CN101956293A - Constant linear speed electronic let-off control method and device of warp knitting machine - Google Patents
Constant linear speed electronic let-off control method and device of warp knitting machine Download PDFInfo
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- CN101956293A CN101956293A CN 201010500128 CN201010500128A CN101956293A CN 101956293 A CN101956293 A CN 101956293A CN 201010500128 CN201010500128 CN 201010500128 CN 201010500128 A CN201010500128 A CN 201010500128A CN 101956293 A CN101956293 A CN 101956293A
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Abstract
The invention relates to a constant linear speed electronic let-off control method of a warp knitting machine and a constant linear speed electronic let-off device, in particular to a method and a device detecting and adjusting the rotation speed of a warp beam servo motor in real time and realizing high precision and constant linear speed. The invention combines a mechanical-electrical integrated let-off control method and a mathematical model let-off control method, overcomes the accumulative error of the mechanical-electrical integrated let-off method, avoids human error of the mathematical model method and ensures the let-off quality of the warp knitting machine.
Description
Technical field
The present invention relates to the control method and the permanent linear speed electronic letting-off device of the permanent linear speed electronic warp feeding of a kind of warp knitting machine, particularly a kind of real-time detection and accent warp beam servomotor rotating speed, the warp let-off method and the device thereof of realization high-accuracy and constant linear speed.
Background technology
The electronic warp feeding method of two kinds of permanent linear speeds of the general employing of the warp knitting machine that uses on the international market at present.
A kind of is to adopt the roller measurement of testing the speed of electromechanical integration to send yarn speed, and calculates the girth of yarn on the coiled hair.The roller that tests the speed is made up of the measurement roller of fixed circumference, encoder, measuring stick etc.Measure the hollow type encoder is installed on the roller shaft, the feedback roller rotating speed that tests the speed is measured in real time and is sent yarn speed, send yarn length and girth, according to the girth of yarn on the coiled hair, regulates the rotating speed through spindle motor in real time, reaches the effect of the permanent linear speed warp let-off.This method complex structure, the cost height.The roller that tests the speed of this electromechanical integration uses very extensive, but also there are problems, the diameter of roller is the factory setting value owing to test the speed, and the calculating of sending yarn speed is played a crucial role, yet the roller that tests the speed all is being pressed in through the axle surface tightly, will inevitably cause the wearing and tearing of roller diameter and girth reduces, and change slowly, producers are difficult for finding, cause reducing to make the actual warp run-in and the warp run-in of needs to depart from, cause precision to reduce, influence product quality because of the diameter of the roller that tests the speed, and this error all exists in the warp-feeding mechanism of roller is tested the speed in all uses, but the easiest to be out in the cold.The rotating speed of roller of testing the speed on the other hand also is to measure the important parameter that send yarn speed, for the tachometer value of the roller that obtains testing the speed, must on the roller that tests the speed, encoder be installed, the feedback pulse frequency, be interfered easily in the signals transmission, product quality is exerted an influence.
Another kind is to adopt the Mathematical Modeling calculation mode of deriving, and draws the outer perimeter of current coiled hair around yarn, thereby calculates the rotating speed through spindle motor.This method need be when changing new coiled hair the new coiled hair of artificial input around the yarn outer perimeter, total winding number of yarn on girth and the coiled hair in the blank panel head.Owing to be the manual measurement input, cause human error easily.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, the warp let-off linear velocity of a kind of real-time detection and adjustment warp knitting machine is provided, realize the method for the permanent linear speed warp let-off, and the device of realizing this method.
The present invention is achieved through the following technical solutions:
The permanent linear speed electronic warp feeding control method of warp knitting machine, its method step is as follows:
1) measure the outer perimeter of blank panel head before the warping, the outer perimeter of warping hub disk gauze kerchief worn on a woman's head line, total winding number N of the yarn of record warping process, and above-mentioned parameter inputed to system's control computer,
2) servo controller feeds back to system's control computer with the coiled hair unwinding number of turns, and system's control computer calculates the outer perimeter C1 of coiled hair this moment;
3) utilize the roller that tests the speed to record the linear velocity that current coiled hair send yarn, and feed back to system's control computer, component computer calculates the outer perimeter C11 of current coiled hair;
4) component computer compares C1 and C11, if the absolute value of both differences is less than setting value A, at this moment
Adopt the warp let-off linear velocity of calculating formula calculating through axle, calculating formula is
Wherein i is the cycle, and through the rotating speed of spindle motor, I was through spindle motor and the gearratio between axle, Ez when Rei was i cycle
iBe warp run-in (this parameter is a default value) that Rm is the rotating speed of spindle motor, Lmax is for being the outer perimeter of warping hub disk gauze kerchief worn on a woman's head line through the outer perimeter of axle dishful gauze kerchief worn on a woman's head line, and Lmin is the outer perimeter of blank panel head, and N is total winding number of coiled hair yarn, n
iThe number of turns for current coiled hair unwinding;
5) if the absolute value of both differences, adopts the warp let-off speed of calculating formula calculating through axle this moment greater than setting value A,
Calculating formula is
The L of this moment
MaxAdopt Mathematical Modeling
Calculate, wherein R
R (i-1)
Be (i-1) test the speed during cycle rotating speed of roller, Dr is the diameter of roller of testing the speed, R
E (i-1)Be (i-1) rotating speed through spindle motor during the cycle, N
1Total winding number for current period lower wall gauze kerchief worn on a woman's head line;
6) if the absolute value of both differences greater than setting value during A, system's control computer can be with n
iValue be reset to 0.
7) system all can repeat abovementioned steps 2-6 in control each cycle of computer, uses up until the coiled hair yarn.
Realize the permanent linear speed electronic letting-off device of the warp knitting machine of said method, comprise a plurality of through axle, the servomotor that driving is rotated through axle, be provided with linear velocity that mensuration coiled hair on axle send yarn through the axle roller that tests the speed through axle, also comprise a spindle motor, be connected with on the described servomotor rotation of mensuration servomotor the number of turns through shaft encoder, the servo controller that also comprises the work of a control servomotor, through shaft encoder detected data are fed back to servo controller, also be connected with the spindle encoder of measuring its rotating speed on the spindle motor, the rotation of main axle servo driver control spindle motor also receives the signal that spindle encoder feeds back, also comprise system's control computer, system's control computer receives through the axle servo-driver, the main axle servo driver and through axle test the speed roller feedback signal and calculate the rotating speed through the axle servomotor of actual needs.
Also be provided with a deceleration device through axle with between the axle servomotor.
The present invention has used the roller that tests the speed of electromechanical integration to carry out Calculation Method with the utilization Mathematical Modeling simultaneously, overcome the measure error that the roller that tests the speed produces owing to its wearing and tearing on the one hand, can use the method for Mathematical Modeling to compensate timely, the human error that may exist in the time of preventing to adopt calculated with mathematical model on the other hand, be that the present invention has higher precision, can guarantee warp let-off quality, improve quality through compiling.
Description of drawings
Fig. 1 is the connection diagram of permanent linear speed electronic letting-off device of the present invention,
1 is system's control computer among the figure, 1013 is first through axle, 1023 is second through axle, 1011 is first through the axle servo-driver, and 1021 is second through the axle servo-driver, and 1031 is the main axle servo driver, 1012 is first through the axle servomotor, 1022 is second through the axle servomotor, and 1032 is spindle motor, and 10 is spindle encoder, 11 is first through the spindle motor encoder, 12 is second through shaft encoder, and 21 is first through the axle reduction box, and 22 is second through the axle reduction box, 41 is first through the axle roller that tests the speed, 42 is second through the axle roller that tests the speed, and 51 is first through the axle roller encoder that tests the speed, and 52 is second through the axle roller encoder that tests the speed.
The specific embodiment
The present invention is further described below in conjunction with accompanying drawing:
The permanent linear speed electronic warp feeding control method of warp knitting machine, its method step is as follows:
1) measure the outer perimeter of blank panel head before the warping, the outer perimeter of warping hub disk gauze kerchief worn on a woman's head line, total winding number N of the yarn of record warping process, and above-mentioned parameter inputed to system's control computer,
2) servo controller feeds back to system's control computer with the coiled hair unwinding number of turns, and system's control computer calculates the outer perimeter C1 of coiled hair this moment;
3) utilize the roller that tests the speed to record the linear velocity that current coiled hair send yarn, and feed back to system's control computer, component computer calculates the outer perimeter C11 of current coiled hair;
4) relatively C1 and C11 of component computer, if the absolute value of both differences less than setting value A, we are made as 3mm with setting value in this present embodiment, i.e. A=3mm, at this moment
Adopt the warp let-off linear velocity of calculating formula calculating through axle, calculating formula is
Wherein i is the cycle, and through the rotating speed of spindle motor, I was through spindle motor and the gearratio between axle, Ez when Rei was i cycle
iBe warp run-in (this parameter is a default value) that Rm is the rotating speed of spindle motor, Lmax is for being the outer perimeter of warping hub disk gauze kerchief worn on a woman's head line through the outer perimeter of axle dishful gauze kerchief worn on a woman's head line, and Lmin is the outer perimeter of blank panel head, and N is total winding number of coiled hair yarn, n
iThe number of turns for current coiled hair unwinding;
5) if the absolute value of both differences, adopts the warp let-off speed of calculating formula calculating through axle this moment greater than 3mm,
Calculating formula is
The L of this moment
MaxAdopt Mathematical Modeling
Calculate, wherein R
R (1)
Be (i-1) test the speed during cycle rotating speed of roller, Dr is the diameter of roller of testing the speed, R
E (i-1)Be (i-1) rotating speed through spindle motor during the cycle, N
1Total winding number for current period lower wall gauze kerchief worn on a woman's head line;
6) if the absolute value of both differences greater than setting value during 3mm, system's control computer can be with n
iValue be reset to 0.
7) system all can repeat abovementioned steps 2-6 in control each cycle of computer, uses up until the coiled hair yarn.
The present invention has adopted the Mathematical Modeling calculating of deriving, utilized the roller that tests the speed of electromechanical integration that the linear velocity of the warp let-off is carried out real-time detection simultaneously, and testing result fed back to system control computer, system's control computer is revised in real time to electronic warp feeding speed, guarantees that the warp let-off speed of warp knitting machine is in steady state value.
The present invention has also introduced the warp knitting machine let-off motion of realizing the permanent linear speed electronic warp feeding of above-mentioned warp knitting machine control method, can be provided with a plurality of on the warp knitting machine through axle, describe through axle with two in the present embodiment, two through axle be first through axle 1013 and second through axle 1023, also comprise a pair of driving first through axle 1013 and second through axle 1023 rotate first through axle servomotor 1012 and second through axle servomotor 1022, first on axle servomotor 1012, be connected with measure its rotating speed first through spindle motor encoder 11, second on axle servomotor 1022, be connected with measure its rotating speed second through spindle motor encoder 12, first is respectively arranged with linear velocity first that mensuration coiled hair on axle send yarn through axle 1013 and second on axle 1023 tests the speed roller 41 and second through the axle roller 42 that tests the speed through axle, first roller 41 and second that tests the speed tests the speed and is respectively arranged with data with the roller that tests the speed on the roller 42 and is converted to first of signal of telecommunication roller encoder 51 and second roller encoder 52 that tests the speed that tests the speed, first the test the speed velocity amplitude of the roller that tests the speed that roller encoder 52 directly will measure of roller encoder 51 and second that tests the speed feeds back to system's control computer, also comprise and drive the spindle motor 1032 that the warp knitting machine main shaft rotates, also be connected with the spindle encoder 10 of measuring its rotating speed on the spindle motor 1032, spindle encoder 10 is measured the rotating speed of spindle motor 1032, first through the axle servomotor, second through axle servomotor and spindle motor be connected with respectively start to control make usefulness first through axle servo-driver 1011, second through axle servo-driver 1021 and main axle servo driver 1031, above-mentioned first through the axle servo-driver, second is used to control rotating speed through axle servomotor and spindle motor through axle servo-driver and main axle servo driver, first through shaft encoder, second through shaft encoder and spindle encoder to measure and be converted to through the rotating speed of spindle motor and spindle motor the signal of telecommunication through first through the axle servo-driver, second feeds back to system's control computer 1 through axle servo-driver and main axle servo driver, system control computer 1 goes out current period under first outer perimeter C11 and second outer perimeter C22 through axle through axle through test the speed roller encoder feedback real-time of axle through the axle speed calculation through the axle roller encoder and second that tests the speed according to first, system's control computer and first, second through axle servo controller and main axle servo controller feedback first through the axle servomotor, second the rotating speed through the axle servomotor, utilize calculated with mathematical model to draw outer perimeter C1 and second the outer perimeter C2 through axle of first under the current period, and utilize the warp let-off speed of above-mentioned permanent linear speed electronic warp feeding control method control through axle through axle.
First through axle and first through between the axle servomotor and second purify between the servomotor to be equipped with deceleration device through axle and second, the rotating speed of servomotor is bigger, and do not need so high at the rotating speed in the volume process of reality through axle, so a deceleration device here is set, obtains a velocity amplitude that mates with needs of production.
Claims (3)
1. the permanent linear speed electronic warp feeding control method of warp knitting machine is characterized in that:
Its method step is as follows:
1) measure the outer perimeter of blank panel head before the warping, the outer perimeter of warping hub disk gauze kerchief worn on a woman's head line, total winding number of the yarn of record warping process, and above-mentioned parameter inputed to system's control computer,
2) servo controller feeds back to system's control computer with the coiled hair unwinding number of turns, and system's control computer calculates the outer perimeter C1 of coiled hair this moment;
3) utilize the roller that tests the speed to record the linear velocity that current coiled hair send yarn, and feed back to system's control computer, component computer calculates the outer perimeter C11 of current coiled hair;
4) component computer compares C1 and C11, if the absolute value of both differences is less than setting value A, at this moment
Adopt the warp let-off linear velocity of calculating formula calculating through axle, calculating formula is
Wherein i is the cycle, and through the rotating speed of spindle motor, I was through spindle motor and the gearratio between axle, Ez when Rei was i cycle
iBe warp run-in (this parameter is a default value) that Rm is the rotating speed of spindle motor, Lmax is for being the outer perimeter of warping hub disk gauze kerchief worn on a woman's head line through the outer perimeter of axle dishful gauze kerchief worn on a woman's head line, and Lmin is the outer perimeter of blank panel head, and N is total winding number of coiled hair yarn, n
iThe number of turns for current coiled hair unwinding;
5) if the absolute value of both differences, adopts the warp let-off speed of calculating formula calculating through axle this moment greater than setting value A,
Calculating formula is
The L of this moment
MaxAdopt Mathematical Modeling
Calculate, wherein R
R (i-1)Be (i-1) test the speed during cycle rotating speed of roller, Dr is the diameter of roller of testing the speed, R
E (i-1)Be (i-1) rotating speed through spindle motor during the cycle, N
1Total winding number for current period lower wall gauze kerchief worn on a woman's head line;
6) if the absolute value of both differences greater than setting value during A, system's control computer can be with n
iValue be reset to 0.
7) system all can repeat abovementioned steps 2-6 in control each cycle of computer, uses up until the coiled hair yarn.
2. realize the permanent linear speed electronic letting-off device of the warp knitting machine of said method, comprise a plurality of through axle, the servomotor that driving is rotated through axle, be provided with linear velocity that mensuration coiled hair on axle send yarn through the axle roller that tests the speed through axle, also comprise a spindle motor, it is characterized in that: be connected with on the described servomotor rotation of mensuration servomotor the number of turns through shaft encoder, the servo controller that also comprises the work of a control servomotor, through shaft encoder detected data are fed back to servo controller, also be connected with the spindle encoder of measuring its rotating speed on the spindle motor, the rotation of main axle servo driver control spindle motor also receives the signal that spindle encoder feeds back, also comprise system's control computer, system's control computer receives through the axle servo-driver, the main axle servo driver and through axle test the speed roller feedback signal and calculate the rotating speed through the axle servomotor of actual needs.
3. the permanent linear speed electronic letting-off device of warp knitting machine according to claim 2 is characterized in that: also be provided with a deceleration device through axle with between the axle servomotor.
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| CN 201010500128 CN101956293A (en) | 2010-09-29 | 2010-09-29 | Constant linear speed electronic let-off control method and device of warp knitting machine |
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| CN 201010500128 CN101956293A (en) | 2010-09-29 | 2010-09-29 | Constant linear speed electronic let-off control method and device of warp knitting machine |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102719990A (en) * | 2012-06-18 | 2012-10-10 | 三明学院 | Intelligent warp knitting multi-speed electronic let-off system |
| CN104005196A (en) * | 2014-06-05 | 2014-08-27 | 湖州博仁纺织品有限公司 | Electronic let-off mechanism loom beam driving device having monitoring function |
| CN104294476A (en) * | 2014-10-22 | 2015-01-21 | 浙江越剑机械制造有限公司 | Intelligent control system for starting and stopping of high-speed warp knitting machine and control method of intelligent control system |
| CN104846518A (en) * | 2015-04-08 | 2015-08-19 | 杭州创兴织造设备科技有限公司 | Quantitive yarn feeding device and working method thereof |
| CN106245220A (en) * | 2016-06-02 | 2016-12-21 | 江南大学 | A kind of multi-bar warp knitting machine flower comb warp let-off control method |
| CN110609516A (en) * | 2019-09-26 | 2019-12-24 | 庸博（厦门）电气技术有限公司 | Large circular knitting machine servo yarn feeding method and system with yarn length calculation function and large circular knitting machine |
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| CN1827886A (en) * | 2006-04-13 | 2006-09-06 | 康盘方 | Electronic warp feeding system of warp knitting machine |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102719990A (en) * | 2012-06-18 | 2012-10-10 | 三明学院 | Intelligent warp knitting multi-speed electronic let-off system |
| CN104005196A (en) * | 2014-06-05 | 2014-08-27 | 湖州博仁纺织品有限公司 | Electronic let-off mechanism loom beam driving device having monitoring function |
| CN104294476A (en) * | 2014-10-22 | 2015-01-21 | 浙江越剑机械制造有限公司 | Intelligent control system for starting and stopping of high-speed warp knitting machine and control method of intelligent control system |
| CN104294476B (en) * | 2014-10-22 | 2016-05-11 | 浙江越剑机械制造有限公司 | A kind of Warp Knitted Fabrics start-stop car intelligence control system and control method thereof |
| CN104846518A (en) * | 2015-04-08 | 2015-08-19 | 杭州创兴织造设备科技有限公司 | Quantitive yarn feeding device and working method thereof |
| CN106245220A (en) * | 2016-06-02 | 2016-12-21 | 江南大学 | A kind of multi-bar warp knitting machine flower comb warp let-off control method |
| CN106245220B (en) * | 2016-06-02 | 2017-11-07 | 江南大学 | A kind of multi-bar warp knitting machine flower comb warp let-off control method |
| CN110609516A (en) * | 2019-09-26 | 2019-12-24 | 庸博（厦门）电气技术有限公司 | Large circular knitting machine servo yarn feeding method and system with yarn length calculation function and large circular knitting machine |
| CN110609516B (en) * | 2019-09-26 | 2021-07-30 | 庸博（厦门）电气技术有限公司 | Large circular knitting machine servo yarn feeding method and system with yarn length calculation function and large circular knitting machine |
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Application publication date: 20110126 |