CN103243471A - System and method for controlling variable density of fully automatic computerized flat knitting machine - Google Patents
System and method for controlling variable density of fully automatic computerized flat knitting machine Download PDFInfo
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- CN103243471A CN103243471A CN2013101987410A CN201310198741A CN103243471A CN 103243471 A CN103243471 A CN 103243471A CN 2013101987410 A CN2013101987410 A CN 2013101987410A CN 201310198741 A CN201310198741 A CN 201310198741A CN 103243471 A CN103243471 A CN 103243471A
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Abstract
The invention discloses a system for controlling a variable density of a fully automatic computerized flat knitting machine. The system comprises HCI (Human-Computer Interaction), an upper-layer communication module, a processing module, an interface module and multiple brushless DC (Direct Current) motors, wherein the brushless DC motors are connected to a density triangle through a drive mechanism. A method for controlling the variable density of the fully automatic computerized flat knitting machine comprises the steps of: firstly obtaining a position where the density triangle is going to arrive; finishing the setting of processing data through the upper-layer communication module; calculating and setting a variable value of a position of the density triangle and rotation turns as well as coding variable value of the brushless DC motor corresponding to the variable value; then transmitting a command to the processing module; outputting a PWM (Pulse-Width Modulation) signal by the processing module and converting the PWM signal into a UVW three-phase signal through the interface module; controlling the rotation of the brushless DC motors through the UVW three-phase signal; feeding coded signals back to the processing module by a motor coder while the brushless DC motors rotate; when a coded signal variable value received by the processing module reaches to a set value, stopping sending the PWM signal; and locking the motor. Therefore, the position of the density triangle is changed, and the purpose of changing the fabric count is realized.
Description
Technical field
The present invention relates to full-automatic computer straight-bar machines technical field, relate in particular to a kind of variable density control system and method for full-automatic computer straight-bar machines.
Background technology
The control of degree order is an important control in full-automatic computer flat braiding machine control system, be example with 3 pin machines series full-automatic computer flat braiding machine, it has 4 degree order control motors, traditional degree order control is to use step motor control, stepper motor is by transmission mechanism Connection Density triangle, transmission mechanism is: the output shaft of stepper motor fixedly installs a gear, gear and tooth row engagement, tooth row is by bearing Connection Density triangle, braiding degree order in common every row is identical, can't change density in delegation's braiding.
In same drive mechanism, stepper motor is because rotating speed is low, and rotating torque is little, and easy step-out, low precision, thus regulate density at the volley, variable with the braiding degree order that stepper motor can not be implemented in the braiding row.Degree of variation purpose scheme is also arranged at present, but the cost height is regulated density nor can be implemented between the adjacent needles abroad.
Summary of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, a kind of saving space is provided, the precision height can be implemented in the variable density control system and the method that change the full-automatic computer straight-bar machines of density in delegation's braiding.
Technical scheme of the present invention is achieved in that
A kind of variable density control system of full-automatic computer straight-bar machines, this system comprises:
Man-machine interaction is used for showing motor status information and warning message;
The upper strata communication module is used for sending control command and parameter setting, carries out data interaction with whole system;
Processing module is used for receiving control command, according to configuration parameter data and motor encoder feedback output pwm signal;
Interface module is used for converting pwm signal to the UVW three-phase signal and gives brshless DC motor;
A plurality of brshless DC motors by transmission mechanism Connection Density triangle, receive and carry out driving order to change fabric travel path and density.
As preferably, described processing module comprises Flash, amplifying circuit, dsp processor and FPGA; Dsp processor is the processing center of processing module, be used for communication, the feedback voltage on upper strata detection, with communication, the storage of data and the input of motor encoder signal of FPAG; FPGA is used for the communication of man-machine interaction, the output of pwm signal; Flash is the storage center of processing module, and the data of parameter all are kept in the Flash; Amplifying circuit is to be input to dsp processor for voltage and a voltage that amplifies that the amplification interface module feeds back.
As preferably, described interface module comprises a plurality of SPM modules that link to each other with brshless DC motor, the corresponding brshless DC motor of each SPM module, and the SPM module is carried out for brshless DC motor in order to pwm signal is changed into the UVW three-phase signal.
As preferably, the moment of torsion of brshless DC motor is greater than 0.5N.M, and rotating speed is greater than 3000 rev/mins.The brshless DC motor rotating speed is fast, can realize that the instant between adjacent two pins changes.
A kind of variable density control method of full-automatic computer straight-bar machines, comprise the steps: the position of knowing that at first density triangular will arrive, by the upper strata communication module deal with data setting is finished, calculate and set the changing value of density triangular position and the brshless DC motor corresponding with it and rotate the number of turns, the code change value, give processing module with command transfer then, the order that processing module sends according to the upper strata communication module and the voltage of interface module feedback, the motor encoder signal feedback, output pwm signal, then processing module is passed to interface module to pwm signal, interface module converts pwm signal to the UVW three-phase signal, the UVW three-phase signal is controlled brshless DC motor and is made the corresponding number of turns of its rotation, brshless DC motor moves density triangular by transmission mechanism, the continuous feedback encoding signal of motor encoder was to handling module when brshless DC motor rotated, when the code signal changing value of receiving when processing module reaches setting value, stop to send pwm signal, lock out motor, thereby changed the position of density triangular, reached the purpose that changes Density.
Adopted the principle of the present invention of technique scheme and the advantage that has to be:
The present invention drives each road high-speed brushless DC electromotor by processing module and interface module, and each road high-speed brushless DC electromotor changes the position of the density triangular of full-computerized flat braiding machine by transmission mechanism, thereby changes the density of fabric.
Density control system in the past can not realize that the braiding degree order in the delegation is variable, adopts variable density control system of the present invention, can realize changing density in every braiding row one pin, thereby can accomplish complicated density control.The advantage that the present invention also has is: save the space, the precision height, can not cause step-out, speed is fast, changes the density triangular position by brshless DC motor when head moves, and can realize the unexpected variation between the two adjacent pins.
Description of drawings
Fig. 1 is the frame diagram of variable density control system of the present invention among the embodiment;
Fig. 2 is the work schematic diagram of processing module in the variable density control system of the present invention among the embodiment;
Fig. 3 is the structural representation of transmission mechanism;
Fig. 4 is the Velocity-time graph of a relation of brshless DC motor motion.
The specific embodiment
The specific embodiment of the present invention is as follows:
Embodiment: a kind of variable density control system of full-automatic computer straight-bar machines as shown in Figure 1, comprising:
Man-machine interaction is for showing motor status information and warning message;
The upper strata communication module is used for generating the Electric Machine Control order, and configuration parameter is set, and obtains motor position and status information;
Processing module is used for receiving Electric Machine Control order and configuration parameter, and feedback motor position and status information produce PWM (pulse width modulation) signal according to the Electric Machine Control order, drive brshless DC motor, by IO mouth and man-computer interactive communication; Pwm signal is the driving signal of brshless DC motor.
Interface module comprises 4 SPM modules, and the corresponding brshless DC motor of each SPM module is used for that the pwm signal that processing module produces is converted to the UVW three-phase signal and gives brshless DC motor; The SPM module is for converting pwm signal to the module of UVW three-phase signal.
4 brshless DC motors are represented with Moter respectively in Fig. 1, are used for driving tooth row and then drive density triangular moving, thereby change the yarn track.
Below each parts of forming the variable density control system are done to introduce in detail down:
Man-machine interaction is if be that warning message has overtemperature protection, short-circuit protection, overvoltage protection for demonstration motor status information spinner motor running speed; Overtemperature protection, because overload or other harsh conditions make the device internal temperature too high, device will stop output automatically, brshless DC motor is out of service; Short-circuit protection, because wiring or other reasons cause motor winding suddenly-applied short circuit, driver detects and enters the short-circuit protection state, cuts off all outputs; Overvoltage protection, the internal drive that causes owing to reasons such as quick straight moving, voltage ripple of power network overpressure means occurs and enters guard mode, stops output automatically; Rotating speed shows, measures the revolution of brshless DC motor, and unit is rev/min.
The upper strata communication module, by 485 or CAN communication and processing module carry out data interaction, the data interaction here mainly refers to parameters such as speed ring gain, the speed ring parameter time of integration, position ring gain, motor gear compare.
Processing module, as shown in Figure 2, communication module mutual data in upper strata are saved among the Flash, the voltage feedback of interface module is linked in the dsp processor by amplifying circuit, and No. 4 motor code signals are linked in the dsp processor by level conversion, and dsp processor is by bus and FPGA communication, FPGA is field programmable gate array, FPGA drives man-machine interaction, and dsp processor is passed to FPGA to data, and FPGA produces and output pwm signal.
The pwm signal that interface module, receiving processing module send over converts thereof into the UVW three-phase driving signal and drives 4 road high-speed brushless DC electromotors.
Brshless DC motor is by transmission mechanism Connection Density triangle, as shown in Figure 3, be fixedly connected with a gear 3 on the output shaft 2 of brshless DC motor 1, gear 3 and tooth row 4 engagements, can drive tooth row 4 when gear 3 is rotated moves together, tooth row 4 moves up and down by bearing Connection Density triangle 5, thereby changes the fabric travel path, reaches the purpose that changes Density at last.This transmission mechanism is prior art, does not give unnecessary details at this.Just in same in the past drive mechanism, stepper motor is because rotating speed is low, and rotating torque is little, and easy step-out, low precision, thus regulate density at the volley, variable with the braiding degree order that stepper motor can not be implemented in the braiding row.
Specifically should give an example as following to of the present invention below:
The variable density control system of full-automatic computer flat braiding machine can realize that on three pin machines every pin changes density, dual system 3 pin machines, 4 brshless DC motors that rotate are at a high speed only arranged, change Density by these 4 brshless DC motors, namely rotate by brshless DC motor, drive tooth row, the motion of tooth row has driven the motion of density triangular, density triangular up moves, the stroke of yarn shortens, thereby the density of fabric is diminished, and density triangular down moves, the stroke of yarn is elongated, thereby makes the density of fabric become big.
At first obtain the position that density triangular will arrive, by the upper strata communication module deal with data setting is finished, calculate and set the changing value of density triangular position and the brshless DC motor corresponding with it and rotate the number of turns, the code change value, give processing module with command transfer then, the order that processing module sends according to the upper strata communication module and the voltage of interface module feedback, the motor encoder signal feedback, output pwm signal, then processing module is passed to interface module to pwm signal, interface module converts pwm signal to the UVW three-phase signal, the UVW three-phase signal is controlled brshless DC motor and is made the corresponding number of turns of its rotation, brshless DC motor moves density triangular by transmission mechanism, the continuous feedback encoding signal of motor encoder was to handling module when brshless DC motor rotated, when the code signal changing value of receiving when processing module reaches setting value, stop to send pwm signal, lock out motor, thus the position of density triangular changed, reach the purpose that changes Density.
Be row with 60 inches types of 3 pin machines, known needle-bar total length L is 60 inches, the quantity N of per inch pin is 3 pieces, braiding machine maximum speed V1 is 1.2 meter per seconds, the total kilometres d of density triangular was 600 steps, the position d1 of the density triangular of a last pin was 200 steps, the Velocity-time graph of a relation of brshless DC motor motion as shown in Figure 4, brshless DC motor mean speed V2 is 2000 rev/mins, the density triangular position d2 of next pin was 320 steps, and the motor positive direction is revolved and turned around, and the Pulse Nd that code signal increases is 1000, brshless DC motor revolves and turns around, and density triangular is gone to 600 positions that go on foot from 0.Head runs to next pin from a last pin, and density triangular will run to the position in 320 steps from the position in 200 steps.
The distance B n=L/N=25.4/3=8.4mm of pin and pin; Under full-automatic computer flat braiding machine maximum speed 1.2 meter per second situations, the head operation namely moves the needed time T n=Dn/V1 of Dn from a last pin to this segment distance of next pin; Be Tn=8.4x10
-3/ 1.2=0.007 second.
The upper strata communication module by 485 or CAN notice density triangular to go to the positions in 320 steps, after processing module receives this order, send pwm signal and give interface module, interface module converts pwm signal to the UVW three-phase signal and drives brshless DC motor, the motor rotation, thus code signal is changed.
Density triangular goes to 320, the number of turns Q=of the confidential rotation of brushless dc (d2-d1)/d from 200 now; Be Q=(320-200)/600=0.2.Code change value B=Q * Nd=0.2 * 1000=200.
After processing module receives that motor encoder turns back to 200 pulses, just stop to send out pwm signal, motor remains on lock-out state, and the position of density triangular goes on foot from 200 and has changed to 320 positions that go on foot, thereby makes Density become big.
Claims (5)
1. the variable density control system of a full-automatic computer straight-bar machines is characterized in that this system comprises:
Man-machine interaction is used for showing motor status information and warning message;
The upper strata communication module is used for sending control command and parameter setting, carries out data interaction with whole system;
Processing module is used for receiving control command, according to configuration parameter data and motor encoder feedback output pwm signal;
Interface module is used for converting pwm signal to the UVW three-phase signal and gives brshless DC motor;
A plurality of brshless DC motors by transmission mechanism Connection Density triangle, receive and carry out driving order to change fabric travel path and density.
2. the variable density control system of a kind of full-automatic computer straight-bar machines according to claim 1, it is characterized in that: described processing module comprises Flash, amplifying circuit, dsp processor and FPGA; Dsp processor is the processing center of processing module, be used for communication, the feedback voltage on upper strata detection, with communication, the storage of data and the input of motor encoder signal of FPAG; FPGA is used for the communication of man-machine interaction, the output of pwm signal; Flash is the storage center of processing module, and the data of parameter all are kept in the Flash; Amplifying circuit is to be input to dsp processor for voltage and a voltage that amplifies that the amplification interface module feeds back.
3. the variable density control system of a kind of full-automatic computer straight-bar machines according to claim 1, it is characterized in that: described interface module, comprise a plurality of SPM modules that link to each other with brshless DC motor, the corresponding brshless DC motor of each SPM module, the SPM module is carried out for brshless DC motor in order to pwm signal is changed into the UVW three-phase signal.
4. the variable density control system of a kind of full-automatic computer straight-bar machines according to claim 1, it is characterized in that: the moment of torsion of brshless DC motor is greater than 0.5N.M, and rotating speed is greater than 3000 rev/mins.
5. the variable density control method of a full-automatic computer straight-bar machines, it is characterized in that: at first know the position that density triangular will arrive, by the upper strata communication module deal with data setting is finished, calculate and set the changing value of density triangular position and the brshless DC motor corresponding with it and rotate the number of turns, the code change value, give processing module with command transfer then, the order that processing module sends according to the upper strata communication module and the voltage of interface module feedback, the motor encoder signal feedback, output pwm signal, then processing module is passed to interface module to pwm signal, interface module converts pwm signal to the UVW three-phase signal, the UVW three-phase signal is controlled brshless DC motor and is made the corresponding number of turns of its rotation, brshless DC motor moves density triangular by transmission mechanism, the continuous feedback encoding signal of motor encoder was to handling module when brshless DC motor rotated, when the code signal changing value of receiving when processing module reaches setting value, stop to send pwm signal, lock out motor, thereby changed the position of density triangular, reached the purpose that changes Density.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111008464A (en) * | 2019-11-25 | 2020-04-14 | 中电(福建)工业互联网研究院有限公司 | Digital modeling based on flying loom |
| CN111172661A (en) * | 2020-03-10 | 2020-05-19 | 苏州特点电子科技有限公司 | Dynamic stitch control method of full-automatic computerized flat knitting machine |
| CN113322571A (en) * | 2021-06-25 | 2021-08-31 | 杭州电子科技大学 | Jacquard glove machine process file containing density pattern information and loading method |
| CN114563965A (en) * | 2022-02-22 | 2022-05-31 | 苏州捷蓝智能设备有限公司 | Dynamic stitch control method of full-automatic computerized flat knitting machine |
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| CN111172661B (en) * | 2020-03-10 | 2022-03-01 | 苏州特点电子科技有限公司 | Dynamic stitch control method of full-automatic computerized flat knitting machine |
| CN113322571A (en) * | 2021-06-25 | 2021-08-31 | 杭州电子科技大学 | Jacquard glove machine process file containing density pattern information and loading method |
| CN114563965A (en) * | 2022-02-22 | 2022-05-31 | 苏州捷蓝智能设备有限公司 | Dynamic stitch control method of full-automatic computerized flat knitting machine |
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Application publication date: 20130814 Assignee: FUJIAN RAYNEN TECHNOLOGY CO., LTD. Assignor: Zhejiang Dingju Electronic Technology Co., Ltd. Contract record no.: 2018330000003 Denomination of invention: System and method for controlling variable density of fully automatic computerized flat knitting machine Granted publication date: 20150819 License type: Exclusive License Record date: 20180124 |
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Effective date of registration: 20190708 Address after: 350003 No. 89 Tongpan Road Software Avenue, Gulou District, Fuzhou City, Fujian Province, 26 Software Park C District Patentee after: FUJIAN RAYNEN TECHNOLOGY CO., LTD. Address before: 310052 3 floors of No.1 Workshop, No.6 Park Zhonglu, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: Zhejiang Dingju Electronic Technology Co., Ltd. |