CN101012612A - Closed-loop control device for embroidery machine tabouret position - Google Patents
Closed-loop control device for embroidery machine tabouret position Download PDFInfo
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- CN101012612A CN101012612A CN 200710066926 CN200710066926A CN101012612A CN 101012612 A CN101012612 A CN 101012612A CN 200710066926 CN200710066926 CN 200710066926 CN 200710066926 A CN200710066926 A CN 200710066926A CN 101012612 A CN101012612 A CN 101012612A
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- taboret
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Abstract
The invention relates to a close-loop control equipment for taboret location of embroidery machine used for controlling the taboret location of embroidery machine. The embroidery machine comprises a taboret for fixing fabrics, driving cells for X and Y shafts of taboret, driving control cell, which transport the displacement signal of taboret to driving cells for X and Y shafts of taboret. It is characterized in that photo-induction head of grating linear displacement sensors are fixed on two directions of X and Y shafts of taboret and move as the taboret moves; after the grating linear displacement sensor transports location signals into digital signals, it is sent to the data sampling interface of DSP by cables; by compensating algorithm of software, the taboret displacement is corrected; and signals of X and Y shafts of corrected taboret displacement are transported to driving cells for X and Y shafts of taboret by driving control cells. Merits of invention are that close-loop control of software is accomplished and the lack of open-loop control of taboret is compensated. Actual effects are guaranteeing the accuracy of taboret, improving the quality of embroideries and conquering the warp of mechanical assembly.
Description
Technical field
The present invention relates to a kind of embroidery machine, especially relate to and a kind ofly accurately detect the displacement of embroidering the machine embroidery frame by optical grid line displacement sensor, to the anti-position of sending face control tabouret of detected displacement error, thus the control device of high-precision control thorn tabouret position.
Background technology
In general, embroidery machine moves horizontally along X-axis and Y direction by the thorn tabouret that makes fixed fabric between moving up and down at needle bar, and the pattern or the decorative pattern of expectation are embroidered on fabric.Therefore sting the correctness that the moves influence embroidery quality of tabouret.
Present home and overseas, in the displacement control of embroidery machine, general inclined to one side employing open loop control, structural principle is to adopt the segmentation control that moves the frame stepper motor, control relatively simply, can't realize accurate control.
Summary of the invention
In order to overcome above-mentioned deficiency, the purpose of this invention is to provide a kind of thorn tabouret position control detects tabouret in real time by optical grid line displacement sensor displacement of controlling, revise the deviation of actual displacement car following-theory displacement, assurance moves the precision of frame, thereby improve the quality of embroidery, overcome the deviation of mechanical fit on.
To achieve these goals, following technical scheme is adopted in invention:
Closed-loop control device for embroidery machine tabouret position, be used for embroidery machine control thorn tabouret position, embroidery machine comprises: the thorn tabouret that fabric is fixing, the X-axis driver element and the Y-axis driver element of thorn tabouret, driving control unit, the signal of thorn tabouret displacement is flowed to X-axis driver element and Y-axis driver element, it is characterized in that: the photoinduction head of optical grid line displacement sensor is fixed on the X-axis of tabouret/Y-axis both direction, along with tabouret moves together, after optical grid line displacement sensor converts position signalling to data signal, be sent to the data sampling interface of DSP by cable, backoff algorithm by software, revise again and move the frame displacement, and X-axis/Y-signal that correction moves the frame displacement is transported to X-axis driver element and the Y-axis driver element that stings tabouret by driving control unit.
Operation principle: the data sampling mouth by DSP samples the real-time detected tabouret displacement of optical grid line displacement sensor, obtain the actual displacement of current tabouret, the deviation of the displacement by the car following-theory tabouret is by the backoff algorithm of software, revise again and move the frame displacement, guarantee to move the accurate of frame.
Adopt pid control algorithm on the software, ratio (P), integration (I) and the differential (D) of deviation constituted controlled quentity controlled variable by linear combination, tabouret is controlled, each link effect as follows:
(1), proportional component: the data of the tabouret displacement of the data sampling mouth sampling by DSP, calculate the deviation of the data of car following-theory, dsp controller produces control action immediately according to deviation, to reduce deviation.
(2), integral element: the data of the tabouret displacement of the data sampling mouth sampling by DSP, calculate the deviation of the data of car following-theory, by integral operation, the Correction and Control amount is eliminated static difference, the no margin of raising system control.
(3), differentiation element: the data of the tabouret displacement of the data sampling mouth sampling by DSP, calculate the deviation of the data of car following-theory, by differentiating, the Correction and Control amount, the variation tendency (rate of change) of reflection deviation signal, and can before deviation signal becomes too greatly, in system, introduce an effectively early stage corrected signal, the responsiveness of quickening system reduces the adjusting time.
U＝1/PBe+1/Ti*1/PB∫edt+TD*1/Pb?de/dt
Output quantity ↑ ↑ ↑
P control I control D control
The technology of the present invention is for advantage and effect that prior art had
Advantage of the present invention is the software closed-loop control that has realized moving frame, has remedied existing deficiency of moving in the frame open loop control, and this actual effect is the precision that assurance moves frame, has improved the quality of embroidery, has overcome the deviation of mechanical fit on.
Description of drawings
Fig. 1 is a principle square frame of the present invention;
Fig. 2 is that optical grid line displacement sensor of the present invention is fixed on structural representation on the thorn tabouret.
The specific embodiment
Below in conjunction with accompanying drawing 1, technical scheme of the present invention is described in further detail.
Closed-loop control device for embroidery machine tabouret position, it comprises: the thorn tabouret 1 that fabric is fixing, the X-axis driver element 2 and the Y-axis driver element 3 of thorn tabouret 1, driving control unit 6, the signal of thorn tabouret displacement is flowed to X-axis driver element and Y-axis driver element, be fixed on the photoinduction 4 of optical grid line displacement sensor on the X-axis/Y-axis both direction of tabouret, 5, along with tabouret moves together, after optical grid line displacement sensor converts position signalling to data signal, be sent to the data sampling interface of DSP by cable, and be transported to the X-axis driver element 2 and the Y-axis driver element 3 of thorn tabouret by X-axis/Y-signal that driving control unit 6 is moved the frame displacement with correction.
As shown in Figure 2, the photoinduction 4,5 of optical grid line displacement sensor is set on the X-axis/Y-axis both direction of thorn tabouret 1, the photoinduction of optical grid line displacement sensor 4,5 a grating chi 7 that are fastened on the embroidery machine, grating chi 7 connects electric cabinets by joint 8.
At last, should be pointed out that above embodiment only is the more representational example of the present invention.Obviously, technical scheme of the present invention is not limited to the foregoing description, and many distortion can also be arranged.All distortion that those of ordinary skill in the art can directly derive or associate from content disclosed by the invention all should be thought protection scope of the present invention.
Claims (2)
1, closed-loop control device for embroidery machine tabouret position, be used for embroidery machine control thorn tabouret position, embroidery machine comprises: the thorn tabouret that fabric is fixing, the X-axis driver element and the Y-axis driver element of thorn tabouret, driving control unit, the signal of thorn tabouret displacement is flowed to X-axis driver element and Y-axis driver element, it is characterized in that: the photoinduction head of optical grid line displacement sensor is fixed on the X-axis of tabouret/Y-axis both direction, along with tabouret moves together, after optical grid line displacement sensor converts position signalling to data signal, be sent to the data sampling interface of DSP by cable, backoff algorithm by software, revise again and move the frame displacement, and X-axis/Y-signal that correction moves the frame displacement is transported to X-axis driver element and the Y-axis driver element that stings tabouret by driving control unit.
2, closed-loop control device for embroidery machine tabouret position according to claim 1 is characterized in that: adopt pid control algorithm on the software, ratio (P), integration (I) and the differential (D) of deviation are constituted controlled quentity controlled variable by linear combination, promptly
U＝1/PBe+1/Ti*1/PB∫edt+TD*1/Pb?de/dt
Output quantity ↑ ↑ ↑
P control I control D control
Tabouret is controlled, each link effect as follows:
(1), proportional component: the data of the tabouret displacement of the data sampling mouth sampling by DSP, calculate the deviation of the data of car following-theory, dsp controller produces control action immediately according to deviation;
(2), integral element: the data of the tabouret displacement of the data sampling mouth sampling by DSP, calculate the deviation of the data of car following-theory, by integral operation, the Correction and Control amount is eliminated static difference, the no margin of raising system control;
(3), differentiation element: the data of the tabouret displacement of the data sampling mouth sampling by DSP, calculate the deviation of the data of car following-theory, by differentiating, the Correction and Control amount, the variation tendency (rate of change) of reflection deviation signal, and can before deviation signal becomes too greatly, in system, introduce an effectively early stage corrected signal, the responsiveness of quickening system reduces the adjusting time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710066926 CN101012612A (en) | 2007-01-26 | 2007-01-26 | Closed-loop control device for embroidery machine tabouret position |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710066926 CN101012612A (en) | 2007-01-26 | 2007-01-26 | Closed-loop control device for embroidery machine tabouret position |
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| CN101012612A true CN101012612A (en) | 2007-08-08 |
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| CN 200710066926 Pending CN101012612A (en) | 2007-01-26 | 2007-01-26 | Closed-loop control device for embroidery machine tabouret position |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104298811A (en) * | 2014-09-10 | 2015-01-21 | 张家港市宏盛贸易有限公司 | Flat package needle compensation method |
| CN109706656A (en) * | 2019-03-11 | 2019-05-03 | 浙江越隆缝制设备有限公司 | A kind of tabouret structure with automatic spacing |
| CN111139602A (en) * | 2020-01-16 | 2020-05-12 | 江西禾丰电子机械有限公司 | Three-axis linkage embroidery machine frame and embroidery machine |
| CN113832625A (en) * | 2021-10-29 | 2021-12-24 | 诸暨创加电子设备有限公司 | Embroidery machine tabouret driving gain adjusting method and device based on displacement graphic method |
| CN114753072A (en) * | 2022-05-30 | 2022-07-15 | 浙江越隆缝制设备有限公司 | Embroidery machine embroidery frame power-off protection control method, system and device |
-
2007
- 2007-01-26 CN CN 200710066926 patent/CN101012612A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104298811A (en) * | 2014-09-10 | 2015-01-21 | 张家港市宏盛贸易有限公司 | Flat package needle compensation method |
| CN109706656A (en) * | 2019-03-11 | 2019-05-03 | 浙江越隆缝制设备有限公司 | A kind of tabouret structure with automatic spacing |
| CN109706656B (en) * | 2019-03-11 | 2024-04-30 | 浙江越隆缝制设备有限公司 | Tabouret structure with automatic limiting function |
| CN111139602A (en) * | 2020-01-16 | 2020-05-12 | 江西禾丰电子机械有限公司 | Three-axis linkage embroidery machine frame and embroidery machine |
| CN113832625A (en) * | 2021-10-29 | 2021-12-24 | 诸暨创加电子设备有限公司 | Embroidery machine tabouret driving gain adjusting method and device based on displacement graphic method |
| CN113832625B (en) * | 2021-10-29 | 2022-07-19 | 诸暨创加电子设备有限公司 | Embroidery machine tabouret driving gain adjusting method and device based on displacement graphic method |
| CN114753072A (en) * | 2022-05-30 | 2022-07-15 | 浙江越隆缝制设备有限公司 | Embroidery machine embroidery frame power-off protection control method, system and device |
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Effective date of registration: 20090109 Address after: Xian Xing Road No. 6 post encoding Yuhang Xianlin District of Hangzhou city in Zhejiang Province: 311122 Applicant after: Zhejiang Hengqiang Technology Co.,Ltd. Address before: Hangzhou City, Zhejiang province Xihu District three Street Pier Park Road, No. 8 Building 3 post encoding: 310012 Applicant before: Hangzhou Huaxiang Electronic Technology Co., Ltd. |
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Owner name: ZHEJIANG PROVINCE HENGQIANG TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: HANGZHOU HUAXIANG ELECTRONIC SCIENCE AND TECHNOLOGY CO., LTD. Effective date: 20090109 |
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Open date: 20070808 |