CN102298343B - Approximate uniform acceleration control technology of servo motor of automatic hosiery machine - Google Patents
Approximate uniform acceleration control technology of servo motor of automatic hosiery machine Download PDFInfo
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Abstract
The invention relates to an approximate uniform acceleration control technology of a servo motor of an automatic hosiery machine, which relates to the technical field of equipment of a computerized electronic jacquard hosiery machine and aims at providing technical support for implementing efficient, steady and reliable operation of a system and implementing various jacquard functions for a novel embedded jacquard hosiery machine. The approximate uniform acceleration control technology comprises a dual-microcontroller core scheme designed for the embedded hosiery machine, specialization and cooperation of two cores, equipment at periphery of the cores, communication modes between the two cores, and the like; and then, an acceleration control technology of the servo motor is checked and described emphatically, the approximate uniform acceleration control technology is characterized in that the technology is a segmented approximate uniform acceleration control technology, program for the technology is easy to implement and less in calculation, so that load on an MCU (Micro Control Unit) is greatly reduced, and the technology is suitable for embedded equipment with limited resource; and simultaneously, the technology is characterized in that the technology is portable for operation and has strong applicability, and calculation at different levels can be set according to difference of system hardware levels; the phenomenon of failure of algorithm is avoided in the technology, the servo motor can run safely and reliably, practical experiments find that speed of the servo motor changes uniformly, speed control effect is better, and the bigger the value of D is, the better the speed reduction effect is.
Description
Technical field
The invention belongs to computer jacquard footwear machine technical field, the approximate uniform acceleration control method of the more particularly to a kind of servomotor of automatic hosiery machine.
Background technology
Knitting at present and relevant device are now positive efficiently, energy-saving and environmental protection and Electronic Control direction develop, and performance is stable, and update paces are accelerated.The jacquard weave function of equipment expands, and automatic control level is improved.The high control of electronic system is accurate, and raising product quality is provided and ensured.Therefore electronic technology is used, traditional industries are transformed, electromechanical integration level is improved, has promoted the technological progress of knitting industry.Current knitting equipment just strengthens application of electronic technology energetically.
And the computer stocking technology of current China also has sizable gap with developed country.Particularly with Italy, South Korea, Japanese three state gap is especially big.Their hosiery machine in terms of high-tech application, design philosophy, the accuracy of manufacture and product appearance image all much it is leading we, therefore, increasingly deep with foreign economic technological cooperation, high-grade hosiery machine market is almost captured by their technology completely.Under the current national conditions of China, external advanced hosiery machine technique direction is aimed at, exploitation possesses the hosiery machine technology of independent intellectual property right, and progressively catches up with Foreign Advanced Lerel, it appears very urgent important.
In current hosiery machine device systems, servomotor is in the position of core, the magnetic valve on periphery all the time, slide cam selector is all the operation stability of servomotor, reliability using servomotor as main shaft, and the speed of operation directly determines the efficiency of the hosiery machine, performance.And in the control system of hosiery machine, the speed control of servomotor, location detecting technology is the technology of the core the most of whole hosiery machine system again, so hosiery machine serve motor control technology it is good and bad determine be this equipment quality.
Lower citing is done in influence of the speed control to hosiery machine efficiency with regard to servomotor below：
Socks followed by braiding when, servomotor must positive and negative both direction operate repeatedly 70 times or so.And the running speed of the servomotor of this hosiery machine is very fast, up to 900r/min, under so high speed, it is that impossible opposite direction operate immediately, there must be a process for deceleration, slow down and terminate there must also be a process for acceleration, the process of this acceleration and deceleration seems very important for hosiery machine system, acceleration and deceleration process servomotor excessive first can not be born, and it is easy to the knitting needle on the magnetic valve on the periphery of the syringe of damage servomotor driving and its syringe, the efficiency of acceleration and deceleration is must take into consideration simultaneously, too low acceleration-deceleration is lost time, directly reduce the production efficiency of socks.
For example, acceleration and deceleration scheme in the case where servo drive signal PWM cycle value is constant increment, if extended the process of an acceleration and deceleration individual 0.25 second more, then one of motor needs the process of the acceleration and deceleration of 4 times altogether repeatedly, then need many extensions 1 second, one socks needs the time waste repeatedly it is necessary to 70 seconds or so of 70 times or so altogether, as long as and 3 minutes or so the time needed for the braiding of a present socks（Heel of a sock braiding accounts for the significant portion of time）, it is seen that the delay of 0.25 second just greatly reduces the production efficiency of socks, directly reduces the economic benefit of enterprise.
Therefore the acceleration-deceleration control program of the servomotor of hosiery machine seems particularly significant, efficiently, and reliable Acceleration-deceleration Control Method directly influences the efficiency of hosiery machine operation, and service life, so as to be directly connected to the cost of socks production, benefit.
The main control unit of computer stocking is concentrated on braiding operating platform, is found in the technological requirement and mechanical structure of analysis hosiery machine system, and electrical characteristic：Computer stocking system needs the control point being controlled more, includes the magnetic valve on 64 tunnels, 6 slide cam selectors, 96 needle selecting knifes, the external fault interruption detection of the stepper motor of two-way, all the way servomotor, two-way electromagnetic sensor, and ten multichannels.The distribution of the control point magnetic valve slide cam selector of hosiery machine components of system as directed is as shown in Figure 1, the magnetic valve of system is far above this part, have 60 multichannels, the slide cam selector for also having 6 groups in addition will be controlled, and its distribution map is as shown in Fig. 2 1C ~ 5C and 1F are 6 groups of slide cam selectors in figure, every group have 16 needle selecting knife, and it is each being all that each shuttle in jacquard weave comb in an independent control point, Fig. 2 is that have solenoid valve control, and be also each independent control point.First have to monitoring, the control point of detection is so many, secondly as servomotor, the electric requirement of slide cam selector is again relatively higher, slide cam selector requires fast reaction, the electrical control point only with regard to more than is accomplished by substantial amounts of cpu resource and carries out operation control in this case, is controlled using a piece of DSP and has seemed compact.
And the hosiery machine system also requires to be equipped with one piece 3.5 cun of lattice lcd, nearly 40 buttons, operation keyboard, and multichannel LED warning lamps, E2ROM memory, clock chip and remote communication module etc., many system resources are needed with regard to man-machine interface this part, if it is unrealistic to carry out so many task operating only with single core, and during the braiding that runs at high speed of the hosiery machine, it is that requirement can carry out liquid crystal, button, and communicated with host computer etc., if not having a single core to be operated, it is difficult to ensure card socks, triangular knife, magnetic valve, the safety such as servomotor, the work of stabilization.
The content of the invention
It is an object of the invention to provide a kind of approximate uniform acceleration control method of servomotor of automatic hosiery machine.
The purpose of the present invention is realized using such technical solution：It is characterized in that two variables can be set：int n;float b;Wherein b is used for the increment b (d) for preserving this section, and n is used to count, and each PWM cycle terminates, and the value of register is changed to
Round, while n is from Jia 1, if n reaches n (d), then into next section of deceleration, b assigns next section of b (d) again, and n restarts meter from 0, after the n (d) for reaching this section, into next section, until decelerating to the set goal value.
The present invention in each PWM cycle by terminating, and the value of register is changed to
Round, n Jia 1 certainly simultaneously, if n reaches n (d), into next section of deceleration, b assigns next section of b (d) again, n restarts meter from 0, after the n (d) for reaching this section, into next section of Acceleration Control, servomotor can be started, the uniform acceleration of stopped process carries out efficient, portable control, and suitable for a kind of control technology of the limited embedded hosiery machine of computing capability.
Brief description of the drawings
Fig. 1 syringes periphery magnetic valve distribution map
The distribution map of Fig. 2 slide cam selectors and jacquard weave comb
Fig. 3 syringe cylinder structure schematic diagrames
The control principle block diagram of Fig. 4 present invention
Embodiment
The analysis of embedded hosiery machine control section：When being controlled using DSP and ARM dual microcontroller, DSP and the ARM division of labor are as follows：
DSP is mainly responsible for the field control control section of hosiery machine, be responsible for the control sequential signal output of the control object such as magnetic valve, slide cam selector, magnetic induction switch, stepper motor and servomotor at scene and gather the feedback signal of respective handling, realize to each electronic-controlled installation when control in fact.Because considering the high-capacity FLASH memory module of preservation flower-shape data, it is and slide cam selector, the operation of the full-jacquard mechanisms such as yarn feeding comb is directly related, substantial amounts of data interaction need to be carried out, therefore this module is also responsible for by DSP, resultant, the USB interface for carrying out flower-shape data interaction with host computer is also integrated on DSP control panels.
And ARM core chief leading cadre's machine interactive interfaces etc., be mainly responsible for lattice type LCD display screen, LED warning lamps, keyboard, E2ROM memories, clock chip and, and the important informations such as woven condition can be outwards blazed abroad by telecommunication mode.
Communication between the two cores of DSP and ARM, it is little in view of amount of communication data, but it is higher to the reliable request of data transfer, therefore by the way of CAN, the two cores have all been integrated with CAN module first, can directly be believed using CAN, reduce the cost of control system, the complexity of system is also simplify, makes system more stable.
Secondly CAN has following characteristic：Low cost；High bus utilization；Far data transmission distance（Up to 10km）；The message transmission rate of high speed（Up to 1Mbps）；It can be determined to receive or shield the message according to the ID of message；Reliable error handle and error-detection mechanism；The information of transmission can be retransmitted automatically after being destroyed；Node has the function of automatically exiting from bus in the case where mistake is serious.
Servomotor is described below, it is connected with the syringe of hosiery machine, play the operating that control syringe does positive and negative both direction, it is the core component of hosiery machine, its structural representation as shown in figure 3,6 groups of slide cam selectors of syringe circumferential distribution, and substantial amounts of magnetic valve is all that various braid movements are realized under the cooperation of servomotor syringe as shown in Figure 1, shown servomotor speed, the quality of performance just directly determines the quality of hosiery machine system, and the control technology with regard to servomotor further is stated below：The feasibility for demonstrating two kinds of control methods is inquired into first, then proposes the feed speed control technology suitable for the servomotor of embedded sock knitting machine control system.
Acceleration and deceleration technology under one .PWM periodic quantity constant increments
The pwm signal of servomotor is produced by the PWM module being integrated in single-chip microcomputer, under the pattern of selection, as long as the period register to PWM module assigns certain value, and the dutycycle of pwm signal is arranged to 50%, mode is arranged to, cycle time will produce the pwm signal of fixed frequency to automatic assignment pattern, then PWM module.Electricity is watched to realize
The feed speed control of machine, it is necessary to each pwm signal cycle then, again assign period register value.
If the value of current period register is N, next value is N+b, and the instruction cycletime of system is：
, the pwm pulse number that this servomotor one is enclosed is 2500, then the acceleration a of servomotor is：
If each cycle time arrives, next periodic quantity is done an identical value and added up, i.e., b is constant in formula, then simplified to obtain：
(
) （2）
Left-half on the right of equation is constant, is after the expansion of right half part denominator：
B is the increment in next cycle in formula, usually much smaller than one of N amount, from formula, a be with
It is directly proportional, with N increase, the speed that a is into 3 powers reduces.From practice is tested, starting a is larger, promotes over time, and a is rapid reduction, and the speed of corresponding motor is to reduce rapidly the super beginning, and the change of speed is more and more slower afterwards.
In order to allow the servomotor of hosiery machine to be rapidly lowered to 100 turns from 900 turns run at high speed, then stop, it is assumed that it is required that being completed in 3 seconds, if carried out by this scheme：
The instruction cycle of the systemFor：
（Calculated by the MCU of this control system clock cycle）,
It is computed when rotating speed is 900, values of the PWM through period register is：591,100 switch to：5301；Calculating formula can be obtained：
N drops to the pwm pulse numbers during 100 for speed from 900 in formula；T is reduction of speed total time, and T=3 seconds are substituted into and is asked
：
Now calculate motor and be down to for 300 times spent from speed 900, at 300 turns, the value of PWM cycle register is：176
By
Solve：
I.e. the value of PWM cycle register is cumulative with b every time, distributes and 300 turns of speed is just can reach after 5627 pulses,
, b=0.209 substitutions
：
From result of calculation as can be seen that 300 turns are decelerated to from 900 turns by this scheme servomotor has only spent 0.3 second, go to 100 turns from 300 and but spent 2.7 seconds, the acceleration that can see 900 to 300 turns is to be far longer than 300 to go to 100 turns, acceleration
The presentation of degree be by
Ratio decline.
Although the speed-buffering scheme for being seen from above out this motor is simple, program is realized convenient, but his decelerability is very poor, motor dropped to 300 turns in 0.3 second from 900 turns, here acceleration is substantially excessive, the damage of servomotor will be caused for a long time, and will also result in hosiery machine syringe and its magnetic valve on periphery, slide cam selector, the loss of knitting needle.And go to 100 turns from 300 and spent 2.7 seconds, acceleration here is again substantially too small, loses time, directly reduces the production efficiency of hosiery machine.
The discussion of the theoretical even feed speed controls of two,
The control program for requiring the even acceleration and deceleration of motor is proposed under the demonstration of such scheme, knows that acceleration to be made, at the uniform velocity, i.e. a keeps constant, then b must change with N change, is after extracting b simplification by formula 1：
Wherein
Solve：
（5）
From this formula it is concluded that：Acceleration a as requested in theory, and the value N of current PWM cycle register, can in the hope of next cycle increment b, so, the increment that a PWM cycle just calculates next cycle is often crossed, register value is then done corresponding cumulative, so, loop iteration goes down, the speed of motor by present at the uniform velocity be adjusted to expected value
But found in the practical application of single-chip microcomputer：
Will
, N value 591 of the rotating speed at 900 turns, acceleration ibid, is down in 3 seconds from 900
100, then
(
) formula 2 is substituted into, obtain denominator：
In
It is also a minimum, empirical tests find that this scheme has following deficiency：
1）Ask that b calculating is extremely complex, amount of calculation is very big, applies on SCM system, if each PWM cycle will be calculated one time, amount of calculation is excessive, will take substantial amounts of cpu resource, and the control point of hosiery machine system, operand is inherently very big, and the rotating speed of syringe is very high, and the time of throwing into of slide cam selector is needed to be accurately controlled, real-time is very high, cpu resource is very limited, if along with a little algorithm applications, CPU, which will be held, can't stand so big computational load.
2）Empirical tests, the b solved is probably the individual decimal less than 1, especially when high speed just reduces speed now, and period register must be shaping, then the value of next period register will keep constant, that is, the several PWM waveforms for being possible to connected can keep constant, now, the N values in next cycle keep constant, then after this end cycle, the b of calculating will keep constant again, then phase week after next will keep constant again, so on, the value of period register will be forever constant, iteration will malfunction, algorithm failure.
Through discussing that checking is found, as above the fine each servomotor of calculating drives the value of PWM cycle, possible in theory, but realizes relatively difficult in practical application, therefore proposes a kind of method of piecewise approximation uniform acceleration control.The method feature is as follows：
Assuming that requiring that this moderating process, from 900 turns grand to 100 turns, was divided into 10 sections by speed in 3 seconds（11 speed points）, the time is also divided evenly into 10 parts, as shown in table 1：
The equal portions table of 1 speed of table 10
| 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | |
| Speed | 900 | 820 | 740 | 660 | 580 | 500 | 420 | 340 | 260 | 180 | 100 |
| Time | 0 | 0.3 | 0.6 | 0.9 | 1.2 | 1.5 | 1.8 | 2.1 | 2.4 | 2.7 | 3 |
The process of deceleration is divided into 10 sections, the speed of every section of reduction is all identical, the time of every section of deceleration is also identical, by every section of deceleration
As one on the whole, every section of acceleration is all process：
And in order to simplify calculating, the period register each cycle in CPU resource occupation, every section that reduces does identical and added up.Although speed in so every section is still just to start the acceleration proved
Work changes, but the velocity shooting now slowed down is smaller, and the period is also smaller（If the Duan Yue divided is more, smaller）, in this velocity shooting, acceleration a change also will not be very big, and on the whole, speed substantially with uniform acceleration 40/9 (
) come what is changed.
It is now assumed that the hop count divided is D, the time of deceleration is T, N (d) (d=1,2,3....D) it is the value of each speed point period register, the system speed is to be down to 100 from 900, after 100 rotating speeds, servomotor can be safely closed, the braking that motor can be safe calculates N (d)：
D is from 0 to D；Divided by 60 be to be transformed into r/second from r/min, obtain：
Substitute into obtain from the 900 period register values for going to 100 turns of D speed points respectively by d=1,2,3....D, can be in internal memory
Allocated size is used to preserve for D+1 one-dimension array, as follows：
int N[D]={ N(0),N(1).....N(D-1),N(D) };
Calculate the increment b in each section below, n be in each section the PWN umber of pulses to be sent by
Simplify：
Substitute into corresponding d can obtain each section it is corresponding
, and
。
Two variables are set：int n;float b;B is used for the increment b (d) for preserving this section, and n is used to count, and each PWM cycle terminates, and the value of register is changed toRound, while n is from Jia 1, if n reaches n (d), then into next section of deceleration, b assigns next section of b (d) again, and n restarts meter from 0, after the n (d) for reaching this section, into next section, until decelerating to the set goal value.
In the beginning of program, expected deceleration time T can easily be inputted, and desired segments D, such as the interior umber of pulse n (d) that above formula can easily obtain segmentation speed point N (d) and each be segmented, by formula 3, formula 4 is known, as long as N (d+1) and N (d) are done simple plus and minus calculation and can tried to achieve by n (d), b (d) is also thus, compared to theoretical uniform acceleration control method, amount of calculation is to reduce from far away.
Strong applicability of the present invention, can easily change according to the high and low layered difference of system hardware level, sets the amount of calculation of different levels, verify as follows：If D obtains bigger, it is segmented more, the control of acceleration and deceleration is then more accurate, control effect is better, but, point Duan Yue it is many, it is desirable to amount of calculation it is more, load to MCU is also heavier, therefore in different application scenarios, it is convenient to set D value, be unlikely to cause MCU excessive burden while the precision of feed speed control is reached, requirement that can be according to system and the level of software and hardware, equilibrium valve is obtained between accuracy and CPU amounts of calculation.
It is increasing with D value, b (d) values can become less and less, also the phenomenon of the decimal less than 1 occurs, the register value in the next cycle in program is rounding for N (d)+n*b (d), possible n takes 1,2, n*b (d) is also less than 1 decimal, illustrate to have two or three of cycle identical pulses presence, but with becoming larger for n, n*b (d) can always be more than 1, and the value of such period register can also change, be not in invariability, so that the phenomenon of failure.
Claims (2)
1. the approximate uniform acceleration control method of the servomotor of automatic hosiery machine, it is characterised in that two variables can be set when the microcontroller programming of automatic hosiery machine is realized：int n; float b;WhereinbFor preserving d-th of acceleration（Or slow down）The numeration increment of periodb(d), nAs counting variable, each PWM cycle terminates, and the value of register is changed toN(d)+n*b(d) round, hereN(d) for register value when the period starts, simultaneouslynFrom adding 1, ifnReachn(d), then show this period complete journey of acceleration or deceleration process, into the acceleration or deceleration of subsequent period,bIt is updated to the value of next periodb(d+1), nRestart to count from 0, reach this sectionn(d+1) after, entern+ 2 sections of acceleration or deceleration process, up to acceleration and deceleration to the set goal value.
2. the approximate uniform acceleration control method of the servomotor of automatic hosiery machine according to claim 1, it is characterised in that
Here
For instruction cycle, generald=1,2,3....DAbove formula is substituted into respectively, obtains going to 100 revs/min from 900DPeriod register value when the individual acceleration and deceleration period starts, can be defined as follows during programming realizationD+1 one-dimension array is used to preserve：int N[D]={ N(0), N(1),... .., N(D-1), N(D)}；According to formula（8）：
It is simplified to obtain：
Substitute into correspondingdEach period can be obtained correspondingn(d) and b (d)。
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