
[24] During operation of the illustrated sheet handling system 21, web 23b may experience varying levels of stress for certain periods of time before reaching cutting station 43 (or another processing station). For example, while on the coiled roll 25, the web 23b is subjected to radial and circumferential stresses, which contribute to what is referred to here by an unwinding tension (i.e., the tension on the web as it unwinds from the roll during the operation).
[25] In a particularly suitable embodiment, the unwinding tension can be determined by a unwinding tension monitoring system, generally indicated as 61 in FIG. 2, as the sheet 23b is unwound from the coiled roll 25. For example, the unwinding tension monitoring system 61 comprises a load cell 63 (similar to the load cell 41 used to determine the tension on the sheet along the path P2 , in the system 21 of Figure 1) located inside the coiled roll 25 between the outer winding and the immediately underlying winding of the web 23b. The load cells 63 measure the tension in the outer winding (which is about to be unwound from the roll 25) in pounds. The division of this tension by the average thickness and average width of the sheet determines the unwinding tension, in pounds per square inch, of the continuous sheet.
[26] In alternative embodiments, the unwinding tension can be predetermined, such as during the initial winding of web 23b on the wound roll 25 or in a separate winding system (not shown) disposed off-line from of the sheet handling system 21, to develop an unwinding tension profile, in which the unwinding tension is recorded as a function of the radius of the wound roll 25, or as a function of the linear location along the length of the web 23b of the coiled roll. In such an embodiment, the unwinding tension monitoring system 61 may comprise a suitable sensor (not shown) for monitoring the radius of the coiled roll 25 and / or the linear location of the sheet 23b along the coiled roll.
[27] With reference again to FIG. 1, the illustrated sheet handling system 21 further comprises a control system 71 for controlling the operation of the sheet handling system. Control system 71 can be part of, or can provide input to and receive feedback from, a manufacturing control system (not shown) on production line 29, to which discrete sheets are provided to be incorporated into the absorbent product. The control system 71 is adequately in communication with several operational components of the system 21 and is capable of monitoring and adjusting (or having them adjusted) various operational parameters of the system (as indicated by the arrows drawn between the control system and the respective operating components in Figure 1). Parameters can include, without limitation, propeller roller speeds 31, vacuum feed roller 37 and other transfer devices for controlling the machine direction speed of web sheet 23b (for cutting station 43) and discrete sheets 23a (downstream of the cutting station), the sheet tension between the paths P1, P2 and P3, and / or the cutting length of the discrete sheets at the cutting station. The control system 71 also communicates properly and receives input from the unwinding voltage monitoring system 61, the load cell 63 and the inspection system 55. The control system 71 can adequately comprise a control circuit, a computer that runs control software, a programmable logic controller and / or other suitable control devices. For example, in an appropriate embodiment, the control system 71 includes at least one drive controller 73 that controls the rotational drive speed of one or more motors, such as the drive roller motors (not shown) 31 , the vacuum feed roller 37, and / or the vacuum transfer roller 49.
[28] The drive controller 73 is programmed to maintain a substantially uniform tension of the web 23b, for example, to prevent the web material from tearing when being accelerated or decelerated. The uniform torque is maintained by a substantially corresponding rotational speed of the drive roller 31, vacuum feed roller 37, vacuum transfer roller 49 and / or other components of the leaf handling system 21. More specifically, a set points speed and a path to the speed set points are established for web 23b and the rotational components of the sheet handling system 21. If drive controller 73 controls the motors to drive or rotate, the system components of handling sheet 21 at speeds practically equal to the speed reference values and / or speed trajectories, a substantially uniform tension is facilitated to be maintained.
[29] The drive controller 73 controls the rotational speed of the motors and / or components of the leaf handling system 21, by controlling the torque generated by the motors. The torque generated must take into account the inertia of the components to make them rotate to the desired speed path during the periods of acceleration or deceleration. For example, drive controller 73 must take into account the inertia of the wound roller 25 (and other components) to calculate the necessary torque generated by the motor to accelerate or decelerate the wound roller 25 so that it remains in the path of the set points of speed while the sheet handling system 21 speeds up or slows down. However, the inertia of the wound roll 25 changes over time as the web 23b is unwound from the roll. In addition, the web density 23b reaches the inertia of the coiled roller 25, and should be considered when calculating the roller inertia to correctly calculate the torque required to reach the speed path during the acceleration and deceleration of the motor controlled by the speed controller. drive 73.
[30] FIG. 3 illustrates a schematic block diagram of a drive controller 73 that can be used with the sheet handling system 71 of FIG. 1. More specifically, drive controller 73 controls one or more motors 102 of the leaf handling system 21 and / or the drive mechanism described in FIG. 1, such as one or more drive roller motors 31, the vacuum feed roller 37 and / or the vacuum transfer roller 49 shown in FIG. 1.
[31] The drive controller 73 controls the rotational speed of the motor 102, controlling the torque generated by the motor. The torque causes the drive roller 31, the vacuum feed roller 37, and / or the vacuum transfer roller 49 to move the web 23b at a desired speed, as described above.
[32] Drive controller 73 includes a drive speed regulator 104, a torque regulator 106, and a plurality of modules 108 that calculate the operating parameters used by drive controller 73 to control motor torque 102. The modules 108 are incorporated into one or more circuits and / or software programs executable by computer within the drive controller 73.
[33] Drive controller 73 receives an angular speed command 110 (also known as the rotational speed setpoint) for motor 102 and receives a measured rotational speed 112 (also known as measured drive speed) from motor 102 For example, a speed sensor 114 measures the rotational speed of a drive shaft 116 of the motor 102 and transmits a signal representative of the measured rotational speed to the drive controller 73. The drive controller 73 subtracts the measured rotational speed 112 from the speed command 110 to obtain a speed error signal 118. The speed error signal 118 is transmitted to drive speed regulator 104.
[34] The speed regulator of regulator 104 calculates a torque value to be generated by the motor to facilitate the reduction of the speed error signal 118 to zero. The drive speed regulator 104 generates an initial torque command 120 which is the representative of the calculated torque value.
[35] A Coulomb friction calculation module 122 receives speed command 110 and calculates a Coulomb friction value, which is experienced or should be experienced by engine 102. The calculated Coulomb friction value is limited by a limiting module 124 and is presented as a Coulomb 126 friction torque command. The Coulomb 126 friction torque command represents an additional amount of torque needed to be generated by engine 102 to compensate for Coulomb friction forces.
[36] A Coulomb 128 damping friction calculation module receives speed command 110 and calculates a Coulomb damping friction value, which should be experienced by the motor windings 102. The damping friction calculation module 128 generates a damping torque command 130 which is representative of an additional amount of torque that needs to be generated by the motor 102 to compensate for the damping frictional forces.
[37] In addition, a branch module 132 generates an angular acceleration command 134 by calculating a derivative of the speed command 110. Acceleration command 134 is transmitted to an inertia calculation module 136, which calculates the inertia of the coiled roll 25, as described in more detail herein. The inertia calculation module 136 generates an inertia torque command 138 (also called inertia compensation command), which is representative of an additional (or less) amount of torque required to be generated by the motor 102 to compensate for changes in inertia of the coiled roll 25, or to compensate for changes in the estimated inertia and / or density of the coiled roll.
[38] The inertia torque command 138, the damping torque command 130, and the Coulomb friction torque command 126 are added together to obtain a direct feed torque command 140. The direct feed torque command 140 is added to the initial torque command 120 to obtain a total torque command 142. The total torque command 142 is representative of the total amount of torque deemed necessary to reach the speed setpoint while adjusting for friction and inertia of the coiled roll 25 and / or the leaf handling system 21. The total torque command 142 is transmitted to the torque regulator 106 to generate a torque signal 144 representative of the total torque command 142. The torque signal 144 is transformed from a domain discrete or Z transformation domain, for a continuous time domain, or Laplace, using a transformation module 146. A drive signal 148 is generated from transformer module 146 and is transmitted to motor 102, thereby causing motor 102 to generate the amount of torque represented by torque signal 144.
[39] In addition, the total torque command 142 is used to facilitate the calculation of the inertia and the estimated density of the coiled roll 25. More specifically, the direct feed torque command 140 is subtracted from the total torque command 142 to obtain a differential torque command 150. It must be recognized that the differential torque command 150 is equal to the initial torque command 120 generated by the drive speed regulator 104. The differential torque command 150 is transmitted to an error calculation module density 152.
[40] The density error calculation module 152 calculates or estimates a density error 154 of the winding roll 25 using the differential torque command 150, the acceleration command 134, and a measured radius (not shown) of the winding roll. The radius of the coiled roller 25 is measured, for example, using a proximity sensor (not shown), or any other suitable sensor, which is coupled or placed close to the coiled roller to measure a distance between the sensor and an outer surface of the roller coiled. The measured distance can be subtracted from a previously measured distance from the sensor to the unwinding axis 27, shown in FIG. 1 for calculating the radius of the wound roller 25 (ie the radius of the wound of material wound around the unwinding axis).
[41] The density error calculation module 152 divides the differential torque command 150 by the term (r4 * π * l * α), where r is the radius of the coiled roll material, l is the width of the web 23b (in a direction within the plane of the web 23b perpendicular to the length of the web), and α is the angular acceleration command 134. Thus, the density error calculation module 152 estimates the density error of the coiled roll 25 with based on output of drive speed regulator 104 (ie based on initial torque command 120).
[42] The calculated or estimated density error 154 is transmitted to an observation module 156, which calculates or estimates the density of the coiled roll 25. The observation module 156 is adjusted to provide an estimated change in density required to force the output of the drive speed regulator 104 (ie the initial torque command 120) to be substantially reduced and, in some cases, to zero.
[43] Observation module 156 is implemented as one or more algorithms based on software and / or hardware that combine the detected signals with knowledge of the leaf handling system 21 to allow the observation module 156 to operate as described herein. . In one embodiment, observation module 156 is implemented as a derivative integral proportional controller (PID). The observation module 156 is activated when the web 23b and the web 25 are being accelerated or decelerated, and it is disabled when the web 25 and web 23b are maintained at a substantially constant angular speed. Observation module 156 calculates or estimates the change in density 158 necessary to reduce the initial torque command 120 to zero.
[44] In other words, the observation module 156 incorporates algorithms based on knowledge of the sheet handling system 21 and its effects on the inertia of the coiled roll 25 to estimate the variation in density. The inertia of a coiled roll of material, such as absorbent material, with a variant radius, material J, can be calculated based on the density, radius, and the width of the material using the following formula:
where L is the roll width, d is the density of the roll material, g is the gravitational constant, Ro is the outer radius of the roll, and Ri is the inner radius of the roll. While L, g and Ri are constant terms, Ro varies as the roll unfolds and must be counted in the calculated inertia. The density, d, will also vary according to the degree of the material and environmental factors can often be treated as the second variable in the calculation of inertia.
[45] Since observers are based on knowledge of the physical system, the following equations are used in the observer algorithm: Jtotal = Jmaterial + Jsistema Equation 4 where T * is the applied torque reference, Tro * is the torque output of the drive speed regulator and Tcff * is the direct supply torque of the total control (also referred to here as direct supply torque control).
[46] Substituting in equations 1, 2, 3 and 4 produces the density error, Δdest, as shown in Equation 5.

[47] The estimated change in density 158 (ie Δdest) is calculated accordingly and is transmitted to the inertia calculation module 136. More specifically, the estimated density error 154 calculated by the density error calculation module 152 is used with the equations described above to determine the change in density required. In one embodiment, the observer module 156 uses the knowledge of the leaf handling system 21 (for example, the equations described above) to define the estimated density variation 158 equal to the estimated density error 154.
[48] The inertia calculation module 136 calculates the inertia based on the estimated density variation 158. More specifically, the inertia calculation module 136 adds the estimated density variation 158 and a current density value of the coiled roll 25 for obtain an adjusted density value. The current density value can be a "coded" value entered by a user or administrator based on a normal density value for web sheet material 23b. Alternatively, the current density value can be the density value from a previous calculation of the inertia calculation module 136 (for example, the previously set density value). The adjusted density value is multiplied by the term (r4 * π * l * α) described above, to obtain the inertia torque command 138.
[49] Consequently, drive controller 73 calculates an estimated density of the winding roll 25 based on the output of drive speed regulator 104 and incorporates the estimated density in a direct inertia compensation feed path (for example, the module inertia calculation 136) to facilitate reducing the output of drive speed regulator 104 to zero. Therefore, drive controller 73 facilitates, allowing a drive speed trajectory to be followed more accurately during periods of acceleration or deceleration by a motor 102, compared to at least some previous systems.
[50] When introducing the elements of the present invention or preferred embodiments of it, the articles "one, one", "o, a, os, as" and "said, mentioned" are intended to indicate that there is one or more of the elements. The terms "comprising", "including" and "having" are intended to be inclusive and mean that there may be additional elements in addition to those listed.
[51] As several changes could be made to the above constructions, without departing from the scope of the invention, it is intended that all the matter contained in the description above or shown in the attached drawings is to be interpreted as illustrative and not in a limiting sense.

权利要求:
Claims (14)
[0001]
1. Motor controller (73) configured to rotate a roll of material, comprising: a drive speed regulator (104) configured to generate an initial torque command (120) based on a difference between the set point speed adjustment (110) and the measured drive speed (112) of the motor, where the initial torque command (120) represents an amount of rotational force currently applied to the material roll by the motor; an observation module (156) which is activated if the material roll is one of the acceleration and deceleration type, and where the observation module (156) is deactivated if the material roll is being maintained at a substantially constant speed; where a Coulomb friction torque command (126) is generated based on an expected amount of Coulomb friction experienced by the engine, the total torque command (142) being further based on the Coulomb friction torque command (126); characterized in that the observation module (156) is configured to estimate a density error (158) of the material roll based, at least in part, on the initial torque command (120) and the speed setpoint (110) , in which the initial torque command (120) is adjusted based on the density error (158) to obtain a total torque command (142); and comprising a torque regulator (106) configured to control the motor based on the total torque command (142).
[0002]
2. Controller (73), as defined in Claim 1, characterized by the observation module (156), which is configured to transmit the estimated density error (158) to an inertia calculation module (136) configured to calculate the inertia of the material roll.
[0003]
Controller (73), as defined in Claim 2, characterized by the inertia calculation module (136), which is configured to generate an inertia torque command (138) based on the calculated inertia of the material roll.
[0004]
4. Controller (73), as defined in Claim 3, characterized by the direct feed torque command (140) which is added to the initial torque command (120) to obtain a full torque command (142).
[0005]
Controller (73), as defined in Claim 4, characterized by the direct feed torque command (140), which is based, at least in part, on the inertia torque command (138).
[0006]
Controller (73), as defined in Claim 5, characterized by a damping torque command (130), which is generated based on an expected amount of damping friction of the motor (102), the torque command of direct feed (140) and is also based on the damping torque command (130).
[0007]
7. Controller (73), as defined in Claim 6, characterized in that the direct feed torque command (140) is further based on the Coulomb friction torque command (126).
[0008]
8. Sheet handling system (21) for use with a material roll, comprising: a motor (102) configured to unwind and wind the material roll; and a controller (73) configured to control the driving speed of the motor, the controller comprising: a driving speed regulator (104) configured to generate an initial torque command (120) based on a difference between the set point speed (110) and the measured drive speed (112) of the motor, where the initial torque command (120) represents an amount of rotational force currently applied to the material roll by the motor; an observation module (156) which is activated if the material roll is one of the acceleration and deceleration type, and where the observation module (156) is deactivated if the material roll is being maintained at a substantially constant speed; where a Coulomb friction torque command (126) is generated based on an expected amount of Coulomb friction experienced by the engine, the total torque command (142) being further based on the Coulomb friction torque command (126); characterized in that the observation module (156) is configured to estimate a density error (158) of the material roll based, at least in part, on the initial torque command (120) and the speed setpoint (110) , in which the initial torque command (120) is adjusted based on the density error (158) to obtain a total torque command (142); and comprising a torque regulator (106) configured to control the motor based on the total torque command (142).
[0009]
Leaf handling system (21), as defined in Claim 8, characterized by the observation module (156), which is configured to transmit the estimated density error (158) to an inertia calculation module (136) configured to calculate the inertia of the material roll.
[0010]
Leaf handling system (21), as defined in Claim 9, characterized by the inertia calculation module (136), which is configured to generate an inertia torque command (138) based on the calculated roller inertia of material.
[0011]
11. Sheet handling system (21), as defined in Claim 10, characterized by the direct feed torque command (140) which is added to the initial torque command (120) to obtain a full torque command (142) .
[0012]
Leaf handling system (21), as defined in Claim 11, characterized by the direct feed torque command (140), which is based, at least in part, on the inertia torque command (138).
[0013]
Leaf handling system (21), as defined in Claim 12, characterized by a damping torque command (130), which is generated based on an expected amount of damping friction from the engine, the torque command direct supply (140) and is also based on the damping torque command (130).
[0014]
Leaf handling system (21), as defined in Claim 13, characterized in that the direct feed torque command (140) is further based on the Coulomb friction torque command (126).

类似技术:

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公开号 | 公开日 | 专利标题

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BR112014027423B1|2021-03-16|motor controller configured to rotate a roll of material, and, sheet handling system for use with a roll of material

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EP2905246B1|2018-02-28|Method and system for adjusting tension during winding for a machine with a winding station

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JP2988932B1|1999-12-13|Winder with tension control

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JP2014237534A|2014-12-18|Thin film sheet winding device

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JP2005205533A|2005-08-04|Cutter of magnetic recording medium and its cutting method

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BR112017005635B1|2021-08-17|APPARATUS TO BREAK A MOBILE CONTINUOUS SHEET, REELER TO ROLL A CONTINUOUS SHEET, AND PROCESS TO BREAK A MOBILE CONTINUOUS SHEET

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JPH08175723A|1996-07-09|Automatic computing method of sheet wind diameter in winder

同族专利:

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公开号 | 公开日

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EP2847115A4|2017-06-07|

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US9221641B2|2015-12-29|

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WO2013168026A1|2013-11-14|

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EP2847115B1|2020-08-19|

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US20130299623A1|2013-11-14|

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ES2820698T3|2021-04-22|

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EP2847115A1|2015-03-18|

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BR112014027423A2|2017-06-27|

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法律状态:
2018-12-04| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|

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2019-10-01| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|

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2020-10-20| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application according art. 36 industrial patent law|

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2021-02-02| B09A| Decision: intention to grant|

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2021-03-16| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 01/04/2013, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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US13/466,258|2012-05-08|

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US13/466,258|US9221641B2|2012-05-08|2012-05-08|Controller and system for controllably rotating a roll of material|

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PCT/IB2013/052600|WO2013168026A1|2012-05-08|2013-04-01|Controller and system for controllably rotating a roll of material|

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