CN106774006B - Device and method for detecting firing pin of computerized flat knitting machine - Google Patents
Device and method for detecting firing pin of computerized flat knitting machine Download PDFInfo
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Abstract
The invention discloses a striker detection device of a computerized flat knitting machine, which comprises an acceleration sensor for detecting the acceleration of a machine head of the computerized flat knitting machine and a controller for analyzing the machine head acceleration data fed back by the acceleration sensor; the controller is electrically connected with a main control system of the computerized flat knitting machine. Meanwhile, discloses a striker detection device of the computerized flat knitting machine, which is characterized by comprising the following steps of: A. sampling; acquiring acceleration data of a head of a computerized flat knitting machine; B. setting up a threshold value; C. comparing the acceleration data of the head of the computerized flat knitting machine with a threshold value; if the acceleration data exceeds a threshold value, the striker is determined.
Description
Technical Field
The invention relates to a device and a method for detecting whether a computerized flat knitting machine starts to run or whether a striker is in operation.
Background
The computerized flat knitting machine is a flat knitting machine, and in the knitting process of the flat knitting machine, the phenomenon of firing pins is easy to occur due to mechanisms such as a machine head, a needle bed, a knitting needle, a cam system and the like, and in order to ensure the normal operation of knitting, a firing pin detection automatic stop device is designed and installed on the computerized flat knitting machine. Currently, there are two methods for detecting a striker commonly used in the market:
the first is achieved by a vibration sensor mounted on the back of the needle bed. The number of the vibration sensors is 8, the number of the front needle bed and the number of the rear needle bed are 4 respectively, when a firing pin occurs, vibration generated during installation is transmitted to the CPU through the vibration sensors, and if the vibration exceeds a threshold value, a shutdown instruction is sent out and an alarm is given. In order to eliminate erroneous judgment caused by vibration, vibration of the computerized flat knitting machine just entering knitting is shielded in a program, but a striker phenomenon generally occurs at the time of just starting knitting. Therefore, such a device is susceptible to erroneous judgment and false alarm, is insensitive, and is costly in a manner employing a plurality of vibration sensors.
The second is to determine whether the striker is generated by detecting the resistance of the nose, and the specific implementation method is described in the document CN 102199843A. The detection of the handpiece resistance is realized by calculating based on the output parameters of the servo motor in the servo motor driver, the sensitivity of the servo motor driver is low, and the resistance to the machine head is indirectly detected, so that a certain error exists; the moment is larger at the beginning of the flat knitting machine, the abrupt change of the moment cannot be detected, and the false alarm phenomenon is easily caused.
Disclosure of Invention
In view of the above, the present invention provides a striker detection apparatus and method for a computerized flat knitting machine, which determines whether a striker is present by changing the acceleration of a head. The method has the advantages of sensitive response and accurate judgment, and reduces misjudgment and missed judgment.
In order to solve the technical problems, the technical scheme of the invention is that the computerized flat knitting machine firing pin detection device comprises an acceleration sensor for detecting the acceleration of a computerized flat knitting machine head and a controller for analyzing the acceleration data of the head fed back by the acceleration sensor; the controller is electrically connected with a main control system of the computerized flat knitting machine.
As an improvement, the acceleration sensor is a triaxial acceleration sensor. The triaxial acceleration sensor is divided into X, Y, Z three axes, and two axes form a plane. Acceleration is a space vector, on one hand, to accurately know the motion state of an object, components on three coordinate axes of the object must be measured; on the other hand, in the case where the direction of movement of the object is not known in advance, only the three-axis acceleration sensor is applied to detect the acceleration signal. Three-axis acceleration sensor and controller the singlechips are connected through an I2C interface. And the singlechip is connected with the computerized flat knitting machine main control system through a CAN communication interface.
As a further improvement, the XY plane of the triaxial acceleration sensor is parallel to the bevel of the handpiece, and the X axis of the triaxial acceleration sensor is parallel to the direction of movement of the handpiece.
The invention also provides a device for detecting the firing pin of the computerized flat knitting machine, which comprises the following steps:
A. sampling; acquiring acceleration data of a head of a computerized flat knitting machine;
B. setting up a threshold value;
C. comparing the acceleration data of the head of the computerized flat knitting machine with a threshold value; if the acceleration data exceeds a threshold value, the striker is determined.
The detection mode mainly detects the acceleration of the machine head to judge whether the phenomena such as firing pin, mechanical failure and the like occur.
The specific working process is that the acceleration of the machine head always changes linearly in the beginning of the working or normal running process of the flat knitting machine. When the firing pin occurs, the machine head only has acceleration mutation phenomenon in the horizontal direction, and at the moment, the main control system of the computerized flat knitting machine stops and alarms; if acceleration is always generated in the vertical direction or the generated acceleration has a certain angle with the knitting track, the guide rail of the machine head is incorrectly installed or mechanical failure occurs, and at the moment, a worker is prompted to readjust the guide rail of the machine head or remove the mechanical failure.
As an improvement, the computerized flat knitting machine head acceleration data obtained by sampling in the step A is processed into waveforms.
As a further improvement, the acceleration data of the head of the computerized flat knitting machine is drawn into waveforms through MATLAB software; and pass through Kalman filtering algorithm
X(k|k-1)＝A X(k-1|k-1)+B U(k)
P(k|k-1)＝A P(k-1|k-1)A’+Q
X(k|k)＝X(k|k-1)+Kg(k)(Z(k)-H X(k|k-1))
Kg(k)＝P(k|k-1)H’/(H P(k|k-1)H’+R)
P(k|k)＝(I-Kg(k)H)P(k|k-1)
And filtering the drawn waveforms.
In the step C, an acceleration data sequence within a period of time is extracted, and the difference between the maximum value and the minimum value within the period of time is calculated to obtain a waveform peak value; and comparing the waveform peak value with the threshold value preset in the step B, and when the peak value exceeds the threshold value, considering that the firing pin occurs.
As another improvement, in the step C, the acceleration values of two adjacent time points are extracted, and the gradient of the waveform is calculated according to the sampling time intervals of the two time points; and C, comparing the waveform gradient with the threshold value preset in the step B, and when the waveform gradient is larger than the threshold value, considering that the firing pin occurs.
Preferably, the time of sampling in the step A is 150-250 us/time.
As an improvement, the setting of the threshold value in step B further comprises the steps of:
1. b, randomly collecting a plurality of sampling points in the acceleration data of the computerized flat knitting machine head acquired in the step A;
2. setting the acceleration of the computerized flat knitting machine head during stable running as Accel_sta, and subtracting the Accel_sta from the sampling points acquired in the step 1; obtaining a deviation value of a sampling point relative to a stable acceleration value, and carrying out absolute value;
3. the formula of the Ojin method is adopted:
ω0＝N0/M×N
ω1＝N1/M×N
N0+N1＝M×N
ω0+ω1＝1
μ＝ω0*μ0+ω1*μ1
g＝ω0(μ0-μ)^2+ω1(μ1-μ)^2
the most suitable threshold is found.
The invention has the advantages that:
1. the sensitivity is high by adopting a mode of detecting the acceleration of the machine head, and the detection performance is good and stable;
2. the acceleration detection of the machine head is direct detection, so that the probability of error generation is reduced, and whether firing pins or other phenomena occur can be more accurately analyzed;
3. aiming at the prior art, the detection method is not limited to detecting the striker phenomenon generated in the running process of the flat knitting machine, can detect whether the guide rail of the computerized flat knitting machine is installed horizontally or not and whether mechanical faults occur or not, has multifunctional purposes, and is more intelligent and automatic.
Drawings
FIG. 1 is a flow chart of the present invention.
FIG. 2 is a drawing of using MATLAB software acceleration waveform diagram of computerized flat knitting machine head.
Fig. 3 is a waveform diagram after optimization using a kalman filter algorithm.
Detailed Description
In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the following specific embodiments.
As shown in fig. 1, the invention provides a striker detection device of a computerized flat knitting machine, which comprises an acceleration sensor for detecting the acceleration of the head of the computerized flat knitting machine and a controller for analyzing the head acceleration data fed back by the acceleration sensor; the controller is electrically connected with a main control system of the computerized flat knitting machine. The acceleration sensor is preferably a triaxial acceleration sensor. The XY plane of the triaxial acceleration sensor is parallel to the inclined plane of the machine head, and the X axis of the triaxial acceleration sensor is parallel to the movement direction of the machine head. Specifically, the triaxial acceleration sensor is connected with a singlechip serving as a controller through an I2C interface. And the singlechip is connected with the computerized flat knitting machine main control system through a CAN communication interface.
The I2C (Inter-Integrated Circuit) bus is a two-wire serial bus developed by PHILIPS company and used for connecting a microcontroller and peripheral devices thereof. Is a bus standard widely adopted in the field of microelectronic communication control. The synchronous communication system is a special form of synchronous communication and has the advantages of few interface wires, simple control mode, small device packaging form, higher communication rate and the like. The I2C bus supports any IC manufacturing process (CMOS, bipolar). Information is transferred between devices connected to the bus through a Serial Data (SDA) line and a Serial Clock (SCL) line. Each device has a unique address identification (whether it be a microcontroller-MCU, LCD driver, memory or keyboard interface) and can act as a transmitter or receiver (determined by the function of the device). The LCD driver can only act as a receiver, while the memory can both receive and transmit data. In addition to the transmitter and receiver, the device may also be considered a master or slave when performing data transmission. The host is a device that initializes data transfer of the bus and generates a clock signal that allows the transfer. At this point, any addressed device is considered a slave.
And CAN is an abbreviation of Controller Area Network (hereinafter referred to as CAN), which is a serial communication protocol internationally standardized by ISO. In the automotive industry, various electronic control systems have been developed for safety, comfort, convenience, low pollution, and low cost. Since the types of data used for communication between these systems and the requirements for reliability are not the same, the number of wiring harnesses is increased in many cases where the system is constituted by a plurality of buses. To accommodate the need for "reducing the number of wiring harnesses", "high-speed communication of large amounts of data over multiple LANs", german electric Shang Boshi company in 1986 developed an automobile-oriented CAN communication protocol. After this, CAN is standardized by ISO11898 and ISO11519, which are standard protocols for automotive networks in europe. The high performance and reliability of CAN has been recognized and is widely used in industrial automation, ships, medical equipment, industrial equipment, and the like. Fieldbus is one of the hot spots in the technical development of the automation field today, and is known as a computer local area network in the automation field. The method provides powerful technical support for the distributed control system to realize real-time and reliable data communication among the nodes.
The invention also provides a method for detecting by using the computerized flat knitting machine firing pin detection device, which comprises the following steps: the method comprises the steps of carrying out a first treatment on the surface of the
A. Sampling; acquiring acceleration data of a computerized flat knitting machine head. And acquiring acceleration data of the machine head by using a triaxial acceleration sensor arranged on the machine head of the computerized flat knitting machine. The XY plane of the triaxial acceleration sensor is parallel to the inclined plane of the machine head, and the X axis of the triaxial acceleration sensor is parallel to the movement direction of the machine head.
The acquired data are used for drawing the acceleration data of the head of the computerized flat knitting machine into waveforms through MATLAB software, as shown in figure 2.MATLAB is commercial mathematical software manufactured by MathWorks company of America, and is used in advanced technical computing languages and interactive environments for algorithm development, data visualization, data analysis and numerical computation, and mainly comprises two major parts of MATLAB and Simulink. MATLAB is a combination of two words of matrix & laboratory meaning a matrix factory. Is a high-tech computing environment published by mathworks, usa that is primarily facing scientific computing, visualization, and interactive programming. The system integrates a plurality of powerful functions such as numerical analysis, matrix calculation, scientific data visualization, modeling and simulation of a nonlinear dynamic system and the like into a window environment which is easy to use, provides a comprehensive solution for scientific research, engineering design and a plurality of scientific fields which need to carry out effective numerical calculation, and breaks away from the editing mode of the traditional non-interactive programming language (such as C, fortran) to a great extent, and represents the advanced level of the current international scientific computing software.
And then the drawn waveform passes through a Kalman filtering algorithm
X(k|k-1)＝A X(k-1|k-1)+B U(k)
P(k|k-1)＝A P(k-1|k-1)A’+Q
X(k|k)＝X(k|k-1)+Kg(k)(Z(k)-H X(k|k-1))
Kg(k)＝P(k|k-1)H’/(H P(k|k-1)H’+R)
P(k|k)＝(I-Kg(k)H)P(k|k-1)
The plotted waveforms are filtered as shown in fig. 3.
Regarding the selection of the sampling time interval of the sensor, the high-speed running speed of the machine head is between 1.4m/s and 1.6m/s, the distance between the knitting needle and the knitting needle on the needle plate is about 1.6mm, the time from one knitting needle to the next knitting needle can be calculated to be 1ms according to the maximum running speed of the machine head, when the machine head is in firing pin, in order to avoid damage to the rest knitting needles, the machine head should perform protection action in the time from the machine head to the next knitting needle, because the sampling interval is less than 1ms, and the measurement stability time of the sensor is considered, and the sampling time interval of 150-250us is proper through the test.
B. Setting up a threshold value; there are three ways to set up the threshold: the method is divided into a static threshold method, a self-adaptive threshold algorithm and a method which is opened to a user for real-time setting.
For the static threshold method, the size of the firing pin threshold can only be determined according to a preliminary test, then the static threshold is pre-burnt in a program when the flat knitting machine leaves the factory, and the size of the static threshold is not changed unless program firmware of the flat knitting machine is replaced. In the actual installation process of the computerized flat knitting machine, the running state of the machine head of the computerized flat knitting machine may be different due to the influence of external factors such as the batch of used parts, processing tolerance, assembly errors of workers and the like, and the running state of the machine head also may be influenced due to the influence of factors such as physical bending of a yarn bar, slight deviation of the machine head and the like after the computerized flat knitting machine is used for a certain time. In the case of error accumulation and the difference in production of the flat knitting machine, the static threshold value measured for a part of the flat knitting machine is applied to all the flat knitting machines, and flexibility and robustness are poor.
For opening the threshold to the user, the user is allowed to set the threshold through the operation panel. On the basis of the static threshold value, the authority that the threshold value can be changed is given to the user, which clearly increases the burden of the user and requires the user to have a certain knowledge about the related knowledge. Is not beneficial to the intelligence of the machine and the operation is simplified.
Therefore, the following adaptive threshold algorithm is proposed, when the machine is assembled and operated for the first time, the striker event is still judged by the threshold preset in the flat knitting machine in advance, and after the first striker occurs, the processor keeps all sampling data before and after the striker event to update the dynamic threshold by using the Ojin method, and the specific process is as follows:
1. b, randomly collecting a plurality of sampling points in the acceleration data of the computerized flat knitting machine head acquired in the step A;
2. setting the acceleration of the computerized flat knitting machine head during stable running as Accel_sta, and subtracting the Accel_sta from the sampling points acquired in the step 1; obtaining a deviation value of a sampling point relative to a stable acceleration value, and carrying out absolute value;
3. the formula of the Ojin method is adopted:
ω0＝N0/M×N
ω1＝N1/M×N
N0+N1＝M×N
ω0+ω1＝1
μ＝ω0*μ0+ω1*μ1
g＝ω0(μ0-μ)^2+ω1(μ1-μ)^2
and obtaining the most suitable threshold value, and updating the threshold value into the ROM of the singlechip.
C. Comparing the acceleration data of the head of the computerized flat knitting machine with a threshold value; if the acceleration data exceeds a threshold value, the striker is determined. As can be seen from the acceleration variation waveform of fig. 3, when the firing pin event occurs, the acceleration value will oscillate sharply based on the acceleration value when the machine head is operating smoothly, and the two peak values above and below the acceleration plane are the most prominent, and the acceleration value variation rate is also huge. Since we propose the following two ways of firing pin event decision:
firstly, extracting an acceleration data sequence within a period of time, and calculating the difference between the maximum value and the minimum value within the period of time to obtain a waveform peak value; and comparing the waveform peak value with the threshold value preset in the step B, and when the peak value exceeds the threshold value, considering that the firing pin occurs.
Secondly, extracting acceleration values of two adjacent time points before and after, and calculating a waveform gradient according to sampling time intervals of the two time points; and C, comparing the waveform gradient with the threshold value preset in the step B, and when the waveform gradient is larger than the threshold value, considering that the firing pin occurs.
In the following we demonstrate by way of an example.
Firstly, a triaxial acceleration sensor is arranged on a computerized flat knitting machine head, an XY plane of the triaxial acceleration sensor is parallel to an inclined plane of the machine head, and an X axis of the triaxial acceleration sensor is parallel to a movement direction of the machine head. And the triaxial acceleration sensor is connected with the singlechip through an I2C interface. STM32F103C8T6 is selected as the singlechip. And the singlechip is electrically connected with a main control system of the computerized flat knitting machine through a CAN interface.
The acceleration of the head of the computerized flat knitting machine is sampled every 200 us. The data used were plotted by MATLAB software as waveforms in fig. 2. And then filtering by a Kalman filtering algorithm. After data correction, we can get smoother data with more credibility, and draw waveforms as in fig. 3.
A threshold is then established, here we choose an adaptive threshold algorithm. First 50 sampling points were randomly acquired for the waveform of fig. 3. Setting the acceleration of the computerized flat knitting machine head during stable running as Accel_sta, and subtracting the Accel_sta from the sampling points acquired in the step 1; obtaining a deviation value of a sampling point relative to a stable acceleration value, and carrying out absolute value; and obtaining the most suitable threshold value by adopting an Ojin method formula, and updating the threshold value into the ROM of the singlechip.
The first determination method is as follows: the acceleration data sequence within 1ms is extracted every 200us seconds, the difference between the maximum value and the minimum value in the time interval is Delta_a, and then the waveform peak-to-peak value is Delta_a. And comparing the waveform peak value Delta_a with a preset threshold value thres_a. Since the peak-to-peak value delta_a is greater than the threshold value thres_a, it is determined as a striker. At this time, the singlechip carries out shutdown alarm through a computerized flat knitting machine main control system.
The second determination method is as follows: extracting acceleration values of adjacent time points to be Accel_1 and Accel_2 every 200us seconds, and calculating a waveform gradient to be Slope according to sampling time intervals of the two time points; and comparing the waveform gradient with a preset threshold value thres_slope, and judging that the waveform gradient is not firing pin because the waveform gradient is smaller than the threshold value thres_slope, and continuing normal operation of the equipment.
In addition, the invention can detect the firing pin, whether the guide rail is installed horizontally or not and whether mechanical failure occurs or not.
Whether or not the guide rail is installed horizontally: because the influence of gravity, acceleration sensor can measure gravity acceleration always, and acceleration sensor and aircraft nose are together fixed again, and the inclination of aircraft nose directly receives the influence of guide rail inclination, and then influences acceleration sensor's value, so we can judge according to the epaxial gravity acceleration's of acceleration sensor size of gathering, whether the guide rail is horizontal.
Aiming at whether mechanical problems occur: related mechanical problems that can affect the operation of the handpiece, such as breakage of bearings at the junction of the handpiece and the guide rail, can cause significant wobble of the handpiece. The installation of the acceleration sensor is as follows: the XY plane of the triaxial acceleration sensor is parallel to the inclined plane of the machine head, and the X axis of the triaxial acceleration sensor is parallel to the movement direction of the machine head. Therefore, under normal conditions, only the acceleration on the X axis has obvious change, and the other two axes have no movement speed at all, but when the machine head shakes, the other two axes have obvious acceleration, and the mechanical abnormality of the machine head can be judged according to the change value.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that the above-mentioned preferred embodiment should not be construed as limiting the invention, and the scope of the invention should be defined by the appended claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (5)
1. A method for detecting a striker of a computerized flat knitting machine is applied to a striker detection device of the computerized flat knitting machine; the method is characterized in that: the computerized flat knitting machine firing pin detection device comprises an acceleration sensor for detecting the acceleration of the computerized flat knitting machine head and a controller for analyzing the acceleration data fed back by the acceleration sensor; the controller is electrically connected with a main control system of the computerized flat knitting machine;
the method comprises the following steps:
A. sampling; acquiring acceleration data of a head of a computerized flat knitting machine;
B. setting up a threshold value;
C. comparing the acceleration data of the head of the computerized flat knitting machine with a threshold value; if the acceleration data exceeds the threshold value, determining that the vehicle is a firing pin; the method comprises the following steps:
extracting acceleration data sequences within a period of time, and calculating the difference between the maximum value and the minimum value within the period of time to obtain a waveform peak value; and comparing the waveform peak value with the threshold value preset in the step B, and when the peak value exceeds the threshold value, considering that the firing pin occurs;
the threshold is obtained by a self-adaptive threshold algorithm, when the machine is assembled and runs for the first time, the striker event is still judged by the threshold preset in the flat knitting machine in advance, and after the first striker occurs, the processor keeps all sampling data before and after the striker event and updates the dynamic threshold by using the Ojin method.
2. The method for detecting a striker of a computerized flat knitting machine according to claim 1, the method is characterized in that: the acceleration sensor is a triaxial acceleration sensor.
3. The method for detecting the striker of the computerized flat knitting machine according to claim 2, wherein: the XY plane of the triaxial acceleration sensor is parallel to the inclined plane of the machine head, and the X axis of the triaxial acceleration sensor is parallel to the movement direction of the machine head.
4. The method for detecting a striker of a computerized flat knitting machine according to claim 1, wherein the computerized flat knitting machine head acceleration data obtained by sampling in the step a is processed into a waveform.
5. The method for detecting the striker of the computerized flat knitting machine according to claim 1, wherein: the sampling time in the step A is 150-250 us/time.
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