JP2007238275A - Yarn winder - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a constitution capable of preventing twill weave turbulence and ribbon winding at re-starting of winding after ending in a yarn winder. <P>SOLUTION: The yarn winder is provided with a package drive motor 41 for rotating/driving a winding tube 6 for winding the yarn; a traverse device 5 for traversing the yarn at winding of the yarn to the winding tube 6. The traverse device 5 has a traverse guide 11 engaged with the yarn and traversing the yarn; and a traverse guide drive motor 45 separated off from the package drive motor 41, driven and moving the traverse guide 11. The traverse guide 11 is constituted so as to be reciprocated by normal/reverse rotation of a motor shaft of the traverse guide drive motor 45. At acceleration of the traverse guide 11, a feed forward control means 71 for feed forward-controlling the traverse guide drive motor 45 is provided on a traverse control part 46. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a yarn winding device that winds a yarn around a bobbin while traversing the yarn with a traverse guide.

Patent Document 1 discloses an automatic winder in which rotation driving and traverse driving of a winding bobbin are separately driven. This automatic winder employs a traverse device in which a swing arm having a traverse guide at its tip is reciprocated by a motor as a traverse device.
JP 2002-114445 A

  In the traverse device as described above, the actual position of the traverse guide deviates from the target position due to the response speed of the motor and the control delay. When the traverse speed is constant, the amount of deviation is constant. However, in the automatic winder, the yarn starts to be wound from the state where the winding bobbin is stopped, and the yarn is wound even in the acceleration section until the yarn winding speed reaches the target winding speed. In this acceleration section, the traverse speed is also accelerated to maintain a constant relationship with the winding speed. During this acceleration, unlike the case of constant speed, the amount of deviation is not constant. For this reason, ribbon wrapping, twilling, and winding with an inappropriate tension are likely to occur during acceleration, causing deterioration of package quality.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

  According to an aspect of the present invention, a yarn winding device having the following configuration is provided. That is, the yarn winding device has a winding bobbin rotation drive motor for rotating the winding bobbin for winding the yarn, and for traversing the yarn when winding the yarn onto the winding bobbin. A traverse device. The traverse device includes a traverse guide for traversing the yarn by engaging with the yarn, a traverse guide drive motor for driving the traverse guide to be driven by being separated from the winding bobbin rotation drive motor, and Have. Further, the yarn winding device is provided with a traverse guide drive motor control device for controlling the traverse guide drive motor. The traverse guide is configured to reciprocate by forward and reverse rotation of a motor shaft of the traverse guide drive motor. When the traverse guide is accelerated, the traverse guide drive motor control device includes feedforward control means for performing feedforward control of the traverse guide drive motor.

  With this configuration, the traverse guide can be driven and controlled so that the influence of the response delay of the traverse guide drive motor is taken into consideration in advance and the influence thereof can be made constant. it can.

  The yarn winding device is preferably configured as follows. That is, the traverse guide drive motor control device includes feedback control means for performing feedback control of the traverse guide drive motor. The winding of the yarn onto the winding bobbin is performed by performing accelerated winding for accelerating the winding speed from the stopped state of the winding bobbin and steady winding at a constant winding speed. The traverse guide drive so that feedback control by the feedback control means is performed in addition to feedforward control by the feedforward control means during the acceleration winding, and only feedback control by the feedback control means is performed during the steady winding. The traverse guide drive motor controller includes traverse control switching means for switching motor control.

  In this way, during acceleration winding, in addition to feedback control, feedforward control is performed in consideration of fluctuations in the amount of deviation due to response delay, etc., and during steady winding, only feedback control is performed. And the like can be prevented, and a package of good quality can be obtained.

  In the yarn winding device, it is preferable that the feedforward control means feedforward-controls the traverse guide drive motor even when the traverse guide is decelerated.

  With this configuration, it is possible to prevent treading and the like not only when the traverse guide is accelerated but also when the traverse guide is decelerated, so that a package with better quality can be obtained.

  Next, embodiments of the invention will be described. FIG. 1 is a schematic front view and a block diagram showing a yarn winding unit of an automatic winder according to an embodiment of the present invention.

  First, the yarn winding unit (yarn winding device) 2 of the automatic winder 1 will be described with reference to FIG. The yarn winding unit 2 forms a yarn layer by winding a yarn 4 from a yarn supplying bobbin 3 around a winding tube 6 while traversing it with a traverse device 5 to form a package 7 having a predetermined length and a predetermined shape. It is. Although only one yarn winding unit 2 is shown in FIG. 1, an automatic winder 1 is configured by arranging a large number of such yarn winding units 2 on a machine base (not shown).

  In this specification, the winding tube 6 and the package 7 are collectively referred to as a winding bobbin. That is, the winding bobbin in which the yarn layer is not formed is the winding tube 6, and the winding bobbin in which the yarn layer is formed is the package 7.

  The yarn winding unit 2 includes a cradle 8 that detachably supports the winding tube 6, and a contact roller 9 that can be driven and rotated on the circumferential surface of the winding tube 6 or on the circumferential surface of the package 7. I have. The cradle 8 is configured such that it can be rotatably supported by sandwiching both ends of the take-up tube 6. Further, the cradle 8 is configured to be tiltable about the swing shaft 10, and the cradle 8 increases the winding thickness (increase in the diameter of the yarn layer) accompanying the winding of the yarn 4 around the winding bobbins 6 and 7. Can be absorbed by swinging.

  A package driving motor (winding bobbin rotation driving motor) 41 is attached to a portion of the cradle 8 that sandwiches the winding tube 6. The package driving motor 41 actively drives the winding tube 6 to rotate. The yarn 4 is configured to be wound up. The motor shaft of the package drive motor 41 is connected to the winding tube 6 so as not to rotate relative to the winding tube 6 when the winding tube 6 is gripped by the cradle 8 (so-called direct drive system). The operation of the package drive motor 41 is controlled by a package drive control unit 42, and the package drive control unit 42 is configured to control the operation / stop of the package drive motor 41 in response to a signal from the unit control unit 50. ing.

  Further, a package rotation speed sensor (rotation speed sensor) 43 is attached to the cradle 8, and the package rotation speed sensor 43 rotates at the rotation speed (winding tube) of the winding bobbins 6 and 7 attached to the cradle 8. 6 is configured to detect the rotational speed of the yarn layer 7 formed on the belt 6. The rotation speed detection signals of the winding bobbins 6 and 7 are transmitted from the package rotation speed sensor 43 to the package drive control unit 42 and the unit control unit 50. Further, the rotational speed detection signal is also input to a traverse control unit 46 described later.

  Further, a package diameter sensor (diameter sensor) 44 composed of a rotary encoder or the like is attached to the cradle 8, and the package diameter sensor 44 winds the yarn 4 around the take-up tube 6 attached to the cradle 8. The diameter of the formed yarn layer (package 7) can be detected by detecting the swing angle of the cradle 8. The diameter of the yarn layer 7 acquired by the package diameter sensor 44 is transmitted to the unit controller 50 and transferred from the unit controller 50 to the package drive controller 42.

  The traverse device 5 is provided in the vicinity of the contact roller 9, and the traverse device 5 allows the yarn 4 to be wound around the package 7 while traversing. The traverse device 5 includes a traverse guide (yarn guide) 11 provided so as to be reciprocally movable in the traverse direction, and a traverse guide drive motor 45 as drive means for reciprocatingly driving the traverse guide 11.

  The traverse device 5 is provided with the traverse guide 11 in a hook shape at the tip of an elongated arm member 13 configured to be rotatable around a support shaft, and the arm member 13 is connected to the traverse guide drive motor 45 in FIG. It is configured to be driven to reciprocate as indicated by an arrow. Specifically, the traverse guide 11 is reciprocally moved by connecting the motor shaft of the traverse guide drive motor 45 to the base end portion of the arm member 13 and rotating the motor shaft forward and backward. It is composed. In the present embodiment, the traverse guide drive motor 45 is a voice coil motor.

  The operation of the traverse guide drive motor 45 is controlled by a microcomputer-type traverse control unit (part of the traverse guide drive motor control device) 46. The traverse control unit 46 receives a signal from a unit control unit 50 and receives the traverse control unit 46. The operation / stop of the guide drive motor 45 is controlled. The traverse device 5 includes a traverse guide position sensor 47 formed of a rotary encoder or the like, detects the turning position of the arm member 13 (and consequently the position of the traverse guide 11), and sends a position signal to the traverse control unit 46. It is configured to be able to send.

  In the present embodiment, as shown in FIG. 1, the package drive motor 41 that drives the take-up bobbins 6 and 7 and the traverse guide drive motor 45 that drives the traverse guide 11 are provided separately, and the winding The take bobbins 6 and 7 and the traverse guide 11 are configured to be driven (controlled) separately and independently. Thereby, when winding the yarn 4 onto the winding bobbins 6 and 7, various winding methods such as precision winding, step precision winding, and random winding can be realized.

  Next, the yarn joining device 14 and the yarn clearer 15 will be described. That is, the yarn winding unit 2 is configured such that the yarn joining device 14 and the yarn clearer 15 are disposed in order from the yarn feeding bobbin 3 side in the yarn traveling path between the yarn feeding bobbin 3 and the contact roller 9. ing.

  The yarn joining device 14 includes a lower yarn on the yarn feeding bobbin 3 side and an upper yarn on the package 7 side when the yarn clearer 15 detects a yarn defect and performs yarn cutting or when the yarn from the yarn feeding bobbin 3 is broken. And are configured to join the yarns.

  Further, the yarn clearer 15 is for detecting a thickness defect of the yarn 4, and the thickness of the yarn 4 passing through the detecting portion of the yarn clearer 15 is detected by an appropriate sensor, and a signal from this sensor is detected. By analyzing with the analyzer 23, it is comprised so that yarn defects, such as a slab, may be detected. The yarn clearer 15 is provided with a cutter 16 for cutting the yarn 4 immediately when a yarn defect is detected.

  On the lower side and the upper side of the yarn joining device 14, a lower yarn catching guide means 17 for sucking and catching and guiding the lower yarn on the yarn feeding bobbin 3 side, and an upper yarn for sucking and catching and guiding the upper yarn on the package 7 side. A capture guide means 20 is provided. The upper thread catching and guiding means 20 is configured in a pipe shape, and is provided so as to be rotatable up and down around a shaft 21, and a mouse 22 is provided on the tip side thereof. Similarly, the lower thread catching and guiding means 17 is also configured in a pipe shape, and is provided so as to be rotatable up and down around a shaft 18, and a suction port 19 is provided at the tip side thereof. An appropriate negative pressure source is connected to the upper thread catching and guiding means 20 and the lower thread catching and guiding means 17 so as to cause the mouse 22 and the suction port 19 at the tip to generate a suction action.

  The automatic winder 1 according to the present embodiment is configured as described above. In this configuration, the control device 63 includes at least the unit control unit 50, the package drive control unit 42, the package rotation speed sensor 43, and the traverse control unit 46. It is configured to include.

  Next, control of the unit controller 50, the package drive controller 42, and the traverse controller 46 in the yarn winding unit 2 of the automatic winder 1 will be described with reference to FIG. FIG. 2 is a flowchart showing the control of the traverse guide drive motor. FIG. 3 is a graph for explaining the control of the traverse guide drive motor during acceleration winding and steady winding. FIG. 4 is a graph showing a comparative example in which the traverse guide drive motor is not feedforward controlled during acceleration winding.

  In the present embodiment, the package drive control unit 42 and the traverse control unit 46 are configured as a microcomputer, and include a CPU as a calculation unit (not shown), a ROM, a RAM, and the like as storage units. Similarly, the unit controller 50 includes a CPU, a ROM, a RAM, etc. (not shown).

  The ROM of the traverse control unit 46 stores control software for operating hardware such as a CPU included in the traverse control unit 46 as the feedforward control unit 71 and the feedback control unit 72.

  Further, the ROM of the unit control unit 50 stores control software for operating hardware such as a CPU provided in the unit control unit 50 as the traverse control switching unit 54.

The unit control section 50, for example, by a signal input from a host device not shown, are configured to the target winding speed WS _T and setting the winding angle WA _S of the yarn 4 can be set in advance. The target winding speed (that is, the speed of the circumferential surface of the yarn layer 7 formed by winding the yarn 4 around the winding tube 6) is WS, the diameter of the yarn layer 7 is D, and the winding bobbin 6 , 7 is B, the traverse angle is WA, the number of winds is WN, the traverse width is TW, and the traverse speed is TS, the following equations (1) to (3) hold.

WS = π × D × B (1)
TS = WS × tanWA (2)
tanWA = 2 × TW / (π × D × WN) (3)

The unit control section 50 in advance, and sends the target winding speed WS _T of the to the package drive control unit 42, also keep transmitting a set winding angle WA _S to traverse control section 46. And during winding, the package driving control section 42 determines the required rotational speed B of diameter D and a target winding speed WS _T packages obtained from the package diameter sensor 44 is substituted into equation (1), The package drive control unit 42 is controlled to drive the winding bobbins 6 and 7 at the rotational speed B. As a result, the winding speed WS is controlled to be constant by the target winding speed WS _T.

This is a control method of the rotational speed B winding speed WS is at the target winding speed WS _T in the steady winding period be controlled to be constant. In accelerating winding section winding speed WS rises from zero speed to the target winding speed WS _T, since the winding speed WS as the upper graph of FIG. 3 increases in accordance with a predetermined linear equation, the predetermined The winding speed WS is obtained based on the linear equation, and the rotational speed B is calculated.

During the above-described acceleration winding and steady winding, the traverse control unit 46 determines the average traverse speed TS _avg , the rotational speed of the winding bobbins 6 and 7 (winding speed of the yarn), and the set traverse angle WA. _The traverse guide drive motor 45 is controlled based on the average traverse speed TS _avg based on the above equations (1) and (2). The above is the basic idea, but specific control is performed as follows.

  FIG. 2 is a flowchart showing specific control in the traverse control unit 46 and the unit control unit 50 (control by the feedforward control means 71, the feedback control means 72, and the traverse control switching means 54).

The flow of FIG. 2 will be described. First, it is determined whether or not the winding bobbins 6 and 7 are currently accelerated and wound (S101). More specifically, this determination is made on the unit control unit 50 side (traverse control switching means 54) by using the winding speed WS calculated from the rotational speed B of the winding bobbins 6 and 7 and the diameter D of the package as the target winding. carried out by determining preparative speed WS _T is less than or not. However, the present invention is not limited to this. For example, it may be performed by measuring the time from the start of winding and determining whether this is shorter than the set time, or the traverse control unit 46 may directly perform winding. The winding speed WS may be calculated from the rotational speed B of the bobbins 6 and 7 and the diameter D of the package, and may be determined. Next, when it is determined in S101 that acceleration winding is being performed, the traverse guide drive motor 45 is feedforward controlled in consideration of the response delay and control delay in the process of S102 (feedforward control means 71). Details of this feedforward control will be described later.

  Then, in addition to the feedforward control, the traverse guide drive motor 45 is feedback-controlled (feedback control means 72). This feedback control is performed so as to eliminate the difference between the actual position and the target position. Further, when it is determined in S101 that steady winding is in progress, only feedback control is performed.

  With the above-described control, during the acceleration winding, that is, during the acceleration of the traverse speed, the feedforward control considering the response delay and control delay of the traverse guide drive motor 45 is performed for the target value of the position control. The guide 11 can be accurately accelerated and prevented from being disturbed or ribbon wound.

The effect of the above control will be specifically described. That is, in the automatic winder 1 described above, when the yarn from the yarn supplying bobbin 3 is broken or when the yarn clearer 15 detects a yarn defect, the winding bobbins 6 and 7 are immediately driven. The rotation of the package 7 is stopped. Thereafter, been carried out yarn splicing operation by the yarn splicing device 14 will begin wound while gradually accelerating the winding bobbin 6, 7 again to the target winding speed WS _T. The upper graph in FIG. 3 shows a state where the winding speed WS gradually accelerates from zero when the yarn winding is resumed (acceleration winding section). After being accelerated to the target winding speed WS _T is winding speed WS is constant at the target winding speed WS _T (constant winding period).

On the other hand, the lower graph of FIG. 3 shows how the traverse guide is controlled by the flow of FIG. 2 in a form corresponding to the increase in the winding speed WS. As shown in FIG. 3, the acceleration winding Totoki the winding speed WS Yuku gradually increases from zero to the target winding speed WS _T, the slope of change in the position of the traverse guide 11 (average traverse speed TS _avg) Gradually becomes abrupt. On the other hand, at the time of steady winding where the winding speed WS is constant, the inclination of change in the position of the traverse guide 11 (average traverse speed TS _avg ) is also constant accordingly. By doing so, a constant winding is realized at the set traverse angle WA _S regardless of the acceleration winding section and the steady winding section.

  Here, the traverse device 5 described in the present embodiment is configured to reciprocate the traverse guide 11 by forward and reverse rotation of the motor shaft of the traverse guide drive motor 45 as described above. For this reason, it is inevitable that the actual position of the traverse guide 11 is deviated from the target position due to the response speed of the traverse guide drive motor 45 and the control delay.

  FIG. 4 shows a comparative example in which feedback control is performed at the time of acceleration winding and steady winding, and as shown in this comparative example, the actual control timing of the traverse guide 11 by the traverse control unit 46 is greater than the inversion timing. The reversal timing of the traverse guide 11 is delayed. The time delays d1 ', d2', d3 ', d4', and d5 correspond to the deviation due to the response speed of the traverse guide drive motor 45 and the control delay.

  At the time of the steady winding where the traverse speed TS is constant, the amount of deviation (time delay d5 shown in FIG. 4) is constant, and as a result, the traverse angle WA is kept constant. However, since the traverse speed TS is also accelerated during the acceleration winding, the amount of deviation is not usually constant. Specifically, the amount of deviation is particularly large in the time zone immediately after the start of acceleration (d1 ′> d2 ′> d3 ′> d4 ′> d5), and the change in the amount of deviation causes instability of the twill angle WA. I was invited.

  In this regard, in this embodiment, as shown in S101 of FIG. 2, feedforward control is performed during the acceleration winding (feedforward control means 71). Specifically, for example, at the first reversal of the traverse guide 11 immediately after the start of acceleration winding, the difference between the deviation amount d1 ′ shown in FIG. 4 and the deviation amount d5 during steady winding is obtained, and this difference ( The prospective correction is performed such that d1′−d5) is added to the original target position. Further, the prospective correction is performed such that (d2'-d5) is added at the second inversion, and the same is performed at the inversion after the third. As a result, as shown in the lower graph of FIG. 3, the above-described deviation amount can be made constant even in the acceleration winding section (d1 = d2 = d3 = d4 = d5), and the twill angle WA can be appropriately controlled. This prevents tangles, ribbon winding, or winding with inappropriate tension.

  As described above, the yarn winding unit 2 of the automatic winder 1 according to this embodiment includes the package drive motor 41 for rotationally driving the winding tube 6 for winding the yarn 4, and the winding tube 6. And a traverse device 5 for traversing the yarn 4 when the yarn 4 is wound. The traverse device 5 is engaged with the yarn 4 and traverses the guide 4 for traversing the yarn 4, and the package drive motor 41 is driven separately from the traverse guide 11 for moving the traverse guide 11. Drive motor 45. Further, the yarn winding unit 2 includes a traverse control unit 46 that controls the traverse guide drive motor 45. The traverse guide 11 is configured to reciprocate by forward and reverse rotation of the motor shaft of the traverse guide drive motor 45. When the traverse guide 11 is accelerated, the traverse control unit 46 includes feedforward control means 71 that feedforward-controls the traverse guide drive motor 45.

  Accordingly, when the traverse guide 11 is accelerated as the winding speed WS is accelerated, it is possible to control the drive so that the influence of the traverse guide drive motor 45 takes into account the response delay of the traverse guide drive motor 45 in advance. It is possible to accurately wind with an appropriate twill angle and to improve the package quality.

  Further, the yarn winding unit 2 of the present embodiment includes a feedback control means 72 that feedback-controls the traverse guide drive motor 45 in the traverse control unit 46. Further, the winding of the yarn 4 onto the winding bobbins 6 and 7 includes acceleration winding for accelerating the winding speed WS from the stopped state of the winding bobbin 6, steady winding with a constant winding speed WS, Is done by doing. In the acceleration winding, the feedforward control by the feedforward control means 71 is performed, and then the feedback control by the feedback control means 72 is performed. In the steady winding, only the feedback control by the feedback control means 72 is performed. Further, a traverse control switching means 54 for switching the control of the traverse guide drive motor 45 is provided in the unit control unit 46 (part of the traverse guide drive motor control device).

  In this way, feedback control is performed after feed forward control is performed in consideration of fluctuations in the amount of deviation due to response delay, etc. during accelerated winding, and switching is performed so that feedback control is performed during steady winding. It can be wound at a large angle and a good quality package can be obtained.

  The above is the control when the traverse guide 11 is accelerated (acceleration winding), but the traverse guide drive motor 45 is feedforward controlled by the feedforward control means 71 even when the traverse guide 11 is decelerated. May be. In this case, not only during acceleration but also during deceleration, it is possible to prevent tangles and ribbon winding, and the quality of the package 7 can be further improved.

  Although the preferred embodiment of the present invention has been described above, the above configuration is an example, and can be modified as follows, for example.

  An arbitrary control pattern can be adopted as the driving pattern of the traverse guide 11. Furthermore, various known methods can be employed for correcting the control pattern.

  The feedforward control described above may be performed not only when the winding speed is accelerated, but also when the winding speed is constant or decelerated. However, it is preferable to perform the feedforward control at the time of acceleration winding, which is greatly affected by the response delay of the traverse drive motor, particularly immediately after the start of bobbin rotation.

  The traverse device 5 is configured so that the arm member 13 is reciprocally driven by a traverse guide drive motor 45 configured as a voice coil motor, as shown in a yarn winding unit 2 ′ of a modified example of FIG. An endless timing belt 31 is disposed in the vicinity, a traverse guide 11 'is attached to the timing belt 31, and the timing belt 31 is reciprocated by, for example, a traverse guide drive motor 45' as a pulse motor. be able to. Even in this configuration, the traverse guide 11 ′ can be reciprocated via the timing belt 31 by driving the motor shaft of the traverse guide drive motor 45 ′ to rotate forward and backward.

  The diameter signal detected by the package diameter sensor 44 can be changed to a configuration that is directly input to the traverse control unit 46 instead of the configuration that is transferred to the traverse control unit 46 via the unit control unit 50.

  The feedforward control (S101 and the like) shown in the flow of FIG. 2 can be configured to be performed by the unit controller 50, for example, instead of being performed by the traverse controller 46.

The schematic front view and block diagram which show the thread winding unit of the automatic winder which concerns on one Embodiment of this invention. The flowchart figure which shows control of a traverse guide drive motor. The graph explaining the control of the traverse guide drive motor at the time of acceleration winding and steady winding. The graph which shows the comparative example which does not carry out feedforward control of the traverse guide drive motor at the time of acceleration winding. The schematic front view and block diagram which show the modification of a traverse apparatus.

Explanation of symbols

1 Automatic winder 2 Yarn winding unit (yarn winding device)
3 Yarn feeding bobbin 4 Yarn 6 Winding tube (empty winding bobbin)
7 Package (winding bobbin with thread layer)
11 Traverse guide 14 Yarn splicing device 20 Upper thread catching guide means (capture means)
41 Package drive motor (winding bobbin rotation drive motor)
42 Package Drive Control Unit 45 Traverse Guide Drive Motor 46 Traverse Control Unit 50 Unit Control Unit 54 Traverse Control Switching Unit 63 Controller 71 Feedforward Control Unit 72 Feedback Control Unit

Claims (3)

A winding bobbin rotation drive motor for rotationally driving a winding bobbin for winding the yarn, and a traverse device for traversing the yarn when winding the yarn on the winding bobbin,
The traverse device is
A traverse guide for traversing the yarn by engaging with the yarn;
A traverse guide drive motor for driving the traverse guide to be driven separately from the winding bobbin rotation drive motor;
Have
In a yarn winding device provided with a traverse guide drive motor control device for controlling the traverse guide drive motor,
The traverse guide is configured to reciprocate by forward and reverse rotation of a motor shaft of the traverse guide drive motor,
The yarn winding device, wherein the traverse guide drive motor control device includes feedforward control means for performing feedforward control of the traverse guide drive motor during acceleration of the traverse guide. The yarn winding device according to claim 1,
The traverse guide drive motor controller includes feedback control means for feedback controlling the traverse guide drive motor,
The winding of the yarn onto the winding bobbin is performed by performing accelerated winding for accelerating the winding speed from the stopped state of the winding bobbin and steady winding at a constant winding speed.
The traverse guide drive so that feedback control by the feedback control means is performed in addition to feedforward control by the feedforward control means during the acceleration winding, and only feedback control by the feedback control means is performed during the steady winding. The traverse guide drive motor control device includes traverse control switching means for switching the control of the motor. The yarn winding device according to claim 2,
The yarn winding device, wherein the feedforward control means feedforward-controls the traverse guide drive motor even when the traverse guide is decelerated.

Images