CN102304789B - Electronic differential gear for auto-leveling control of full servo drawing frame - Google Patents
Electronic differential gear for auto-leveling control of full servo drawing frame Download PDFInfo
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- CN102304789B CN102304789B CN 201110218438 CN201110218438A CN102304789B CN 102304789 B CN102304789 B CN 102304789B CN 201110218438 CN201110218438 CN 201110218438 CN 201110218438 A CN201110218438 A CN 201110218438A CN 102304789 B CN102304789 B CN 102304789B
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Abstract
The invention discloses an electronic differential gear for the auto-leveling control of a full servo drawing frame. The electronic differential gear is arranged between a front roller encoder (8) and a back roller motor driver (10) of a drawing frame and comprises a frequency divider (2), a digital filter (3), a pulse generator (4), a speed measuring module (5), a pulse synthesizer (6) and a speed synthesizer (7), wherein output signals of the front roller encoder (8) and an auto-leveling controller (9) are respectively subject to frequency division by the frequency divider (2), filter treatment by the digital filter (3), speed measurement by the speed measuring module (5) and pulse measurement by the pulse generator (4) at the same time, then are introduced into the pulse synthesizer (6) and the speed synthesizer (7) to be subject to speed and pulse synthesis and are output into a back roller motor driver (10), thus the differential control is realized. The electronic differential gear disclosed by the invention has the advantages of identical rigidity to mechanical differential gear, flexible and adjustable gear ratio, mechanical resonance restraining capability and the like.
Description
Technical field
The invention belongs to the Textile Machinery Automatic Control Technology field, specifically, is a kind of electronic control part for the control of drawing frame autoleveller.
Background technology
Drawing frame is the key equipment during weaving is produced, and is used for the ribbon after some combings or the combing is processed into the ribbon with certain quality requirements through drafter.The effect of drawing frame is the internal structure of improving strip, thereby improves its long segment uniformity, reduces simultaneously weight unevenness, make the straightening of fibers in the strip parallel, reduce crotch, make fineness up to specification, make the raw material of variety classes or different qualities evenly mixed, reach the mixing ratio of regulation.The uniformity that the control of the autoleveller of drawing frame can further improve by the drafting multiple that the mass density of input ribbon is controlled drafter the output fiber bar is the dried value of bar.
Draft of drawing frame mechanism is comprised of three pairs of rollers usually, one roller is front roller, maintenance speed is constant to reach fixing speed of production in the drafting process, two rollers and three rollers are rear roller, keep fixing velocity ratio with toothed belt transmission between two rollers and three rollers, realization is to the preliminary draft of ribbon, and the velocity ratio between two rollers and the roller is regulated the dominant draft that realizes ribbon by autolevelling control system.Therefore, the control of the autoleveller of drawing frame finally is to finish by the speed of controlling two rollers.
Transmission control for two rollers mainly contains dual mode: differential gearing mode and separate transmission mode.Fig. 1 is based on the drawing frame auto-leveling system principle schematic of differential gear housing, the plurality of fibers bar and close after, export behind the drafter that forms through the three pairs of rollers.The autoleveller controller detects the mass density of input strip by detecting roller, control the speed of neat and well spaced servomotor, main motor and neat and well spaced motor are connected to the power shaft of mechanical differential gear-box, the output shaft of differential gear housing and two, three rollers are connected, change the speed of two, three rollers by the speed of regulating neat and well spaced servomotor, thereby improve the uniformity of input strip.
The differential gearing mode realized that roller is synchronized with the movement and autoleveller between decoupling zero, but adopt the mechanical differential gear-box, have safeguard complicated, the shortcoming such as gear ratio is regulated dumb, and response characteristic is not high.Adopt the separate transmission mode, namely directly drive two rollers with servomotor, then can overcome above-mentioned shortcoming, but must solve the decoupling problem of roller Synchronous motion control and autoleveller control, otherwise can greatly improve the complexity of two roller Electric Machine Control.
Summary of the invention
The object of the invention is to provide a kind of electronic differential gear for full servo drawing frame autoleveller control, this structure is as the part of drawing frame control system, make electronic differential gear have the rigidity same with the mechanical differential gear, effectively realized being synchronized with the movement and autoleveller between decoupling zero.It is adjustable flexibly to have simultaneously gear ratio, possesses the advantages such as mechanical resonant inhibition ability.
For realizing purpose of the present invention, the present invention proposes following technical scheme::
A kind of electronic differential gear for full servo drawing frame autoleveller control comprises frequency divider, digital filter, impulse generator, speed measuring module, pulse synthesizer and Speed synthesizer.
The input of described frequency divider links to each other with the output of drawing frame front roller encoder, and the output of frequency divider links to each other with the input of speed measuring module and pulse synthesizer respectively; The input of digital filter links to each other with the control signal output of autoleveller controller, and the output of digital filter links to each other with the input of impulse generator and Speed synthesizer respectively; The input of speed measuring module links to each other with the output of frequency divider, and the output of speed measuring module links to each other with the input of Speed synthesizer; The input of impulse generator links to each other with the input of digital filter, and the positive pulse output of impulse generator, two outputs of negative pulse output link to each other with pulse synthesizer; The input of pulse synthesizer links to each other with two outputs of the output of frequency divider, impulse generator, and the output of pulse synthesizer links to each other with the input of drawing frame rear roller motor driver; The input of Speed synthesizer links to each other with the output of the output of digital filter, speed measuring module, and the output of Speed synthesizer links to each other with the input of drawing frame rear roller motor driver.
The output signal of front roller encoder and autoleveller controller is carried out frequency division and filtering processing through frequency divider and digital filter respectively, after carrying out tachometric survey and impulsive measurement, speed measuring module and impulse generator enter again pulse synthesizer and Speed synthesizer respectively simultaneously, carry out outputing to the rear roller motor driver after speed and pulse are synthesized, realize differential control.
Frequency divider can be realized the frequency division of any electronic gear proportion among the present invention, adopts frequency divider, and the weight tooth in the desirable generation-difference speed gear box structure is adjusted.
Digital filter carries out digital low-pass filtering and necessary bandreject filtering to the control instruction signal of autoleveller controller among the present invention, eliminates interference and noise in the control instruction signal, and the frequency band signal that can cause machinery resonance.
Impulse generator changes the output signal of digital filter into pulse signal among the present invention.When the digital filter output signal be on the occasion of the time, the positive pulse output of impulse generator output pulse; When the digital filter output signal is negative value, the negative pulse output of impulse generator output pulse; The frequency of pulse is directly proportional with digital filter output signal amplitude.Impulse generator can not exported positive pulse and negative pulse simultaneously.
Speed measuring module carries out accurate frequency measurement to the pulse signal of frequency divider output among the present invention, obtains the output signal that is directly proportional with pulse signal frequency, and it is synthetic to be used for speed.
Pulse synthesizer superposes the output pulse of frequency divider output pulse and impulse generator among the present invention, within the set time, if frequency divider output umber of pulse is M, impulse generator output positive pulse number is N1, output negative pulse number is N2, then the output umber of pulse of pulse synthesizer is M+N1-N2 within this time, this output pulse outputs to the position ring of two roller motor drivers as position command, and namely output umber of pulse correspondence the moving displacement of two roller motors in the unit interval in the unit interval.
Medium velocity synthesizer of the present invention superposes the output valve of the output valve of speed measuring module and digital filter, obtains the speed command of two roller motors, and this instruction outputs to the position ring of two roller motor drivers as feed-forward signal.
Superiority of the present invention and technique effect are: a kind of electronic differential gear structure for full servo drawing frame autoleveller control is provided, realize the autoleveller control of full servo drawing frame and the decoupling zero control of roller motor Synchronization Control, be that the autoleveller control algolithm only need to provide suitable differential control signal to electronic differential gear according to mass density and the dead band length of input sliver, electronic differential gear has the rigidity same with the mechanical differential gear.This new structure has replaced traditional mechanical differential gear box structure of autoleveller draw frame with electronic component, the advantage that synchronism is good, antijamming capability is strong that has kept again simultaneously the mechanical differential gear-box, the flexibility of control system, responding ability and reliability are high.
Description of drawings:
Fig. 1 is the drawing frame autoleveller control principle schematic diagram based on the mechanical differential gear-box.
Fig. 2 is overall structure schematic diagram of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is made further detailed explanation.
In Fig. 2, electronic differential gear 1 is connected between a drawing frame front roller encoder 8, autoleveller controller 9, the rear roller motor driver 10, and this electronic differential gear 1 comprises frequency divider 2, digital filter 3, impulse generator 4, speed measuring module 5, pulse synthesizer 6, Speed synthesizer 7.Wherein:
The input of frequency divider 2 links to each other with the output of drawing frame front roller encoder 8, and the output of frequency divider 2 links to each other with the input of speed measuring module 5 with pulse synthesizer 6 respectively; The input of digital filter 3 links to each other with the control signal output of autoleveller controller 9, and the output of digital filter 3 links to each other with the input of impulse generator 4 with Speed synthesizer 7 respectively; The input of speed measuring module 5 links to each other with the output of frequency divider 2, and the output of speed measuring module 5 links to each other with the input of Speed synthesizer 7; The input of impulse generator 4 links to each other with the input of digital filter 3, and the positive pulse output of impulse generator 4, two outputs of negative pulse output link to each other with pulse synthesizer 6; The input of pulse synthesizer 6 links to each other with the output of frequency divider 2, two outputs of impulse generator 4, and the output of pulse synthesizer 6 links to each other with the input of drawing frame rear roller motor driver 10; The input of Speed synthesizer 7 links to each other with the output of digital filter 3, the output of speed measuring module 5, and the output of Speed synthesizer 7 links to each other with the input of drawing frame rear roller motor driver 10.
Above-mentioned module can have numerous embodiments, and wherein PLD such as FPGA are best embodiments.The below provides a kind of embodiment based on FPGA, and wherein the modules such as adder, multiplier, counter realize the unit as basic FPGA, directly uses and does not provide its inner implementation structure.
Frequency divider 2: realize for ease of FPGA, at first divide ratio is converted to M/2
NForm, frequency divider inside comprises the accumulator of a 2N position, initial value is zero behind the electrification reset, the rising edge of each input pulse makes the value of accumulator increase M, then the corresponding numerical value X in the high N position of accumulator represents the umber of pulse accumulated value that should export behind the frequency division, with the N digit counter the actual output of frequency divider pulse is counted, and this count value Y and X compared, if Y＜X, then logic circuit produces a pulse to the frequency divider output, unison counter makes Y increase 1, until Y=X, the frequency divider output is no longer exported pulse.Adopt above-mentioned logical construction, the every reception 2 of frequency divider
NIndividual input pulse can produce M output pulse, thereby has realized the frequency division of arbitrary small number ratio.
Digital filter 3: digital filter 3 can adopt adder and multiplier, realizes the iir filter of fixed structure, and filter coefficient can have been calculated according to drawing frame mechanical property and sensor characteristics off-line and offer digital filter as parameter afterwards.
Impulse generator 4: realization and the frequency divider of impulse generator 4 are similar, an accumulator is contained in inside, initial value is zero, every the fixing sampling period, the output valve addition of accumulator and Contemporary Digital wave filter, get the umber of pulse accumulated value that the high N place value of accumulator should be exported as impulse generator 4, the generation with N digit counter and comparator control output pulse makes the pulse accumulations counting of impulse generator 4 actual outputs equate with the high N position of accumulator.
Speed measuring module 5: speed measuring module 5 reaches the purpose that tests the speed by the frequency of measuring input pulse, the measurement of frequency has various ways, as in the unit interval window input pulse being counted, or measure time between two input pulse rising edges etc. with the high-frequency clock pulses.For accurate measuring frequency, can give full play to the advantage of FPGA, adopt above-mentioned two kinds of metering systems that method combines.
Pulse synthesizer 6: can adopt the forward-backward counter of three counting ports, each pulse of the output of frequency divider 2 makes counter increase 1, and each positive pulse of impulse generator 4 outputs also makes counter increase 1, and each negative pulse of impulse generator 4 outputs makes counter subtract 1.
Speed synthesizer 7: can directly adopt adder, the output valve addition of the output valve of digital filter 3 and speed measuring module 5, for the tenaculum symbolic operation, need first the output value table of the output valve of digital filter 3 and speed measuring module 5 is shown as complement of two's two's complement form, then carry out the complement code addition, its result sends to drawing frame rear roller motor driver 10 as output valve.
The course of work of electronic differential gear is as follows:
When the autoleveller controller 9 of outside was not worked, its output control signal was zero, and drawing frame is as the common drawing frame operation without autoleveller.This moment, electronic differential gear was equivalent to an electronic gear, the frequency dividing ratio correspondence of frequency divider 2 electronic gear proportion, when a roller (being front roller) in when motion, be installed in encoder 8 output pulse signals on the roller, this pulse frequency and quantity are directly proportional with speed and the angular displacement of a roller respectively, because the output signal of autoleveller controller 9 is zero, then the output of digital filter 3 also is zero, impulse generator 4 is not exported pulse, the output pulsion phase of the output pulse of pulse synthesizer 6 and frequency divider 2 together at this moment, the output signal of Speed synthesizer 7 is identical with the output signal of speed measuring module 5, the output pulse of pulse synthesizer 6 and the output signal of Speed synthesizer 7 output to two simultaneously, the motor driver 10 of three rollers (being rear roller) drives the roller rotation, the rotating ratio of rear roller motor and a roller is determined by the frequency dividing ratio of frequency divider 2, this frequency dividing ratio determined at the drafting multiple that does not have autoleveller effect bottom roll, by the equipment operator according to technique initialization.
When the autoleveller controller 9 of outside starts work, its output control signal is determined jointly by the ribbon Density Detection transducing signal of autoleveller controller, neat and well spaced control parameter and neat and well spaced control algolithm, this signal is used for control electronic differential gear 1 and realizes electronic differential, and this signal filters out a part of high-frequency noise through digital filter 3 and may cause the frequency band signal of resonance.When the output signal of digital filter 3 is positive signal, impulse generator 4 is at positive pulse output output pulse signal, pulse frequency is directly proportional with the output signal value of digital filter 3 in real time, the pulse number that pulse synthesizer 6 was exported within the unit interval is frequency divider 2 output pulse numbers and impulse generator 4 output pulse number sums, the output signal of Speed synthesizer 7 is speed measuring module 5 output signal values and digital filter 3 output signal value sums, the output pulse of pulse synthesizer 6 and the output signal of Speed synthesizer 7 output to two simultaneously, the motor driver 10 of three rollers (being rear roller) drives the rollers rotation, and the speed of rear roller motor equals the frequency dividing ratio that a roller rotating speed multiply by frequency divider 2 and adds speed corresponding to autoleveller controller 9 output signals.When the output signal of digital filter 3 is negative signal, impulse generator 4 is at negative pulse output output pulse signal, pulse frequency is directly proportional with the output signal value of digital filter 3 in real time, the pulse number that pulse synthesizer 6 was exported within the unit interval is the poor of frequency divider 2 output pulse numbers and impulse generator 4 output pulse numbers, the output signal of Speed synthesizer 7 is the poor of speed measuring module 5 output signal values and digital filter 3 output signal values, the output pulse of pulse synthesizer 6 and the output signal of Speed synthesizer 7 output to two simultaneously, the motor driver 10 of three rollers (being rear roller) drives the rollers rotation, and the speed of rear roller motor equals the frequency dividing ratio that a roller rotating speed multiply by frequency divider 2 and deducts speed corresponding to autoleveller controller 9 output signals again.
Pass through said process, electronic differential gear has been realized and the similar function of mechanical differential gear-box: the differential input is without when input, realize the ordinary gear function, and have flexibly adjustable characteristics of gear ratio, when the differential input has input, speed by electronic method control rear roller motor realizes differential function, reaches the purpose with autoleveller control decoupling zero.
Claims (13)
1. one kind is used for the electronic differential gear that full servo drawing frame autoleveller is controlled, be arranged between drawing frame front roller encoder (8) and the rear roller motor driver (10), it is characterized in that, this electronic differential gear comprises frequency divider (2), digital filter (3), impulse generator (4), speed measuring module (5), pulse synthesizer (6) and Speed synthesizer (7), wherein, this Speed synthesizer (7) adopts adder
The input of described frequency divider (2) links to each other with drawing frame front roller encoder (8), the output of frequency divider (2) is connected respectively to the input of speed measuring module (5) and pulse synthesizer (6), the input of digital filter (3) links to each other with the control signal output of the autoleveller controller (9) of full servo drawing frame, the output of digital filter (3) is connected respectively to the input of impulse generator (4) and Speed synthesizer (7), the output of speed measuring module (5) links to each other with the input of Speed synthesizer (7), the positive pulse output of impulse generator (4) all links to each other with pulse synthesizer (6) input with the negative pulse output, and the output of pulse synthesizer (6) and Speed synthesizer (7) all links to each other with drawing frame rear roller motor driver (10).
2. electronic differential gear according to claim 1, it is characterized in that, described digital filter (3) is used for the control instruction signal of autoleveller controller (9) is carried out digital low-pass filtering and bandreject filtering, with interference and the noise in the elimination control instruction signal, and the frequency band signal that causes machinery resonance.
3. electronic differential gear according to claim 1 and 2 is characterized in that, described impulse generator (4) is used for changing the output signal of digital filter (3) into pulse signal.
4. electronic differential gear according to claim 1 and 2 is characterized in that, described speed measuring module (5) is used for the pulse signal of frequency divider (2) output is carried out frequency measurement, and is with the output signal that obtains being directly proportional with pulse signal frequency, synthetic to be used for speed.
5. electronic differential gear according to claim 3 is characterized in that, described speed measuring module (5) is used for the pulse signal of frequency divider (2) output is carried out frequency measurement, and is with the output signal that obtains being directly proportional with pulse signal frequency, synthetic to be used for speed.
6. according to claim 1,2 or 5 described electronic differential gears, it is characterized in that, described pulse synthesizer (6) is used for the output pulse of frequency divider (2) and the output pulse of impulse generator (4) are superposeed, and the synthetic pulse of stack outputs to the position ring of rear roller motor driver (10) as position command.
7. electronic differential gear according to claim 3, it is characterized in that, described pulse synthesizer (6) is used for the output pulse of frequency divider (2) and the output pulse of impulse generator (4) are superposeed, and the synthetic pulse of stack outputs to the position ring of rear roller motor driver (10) as position command.
8. electronic differential gear according to claim 4, it is characterized in that, described pulse synthesizer (6) is used for the output pulse of frequency divider (2) and the output pulse of impulse generator (4) are superposeed, and the synthetic pulse of stack outputs to the position ring of rear roller motor driver (10) as position command.
9. according to claim 1,2,7 or 8 described electronic differential gears, it is characterized in that, described Speed synthesizer (7) is used for the output valve of speed measuring module (5) and the output valve of digital filter (3) are superposeed, obtain the speed command of rear roller motor driver (10), output to the position ring of rear roller motor driver (10) as feed-forward signal.
10. electronic differential gear according to claim 3, it is characterized in that, described Speed synthesizer (7) is used for the output valve of speed measuring module (5) and the output valve of digital filter (3) are superposeed, obtain the speed command of rear roller motor driver (10), output to the position ring of rear roller motor driver (10) as feed-forward signal.
11. electronic differential gear according to claim 4, it is characterized in that, described Speed synthesizer (7) is used for the output valve of speed measuring module (5) and the output valve of digital filter (3) are superposeed, obtain the speed command of rear roller motor driver (10), output to the position ring of rear roller motor driver (10) as feed-forward signal.
12. electronic differential gear according to claim 5, it is characterized in that, described Speed synthesizer (7) is used for the output valve of speed measuring module (5) and the output valve of digital filter (3) are superposeed, obtain the speed command of rear roller motor driver (10), output to the position ring of two roller motor drivers as feed-forward signal.
13. electronic differential gear according to claim 6, it is characterized in that, described Speed synthesizer (7) is used for the output valve of speed measuring module (5) and the output valve of digital filter (3) are superposeed, obtain the speed command of rear roller motor driver (10), output to the position ring of two roller motor drivers as feed-forward signal.
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| CN 201110218438 CN102304789B (en) | 2011-08-01 | 2011-08-01 | Electronic differential gear for auto-leveling control of full servo drawing frame |
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| CN 201110218438 CN102304789B (en) | 2011-08-01 | 2011-08-01 | Electronic differential gear for auto-leveling control of full servo drawing frame |
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Families Citing this family (5)
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| CN103470714B (en) * | 2013-09-29 | 2015-12-09 | 无锡纳润特科技有限公司 | The gear of evereven |
| CN105002606A (en) * | 2014-04-25 | 2015-10-28 | 苏州科技学院相城研究院 | Application of differential mechanism in textile machine |
| CN104467756A (en) * | 2014-11-12 | 2015-03-25 | 深圳市大族激光科技股份有限公司 | Variable frequency pulse signal generation method and generation device |
| CN105553383B (en) * | 2015-12-25 | 2018-09-21 | 南京冠腾自动化科技有限公司 | Servo-driver super large gear ratio drive control method |
| CN114045582A (en) * | 2022-01-11 | 2022-02-15 | 南通大学 | Modular textile system for winding yarns in batches |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH520936A (en) * | 1969-03-06 | 1972-03-31 | Svu Textilni Liberec | Method for determining the unevenness of textile material moving past and device for carrying out this method |
| US3680298A (en) * | 1970-08-10 | 1972-08-01 | Parks Cramer Co | Textile machine data communicating apparatus and method |
| US4005392A (en) * | 1974-08-02 | 1977-01-25 | Toray Industries, Inc. | Method and apparatus for detecting and recording abnormal conditions in the operation of spinning machines |
| CH696666A8 (en) * | 2002-09-13 | 2007-11-15 | Truetzschler Gmbh & Co Kg | Device for doubling and distorting fiber ribbons. |
| CN2571781Y (en) * | 2002-09-29 | 2003-09-10 | 中国航空工业第六一三研究所 | Autoleveler controller for short-term drawing |
| CN201695120U (en) * | 2010-04-29 | 2011-01-05 | 天门纺织机械有限公司 | Synchronous control mechanism for drawing frame |
| CN202214496U (en) * | 2011-08-01 | 2012-05-09 | 华中科技大学 | Electronic differential gear for controlling auto-leveling of full-servo drawing frame |
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Application publication date: 20120104 Assignee: Xiangyang New Torch Science and Technology Co., Ltd Assignor: Huazhong University of Science and Technology Contract record no.: 2015420000092 Denomination of invention: Electronic differential gear for auto-leveling control of full servo drawing frame Granted publication date: 20131030 License type: Exclusive License Record date: 20150604 |
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