CN103336484A - Safety control method for fast revolution of flat machine - Google Patents
Safety control method for fast revolution of flat machine Download PDFInfo
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- CN103336484A CN103336484A CN2013103019611A CN201310301961A CN103336484A CN 103336484 A CN103336484 A CN 103336484A CN 2013103019611 A CN2013103019611 A CN 2013103019611A CN 201310301961 A CN201310301961 A CN 201310301961A CN 103336484 A CN103336484 A CN 103336484A
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Abstract
The invention discloses a safety control method for fast revolution of a flat machine, which comprises the following steps: firstly, a coder of a servo motor of the machine head of the flat machine is simultaneously connected with a main control panel and a server, the servo motor is in control connection with the server, and the main control panel is in communication connection with the server; then, the main control panel obtains both the operation start point and the operation end point of each line before operation, and the maximum coder value which the operation of each line reaches through reading and analyzing design information of a product, then the main control panel is combined with the acceleration and deceleration performance control parameter to calculate the coder values corresponding to each deceleration position point and each acceleration position point; the main control panel sends the positions of each deceleration position point and each acceleration position point, the corresponding coder values and target speed to the server; finally, in the process of operation of each line, the server directly monitors the output value of the coder to enable the servo motor to operate at each deceleration position point and each acceleration position point according to destined coder values, so that optimal revolution control is realized.
Description
Technical field
The invention belongs to pin frame tool intelligent control technology field, relate to a kind of method of controlling security of straight-bar machines fast rotation.
Background technology
Straight-bar machines just needs revolution for each braiding row after arriving certain characteristic point position in the braiding process, the quality of the speed control of straight-bar machines in turning course is directly connected to braid efficiency and the production safety of straight-bar machines.
The revolution control mode of the master control borad employing on the straight-bar machines is at present, calculate the solstics that head need arrive, before arriving the solstics, a less velocity amplitude is set, arrive the solstics and according to rotary position a series of reciprocal velocity amplitudes are set again later on, like this near the solstics, everyly reach a position and just send the speed that corresponding signal changes head, the control head is realized revolution.The head detection position of straight-bar machines master control borad gained is to realize by the encoder values of gathering head motor servomechanism, every when reaching an encoded radio, master control borad will send corresponding order to servomechanism and control servomechanism change speed, like this, because the straight-bar machines master control borad reads the servomechanism positional information, all needs the regular hour to servomechanism transmission order and servomechanism change speed, the hysteresis that the stack of these three periods has just caused speed to come into force, it is slack-off finally to cause turning round control delay on opportunity, and head can not be realized revolution in the optimum position.
In addition, the head work safety range control method of existing straight-bar machines is, spacing position is installed limit sensors respectively in the left and right sides, and when preventing that accident in the control procedure from makeing mistakes, head is gone out this working range.But actual conditions are, if go out this working range during the head high-speed cruising, even sensor senses is also in time sent warning, same because the hysteresis that control procedure causes slowing down and comes into force, even master control borad sends brake immediately, also be difficult in time servomechanism be stopped, head dependence inertia moves ahead and accident very easily occurs.
Summary of the invention
The invention provides a kind of method of controlling security of straight-bar machines fast rotation, solved in the prior art, straight-bar machines master control borad monitoring encoder values sends to servomechanism after calculating in real time again and realizes speed governing, speed monitoring, calculating, send and the time-delay that comes into force, finally cause the slow problem of head commutation; And spacing control mode is unreasonable, causes head easily to rely on inertia to go out and the accident that causes.
Technical scheme of the present invention is, a kind of method of controlling security of straight-bar machines fast rotation is implemented according to following steps:
At first, the scrambler of the servomotor of flat-knitting machine head is connected with servomechanism simultaneously with master control borad respectively, with servomotor and servomechanism control linkage, master control borad is connected by the CAN bus with servomechanism;
Then, master control borad is by reading the colored type information of conciliating the division product, before every row operation, obtain bringing into operation a little and finishing operating point of every row, and every row operation needs the maximum encoder values of arrival, master control borad calculates each decelerate position point and accelerates location point corresponding codes device value again in conjunction with the acceleration and deceleration Properties Control parameter of servomechanism; Master control borad is with each decelerate position point and accelerate the position of location point and corresponding codes device value and target velocity send in the servomechanism and set;
At last, in every capable operational process, servomechanism is directly monitored the output valve of scrambler, regulates the velocity amplitude of servomotor, make servomotor at each decelerate position point and accelerate location point according to predetermined encoder values operation, realize that the revolution of optimum is controlled automatically.
The method of controlling security of straight-bar machines fast rotation of the present invention, its characteristics also comprise: preestablish scrambler in the described servomechanism at the limit early warning value at normal range of operation two ends, in case the output valve of scrambler of monitoring is near limit early warning value, then servomechanism is just to the servomotor control of slowing down; The early warning value in case the output valve of scrambler oversteps the extreme limit, then servomechanism just stops the operation of servomotor immediately, sends alerting signal simultaneously.
The invention has the beneficial effects as follows,
1) the straight-bar machines master control borad is by reading the colored type information of conciliating the division product, calculate bringing into operation a little and finishing operating point of every row, and every row operation needs the maximum encoder values of arrival, again by fieldbus and servomechanism real-time Communication for Power, reading the servomechanism calculation of parameter goes out each decelerate position point of servomechanism and accelerates location point, at last each decelerate position point and acceleration location point are sent to servomechanism, allow servomechanism after arriving the acceleration and deceleration location point, carry out acceleration and deceleration control automatically.Thereby saved the time that monitoring position, speed calculating, command transfer and servomechanism self speed come into force, reduced or remitted the speed distortion that time-delay causes, shortened commutating period greatly and reduced reversing impact.
2) the straight-bar machines master control borad is issued servomechanism with the left and right spacing absolute position signal of head and is prestored, servomechanism just can slow down near left and right spacing position the time automatically, even occur under the unusual situation at master control borad, can guarantee that still head can not go out left and right spacing position, avoid the generation of accident.
Description of drawings
Fig. 1 is the control principle synoptic diagram in the inventive method.
Among the figure, 1, servomotor, 2, scrambler, 3, master control borad, 4, servomechanism.
Embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
As shown in Figure 1, the concrete steps of control method of the present invention are,
At first, the scrambler 2 of the servomotor 1 of flat-knitting machine head is connected with servomechanism 4 simultaneously with the master control borad 3 of straight-bar machines respectively, with servomotor 1 and servomechanism 4 control linkages, master control borad 3 is connected by the CAN bus with servomechanism 4, realized feedback regulation between servomotor 1 and the servomechanism 4, master control borad 3 and servomechanism 4 collect the real-time output valve of scrambler 2 simultaneously, have realized the data interchange by communication interface between master control borad 3 and the servomechanism 4, replace traditional pulse command by action command;
Then, master control borad 3 is by reading the colored type information of conciliating division product, obtains bringing into operation a little and finishing operating point of every row before every row operation, and every go move need arrival maximum encoder values; Master control borad 3 calculates each decelerate position point and accelerates location point corresponding codes device value again in conjunction with the acceleration and deceleration Properties Control parameter of servomechanism 4; Master control borad 3 is with each decelerate position point and accelerate the position of location point and corresponding codes device value and target velocity send in the servomechanism 4 by communication interface and set;
At last, in every capable operational process, servomechanism 4 is directly monitored the output valve of scrambler 2, makes servomotor 1 at each decelerate position point and accelerates location point according to the encoder values operation of setting, regulate the velocity amplitude of servomotor 1, realize that the revolution of optimum is controlled automatically.
In addition, since straight-bar machines according to about come and go run action, in servomechanism 4, preestablish scrambler 2 at the limit early warning value at normal range of operation two ends, in case the output valve of scrambler 2 of monitoring near limit early warning value, then servomechanism 4 is just to servomotor 1 control of slowing down; The early warning value in case the output valve of scrambler 2 oversteps the extreme limit, then servomechanism 4 just stops the operation (taking braking) of servomotor 1 immediately, sends alerting signal simultaneously.
Claims (2)
1. the method for controlling security of a straight-bar machines fast rotation is characterized in, implements according to following steps:
At first, the scrambler (2) of the servomotor (1) of flat-knitting machine head is connected with servomechanism (4) simultaneously with master control borad (3) respectively, with servomotor (1) and servomechanism (4) control linkage, master control borad (3) is connected by the CAN bus with servomechanism (4);
Then, master control borad (3) is by reading the colored type information of conciliating division product, obtains bringing into operation a little and finishing operating point of every row before every row operation, and every go move need arrival maximum encoder values; Master control borad (3) calculates each decelerate position point and accelerates location point corresponding codes device value again in conjunction with the acceleration and deceleration Properties Control parameter of servomechanism (4); Master control borad (3) is with each decelerate position point and accelerate the position of location point and corresponding codes device value and target velocity send in the servomechanism (4) and set;
At last, in every capable operational process, servomechanism (4) is directly monitored the output valve of scrambler (2), make servomotor (1) at each decelerate position point and accelerate location point according to the encoder values operation of setting, regulate the velocity amplitude of servomotor (1), realize that the revolution of optimum is controlled automatically.
2. the method for controlling security of straight-bar machines fast rotation according to claim 1, be characterized in: preestablish scrambler (2) in the described servomechanism (4) at the limit early warning value at normal range of operation two ends, in case the output valve of scrambler (2) of monitoring is near limit early warning value, then servomechanism (4) is just to servomotor (1) control of slowing down; The early warning value in case the output valve of scrambler (2) oversteps the extreme limit, then servomechanism (4) just stops the operation of servomotor (1) immediately, sends alerting signal simultaneously.
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| CN201310301961.1A CN103336484B (en) | 2013-07-18 | 2013-07-18 | A kind of method of controlling security of straight-bar machines fast rotation |
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| CN103336484B CN103336484B (en) | 2015-12-09 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105204539A (en) * | 2015-10-16 | 2015-12-30 | 江南大学 | Stopping horizontal stripe compensating control method for high speed warp knitting machine |
| CN105629852A (en) * | 2016-02-19 | 2016-06-01 | 西安大医数码技术有限公司 | Device and method for monitoring closed-loop control system, and closed-loop control system |
| CN109137245A (en) * | 2018-09-27 | 2019-01-04 | 北京大豪科技股份有限公司 | Glove knitting machine head control method, device, equipment and storage medium |
| CN109371557A (en) * | 2018-11-21 | 2019-02-22 | 杭州之山智控技术有限公司 | Straight-bar machines plays plate control system and its method |
| CN109881349A (en) * | 2019-02-15 | 2019-06-14 | 成都图灵创想科技有限责任公司 | The reverse control method and system of flat-knitting machine head |
| CN110687913A (en) * | 2019-11-14 | 2020-01-14 | 万向新元绿柱石（天津）科技有限公司 | Position measuring device |
| CN113485251A (en) * | 2021-07-15 | 2021-10-08 | 湖北泰和电气有限公司 | Server control system |
| CN116257092A (en) * | 2023-05-05 | 2023-06-13 | 新创碳谷集团有限公司 | Accurate positioning control method and control system for turntable rotation |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105204539A (en) * | 2015-10-16 | 2015-12-30 | 江南大学 | Stopping horizontal stripe compensating control method for high speed warp knitting machine |
| CN105629852A (en) * | 2016-02-19 | 2016-06-01 | 西安大医数码技术有限公司 | Device and method for monitoring closed-loop control system, and closed-loop control system |
| CN105629852B (en) * | 2016-02-19 | 2018-07-17 | 西安大医数码科技有限公司 | A kind of monitoring device of closed-loop control system, method and closed-loop control system |
| CN109137245B (en) * | 2018-09-27 | 2019-11-08 | 北京大豪科技股份有限公司 | Glove knitting machine head control method, device, equipment and storage medium |
| CN109137245A (en) * | 2018-09-27 | 2019-01-04 | 北京大豪科技股份有限公司 | Glove knitting machine head control method, device, equipment and storage medium |
| CN110644128A (en) * | 2018-09-27 | 2020-01-03 | 北京大豪科技股份有限公司 | Glove machine head control method, device and equipment and storage medium |
| CN110644128B (en) * | 2018-09-27 | 2022-02-22 | 北京大豪科技股份有限公司 | Glove machine head control method, device and equipment and storage medium |
| CN109371557A (en) * | 2018-11-21 | 2019-02-22 | 杭州之山智控技术有限公司 | Straight-bar machines plays plate control system and its method |
| CN109371557B (en) * | 2018-11-21 | 2024-02-20 | 杭州之山智控技术有限公司 | Flat knitting machine lifting plate control system and method thereof |
| CN109881349A (en) * | 2019-02-15 | 2019-06-14 | 成都图灵创想科技有限责任公司 | The reverse control method and system of flat-knitting machine head |
| CN109881349B (en) * | 2019-02-15 | 2020-08-11 | 成都图灵创想科技有限责任公司 | Reversing control method and system for flat knitting machine head |
| CN110687913A (en) * | 2019-11-14 | 2020-01-14 | 万向新元绿柱石（天津）科技有限公司 | Position measuring device |
| CN113485251A (en) * | 2021-07-15 | 2021-10-08 | 湖北泰和电气有限公司 | Server control system |
| CN113485251B (en) * | 2021-07-15 | 2024-04-05 | 湖北泰和电气有限公司 | Control system of server |
| CN116257092A (en) * | 2023-05-05 | 2023-06-13 | 新创碳谷集团有限公司 | Accurate positioning control method and control system for turntable rotation |
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| CN103336484B (en) | 2015-12-09 |
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