CN103147178B - Novel high-speed two-for-one twister control system and method based on brushless direct current motors - Google Patents
Novel high-speed two-for-one twister control system and method based on brushless direct current motors Download PDFInfo
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- CN103147178B CN103147178B CN201310095132.2A CN201310095132A CN103147178B CN 103147178 B CN103147178 B CN 103147178B CN 201310095132 A CN201310095132 A CN 201310095132A CN 103147178 B CN103147178 B CN 103147178B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P70/62—Manufacturing or production processes characterised by the final manufactured product related technologies for production or treatment of textile or flexible materials or products thereof, including footwear
Abstract
The invention relates to a novel high-speed two-for-one twister control system and method based on brushless direct current motors. A conventional two-for-one twister control system controls the rotating speeds of other motors by only controlling a frequency converter. The novel high-speed two-for-one twister control system comprises advanced reduced instruction set computer (RISC) machine (ARM) processors STM32F103, a human-computer interaction interface module, a 485 communication module, an intelligent power module (IPM) and a brushless direct current motor module. The human-computer interaction interface module and the 485 communication module are respectively connected with two serial communication interfaces of each ARM processor; pulse width modulation (PWM) pins of each ARM processor are connected with an input end of the IPM; U, V and W output pins of the IPM are connected with the brushless direct current motors in one-to-one correspondence; and a current and speed feedback end of each path of brushless direct current motor is connected with input pins of the ARM processors in the path and other paths. By the system and the method, the rotating speed of each brushless direct current motor in a two-for-one twister system can be controlled cooperatively.
Description
Technical field
The invention belongs to frame field, be specifically related to a kind of novel high speed double twisting machine control system and method based on brshless DC motor.
Background technology
Existing high speed double twisting machine control system, great majority are to be all main control unit by a Programmable Logic Controller, control spindle motor speed (frequency converter timing), coiling motor speed (frequency converter timing), traverse and move yarn motor speed (servo-driver speed governing), the control program of technological parameter is set and shows with LCD touch-screen.This control system is not only very high to the performance requirement of CPU, controls very complicatedly, and final yarns molding effect is also not ideal.The inefficiency of common AC induction motor in addition, noise is also large, and energy loss is more serious.
Summary of the invention
The object of the invention is for the deficiencies in the prior art, proposes a kind of novel high speed double twisting machine control system and method based on brshless DC motor.
The novel high speed double twisting machine control system that the present invention is based on brshless DC motor comprises human-computer interaction interface module, coiling electric machine controller module, the moulding electric machine controller module of traversing, a plurality of spindle motor controller module, coiling motor driver module, moulding motor driver module, a plurality of spindle motor Drive Module and a plurality of brshless DC motor traverse; Described coiling electric machine controller module, traverse moulding controller module and a plurality of spindle motor controller module employing arm processor STM32F103, described coiling motor driver module, the moulding motor driver module of traversing, a plurality of spindle motor Drive Module adopt IPM power driver module; Each control circuit comprises a controller module, a Drive Module and a brshless DC motor, the PWM output pin of controller module is connected with the signal input tube pin of Drive Module, and the U of Drive Module, V, tri-output pins of W and brshless DC motor connect one to one.The coiling motor i.e. hall position sensor of No. 1 brshless DC motor is connected with the input capture pin of Ben Lu and other each road controller modules, and coiling motor is that the current feedback terminal of No. 1 brshless DC motor and the ADC module input pin of Ben Lu and other each road controller modules are connected.The input capture pin of the hall position sensor Yu Zhe road controller module of No. 2 ~ N brshless DC motor connects, and the ADC module input pin of the current feedback terminal Yu Zhe road controller module of No. 2 ~ N brshless DC motor connects.Each electric machine controller module is connected with the controller module of other control circuits by 485 communication modules.Between described human-computer interaction interface module and coiling electric machine controller module, by serial communication interface, be connected.
Novel high speed two-for-one twister control method based on brshless DC motor, comprises the following steps:
Step (1): arm processor obtains the IPM module selection instruction information in human-computer interaction interface device
, yarn linear speed is set command information
, the twist is set command information
;
Step (2): arm processor obtains
,
,
, first will
with
temporary, according to twist computing formula: ingot speed=twist * coiling linear speed, therefore can calculate the tracking relationship between spindle rotating speed and coiling linear speed by twist computing formula, again according to angle formula: thread-carrier speed=coiling is around fast * tg θ, wherein θ is the angle of the crossing, thread-carrier speed is the rotating speed of the moulding motor that traverses, and calculates the frequency of transverse moving of the moulding motor that traverses, by arm processor according to setting
automatically regulate the PWM dutycycle of brushless direct current motor driver
, the rotating speed of control brshless DC motor; Between the PWM of arm processor pin and the input pin of power driver module, adding a time constant is
filtering link, wherein
time constant with feedback signal filter circuit
consistent, guarantee that given signal and feedback signal, through same delay, reach synchronous in time;
Step (3): arm processor by relatively finding if
under
there is renewal, at the brushless direct current motor driver power switch pipe middle part of conduction period, detect the electric current of driver DC loop bus, and export the current feedback signal of a 4～20mA
, send into the ADC module of Ben Lu and other each road controller modules.The input capture module of arm processor, by catching Hall element rising pulse signal, adopts median-value filter algorithm to calculate actual speed measured value
, more measured each current signal, tach signal and the setting value obtaining contrasted, then coordinate and revise the rotating speed of each brshless DC motor, guarantee that double twisting function completes yarn moulding automatically.
Beneficial effect of the present invention is: two-for-one twister is controlled spindle motor and traversed according to the yarn speed automatic synchronization of setting and moves the rotating speed of yarn motor, thereby has improved operating efficiency and yarn Forming Quality.Set after two-for-one twister linear speed, by spindle motor and current feedback and the speed of moving yarn motor of traversing feed back, the interior ring with electric current loop as speed ring, the actual speed that the motor and traversing of guaranteeing to reel moves yarn motor is followed the linear speed of yarn automatically.The present invention controls the rotating speed between each brshless DC motor by effective coordination, has overcome two-for-one twister in the past and has carried out transmission by speed-changing gear box and belt, has greatly improved the electrical efficiency of two-for-one twister.By 485 communication interfaces, two-for-one twister operational factor is uploaded to host computer in real time, realized remote monitoring.The present invention is by substituting traditional AC induction motor with brshless DC motor, not only eliminated the loss that traditional multi-stage speed-reducing scheme is brought, and brshless DC motor also has that volume is little, lightweight, moment is large, speed adjustable range is wide, good reliability and efficiency high, so after employing the present invention program, the integrated power-saving rate of two-for-one twister can reach 20% ~ 60%, and energy-saving effect is very remarkable.
Accompanying drawing explanation
Fig. 1 is schematic block circuit diagram of the present invention.
The specific embodiment
As shown in Figure 1, the novel high speed double twisting machine control system based on brshless DC motor comprises human-computer interaction interface module, coiling electric machine controller module, the moulding electric machine controller module of traversing, a plurality of spindle motor controller module, coiling motor driver module, moulding motor driver module, a plurality of spindle motor Drive Module and a plurality of brshless DC motor traverse; Described coiling electric machine controller module, traverse moulding controller module and a plurality of spindle motor controller module employing arm processor STM32F103, described coiling motor driver module, the moulding motor driver module of traversing, a plurality of spindle motor Drive Module adopt IPM power driver module; Each control circuit comprises a controller module, a Drive Module and a brshless DC motor, the PWM output pin of controller module is connected with the signal input tube pin of Drive Module, and the U of Drive Module, V, tri-output pins of W and brshless DC motor connect one to one.The coiling motor i.e. hall position sensor of No. 1 brshless DC motor is connected with the input capture pin of Ben Lu and other each road controller modules, and coiling motor is that the current feedback terminal of No. 1 brshless DC motor and the ADC module input pin of Ben Lu and other each road controller modules are connected.The input capture pin of the hall position sensor Yu Zhe road controller module of No. 2 ~ N brshless DC motor connects, and the ADC module input pin of the current feedback terminal Yu Zhe road controller module of No. 2 ~ N brshless DC motor connects.Each electric machine controller module is connected with the controller module of other control circuits by 485 communication modules.Between described human-computer interaction interface module and coiling electric machine controller module, by serial communication interface, be connected.
Novel high speed two-for-one twister control method based on brshless DC motor, comprises the following steps:
Step (1): arm processor obtains the IPM module selection instruction information in human-computer interaction interface device
, yarn linear speed is set command information
, the twist is set command information
;
Step (2): arm processor obtains
,
,
, first will
with
temporary, according to twist computing formula: ingot speed=twist * coiling linear speed, therefore can calculate the tracking relationship between spindle rotating speed and coiling linear speed by twist computing formula, again according to angle formula: thread-carrier speed=coiling is around fast * tg θ, wherein θ is the angle of the crossing, thread-carrier speed is the rotating speed of the moulding motor that traverses, and calculates the frequency of transverse moving of the moulding motor that traverses, by arm processor according to setting
automatically regulate the PWM dutycycle of brushless direct current motor driver
, the rotating speed of control brshless DC motor; Between the PWM of arm processor pin and the input pin of power driver module, adding a time constant is
filtering link, wherein
time constant with feedback signal filter circuit
consistent, guarantee that given signal and feedback signal, through same delay, reach synchronous in time;
Step (3): arm processor by relatively finding if under
there is renewal, at the brushless direct current motor driver power switch pipe middle part of conduction period, detect the electric current of driver DC loop bus, and export the current feedback signal of a 4～20mA
, send into Ben Lu and and the ADC module of other each road controller modules.The input capture module of arm processor, by catching Hall element rising pulse signal, adopts median-value filter algorithm to calculate actual speed measured value
, more measured each current signal, tach signal and the setting value obtaining contrasted, then coordinate and revise the rotating speed of each brshless DC motor, guarantee that double twisting function completes yarn moulding automatically.
Claims (2)
1. the high speed double twisting machine control system based on brshless DC motor comprises human-computer interaction interface module, coiling electric machine controller module, the moulding electric machine controller module of traversing, a plurality of spindle motor controller module, coiling motor driver module, moulding motor driver module, a plurality of spindle motor Drive Module and a plurality of brshless DC motor traverse; It is characterized in that: described coiling electric machine controller module, traverse moulding controller module and a plurality of spindle motor controller module employing arm processor STM32F103, described coiling motor driver module, the moulding motor driver module of traversing, a plurality of spindle motor Drive Module adopt IPM power driver module; Each control circuit comprises a controller module, a Drive Module and a brshless DC motor, the PWM output pin of controller module is connected with the signal input tube pin of Drive Module, and the U of Drive Module, V, tri-output pins of W and brshless DC motor connect one to one; The coiling motor i.e. hall position sensor of No. 1 brshless DC motor is connected with the input capture pin of Ben Lu and other each road controller modules, and coiling motor is that the current feedback terminal of No. 1 brshless DC motor and the ADC module input pin of Ben Lu and other each road controller modules are connected; The input capture pin of the hall position sensor Yu Zhe road controller module of No. 2～N brshless DC motor connects, and the ADC module input pin of the current feedback terminal Yu Zhe road controller module of No. 2～N brshless DC motor connects; Each electric machine controller module is connected with the controller module of other control circuits by 485 communication modules; Between described human-computer interaction interface module and coiling electric machine controller module, by serial communication interface, be connected.
2. the high speed two-for-one twister control method based on brshless DC motor, is characterized in that the method comprises the following steps:
Step (1): arm processor obtains the IPM module selection instruction information M in human-computer interaction interface device
i, i=1,2......n, yarn linear speed is set command information ω
i, i=1,2......n, the twist is set command information η
i, i=1,2......n;
Step (2): arm processor obtains M
i, ω
i, η
i, first by M
iand η
itemporary, according to twist computing formula: ingot speed=twist * coiling linear speed, therefore can calculate the tracking relationship between spindle rotating speed and coiling linear speed by twist computing formula, again according to angle formula: thread-carrier speed=coiling is around fast * tg θ, wherein θ is the angle of the crossing, thread-carrier speed is the rotating speed of the moulding motor that traverses, and calculates the frequency of transverse moving of the moulding motor that traverses, by arm processor according to the ω setting
iautomatically regulate the PWM duty cycle, delta of brushless direct current motor driver
i, the rotating speed of control brshless DC motor; Between the PWM of arm processor pin and the input pin of power driver module, add the filtering link that a time constant is τ, wherein τ is consistent with the time constant γ of feedback signal filter circuit, guarantee that given signal and feedback signal, through same delay, reach synchronous in time;
Step (3): arm processor is by relatively finding if M
iunder ω
i, i=1,2......n has renewal, at the brushless direct current motor driver power switch pipe middle part of conduction period, detects the electric current of driver DC loop bus, and exports the current feedback signal λ of a 4～20mA
i, i=1,2......n, sends into the ADC module of Ben Lu and other each road controller modules; The input capture module of arm processor, by catching Hall element rising pulse signal, adopts median-value filter algorithm to calculate actual speed measured value ν
i, i=1,2......n, more measured each current signal, tach signal and the setting value obtaining contrasted, then coordinate and revise the rotating speed of each brshless DC motor, guarantee that double twisting function completes yarn moulding automatically.
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|---|---|---|---|
| CN201310095132.2A CN103147178B (en) | 2013-03-22 | 2013-03-22 | Novel high-speed two-for-one twister control system and method based on brushless direct current motors |
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|---|---|---|---|
| CN201310095132.2A CN103147178B (en) | 2013-03-22 | 2013-03-22 | Novel high-speed two-for-one twister control system and method based on brushless direct current motors |
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| CN103147178A CN103147178A (en) | 2013-06-12 |
| CN103147178B true CN103147178B (en) | 2014-01-29 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103438920A (en) * | 2013-08-23 | 2013-12-11 | 同济大学 | Fault diagnosis method, fault-tolerant control method and fault-tolerant control system of BLDC position sensor |
| CN103513615A (en) * | 2013-09-17 | 2014-01-15 | 吴江永固纺配有限公司 | Automatic control system of two-for-one twister |
| CN104775202B (en) * | 2015-01-21 | 2017-05-17 | 浙江日发纺织机械股份有限公司 | Electronic yarn guide method applied to two-for-one twister and device thereof |
| CN105155049A (en) * | 2015-07-23 | 2015-12-16 | 绍兴文理学院 | Two-for-one twister multi-motor intelligent control system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1558008A (en) * | 2004-01-17 | 2004-12-29 | 无锡市宏源针织机械厂 | Microcomputer-controlled two-for-one twister |
| CN1558010A (en) * | 2004-01-17 | 2004-12-29 | 无锡市宏源针织机械厂 | Control system for coiling mechanism of two-for-one twister |
| CN203128726U (en) * | 2013-03-22 | 2013-08-14 | 杭州电子科技大学 | Novel high-speed two-for-one twister control system based on brushless direct current motors |
-
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- 2013-03-22 CN CN201310095132.2A patent/CN103147178B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1558008A (en) * | 2004-01-17 | 2004-12-29 | 无锡市宏源针织机械厂 | Microcomputer-controlled two-for-one twister |
| CN1558010A (en) * | 2004-01-17 | 2004-12-29 | 无锡市宏源针织机械厂 | Control system for coiling mechanism of two-for-one twister |
| CN203128726U (en) * | 2013-03-22 | 2013-08-14 | 杭州电子科技大学 | Novel high-speed two-for-one twister control system based on brushless direct current motors |
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