U.S. patent number 3,568,904 [Application Number 04/846,856] was granted by the patent office on 1971-03-09 for sample data web and strip guide control system.
This patent grant is currently assigned to GPE Controls, Incorporated. Invention is credited to Robert S. Kurz.
United States Patent |
3,568,904 |
Kurz |
March 9, 1971 |
SAMPLE DATA WEB AND STRIP GUIDE CONTROL SYSTEM
Abstract
Control system for guiding a traveling web or strip to
facilitate the performance of work on the web or strip to provide
strip positioning at a location remote from the strip actuator by
employing a movable sensor adjacent the actuator modulating the
actuator in response to a set point, and a stationary sensor at the
control point generating a time sampled signal to the movable
sensor for changing the set point in response to the position of
the strip at the control point.
Inventors: |
Kurz; Robert S. (Des Plaines,
IL) |
Assignee: |
GPE Controls, Incorporated
(Morton Grove, IL)
|
Family
ID: |
25299133 |
Appl.
No.: |
04/846,856 |
Filed: |
August 1, 1969 |
Current U.S.
Class: |
226/15;
242/563.1 |
Current CPC
Class: |
B65H
23/0326 (20130101) |
Current International
Class: |
B65H
23/032 (20060101); B65h 025/26 () |
Field of
Search: |
;226/15,16,17,18,19,20
;242/57.L |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Knowles; Allen N.
Assistant Examiner: Church; Gene A.
Claims
I claim:
1. An apparatus for guiding a traveling strip comprising an
actuator for changing the lateral position of the strip, a first
edge sensor adjacent said actuator having a movable set point and
driving said actuator to guide the lateral position of the strip in
response to said set point, a second edge sensor at a control point
remotely located downstream from said first edge sensor having a
fixed set point, means measuring the traveling strip, and means
responding to the second edge sensor and the measuring means to
change the position of the set point of the first sensor and
correct for error in strip position at the control point.
2. An apparatus as defined in claim 1, wherein said edge sensors
respond to one edge of the strip.
3. An apparatus as defined in claim 1, wherein said edge sensors
respond to both edges of the strip to effectively centerguide the
strip.
4. An apparatus as defined in claim 1, wherein said measuring means
includes a roll driven by said strip, and a pulse generator driven
by the roll to provide a pulse rate proportional to strip
speed.
5. An apparatus as defined in claim 1, wherein said means
responding to the second edge sensor and the measuring means
includes a gating circuit.
6. An apparatus as defined in claim 4, and wherein said means
responding to the second edge sensor and the measuring means
includes a gating circuit.
7. An apparatus for guiding a traveling strip comprising an
actuator for changing the lateral position of the strip, a movable
edge sensor adjacent said actuator, means driving said actuator to
guide the lateral position of the strip in response to a set point
of the sensor, a stationary edge sensor at a control point remotely
located downstream from the movable sensor, means measuring the
traveling strip, and means responding to a set point of the
stationary sensor and a signal from the measuring means pursuant to
a predetermined length of traveling strip to change the position of
the movable sensor and correct for error in the strip position at
the control point.
8. An apparatus as defined in claim 7, wherein said edge sensors
respond to one edge of the strip.
9. An apparatus as defined in claim 7, wherein said edge sensors
respond to both edges of the strip to effectively centerguide the
strip.
10. An apparatus as defined in claim 7, wherein said measuring
means includes a roll driven by said strip, and a pulse generator
driven by the roll to provide a pulse rate proportional to strip
speed, and wherein said means responding to the second edge sensor
and the measuring means includes a gating circuit.
11. A control system for guiding a travelling web or strip
comprising, a primary control loop having an actuator for changing
the lateral position of the web or strip and an edge sensor
adjacent to the actuator having a movable set point and driving
said actuator to guide the lateral position of the strip in
response to the set point, a second control loop including an edge
sensor located at a control point downstream from the primary
control loop sensor, means for measuring the travelling web or
strip, and means responding to said second control loop sensor and
the measuring means to change the set point of the primary control
loop sensor and correct for error in strip position at the control
point.
Description
This invention relates in general to a web or strip guide control
system, and more particularly to a sample data web or strip guide
control system, and still more particularly to a web or strip guide
control system capable of permitting remote location of a sensor
for control of the web or strip pursuant to a sample data
approach.
The web or strip guide control system of the invention is primarily
useful in controlling the lateral position of a traveling metal
strip, although it should be appreciated that it could be
applicable for a paper or plastic web or any other type of strip or
web. The sample data system approach of the invention is useful
where the conventional sensor location is not possible or
convenient because of environment or space limitations.
Strip control systems are useful in process lines to, for example,
control strip guiding into and out of accumulators, control strip
position in acid and rinse sections or pickle lines, and control
strip or web position in furnaces or cooling towers. Conventional
control systems include a sensor and an actuator responsive to the
sensor, and are located at points in the process lines where
alignment is required. It is desirable to place the sensing for
these control systems exactly at the point where the position
alignment is required because they operate to maintain exact
alignment in the sensor. Sensing, however, must be located
sufficiently close to the actuator to provide adequate feedback for
control stability. However, it is not always possible to place such
control systems in the area where control is required.
Sample data control systems permit sensing at a point in the line
where strip position accuracy is critical but where it would not be
practical or convenient to install a conventional control system.
Sample data control systems are used to compensate for time lags
between position actuation by the actuator and the sensing of
position for control by the sensor. Sample data systems provide
stability in part by decreasing system gains to a level below that
which would be allowed by hardware characteristics such as
hysteresis, drift, etc. The sample data control system of the
invention includes a primary conventional control loop having an
actuator and a sensor arranged to allow sufficient gain to remove
larger errors. A second control loop having only a sensor, and
operating on a sampled basis, adjusts the setpoint of the primary
control loop causing the strip to satisfy the position requirements
remote from the actual control of the positioning of the strip.
A sample data control system used for strip tracking is known but
has not always proved satisfactory because its gain is limited by
the time lag between correction and sensing the effect of the
correction, allowing only very small errors to be removed. In such
a system, a stationary sensor is located at the control point for
gating error correction to the actuator following a predetermined
measurement of the traveling strip. Unless the rate of change of
edge position of the strip is sufficiently small so that control
can keep up with edge position error, the system performances will
not be satisfactory.
The present invention is useful where the error is greater than
that which could be removed by the heretofore known sample data
systems. A conventional primary loop control system causes removal
of errors at the actuator, while downstream a sample data control
system defining a second loop is employed to shift the set point of
the conventional control system to compensate against trend errors
seen at the downstream sensor.
Steady state error is thereby reduced by touching up the set point
on the primary loop control system. While an unwind stand is
illustrated as the actuator in the present invention, it should be
appreciated that any type of actuation may be used for lateral
positioning of the strip. It should also be appreciated that the
control system of the present invention may be employed to detect
the position of one edge of a strip, or the positions of both edges
as in a center guide system.
It is therefore an object of the present invention to provide a new
and improved web or strip guiding control system employing in part
the sample data system approach and in part a conventional control
system, wherein control at places otherwise impossible to control
is obtained.
Another object of this invention is in the provision of a web or
strip guide control system capable of handling greater errors in
strip travel than heretofore controllable by known sample data
systems.
Other objects, features and advantages of the invention will be
apparent from the following detailed disclosure, taken in
conjunction with the accompanying sheets of drawings, wherein like
reference numerals refer to like parts, in which:
FIG. 1 is a diagrammatic view and block diagram of the web and
strip guide control system according to the present invention;
FIG. 2 is a diagrammatic and block diagram of a modification of the
invention;
FIG. 3 is a diagrammatic and block diagram of a web and strip guide
control system of the prior art; and
FIG. 4 is a chart representing the operation of the prior art
embodiment of FIG. 3.
It has been generally necessary to sense strip position near the
point of the actuator correction in web and strip guide control
systems. However, in many installations such has not been
convenient and in some cases not even possible, thereby precluding
adequate strip position control. The sample data approach has been
suggested to overcome the difficulty, and it will, in some cases,
permit adequate strip position control where the sensor is mounted
remotely from the point of corrective actuation, and where only
small errors are encountered. Accordingly, when using a
conventional integrating or floating control system for web or
strip guide, it is necessary that the sensor be located close to
the point of correcting actuation, that is, near the unwind stand,
steering roll or the like. This insures control stability with
sufficient gain to remove the error.
Error removal capability is proportional to system gain which, in
turn, is predominantly limited by the time lag between the time the
sensor calls for a correction and the time the sensor sees the
effect of the correction it caused. It is important to appreciate
here that the actuator in an integrating control system will
continue moving to correct for strip position error until the error
reduces to zero. If sufficient time lag exists, the actuator will
overcorrect or overshoot and then by necessity reverse itself and
overcorrect in the opposite direction. The overcorrecting process
repeats itself thereby generating an oscillation condition referred
to as instability.
There are instances where the ideal control point or sensor
location is far removed from the point of lateral position
actuation. These instances create a poor condition for control of
lateral web or strip position in that the gain becomes limited to
permit stability, and in some cases, perhaps to the extent that no
adequate control is possible because of hardware limitations. In
some instances it may be possible to provide adequate control for
guiding of the strip by employing a sample data approach, which
approach recognizes the existence of a long time lag between the
correction actuator and the sensor. The sample data approach
operates as a conventional control loop would operate, except on
seeing an error it makes a correction and then stops actuator
motion until the previous correction reaches the sensor. The sensor
sees the effect of the previous correction before initiating
another correction. It should be appreciated that as the duty cycle
of the control is decreased in this approach, the system gain is
also decreased. Using the sample data approach, effective system
gain can be diminished well below minimum gain limitations of
control hardware used in a normal manner. In any event, the control
system effective gain is substantially limited by the predominant
time constant, and control accuracy is limited by the effective
gain.
A strip guide system employing the sample data approach heretofore
known is illustrated in FIG. 3, wherein a traveling strip 10 is
being delivered from a coil 11 on an unwind stand 12. The unwind
stand 12 constitutes the actuator for correcting the lateral
position of the strip pursuant to the set point of a stationary
sensor 13 located remotely downstream from the actuator. A double
acting actuator hydraulic cylinder 14 serves to jog the unwind
stand 12 or actuator for changing the lateral position of the strip
10.
The sensor 13 is located at the control point which is in an area
where strip lateral position accuracy is desired. As illustrated,
strip 10 is fed under a measuring roll 15, over supporting idler
roll 16 and 17 and under an idler roll 18. The stationary sensor 13
detects the position of the strip edge 10a, and delivers a signal
to amplifier 19 where this actual position signal is compared with
the set point (desired position) signal to generate an error
signal. This error signal is amplified and the amplified output is
delivered to a gating circuit 20 which counts a predetermined
footage of the traveling strip pursuant to a signal received from a
pulse generator 21 associated with the measuring roller 15. The
predetermined footage counted by the gating circuit is a function
of the distance through the process line between the unwind stand
12 and the sensor 13, and which may be referred to as the transport
distance of the strip. Upon reaching the count of the predetermined
footage, a corrective pulse, if the strip edge 10a is offset from
the set point of the sensor 13, is gated to a hydraulic controller
22 that causes corresponding operation of the actuator cylinder 14
to jog the unwind stand 12. This process is repeated at every count
of the predetermined footage measured as the strip travels
downstream.
Under a fixed line speed for the traveling strip, and with
adjustments optimized, the corrective action is illustrated by the
chart of FIG. 4. The error at the sensor is first represented as a
distance 23, and following an incremental jog of the unwind stand
is represented by the distance 24. Subsequent repeating of the
sensing and jogging process illustrates the over correction as
shown by the distance 25 and thereafter a similar overcorrection as
shown by the error distance 26. The square wave line 27 represents
the counts of the pulse generator 21, while the line 28 represents
the jogging of the unwind stand. The width of the jogging pulse
T.sub.1 represents the "on time" of the controller 22, while the
amplitude A of the pulse represents the correction amplitude of the
jog and is proportional to the flow rate.
The system approach of FIGS. 3 and 4 may be employed where the rate
of change of edge position is small so that the control can keep up
with the error, this comprising a function primarily of the
transport distance between the unwind stand and the stationary
sensor 13. Moreover, the period of error must be several times the
transport time, so that there will be in general no error reversals
within the sample length or else the correction will be in the
wrong direction, or out of phase with the error. This system is of
use only where the incoming product is wound nearly perfectly but a
slight misalignment exists in the roll within the transport
distance causing a slight walking error, as the gain in the system
is limited to the time lag between actuation and sensing.
The above conditions under which the prior art embodiment of FIG. 3
must be used are not realistic in those installations where winding
errors are large at the unwind stand. In this situation, a two loop
control system according to the present invention is necessary to
provide cascaded control. This system is first illustrated in the
embodiment of FIG. 1.
An unwind stand 30 is illustrated in this embodiment as the
actuator, and is capable of being moved laterally by a double
acting hydraulic cylinder 31, which, in turn, is controlled by a
controller 32. It should be appreciated that the actuator may take
any form depending upon the installation, such as a steering roll,
guiding roll, or the like. Further, it should be appreciated that
any suitable means may be provided for moving the actuator, other
than a hydraulic cylinder such as that illustrated.
A coil or reel of strip material 33 rotatably supported on the
unwind stand and from which the strip 34 is taken has the product
to have work performed thereon. As illustrated, the strip is
constrained below an idler roll 35, over a measuring roll 36, and
an idler roll 37, and thereafter under an idler roll 38. The
arrangement of the rolls may be of any desired form. In this
embodiment, the work performed is intended to be done between idler
roll 37 and the measuring roll 36.
Large error in strip travel is removed under control of the first
sensor 39, while smaller trend errors are removed under control of
the first sensor with its operating point modified by the
downstream second sensor 40, wherein both sensors are associated
with one edge 34a of the strip 34. A signal is delivered from the
first sensor 39 at amplifier 41 which has its output connected to
the hydraulic controller 32 for operating the hydraulic cylinder 31
to jog the unwind stand 30 and maintain the lateral position of the
strip 34 in accordance with the set point of the sensor 39. This
permits removal of large winding errors and is considered as the
first loop 42 of the system.
Small error is removed by the second sensor 40 at the control point
which delivers a signal to an amplifier 43. The output of the
amplifier is connected to a gate or gating circuit 44 which
receives counting pulses from a pulse generator 45 driven by the
measuring roll 36. The gating circuit measures a predetermined
length of strip passing the measuring roll 36 which is a function
of this distance through the process line between the unwind stand
30 and the second sensor 40, or the transport distance 46, and
depending upon what the sensor 40 sees relative to its set point,
issues a signal to a controller 47 that actuates a double acting
hydraulic cylinder 48 connected to the movable sensor 39 for
touching up the set point of the sensor 39. It will be appreciated
that the circuitry employed between the sensor 40 and the
controller 47, as well as the circuitry between the sensor 39 and
the controller 32 does not constitute a part of the invention other
than providing the necessary means to effect the operational
functions as stated. The process of delivering a signal to the
controller 47 from the gate 44 is repeated to touch up the set
point of the sensor 39 and correct for small errors to accurately
position the traveling strip laterally at the control point. This
enables more accurate work to be done at the process area and
substantially increases the gain of the system relative to the
prior art embodiment of FIG. 3.
Accordingly, the second loop of the system includes the sensor 40,
amplifier 43, gate 44, pulse generator 45, controller 47 and
hydraulic cylinder 48, and is designated 49. This system can
therefore remove a much greater error by a sample data system than
possible with the system of the prior art. While the sensor 39
removes the error at the unwind stand, the sensor 40 removes the
error generated in the transport distance. This error must be low
frequency and of small magnitude. It may be further appreciated
that this system permits control of a strip or web at places where
it would otherwise be impossible.
While the embodiment of the invention in FIG. 1 illustrates the use
of sensors at one edge of a traveling strip, it should be
appreciated that the invention could be applied to a system having
sensors at both edges, such as in a centerguide strip system. To
more clearly illustrate this possibility, reference is made to FIG.
2 wherein a first centerguide sensor 50 is positioned adjacent the
unwind stand 51 to centerguide the strip 52 as it is removed from
the reel or coil 53 on the stand, and a second centerguide sensor
arrangement 54 is positioned downstream at the control point to
remove small errors in lateral positioning of the strip. The strip
travels from the coil on the unwind stand under an idler roll 55,
over an idler roll 56, under a measuring roll 57 and through the
second sensor arrangement 54. As in the embodiment of FIG. 1, the
unwind stand 51 may have its position laterally changed by a double
acting hydraulic cylinder 58 operated by a controller 59 which
receives a signal from an amplifier 60 connected to the output of
the centerguide sensor arrangement 50. Large error emanating from
the coil is removed at the unwind stand by the sensor arrangement
50 in accordance with its set point.
Small error generated in the transport distance is removed at the
control point by the second centerguide sensor arrangement 54. The
output of the sensor arrangement 54 is connected to an amplifier 61
which delivers a signal to a gate 62 that also receives a counting
signal from a pulse generator 63 connected to the measuring roll
57. As in the embodiment of FIG. 1, upon the measuring of a
predetermined strip travel, and upon detection of strip edge
deviation from the fixed set point of the fixed arrangement 54, the
gate 62 delivers a signal to controller 64 which actuates a double
acting hydraulic cylinder 65 to laterally position the sensor
arrangement 50 thereby touching up its set point. Other than this
embodiment being related to a centerguide system, its operation is
the same as that of the embodiment of FIG. 1.
It should be appreciated that sensor arrangements may be of the
usual photocell type, wherein error signal is delivered to the
amplifier for ultimately applying same to the actuator control or
the first sensor control so that corrective motion may be applied
to the strip 52. While the embodiments of FIGS. 1 and 2 illustrate
a mechanical arrangement for touching up the set point of the first
sensor, it should be appreciated that the set point may be touched
up through an electronic arrangement. Movement of the set point
electronically would then remove the need for having a movable
sensor, but would accomplish the same purpose.
It will be understood that modifications and variations may be
effected without departing from the scope of the novel concepts of
the present invention.
* * * * *