Method and apparatus for friction compensation

Abstract

For friction compensation in a winding machine, with which a material is wound onto a winding drum, and the winding drum is driven by a winding drive which is triggered by a control/regulating device, and in the control/regulating device a driving torque of the winding drive is specified, in a friction compensation unit, as an input-side process parameter, a winding speed of the winding drum is taken into account, in order to compensate for the frictional moment, and at least one additional process parameter is taken into account. An apparatus for friction compensation in a winding machine, with which a material is windable onto a winding drum, and the winding drum is driven by a winding drive which is triggerable by a control/regulating device, has a tensile stress regulator and a diameter calculation unit and/or a friction compensation unit for linearizing the tensile stress regulator located in the control/regulating device, and in the friction compensation unit, a winding speed of the winding drum is imposed, in which to compensate for the frictional moment in the friction compensation unit, at least one additional process parameter is imposed as an input-side process parameter.

1 . A method for friction compensation in a winding machine, comprising the steps of winding a material onto a winding drum; driving the winding drum by a winding drive which is triggered by a control/regulating device; specifying in the control/regulating device a driving torque of the winding drive; taking into account a winding speed of the winding drum in a friction compensation unit, as an input-side process parameter; and taking into account at least one additional input-side process parameter to compensate for a frictional moment. 
   
   
       2 . A method as defined in  claim 1 ; and further comprising calibrating a desired tensile force with a measured actual tensile force, by a tensile stress regulator. 
   
   
       3 . A method as defined in  claim 1 ; and further comprising affecting a setting of the tensile force by a control part. 
   
   
       4 . A method as defined in  claim 1 ; and further comprising specifying in the control/regulating device a driving torque of the winding drive with a unit selected from the group consisting of a diameter calculation unit, the friction compensation unit, and both. 
   
   
       5 . A method as defined in  claim 1 ; and further comprising specifying the driving torque of the winding drive in the control/regulating device with an acceleration compensation unit. 
   
   
       6 . A method as defined in  claim 1 ; and further comprising, for compensation for the frictional moment, using as the additional input-side process parameter a parameter selected from the group consisting of a winding mass, a temperature, a roller contact pressure, an actual motor angle value, a winding angle value, and combinations thereof. 
   
   
       7 . A method as defined in  claim 1 ; and further comprising evaluating the process parameters used for compensation for the frictional moment, independently of one another and additively linked to a total drive compensation. 
   
   
       8 . A method as defined in  claim 1 ; and further comprising using the process parameters to compensate for the frictional moment such that at lest two of the process parameters are linked to one another; and from that ascertaining a compensation value. 
   
   
       9 . A method as defined in  claim 1 ; and further comprising preparing compensation parameters for the process parameters for determining the group consisting of curved graphs and performance graphs; and ascertaining the compensation value for the frictional moment from the performance graphs in a manner selected from the group consisting of directly and by interpolation between interpolation points. 
   
   
       10 . A method as defined in  claim 1 ; and further comprising ascertaining compensation parameters from the process parameters; and storing them in memory before or during a winding operation in a plurality of measurement motions with defined conditions. 
   
   
       11 . A method as defined in  claim 1 ; and further comprising using compensation parameters for the process parameters for purposes selected from the group consisting of maintenance purposes, generation of reports in an event of deviation, changes over time compared with specified values, and combinations thereof. 
   
   
       12 . A method as defined in  claim 6 ; and further comprising parameter selected from the group consisting of a friction a winding diameter, a winding width, and a density of a material, or in an event of a diameter-dependent variable density of the winding, from a parameter selected from the group consisting of a diameter-dependent web tension and a characteristic winding hardness curve. 
   
   
       13 . A method as defined in  claim 6 ; and further comprising determining the process parameter of the temperature by a step selected from the group consisting of measuring a temperature at the winding drive and a calculation using a thermal model. 
   
   
       14 . A method as defined in  claim 6 ; and further comprising determining a process parameter of the roller contact pressure by a step selected from the group consisting of measuring the process parameter of the roller contact pressure or calculating the process parameter of the roller contact pressure from further process parameters. 
   
   
       15 . A method as defined in  claim 6 ; and further comprising storing compensation parameters that are dependent on the process parameters of the actual motor angle or winding angle value in memory in form of a database inside a device selected from the group consisting of the friction compensation unit, the control/regulating device, and both. 
   
   
       16 . An apparatus for friction compensation in a winding machine, with which a material is windable on a winding drum and the winding drum is driven by a winding drive triggerable by a control/regulating device, comprising a tensile stress regulator and a unit selected from the group consisting of a diameter calculation unit, a friction compensation unit, and both for linearizing the tensile stress regulator and provided in said control/regulating device; means for imposing in the friction compensation unit a winding speed of the winding drum as an input-side process parameter; and means for imposing at least one additional process parameter to compensate for a frictional moment in the friction compensation unit. 
   
   
       17 . An apparatus as defined in  claim 16 ; and further comprising an acceleration compensation unit located in said control/regulating device. 
   
   
       18 . An apparatus as defined in  claim 16 , wherein said friction compensation unit is configured so that as additional input variables it has a parameter selected from the group consisting of a winding mass, a temperature, a roller contact pressure, an actual motor angle value, a winding angle value, and combinations thereof. 
   
   
       19 . An apparatus as defined in  claim 16 , wherein said friction compensation unit is configured so that it has at least one performance graph unit for linking at least two process parameters. 
   
   
       20 . An apparatus as defined in  claim 16 , wherein a device selected from the group consisting of said friction compensation unit, said control/regulating device, and both is configured so that compensation parameters for individual friction parameters are determinable and storable in memory for further evaluations.