CN103243471B - A kind of variable density control system of Full-automatic computerized flat and method - Google Patents
A kind of variable density control system of Full-automatic computerized flat and method Download PDFInfo
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- CN103243471B CN103243471B CN201310198741.0A CN201310198741A CN103243471B CN 103243471 B CN103243471 B CN 103243471B CN 201310198741 A CN201310198741 A CN 201310198741A CN 103243471 B CN103243471 B CN 103243471B
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Abstract
The invention discloses a kind of variable density control system of Full-automatic computerized flat, this system comprises: man-machine interaction, upper strata communication module, processing module, interface module and multiple brshless DC motor, and brshless DC motor is by transmission mechanism Connection Density triangle.First the position that density triangular will arrive is known, by upper strata communication module, process data are provided with, calculate and set the changing value of density triangular position and the brshless DC motor corresponding with it rotates the number of turns, code change value, then by command transfer to processing module, processing module output pwm signal converts UVW three-phase signal to by interface module again, UVW three-phase signal controls brshless DC motor and rotates, while brshless DC motor rotates, the continuous feedback encoding signal of motor encoder is to processing module, when the code signal changing value that processing module receives reaches setting value, stop sending pwm signal, lock out motor, thus change the position of density triangular, reach the object changing Density.
Description
Technical field
The present invention relates to Full-automatic computerized flat technical field, particularly relate to a kind of variable density control system and method for Full-automatic computerized flat.
Background technology
Degree order controls to be an important control in full-automatic computer flat braiding machine control system, for 3 pin machine series full-automatic computer flat braiding machines, it has 4 to spend order control motor, traditional degree order controls to be by step motor control, stepper motor is by transmission mechanism Connection Density triangle, transmission mechanism is: the output shaft of stepper motor is fixedly installed a gear, gear engages with tooth row, tooth row is by bearing Connection Density triangle, usually the braiding degree order in often going is identical, cannot change density in a line braiding.
In same drive mechanism, stepper motor due to rotating speed low, rotating torque is little, and easy step-out, low precision, so regulating density at the volley, the braiding degree order that can not realize in a rows of knitting with stepper motor is variable.Also have degree of variation object scheme abroad at present, but cost is high, nor can regulating density between adjacent needles be realized.
Summary of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, provide a kind of saving space, precision is high, can be implemented in the variable density control system and the method that change the Full-automatic computerized flat of density in a line braiding.
Technical scheme of the present invention is achieved in that
A variable density control system for Full-automatic computerized flat, this system comprises:
Man-machine interaction, for showing motor status information and warning message;
Upper strata communication module, for sending control command and optimum configurations, carries out data interaction with whole system;
Processing module, for receiving control command, according to configuration parameter data and motor encoder feedback output pwm signal;
Interface module, for converting UVW three-phase signal to brshless DC motor by pwm signal;
Multiple brshless DC motor, by transmission mechanism Connection Density triangle, receives and performs to drive and order to change fabric run track and density.
As preferably, described processing module comprises Flash, amplifying circuit, dsp processor and FPGA; Dsp processor is the processing center of processing module, for the detection of the communication on upper strata, feedback voltage, the input with the communication of FPGA, the storage of data and motor encoder signal; FPGA, 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 are all kept in Flash; Amplifying circuit is for amplifying voltage that interface module feeds back and the voltage amplified being input in dsp processor.
As preferably, described interface module, comprises multiple SPM module be connected with brshless DC motor, and the corresponding brshless DC motor of each SPM module, SPM module performs for brshless DC motor in order to pwm signal to be changed into 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 revs/min.Brshless DC motor rotating speed is fast, can realize the instant change between adjacent two pins.
A kind of variable density control method of Full-automatic computerized flat, comprise the steps: the position first knowing that density triangular will arrive, by upper strata communication module, process data are provided with, calculate and set the changing value of density triangular position and the brshless DC motor corresponding with it rotates the number of turns, code change value, then by command transfer to processing module, the Voltage Feedback of the order that processing module sends according to upper strata communication module and interface module, motor encoder signal feeds back, output pwm signal, then processing module passes to interface module pwm signal, interface module converts UVW three-phase signal to pwm signal, UVW three-phase signal controls brshless DC motor makes it rotate the corresponding number of turns, brshless DC motor makes density triangular move by transmission mechanism, while brshless DC motor rotates, the continuous feedback encoding signal of motor encoder is to processing module, when the code signal changing value that processing module receives reaches setting value, stop sending pwm signal, lock out motor, thus change the position of density triangular, reach the object changing Density.
The principle of the present invention that have employed technique scheme and the advantage had are:
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 computer-controlled flat knitting machine by transmission mechanism, thus changes the density of fabric.
The braiding degree order that density control system in the past can not realize in a line is variable, adopts variable density control system of the present invention, can realize changing density in every rows of knitting one pin, thus can accomplish complicated density domination.The advantage that the present invention also has is: save space, precision is high, can not cause step-out, and speed is fast, changes density triangular position, can realize the unexpected change between two adjacent pins when head runs by brshless DC motor.
Accompanying drawing explanation
Fig. 1 is the frame diagram of variable density control system of the present invention in embodiment;
Fig. 2 is the operating diagram of processing module in variable density control system of the present invention in 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.
Detailed description of the invention
The specific embodiment of the present invention is as follows:
Embodiment: a kind of variable density control system of Full-automatic computerized flat, as shown in Figure 1, comprising:
Man-machine interaction is for showing motor status information and warning message;
Upper strata communication module, for generating Electric Machine Control order, arranges configuration parameter, obtains motor position and status information;
Processing module, for receiving Electric Machine Control order and configuration parameter, feedback motor position and status information, produce PWM (pulse width modulation) signal according to Electric Machine Control order, drive brshless DC motor, by I/O port and man-computer interactive communication; Pwm signal is the drive singal of brshless DC motor.
Interface module, comprises 4 SPM modules, the corresponding brshless DC motor of each SPM module, and the pwm signal for processing module being produced is converted to UVW three-phase signal to brshless DC motor; SPM module is module pwm signal being converted to UVW three-phase signal.
4 brshless DC motors, represent with Moter in FIG respectively, for driving tooth row and then driving density triangular to move, thus change yarn track.
Lower introduction is in detail done to each parts of composition variable density control system below:
Man-machine interaction, if be that warning message has overtemperature protection, short-circuit protection, overvoltage protection for showing motor status information spinner motor running speed; Overtemperature protection, because overload or other severe conditions make device internal temperature too high, device will stop exporting automatically, and 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 short-circuit protection state, cuts off all output; Overvoltage protection, the internal drive caused due to reasons such as quick direct acting, voltage ripple of power network occurs that overpressure means enters guard mode, automatically stops exporting; Rotating speed shows, and measures the revolution of brshless DC motor, and unit is rev/min.
Upper strata communication module, carry out data interaction by 485 or CAN communication and processing module, data interaction here mainly refers to the parameters such as speed ring gain, the speed ring parameter time of integration, position loop gain, motor gear ratio.
Processing module, as shown in Figure 2, communication module mutual data in upper strata are saved in Flash, the Voltage Feedback of interface module is linked in dsp processor by amplifying circuit, and 4 road motor encoder signals are linked in 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 passes to FPGA data, and FPGA produces and output pwm signal.
Interface module, the pwm signal that receiving processing module sends over, converts thereof into UVW three-phase driving signal to drive 4 road high-speed brushless DC electromotors.
Brshless DC motor is by transmission mechanism Connection Density triangle, as shown in Figure 3, the output shaft 2 of brshless DC motor 1 is fixedly connected with a gear 3, gear 3 engages with tooth row 4, tooth row 4 can be driven to move together when gear 3 is rotated, tooth row 4 is moved up and down by bearing Connection Density triangle 5, thus changes fabric run track, finally reaches the object changing Density.This transmission mechanism is prior art, and therefore not to repeat here.Just in the past same drive mechanism, stepper motor due to rotating speed low, rotating torque is little, and easy step-out, low precision, so regulating density at the volley, the braiding degree order that can not realize in a rows of knitting with stepper motor is variable.
Following citing is done to embody rule of the present invention below:
The variable density control system of full-automatic computer flat braiding machine can realize every pin and change density on three pin machines, dual system 3 pin machine, there is the brshless DC motor of 4 High Rotation Speeds only, Density is changed by these 4 brshless DC motors, namely rotated 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, thus the density of fabric is diminished, and density triangular down moves, the stroke of yarn is elongated, thus makes the density of fabric become large.
First the position that density triangular will arrive is obtained, by upper strata communication module, process data are provided with, calculate and set the changing value of density triangular position and the brshless DC motor corresponding with it rotates the number of turns, code change value, then by command transfer to processing module, the Voltage Feedback of the order that processing module sends according to upper strata communication module and interface module, motor encoder signal feeds back, output pwm signal, then processing module passes to interface module pwm signal, interface module converts UVW three-phase signal to pwm signal, UVW three-phase signal controls brshless DC motor makes it rotate the corresponding number of turns, brshless DC motor makes density triangular move by transmission mechanism, while brshless DC motor rotates, the continuous feedback encoding signal of motor encoder is to processing module, when the code signal changing value that processing module receives reaches setting value, stop sending pwm signal, lock out motor, thus change the position of density triangular, reach the object changing Density.
With 3 pin machine, 60 inches of types for row, 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 is 600 steps, the position d1 of the density triangular of a upper pin is 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 revs/min, the density triangular position d2 of next pin is 320 steps, motor positive direction is revolved and is turned around, the Pulse Nd that code signal increases is 1000, brshless DC motor revolves and turns around, density triangular goes to the position of 600 steps from 0.Head runs to next pin from a upper pin, and density triangular will run to the position of 320 steps from the position of 200 steps.
The distance Dn=L/N=25.4/3=8.4mm of pin and pin; In full-automatic computer flat braiding machine maximum speed 1.2 meter per second situation, namely head operation runs the time Tn=Dn/V1 required for Dn from a upper pin to this segment distance of next pin; I.e. Tn=8.4x10
-3/ 1.2=0.007 second.
By 485 or CAN, upper strata communication module notifies that density triangular will go to the position of 320 steps, after processing module receives this order, send pwm signal to interface module, interface module converts UVW three-phase signal to drive brshless DC motor pwm signal, motor rotates, thus code signal is changed.
Present density triangular goes to 320 from 200, number of turns Q=(the d2-d1)/d of the confidential rotation of brushless dc; I.e. Q=(320-200)/600=0.2.Code change value B=Q × Nd=0.2 × 1000=200.
When processing module receives after motor encoder turns back to 200 pulses, just stop sending out a pwm signal, motor remains on lock-out state, and the position of density triangular has changed to the position of 320 steps from 200 steps, thus makes Density become large.
Claims (3)
1. a variable density control system for Full-automatic computerized flat, is characterized in that this system comprises:
Man-machine interaction, for showing motor status information and warning message;
Upper strata communication module, for sending control command and optimum configurations, carries out data interaction with whole system;
Processing module, for receiving control command, according to configuration parameter data and motor encoder feedback output pwm signal;
Interface module, for converting UVW three-phase signal to brshless DC motor by pwm signal;
Multiple brshless DC motor, by transmission mechanism Connection Density triangle, receives and performs to drive and order to change fabric run track and density;
Described processing module comprises Flash, amplifying circuit, dsp processor and FPGA; Dsp processor is the processing center of processing module, for the detection of the communication on upper strata, feedback voltage, the input with the communication of FPGA, the storage of data and motor encoder signal; FPGA, 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 are all kept in Flash; Amplifying circuit is for amplifying voltage that interface module feeds back and the voltage amplified being input in dsp processor.
2. the variable density control system of a kind of Full-automatic computerized flat according to claim 1, it is characterized in that: described interface module, comprise multiple SPM module be connected with brshless DC motor, the corresponding brshless DC motor of each SPM module, SPM module performs for brshless DC motor in order to pwm signal to be changed into UVW three-phase signal.
3. the variable density control system of a kind of Full-automatic computerized flat according to claim 1, it is characterized in that: the moment of torsion of brshless DC motor is greater than 0.5N.M, rotating speed is greater than 3000 revs/min.
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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 |
| 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 |
| CN113322571B (en) * | 2021-06-25 | 2022-12-02 | 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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| JP4366312B2 (en) * | 2004-12-27 | 2009-11-18 | 株式会社島精機製作所 | Flat knitting machine with degree adjustment function, knitting method, and knitting program |
| CN2807310Y (en) * | 2005-04-25 | 2006-08-16 | 杭州浙大辰光科技有限公司 | Computer straight-bar machine head motor control system |
| CN101499753B (en) * | 2009-03-10 | 2011-08-10 | 常州合泰微特电机有限公司 | Brushless servo control system and driving apparatus based on permanent magnet brushless DC motor |
| CN201667633U (en) * | 2010-02-11 | 2010-12-08 | 利德国际企业有限公司 | Brushless DC motor as well as controller thereof and textile machine using brushless DC motor |
| CN101950164B (en) * | 2010-08-26 | 2013-04-03 | 浙江理工大学 | Flat knitting machine nose high speed reversing control method and control system thereof |
| CN202047215U (en) * | 2011-03-12 | 2011-11-23 | 浙江恒强科技股份有限公司 | Closed-loop control system for density motor of flat knitting machine |
| CN202530246U (en) * | 2012-03-01 | 2012-11-14 | 北京大豪科技股份有限公司 | Density compensation control system for computerized flat knitting machine head |
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Address after: 310052, 1 floor, No. 6, Middle Road, Binjiang District Park, Hangzhou, Zhejiang, 3 Applicant after: Hangzhou Ding Ju electronic Polytron Technologies Inc Address before: 310052, 1 floor, No. 6, Middle Road, Binjiang District Park, Hangzhou, Zhejiang, 3 Applicant before: Hangzhou Design Technology Co.,Ltd. |
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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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